GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note 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 from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
015338,000002: ## Copyright: Public domain.
015339,000003: ## Filename: KALCMANU_STEERING.agc
015340,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
015341,000005: ## It is part of the source code for the Lunar Module's (LM)
015342,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
015343,000007: ## Assembler: yaYUL
015344,000008: ## Contact: Ron Burkey <info@sandroid.org>.
015345,000009: ## Website: www.ibiblio.org/apollo.
015346,000010: ## Pages: 365-369
015347,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
015348,000012: ## Luminary131 file, using page
015349,000013: ## images from Luminary 1A.
015350,000014: ## 2011-01-06 JL Added missing comment characters.
015351,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
015352,000016: ## and corrected the errors found.
015353,000017: ## 2017-03-07 RSB Removed yaYUL workaround that no longer
015354,000018: ## seems to be needed.
015355,000019: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
015356,000020: ## Luminary 99 vs Comanche 55.
015357,000021:
015358,000022: ## This source code has been transcribed or otherwise adapted from
015359,000023: ## digitized images of a hardcopy from the MIT Museum. The digitization
015360,000024: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
015361,000025: ## the Museum. Many thanks to both. The images (with suitable reduction
015362,000026: ## in storage size and consequent reduction in image quality as well) are
015363,000027: ## available online at www.ibiblio.org/apollo. If for some reason you
015364,000028: ## find that the images are illegible, contact me at info@sandroid.org
015365,000029: ## about getting access to the (much) higher-quality images which Paul
015366,000030: ## actually created.
015367,000031: ##
015368,000032: ## Notations on the hardcopy document read, in part:
015369,000033: ##
015370,000034: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
015371,000035: ## 16:27 JULY 14, 1969
015372,000036:
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Page 365 |
015374,000038: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015375,000039:
015376,000040: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015377,000041:
015378,000042: 22,3003 E6,1707 EBANK= TTEMP
015379,000043:
015380,000044: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015381,000045: 22,3004 54262 CADR ISITAUTO # ONLY
015382,000046: 22,3005 10000 CCS A
015383,000047: 22,3006 12730 TCF NOGO -2
015384,000048: 22,3007 06037 NEWANGL TC INTPRET
015385,000049: 22,3010 75160 AXC,1 AXC,2
015386,000050: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015387,000051: 22,3012 02230 KEL # STABLE MEMBER AXES
015388,000052: 22,3013 77624 CALL
015389,000053: 22,3014 44312 MXM3
015390,000054: 22,3015 45575 VLOAD STADR
015391,000055: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015392,000056: 22,3017 77626 STADR
015393,000057: 22,3020 50522 STOVL MIS +6D
015394,000058: 22,3021 77626 STADR
015395,000059: 22,3022 74530 STORE MIS
015396,000060: 22,3023 45160 AXC,1 CALL
015397,000061: 22,3024 03246 MIS
015398,000062: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015399,000063: 22,3026 77634 RTB
015400,000064: 22,3027 21620 V1STO2S
015401,000065: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015402,000066: 22,3031 77414 BONCLR EXIT
015403,000067: 22,3032 01215 CALCMAN2
015404,000068: 22,3033 45122 MANUSTAT # TO START MANEUVER
015405,000069: 22,3034 34752 CAF TWO # +0 OTHERWISE
015406,000070: 22,3035 55272 INCRDCDU TS SPNDX
015407,000071: 22,3036 51272 INDEX SPNDX
015408,000072: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015409,000073: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015410,000074: 22,3041 51272 INDEX SPNDX
015411,000075: 22,3042 21703 MSU NCDU
015412,000076: 22,3043 00006 EXTEND
015413,000077: 22,2000 SETLOC KALCMON1
015414,000078: 22,2000 BANK
015415,000079:
015416,000080: 22,3044 73121 MP DT/TAU
015417,000081: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015418,000082: 22,3046 64753 AD ONE
015419,000083: 22,3047 13051 TCF +2
015420,000084: 22,3050 40000 COM
015421,000085: 22,3051 51272 INDEX SPNDX
015422,000086: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015423,000087: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 366 |
015425,000089: 22,3054 31703 CA NCDU # BY LEM DAP
015426,000090: 22,3055 51272 INDEX SPNDX
015427,000091: 22,3056 57676 XCH BCDU
015428,000092: 22,3057 51272 INDEX SPNDX
015429,000093: 22,3060 55635 TS CDUXD
015430,000094: 22,3061 11272 CCS SPNDX
015431,000095: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015432,000096:
015433,000097: 22,3063 00003 RELINT
015434,000098:
015435,000099: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015436,000100:
015437,000101: 22,3064 03075 TMANUCHK TC TIMECHK
015438,000102: 22,3065 13170 TCF CONTMANU
015439,000103: 22,3066 34753 CAF ONE
015440,000104: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015441,000105: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015442,000106: 22,3071 E6,1707 EBANK= TTEMP
015443,000107: 22,3071 03213 44066 2CADR MANUSTOP
015444,000108:
015445,000109: 22,3073 00003 RELINT
015446,000110: 22,3074 15155 TCF ENDOFJOB
015447,000111:
015448,000112: 22,3075 00006 TIMECHK EXTEND
015449,000113: 22,3076 40025 DCS TIME2
015450,000114: 22,3077 53710 DXCH TTEMP
015451,000115: 22,3100 00006 EXTEND
015452,000116: 22,3101 31734 DCA TM
015453,000117: 22,3102 21710 DAS TTEMP
015454,000118: 22,3103 11707 CCS TTEMP
015455,000119: 22,3104 00002 TC Q
015456,000120: 22,3105 13107 TCF +2
015457,000121: 22,3106 13117 TCF 2NDRETRN
015458,000122: 22,3107 11710 CCS TTEMP +1
015459,000123: 22,3110 00002 TC Q
015460,000124: 22,3111 13113 TCF MANUOFF
015461,000125: 22,3112 40000 COM
015462,000126: 22,3113 63166 MANUOFF AD ONESEK +1
015463,000127: 22,3114 00006 EXTEND
015464,000128: 22,3115 63117 BZMF 2NDRETRN
015465,000129: 22,3116 24002 INCR Q
015466,000130: 22,3117 24002 2NDRETRN INCR Q
015467,000131: 22,3120 00002 TC Q
015468,000132:
015469,000133: 22,3121 03146 DT/TAU DEC .1
015470,000134:
015471,000135: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015472,000136: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015473,000137: 22,3124 30025 DCA TIME2
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Page 367 |
015475,000139: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015476,000140: 22,3126 00006 EXTEND
015477,000141: 22,3127 43166 DCS ONESEK
015478,000142: 22,3130 21734 DAS TM # (TM+T0)-1
015479,000143: 22,3131 00004 INHINT
015480,000144: 22,3132 34752 CAF TWO
015481,000145: 22,3133 55701 RATEBIAS TS KSPNDX
015482,000146: 22,3134 60000 DOUBLE
015483,000147: 22,3135 55702 TS KDPNDX
015484,000148: 22,3136 50000 INDEX A
015485,000149: 22,3137 31725 CA BRATE
015486,000150: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015487,000151: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015488,000152: 22,3142 00006 EXTEND
015489,000153: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015490,000154: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015491,000155: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015492,000156: 22,3146 73167 MP BIASCALE # = -1/16
015493,000157: 22,3147 00006 EXTEND
015494,000158: 22,3150 51702 INDEX KDPNDX
015495,000159: 22,3151 71725 MP BRATE
015496,000160: 22,3152 00006 EXTEND
015497,000161: 22,3153 51701 INDEX KSPNDX
015498,000162: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015499,000163: 22,3155 51701 INDEX KSPNDX
015500,000164: 22,3156 55277 TS DELPEROR # $ 180 DEG
015501,000165: 22,3157 11701 CCS KSPNDX
015502,000166: 22,3160 13133 TCF RATEBIAS
015503,000167:
015504,000168: 22,3161 30025 CA TIME1
015505,000169: 22,3162 63166 AD ONESEK +1
015506,000170: 22,3163 57706 XCH NEXTIME
015507,000171: 22,3164 13034 TCF INCRDCDU -1
015508,000172:
015509,000173: 22,3165 00000 ONESEK DEC 0 B-14
015510,000174: 22,3166 00144 DEC 100 B-14
015511,000175:
015512,000176: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015513,000177:
015514,000178: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015515,000179: 22,3171 61706 AD NEXTIME
015516,000180: 22,3172 10000 CCS A
015517,000181: 22,3173 64753 AD ONE
015518,000182: 22,3174 13177 TCF MANUCALL
015519,000183: 22,3175 64735 AD NEGMAX
015520,000184: 22,3176 40000 COM
015521,000185: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015522,000186: 22,3200 05203 TC WAITLIST
015523,000187: 22,3201 E6,1707 EBANK= TTEMP
015524,000188: 22,3201 03206 44066 2CADR UPDTCALL
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Page 368 |
015526,000190: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015527,000191: 22,3204 27706 ADS NEXTIME
015528,000192: 22,3205 15155 TCF ENDOFJOB
015529,000193:
015530,000194: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015531,000195: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015532,000196: 22,3210 E6,1707 EBANK= TTEMP
015533,000197: 22,3210 03003 44066 2CADR NEWDELHI
015534,000198:
015535,000199: 22,3212 05261 TC TASKOVER
015536,000200:
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Page 369 |
015538,000202: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015539,000203:
015540,000204: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015541,000205: 22,3214 55642 TS DELDCDU2
015542,000206: 22,3215 55645 TS OMEGARD
015543,000207: 22,3216 55301 TS DELREROR
015544,000208: 22,3217 55641 TS DELDCDU1
015545,000209: 22,3220 55644 TS OMEGAQD
015546,000210: 22,3221 55300 TS DELQEROR
015547,000211: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015548,000212: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015549,000213: 22,3224 30322 CA CTHETA
015550,000214: 22,3225 55636 TS CDUYD
015551,000215: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015552,000216: 22,3227 55635 TS CDUXD
015553,000217: 22,3230 34755 CAF ZERO
015554,000218: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015555,000219: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015556,000220: 22,3233 55277 TS DELPEROR
015557,000221: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015558,000222: 22,3235 54063 TS NEWPRIO
015559,000223:
015560,000224: 22,3236 34755 CA ZERO # ZERO ATTCADR
015561,000225: 22,3237 53310 DXCH ATTCADR
015562,000226:
015563,000227: 22,3240 05116 TC SPVAC # RETURN TO USER
015564,000228:
015565,000229: 22,3241 05261 TC TASKOVER
015566,000230:
015567,000231:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc