Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
064049,000002: ## Copyright: Public domain.
064050,000003: ## Filename: SPS_BACK-UP_RCS_CONTROL.agc
064051,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
064052,000005: ## It is part of the source code for the Lunar Module's (LM)
064053,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
064054,000007: ## Assembler: yaYUL
064055,000008: ## Contact: Ron Burkey <info@sandroid.org>.
064056,000009: ## Website: www.ibiblio.org/apollo.
064057,000010: ## Pages: 1507-1510
064058,000011: ## Mod history: 2009-05-27 RSB Adapted from the corresponding
064059,000012: ## Luminary131 file, using page
064060,000013: ## images from Luminary 1A.
064061,000014: ## 2011-01-06 JL Fixed pseudo-label indentation.
064062,000015: ## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
064063,000016: ## and corrected the errors found.
064064,000017: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
064065,000018:
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Page 1507 |
064067,000020: # PROGRAM NAME: SPSRCS
064068,000021: # AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
064069,000022: # MODIFIED: TO RETURN TO ALL AXES VIA Q BY P. S. WEISSMAN, OCT 7, 1968
064070,000023: # MODIFIED TO IMPROVE BENDING STABILITY BY G. KALAN, FEB. 14, 1969
064071,000024:
064072,000025: # FUNCTIONAL DESCRIPTION:
064073,000026: # THIS PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
064074,000027: # PLANE LOGIC.
064075,000028:
064076,000029: # 1. JET SENSE TEST (SPSRCS)
064077,000030: # IF JETS ARE FIRING NEGATIVELY, SET OLDSENSE NEGATIVE AND CONTINUE
064078,000031: # IF JETS ARE FIRING POSITIVELY, SET OLDSENSE POSITIVE AND CONTINUE
064079,000032: # IF JETS ARE NOT FIRING, SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST
064080,000033:
064081,000034: # 2. RATE DEAD BAND TEST
064082,000035: # IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE, LEAVE
064083,000036: # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
064084,000037: # IF JETS ARE FIRING POSITIVELY AND RATE IS LESS THAN TARGET RATE, LEAVE
064085,000038: # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
064086,000039:
064087,000040: # 3. OUTER RATE LIMIT TEST (SPSSTART)
064088,000041: # IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME
064089,000042: # TO REDUCE RATE AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
064090,000043:
064091,000044: # 4. COAST ZONE TEST
064092,000045: # IF STATE (E,EDOT) IS BELOW LINE E + 4 X EDOT > -1.4 DEG AND EDOT IS LESS THAN 1.30 DEG/SEC SET JET TIME POSI-
064093,000046: # TIVE AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
064094,000047: # IF STATE IS ABOVE LINE E + 4 X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE
064095,000048: # AND CONTINUE. OTHERWISE, SET JET FIRING TIME TO ZERO AND CONTINUE.
064096,000049:
064097,000050: # 5. INHIBITION LOGIC
064098,000051: # IF OLDSENSE IS NON-ZERO:
064099,000052: # A) RETURN IF JET TIME HAS SAME SIGN AS OLDSENSE
064100,000053: # B) SET INHIBITION COUNTER* AND RETURN IF JET TIME IS ZERO
064101,000054: # C) SET INHIBITION COUNTER,* SET JET TIME TO ZERO AND RETURN IF SIGN
064102,000055: # OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE
064103,000056: # IF OLDSENSE IS ZERO:
064104,000057: # A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE
064105,000058: # B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE
064106,000059: # *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P, AND UV AXES,
064107,000060: # RESPECTIVELY, IN SPSRCS. THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF
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Page 1508 |
064109,000062: # EACH DAP PASS.
064110,000063:
064111,000064: # THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
064112,000065: # AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
064113,000066: # P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
064114,000067:
064115,000068: # CALLING SEQUENCE:
064116,000069: # INHINT
064117,000070: # TC IBNKCALL
064118,000071: # CADR SPSRCS
064119,000072:
064120,000073: # EXIT:
064121,000074: # TC Q
064122,000075:
064123,000076: # ALARM/ABORT MODE: NONE
064124,000077:
064125,000078: # SUBROUTINES CALLED: NONE
064126,000079:
064127,000080: # INPUT: E, EDOT
064128,000081: # TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
064129,000082:
064130,000083: # OUTPUT: TJP, TJV, TJU
064131,000084:
064132,000085: 21,3646 BANK 21
064133,000086: 21,2000 SETLOC DAPS4
064134,000087: 21,2000 BANK
064135,000088:
064136,000089: 21,3646 COUNT* $$/DAPBU
064137,000090:
064138,000091: 21,3646 E6,1525 EBANK= TJU
064139,000092: 21,3646 00632 RATELIM2 OCT 00632 # 1.125 DEG/SEC
064140,000093: 21,3647 34736 POSTHRST CA HALF
064141,000094:
064142,000095: 21,3650 51505 NDX AXISCTR
064143,000096: 21,3651 55525 TS TJU
064144,000097: 21,3652 11745 CCS OLDSENSE
064145,000098: 21,3653 13673 TCF POSCHECK # JETS FIRING POSITIVELY
064146,000099: 21,3654 13676 TCF CTRCHECK # JETS OFF. CHECK INHIBITION CTR
064147,000100: 21,3655 51505 NEGCHECK INDEX AXISCTR # JETS FIRING NEGATIVELY
064148,000101: 21,3656 41525 CS TJU
064149,000102: 21,3657 10000 CCS A
064150,000103: 21,3660 00002 TC Q # RETURN
064151,000104: 21,3661 13663 TCF +2
064152,000105: 21,3662 13663 TCF +1 # JETS COMMANDED OFF. SET CTR AND RETURN
064153,000106: 21,3663 51505 SETCTR INDEX AXISCTR # JET FIRING REVERSAL COMMANDED. SET CTR,
064154,000107: 21,3664 33705 CA UTIME # SET JET TIME TO ZERO, AND RETURN
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Page 1509 |
064156,000109: 21,3665 51505 INDEX AXISCTR
064157,000110: 21,3666 55770 TS UJETCTR
064158,000111: 21,3667 34755 ZAPTJ CA ZERO
064159,000112: 21,3670 51505 INDEX AXISCTR
064160,000113: 21,3671 55525 TS TJU
064161,000114: 21,3672 00002 TC Q
064162,000115: 21,3673 51505 POSCHECK INDEX AXISCTR
064163,000116: 21,3674 31525 CA TJU
064164,000117: 21,3675 13657 TCF NEGCHECK +2
064165,000118: 21,3676 51505 CTRCHECK INDEX AXISCTR # CHECK JET INHIBITION COUNTER
064166,000119: 21,3677 11770 CCS UJETCTR
064167,000120: 21,3700 13702 TCF +2
064168,000121: 21,3701 00002 TC Q # CTR IS NOT POSITIVE. RETURN
064169,000122: 21,3702 13667 TCF ZAPTJ # CTR IS POSITIVE. INHIBIT FIRINGS
064170,000123: 21,3703 00002 TC Q # CTR IS NOT POSITIVE. RETURN
064171,000124: 21,3704 00004 OCT 00004
064172,000125: 21,3705 00012 UTIME OCT 00012
064173,000126: 21,3706 00012 OCT 00012
064174,000127: 21,3707 E6,1745 OLDSENSE EQUALS DAPTREG1
064175,000128: 21,3707 44753 NEGFIRE CS ONE # JETS FIRING NEGATIVELY
064176,000129: 21,3710 55745 TS OLDSENSE
064177,000130: 21,3711 31427 CA EDOT
064178,000131: 21,3712 13716 TCF +4
064179,000132: 21,3713 34753 PLUSFIRE CA ONE
064180,000133: 21,3714 55745 TS OLDSENSE
064181,000134: 21,3715 41427 CS EDOT # RATE DEAD BAND TEST
064182,000135: 21,3716 22000 LXCH A
064183,000136: 21,3717 40111 CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
064184,000137: 21,3720 74744 MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
064185,000138: 21,3721 10000 CCS A
064186,000139: 21,3722 34767 CA RATEDB1
064187,000140: 21,3723 60001 AD L
064188,000141: 21,3724 00006 EXTEND
064189,000142: 21,3725 63735 BZMF SPSSTART
064190,000143: 21,3726 13652 TCF POSTHRST +3
064191,000144:
064192,000145: 21,3727 51505 SPSRCS INDEX AXISCTR # JET SENSE TEST
064193,000146: 21,3730 11525 CCS TJU
064194,000147: 21,3731 13713 TCF PLUSFIRE # JETS FIRING POSITIVELY
064195,000148: 21,3732 13734 TCF +2
064196,000149: 21,3733 13707 TCF NEGFIRE # JETS FIRING NEGATIVELY
064197,000150: 21,3734 55745 TS OLDSENSE # JETS OFF
064198,000151: 21,3735 31427 SPSSTART CA EDOT # OUTER RATE LIMIT TEST
064199,000152: 21,3736 00006 EXTEND
064200,000153: 21,3737 74766 MP RATELIM1
064201,000154: 21,3740 10000 CCS A
064202,000155: 21,3741 13760 TCF NEGTHRST # OUTER RATE LIMIT EXCEEDED
064203,000156: 21,3742 13744 TCF +2
064204,000157: 21,3743 13647 TCF POSTHRST # OUTER RATE LIMIT EXCEEDED
064205,000158: 21,3744 31427 CA EDOT # COAST ZONE TEST
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064207,000160: 21,3745 61752 AD E
064208,000161: 21,3746 00006 EXTEND
064209,000162: 21,3747 71411 MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
064210,000163: 21,3750 00006 EXTEND
064211,000164: 21,3751 13766 BZF TJZERO
064212,000165:
064213,000166: 21,3752 00006 EXTEND
064214,000167: 21,3753 63762 BZMF +7
064215,000168: 21,3754 31427 CA EDOT
064216,000169: 21,3755 63646 AD RATELIM2
064217,000170: 21,3756 00006 EXTEND
064218,000171: 21,3757 63766 BZMF TJZERO
064219,000172: 21,3760 44736 NEGTHRST CS HALF
064220,000173: 21,3761 13650 TCF POSTHRST +1
064221,000174: 21,3762 43646 +7 CS RATELIM2
064222,000175: 21,3763 61427 AD EDOT
064223,000176: 21,3764 00006 EXTEND
064224,000177: 21,3765 63647 BZMF POSTHRST
064225,000178: 21,3766 34755 TJZERO CA ZERO
064226,000179: 21,3767 13650 TCF POSTHRST +1
064227,000180:
064228,000181: 21,3770 4766 RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
064229,000182: 21,3770 4767 RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC
064230,000183:
End of include-file SPS_BACK-UP_RCS_CONTROL.agc. Parent file is MAIN.agc