Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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014955,000002: ## Copyright: Public domain.
014956,000003: ## Filename: KALCMANU_STEERING.agc
014957,000004: ## Purpose: A section of Luminary revision 96.
014958,000005: ## It is part of the reconstructed source code for the
014959,000006: ## original release of the flight software for the Lunar
014960,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
014961,000008: ## The code has been recreated from a previously reconstructed
014962,000009: ## copy of Luminary 97 by undoing changes described in anomaly
014963,000010: ## report LNY-59. The code has been adapted such that the
014964,000011: ## resulting bugger words exactly match those specified for
014965,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
014966,000013: ## high confidence that the reconstruction is correct.
014967,000014: ## Reference: pp. 365-369
014968,000015: ## Assembler: yaYUL
014969,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014970,000017: ## Website: www.ibiblio.org/apollo/index.html
014971,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
014972,000019:
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Page 365
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014974,000021: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
014975,000022:
014976,000023: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
014977,000024:
014978,000025: 22,3003 E6,1707 EBANK= TTEMP
014979,000026:
014980,000027: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
014981,000028: 22,3004 54262 CADR ISITAUTO # ONLY
014982,000029: 22,3005 10000 CCS A
014983,000030: 22,3006 12730 TCF NOGO -2
014984,000031: 22,3007 06037 NEWANGL TC INTPRET
014985,000032: 22,3010 75160 AXC,1 AXC,2
014986,000033: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
014987,000034: 22,3012 02230 KEL # STABLE MEMBER AXES
014988,000035: 22,3013 77624 CALL
014989,000036: 22,3014 44312 MXM3
014990,000037: 22,3015 45575 VLOAD STADR
014991,000038: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
014992,000039: 22,3017 77626 STADR
014993,000040: 22,3020 50522 STOVL MIS +6D
014994,000041: 22,3021 77626 STADR
014995,000042: 22,3022 74530 STORE MIS
014996,000043: 22,3023 45160 AXC,1 CALL
014997,000044: 22,3024 03246 MIS
014998,000045: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
014999,000046: 22,3026 77634 RTB
015000,000047: 22,3027 21620 V1STO2S
015001,000048: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015002,000049: 22,3031 77414 BONCLR EXIT
015003,000050: 22,3032 01215 CALCMAN2
015004,000051: 22,3033 45122 MANUSTAT # TO START MANEUVER
015005,000052: 22,3034 34752 CAF TWO # +0 OTHERWISE
015006,000053: 22,3035 55272 INCRDCDU TS SPNDX
015007,000054: 22,3036 51272 INDEX SPNDX
015008,000055: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015009,000056: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015010,000057: 22,3041 51272 INDEX SPNDX
015011,000058: 22,3042 21703 MSU NCDU
015012,000059: 22,3043 00006 EXTEND
015013,000060: 22,2000 SETLOC KALCMON1
015014,000061: 22,2000 BANK
015015,000062:
015016,000063: 22,3044 73121 MP DT/TAU
015017,000064: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015018,000065: 22,3046 64753 AD ONE
015019,000066: 22,3047 13051 TCF +2
015020,000067: 22,3050 40000 COM
015021,000068: 22,3051 51272 INDEX SPNDX
015022,000069: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015023,000070: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 366
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015025,000072: 22,3054 31703 CA NCDU # BY LEM DAP
015026,000073: 22,3055 51272 INDEX SPNDX
015027,000074: 22,3056 57676 XCH BCDU
015028,000075: 22,3057 51272 INDEX SPNDX
015029,000076: 22,3060 55635 TS CDUXD
015030,000077: 22,3061 11272 CCS SPNDX
015031,000078: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015032,000079:
015033,000080: 22,3063 00003 RELINT
015034,000081:
015035,000082: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015036,000083:
015037,000084: 22,3064 03075 TMANUCHK TC TIMECHK
015038,000085: 22,3065 13170 TCF CONTMANU
015039,000086: 22,3066 34753 CAF ONE
015040,000087: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015041,000088: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015042,000089: 22,3071 E6,1707 EBANK= TTEMP
015043,000090: 22,3071 03213 44066 2CADR MANUSTOP
015044,000091:
015045,000092: 22,3073 00003 RELINT
015046,000093: 22,3074 15155 TCF ENDOFJOB
015047,000094:
015048,000095: 22,3075 00006 TIMECHK EXTEND
015049,000096: 22,3076 40025 DCS TIME2
015050,000097: 22,3077 53710 DXCH TTEMP
015051,000098: 22,3100 00006 EXTEND
015052,000099: 22,3101 31734 DCA TM
015053,000100: 22,3102 21710 DAS TTEMP
015054,000101: 22,3103 11707 CCS TTEMP
015055,000102: 22,3104 00002 TC Q
015056,000103: 22,3105 13107 TCF +2
015057,000104: 22,3106 13117 TCF 2NDRETRN
015058,000105: 22,3107 11710 CCS TTEMP +1
015059,000106: 22,3110 00002 TC Q
015060,000107: 22,3111 13113 TCF MANUOFF
015061,000108: 22,3112 40000 COM
015062,000109: 22,3113 63166 MANUOFF AD ONESEK +1
015063,000110: 22,3114 00006 EXTEND
015064,000111: 22,3115 63117 BZMF 2NDRETRN
015065,000112: 22,3116 24002 INCR Q
015066,000113: 22,3117 24002 2NDRETRN INCR Q
015067,000114: 22,3120 00002 TC Q
015068,000115:
015069,000116: 22,3121 03146 DT/TAU DEC .1
015070,000117:
015071,000118: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015072,000119: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015073,000120: 22,3124 30025 DCA TIME2
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Page 367
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015075,000122: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015076,000123: 22,3126 00006 EXTEND
015077,000124: 22,3127 43166 DCS ONESEK
015078,000125: 22,3130 21734 DAS TM # (TM+T0)-1
015079,000126: 22,3131 00004 INHINT
015080,000127: 22,3132 34752 CAF TWO
015081,000128: 22,3133 55701 RATEBIAS TS KSPNDX
015082,000129: 22,3134 60000 DOUBLE
015083,000130: 22,3135 55702 TS KDPNDX
015084,000131: 22,3136 50000 INDEX A
015085,000132: 22,3137 31725 CA BRATE
015086,000133: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015087,000134: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015088,000135: 22,3142 00006 EXTEND
015089,000136: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015090,000137: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015091,000138: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015092,000139: 22,3146 73167 MP BIASCALE # = -1/16
015093,000140: 22,3147 00006 EXTEND
015094,000141: 22,3150 51702 INDEX KDPNDX
015095,000142: 22,3151 71725 MP BRATE
015096,000143: 22,3152 00006 EXTEND
015097,000144: 22,3153 51701 INDEX KSPNDX
015098,000145: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015099,000146: 22,3155 51701 INDEX KSPNDX
015100,000147: 22,3156 55277 TS DELPEROR # $ 180 DEG
015101,000148: 22,3157 11701 CCS KSPNDX
015102,000149: 22,3160 13133 TCF RATEBIAS
015103,000150:
015104,000151: 22,3161 30025 CA TIME1
015105,000152: 22,3162 63166 AD ONESEK +1
015106,000153: 22,3163 57706 XCH NEXTIME
015107,000154: 22,3164 13034 TCF INCRDCDU -1
015108,000155:
015109,000156: 22,3165 00000 ONESEK DEC 0 B-14
015110,000157: 22,3166 00144 DEC 100 B-14
015111,000158:
015112,000159: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015113,000160:
015114,000161: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015115,000162: 22,3171 61706 AD NEXTIME
015116,000163: 22,3172 10000 CCS A
015117,000164: 22,3173 64753 AD ONE
015118,000165: 22,3174 13177 TCF MANUCALL
015119,000166: 22,3175 64735 AD NEGMAX
015120,000167: 22,3176 40000 COM
015121,000168: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015122,000169: 22,3200 05203 TC WAITLIST
015123,000170: 22,3201 E6,1707 EBANK= TTEMP
015124,000171: 22,3201 03206 44066 2CADR UPDTCALL
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Page 368
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015126,000173: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015127,000174: 22,3204 27706 ADS NEXTIME
015128,000175: 22,3205 15155 TCF ENDOFJOB
015129,000176:
015130,000177: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015131,000178: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015132,000179: 22,3210 E6,1707 EBANK= TTEMP
015133,000180: 22,3210 03003 44066 2CADR NEWDELHI
015134,000181:
015135,000182: 22,3212 05261 TC TASKOVER
015136,000183:
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Page 369
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015138,000185: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015139,000186:
015140,000187: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015141,000188: 22,3214 55642 TS DELDCDU2
015142,000189: 22,3215 55645 TS OMEGARD
015143,000190: 22,3216 55301 TS DELREROR
015144,000191: 22,3217 55641 TS DELDCDU1
015145,000192: 22,3220 55644 TS OMEGAQD
015146,000193: 22,3221 55300 TS DELQEROR
015147,000194: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015148,000195: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015149,000196: 22,3224 30322 CA CTHETA
015150,000197: 22,3225 55636 TS CDUYD
015151,000198: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015152,000199: 22,3227 55635 TS CDUXD
015153,000200: 22,3230 34755 CAF ZERO
015154,000201: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015155,000202: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015156,000203: 22,3233 55277 TS DELPEROR
015157,000204: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015158,000205: 22,3235 54063 TS NEWPRIO
015159,000206:
015160,000207: 22,3236 34755 CA ZERO # ZERO ATTCADR
015161,000208: 22,3237 53310 DXCH ATTCADR
015162,000209:
015163,000210: 22,3240 05116 TC SPVAC # RETURN TO USER
015164,000211:
015165,000212: 22,3241 05261 TC TASKOVER
015166,000213:
015167,000214:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc