GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
016380,000002: ## Copyright: Public domain.
016381,000003: ## Filename: KALCMANU_STEERING.agc
016382,000004: ## Purpose: The main source file for Luminary revision 069.
016383,000005: ## It is part of the source code for the original release
016384,000006: ## of the flight software for the Lunar Module's (LM) Apollo
016385,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
016386,000008: ## version was Luminary 69 revision 2, which included a
016387,000009: ## newer lunar gravity model and only affected module 2.
016388,000010: ## This file is intended to be a faithful transcription, except
016389,000011: ## that the code format has been changed to conform to the
016390,000012: ## requirements of the yaYUL assembler rather than the
016391,000013: ## original YUL assembler.
016392,000014: ## Reference: pp. 378-382
016393,000015: ## Assembler: yaYUL
016394,000016: ## Contact: Ron Burkey <info@sandroid.org>.
016395,000017: ## Website: www.ibiblio.org/apollo/index.html
016396,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
016397,000019: ## 2016-12-14 MAS Updated from comment-proofed Luminary 99 version.
016398,000020: ## 2017-01-17 RRB Updated for Luminary 69.
016399,000021: ## 2017-01-27 RSB Proofed comment text using octopus/prooferComments
016400,000022: ## and fixed errors found.
016401,000023: ## 2017-03-07 RSB Removed yaYUL workaround that no longer
016402,000024: ## seems to be needed.
016403,000025: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
016404,000026: ## Luminary 99 vs Comanche 55.
016405,000027:
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Page 378 |
016407,000029: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
016408,000030:
016409,000031: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
016410,000032:
016411,000033: 22,3003 E6,1705 EBANK= TTEMP
016412,000034:
016413,000035: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
016414,000036: 22,3004 54240 CADR ISITAUTO # ONLY
016415,000037: 22,3005 10000 CCS A
016416,000038: 22,3006 12730 TCF NOGO -2
016417,000039: 22,3007 06036 NEWANGL TC INTPRET
016418,000040: 22,3010 75160 AXC,1 AXC,2
016419,000041: 22,3011 03244 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
016420,000042: 22,3012 02234 KEL # STABLE MEMBER AXES
016421,000043: 22,3013 77624 CALL
016422,000044: 22,3014 44312 MXM3
016423,000045: 22,3015 45575 VLOAD STADR
016424,000046: 22,3016 50516 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
016425,000047: 22,3017 77626 STADR
016426,000048: 22,3020 50524 STOVL MIS +6D
016427,000049: 22,3021 77626 STADR
016428,000050: 22,3022 74532 STORE MIS
016429,000051: 22,3023 45160 AXC,1 CALL
016430,000052: 22,3024 03244 MIS
016431,000053: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
016432,000054: 22,3026 77634 RTB
016433,000055: 22,3027 21524 V1STO2S
016434,000056: 22,3030 03302 STORE NCDU # NEW CDU ANGLES
016435,000057: 22,3031 77414 BONCLR EXIT
016436,000058: 22,3032 01215 CALCMAN2
016437,000059: 22,3033 45122 MANUSTAT # TO START MANEUVER
016438,000060: 22,3034 34752 CAF TWO # +0 OTHERWISE
016439,000061: 22,3035 55272 INCRDCDU TS SPNDX
016440,000062: 22,3036 51272 INDEX SPNDX
016441,000063: 22,3037 31674 CA BCDU # INITIAL CDU ANGLES
016442,000064: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
016443,000065: 22,3041 51272 INDEX SPNDX
016444,000066: 22,3042 21701 MSU NCDU
016445,000067: 22,3043 00006 EXTEND
016446,000068: 22,2000 SETLOC KALCMON1
016447,000069: 22,2000 BANK
016448,000070:
016449,000071: 22,3044 73121 MP DT/TAU
016450,000072: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
016451,000073: 22,3046 64753 AD ONE
016452,000074: 22,3047 13051 TCF +2
016453,000075: 22,3050 40000 COM
016454,000076: 22,3051 51272 INDEX SPNDX
016455,000077: 22,3052 55636 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
016456,000078: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 379 |
016458,000080: 22,3054 31701 CA NCDU # BY LEM DAP
016459,000081: 22,3055 51272 INDEX SPNDX
016460,000082: 22,3056 57674 XCH BCDU
016461,000083: 22,3057 51272 INDEX SPNDX
016462,000084: 22,3060 55633 TS CDUXD
016463,000085: 22,3061 11272 CCS SPNDX
016464,000086: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
016465,000087:
016466,000088: 22,3063 00003 RELINT
016467,000089:
016468,000090: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
016469,000091:
016470,000092: 22,3064 03075 TMANUCHK TC TIMECHK
016471,000093: 22,3065 13170 TCF CONTMANU
016472,000094: 22,3066 34753 CAF ONE
016473,000095: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
016474,000096: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
016475,000097: 22,3071 E6,1705 EBANK= TTEMP
016476,000098: 22,3071 03213 44066 2CADR MANUSTOP
016477,000099:
016478,000100: 22,3073 00003 RELINT
016479,000101: 22,3074 15155 TCF ENDOFJOB
016480,000102:
016481,000103: 22,3075 00006 TIMECHK EXTEND
016482,000104: 22,3076 40025 DCS TIME2
016483,000105: 22,3077 53706 DXCH TTEMP
016484,000106: 22,3100 00006 EXTEND
016485,000107: 22,3101 31732 DCA TM
016486,000108: 22,3102 21706 DAS TTEMP
016487,000109: 22,3103 11705 CCS TTEMP
016488,000110: 22,3104 00002 TC Q
016489,000111: 22,3105 13107 TCF +2
016490,000112: 22,3106 13117 TCF 2NDRETRN
016491,000113: 22,3107 11706 CCS TTEMP +1
016492,000114: 22,3110 00002 TC Q
016493,000115: 22,3111 13113 TCF MANUOFF
016494,000116: 22,3112 40000 COM
016495,000117: 22,3113 63166 MANUOFF AD ONESEK +1
016496,000118: 22,3114 00006 EXTEND
016497,000119: 22,3115 63117 BZMF 2NDRETRN
016498,000120: 22,3116 24002 INCR Q
016499,000121: 22,3117 24002 2NDRETRN INCR Q
016500,000122: 22,3120 00002 TC Q
016501,000123:
016502,000124: 22,3121 03146 DT/TAU DEC .1
016503,000125:
016504,000126: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
016505,000127: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
016506,000128: 22,3124 30025 DCA TIME2
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Page 380 |
016508,000130: 22,3125 21732 DAS TM # TM+T0 MANEUVER COMPLETION TIME
016509,000131: 22,3126 00006 EXTEND
016510,000132: 22,3127 43166 DCS ONESEK
016511,000133: 22,3130 21732 DAS TM # (TM+T0)-1
016512,000134: 22,3131 00004 INHINT
016513,000135: 22,3132 34752 CAF TWO
016514,000136: 22,3133 55677 RATEBIAS TS KSPNDX
016515,000137: 22,3134 60000 DOUBLE
016516,000138: 22,3135 55700 TS KDPNDX
016517,000139: 22,3136 50000 INDEX A
016518,000140: 22,3137 31723 CA BRATE
016519,000141: 22,3140 51677 INDEX KSPNDX # STORE MANEUVER RATE IN
016520,000142: 22,3141 55641 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
016521,000143: 22,3142 00006 EXTEND
016522,000144: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
016523,000145: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
016524,000146: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
016525,000147: 22,3146 73167 MP BIASCALE # = -1/16
016526,000148: 22,3147 00006 EXTEND
016527,000149: 22,3150 51700 INDEX KDPNDX
016528,000150: 22,3151 71723 MP BRATE
016529,000151: 22,3152 00006 EXTEND
016530,000152: 22,3153 51677 INDEX KSPNDX
016531,000153: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
016532,000154: 22,3155 51677 INDEX KSPNDX
016533,000155: 22,3156 55277 TS DELPEROR # $ 180 DEG
016534,000156: 22,3157 11677 CCS KSPNDX
016535,000157: 22,3160 13133 TCF RATEBIAS
016536,000158:
016537,000159: 22,3161 30025 CA TIME1
016538,000160: 22,3162 63166 AD ONESEK +1
016539,000161: 22,3163 57704 XCH NEXTIME
016540,000162: 22,3164 13034 TCF INCRDCDU -1
016541,000163:
016542,000164: 22,3165 00000 ONESEK DEC 0 B-14
016543,000165: 22,3166 00144 DEC 100 B-14
016544,000166:
016545,000167: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
016546,000168:
016547,000169: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
016548,000170: 22,3171 61704 AD NEXTIME
016549,000171: 22,3172 10000 CCS A
016550,000172: 22,3173 64753 AD ONE
016551,000173: 22,3174 13177 TCF MANUCALL
016552,000174: 22,3175 64735 AD NEGMAX
016553,000175: 22,3176 40000 COM
016554,000176: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
016555,000177: 22,3200 05203 TC WAITLIST
016556,000178: 22,3201 E6,1705 EBANK= TTEMP
016557,000179: 22,3201 03206 44066 2CADR UPDTCALL
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Page 381 |
016559,000181: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
016560,000182: 22,3204 27704 ADS NEXTIME
016561,000183: 22,3205 15155 TCF ENDOFJOB
016562,000184:
016563,000185: 22,3206 37713 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
016564,000186: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
016565,000187: 22,3210 E6,1705 EBANK= TTEMP
016566,000188: 22,3210 03003 44066 2CADR NEWDELHI
016567,000189:
016568,000190: 22,3212 05261 TC TASKOVER
016569,000191:
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Page 382 |
016571,000193: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
016572,000194:
016573,000195: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
016574,000196: 22,3214 55640 TS DELDCDU2
016575,000197: 22,3215 55643 TS OMEGARD
016576,000198: 22,3216 55301 TS DELREROR
016577,000199: 22,3217 55637 TS DELDCDU1
016578,000200: 22,3220 55642 TS OMEGAQD
016579,000201: 22,3221 55300 TS DELQEROR
016580,000202: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
016581,000203: 22,3223 55635 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
016582,000204: 22,3224 30322 CA CTHETA
016583,000205: 22,3225 55634 TS CDUYD
016584,000206: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
016585,000207: 22,3227 55633 TS CDUXD
016586,000208: 22,3230 34755 CAF ZERO
016587,000209: 22,3231 55641 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
016588,000210: 22,3232 55636 TS DELDCDU # GIMBAL LOCK ORIGINALLY
016589,000211: 22,3233 55277 TS DELPEROR
016590,000212: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
016591,000213: 22,3235 54063 TS NEWPRIO
016592,000214:
016593,000215: 22,3236 34755 CA ZERO # ZERO ATTCADR
016594,000216: 22,3237 53310 DXCH ATTCADR
016595,000217:
016596,000218: 22,3240 05116 TC SPVAC # RETURN TO USER
016597,000219:
016598,000220: 22,3241 05261 TC TASKOVER
016599,000221:
016600,000222:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc