Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note 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 derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
015332,000002: ## Copyright: Public domain.
015333,000003: ## Filename: KALCMANU_STEERING.agc
015334,000004: ## Purpose: A section of Luminary revision 116.
015335,000005: ## It is part of the source code for the Lunar Module's (LM)
015336,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
015337,000007: ## This file is intended to be a faithful transcription, except
015338,000008: ## that the code format has been changed to conform to the
015339,000009: ## requirements of the yaYUL assembler rather than the
015340,000010: ## original YUL assembler.
015341,000011: ## Reference: pp. 366-370
015342,000012: ## Assembler: yaYUL
015343,000013: ## Contact: Ron Burkey <info@sandroid.org>.
015344,000014: ## Website: www.ibiblio.org/apollo/index.html
015345,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
015346,000016: ## 2017-03-07 RSB Transcribed, and then proofed comment-text using
015347,000017: ## 3-way diff vs Luminary 99 and Luminary 131.
015348,000018: ## (Admittedly, the former is more for detecting errors
015349,000019: ## in Luminary 99 than the other way around.)
015350,000020: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
015351,000021: ## Luminary 99 vs Comanche 55.
015352,000022:
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Page 366 |
015354,000024: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015355,000025:
015356,000026: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015357,000027:
015358,000028: 22,3003 E6,1707 EBANK= TTEMP
015359,000029:
015360,000030: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015361,000031: 22,3004 54266 CADR ISITAUTO # ONLY
015362,000032: 22,3005 10000 CCS A
015363,000033: 22,3006 12730 TCF NOGO -2
015364,000034: 22,3007 06042 NEWANGL TC INTPRET
015365,000035: 22,3010 75160 AXC,1 AXC,2
015366,000036: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015367,000037: 22,3012 02230 KEL # STABLE MEMBER AXES
015368,000038: 22,3013 77624 CALL
015369,000039: 22,3014 44312 MXM3
015370,000040: 22,3015 45575 VLOAD STADR
015371,000041: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015372,000042: 22,3017 77626 STADR
015373,000043: 22,3020 50522 STOVL MIS +6D
015374,000044: 22,3021 77626 STADR
015375,000045: 22,3022 74530 STORE MIS
015376,000046: 22,3023 45160 AXC,1 CALL
015377,000047: 22,3024 03246 MIS
015378,000048: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015379,000049: 22,3026 77634 RTB
015380,000050: 22,3027 21621 V1STO2S
015381,000051: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015382,000052: 22,3031 77414 BONCLR EXIT
015383,000053: 22,3032 01215 CALCMAN2
015384,000054: 22,3033 45122 MANUSTAT # TO START MANEUVER
015385,000055: 22,3034 34752 CAF TWO # +0 OTHERWISE
015386,000056: 22,3035 55261 INCRDCDU TS SPNDX
015387,000057: 22,3036 51261 INDEX SPNDX
015388,000058: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015389,000059: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015390,000060: 22,3041 51261 INDEX SPNDX
015391,000061: 22,3042 21703 MSU NCDU
015392,000062: 22,3043 00006 EXTEND
015393,000063: 22,2000 SETLOC KALCMON1
015394,000064: 22,2000 BANK
015395,000065:
015396,000066: 22,3044 73121 MP DT/TAU
015397,000067: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015398,000068: 22,3046 64753 AD ONE
015399,000069: 22,3047 13051 TCF +2
015400,000070: 22,3050 40000 COM
015401,000071: 22,3051 51261 INDEX SPNDX
015402,000072: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015403,000073: 22,3053 51261 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 367 |
015405,000075: 22,3054 31703 CA NCDU # BY LEM DAP
015406,000076: 22,3055 51261 INDEX SPNDX
015407,000077: 22,3056 57676 XCH BCDU
015408,000078: 22,3057 51261 INDEX SPNDX
015409,000079: 22,3060 55635 TS CDUXD
015410,000080: 22,3061 11261 CCS SPNDX
015411,000081: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015412,000082:
015413,000083: 22,3063 00003 RELINT
015414,000084:
015415,000085: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015416,000086:
015417,000087: 22,3064 03075 TMANUCHK TC TIMECHK
015418,000088: 22,3065 13170 TCF CONTMANU
015419,000089: 22,3066 34753 CAF ONE
015420,000090: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015421,000091: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015422,000092: 22,3071 E6,1707 EBANK= TTEMP
015423,000093: 22,3071 03213 44066 2CADR MANUSTOP
015424,000094:
015425,000095: 22,3073 00003 RELINT
015426,000096: 22,3074 15155 TCF ENDOFJOB
015427,000097:
015428,000098: 22,3075 00006 TIMECHK EXTEND
015429,000099: 22,3076 40025 DCS TIME2
015430,000100: 22,3077 53710 DXCH TTEMP
015431,000101: 22,3100 00006 EXTEND
015432,000102: 22,3101 31734 DCA TM
015433,000103: 22,3102 21710 DAS TTEMP
015434,000104: 22,3103 11707 CCS TTEMP
015435,000105: 22,3104 00002 TC Q
015436,000106: 22,3105 13107 TCF +2
015437,000107: 22,3106 13117 TCF 2NDRETRN
015438,000108: 22,3107 11710 CCS TTEMP +1
015439,000109: 22,3110 00002 TC Q
015440,000110: 22,3111 13113 TCF MANUOFF
015441,000111: 22,3112 40000 COM
015442,000112: 22,3113 63166 MANUOFF AD ONESEK +1
015443,000113: 22,3114 00006 EXTEND
015444,000114: 22,3115 63117 BZMF 2NDRETRN
015445,000115: 22,3116 24002 INCR Q
015446,000116: 22,3117 24002 2NDRETRN INCR Q
015447,000117: 22,3120 00002 TC Q
015448,000118:
015449,000119: 22,3121 03146 DT/TAU DEC .1
015450,000120:
015451,000121: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015452,000122: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015453,000123: 22,3124 30025 DCA TIME2
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Page 368 |
015455,000125: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015456,000126: 22,3126 00006 EXTEND
015457,000127: 22,3127 43166 DCS ONESEK
015458,000128: 22,3130 21734 DAS TM # (TM+T0)-1
015459,000129: 22,3131 00004 INHINT
015460,000130: 22,3132 34752 CAF TWO
015461,000131: 22,3133 55701 RATEBIAS TS KSPNDX
015462,000132: 22,3134 60000 DOUBLE
015463,000133: 22,3135 55702 TS KDPNDX
015464,000134: 22,3136 50000 INDEX A
015465,000135: 22,3137 31725 CA BRATE
015466,000136: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015467,000137: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015468,000138: 22,3142 00006 EXTEND
015469,000139: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015470,000140: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015471,000141: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015472,000142: 22,3146 73167 MP BIASCALE # = -1/16
015473,000143: 22,3147 00006 EXTEND
015474,000144: 22,3150 51702 INDEX KDPNDX
015475,000145: 22,3151 71725 MP BRATE
015476,000146: 22,3152 00006 EXTEND
015477,000147: 22,3153 51701 INDEX KSPNDX
015478,000148: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015479,000149: 22,3155 51701 INDEX KSPNDX
015480,000150: 22,3156 55274 TS DELPEROR # $ 180 DEG
015481,000151: 22,3157 11701 CCS KSPNDX
015482,000152: 22,3160 13133 TCF RATEBIAS
015483,000153:
015484,000154: 22,3161 30025 CA TIME1
015485,000155: 22,3162 63166 AD ONESEK +1
015486,000156: 22,3163 57706 XCH NEXTIME
015487,000157: 22,3164 13034 TCF INCRDCDU -1
015488,000158:
015489,000159: 22,3165 00000 ONESEK DEC 0 B-14
015490,000160: 22,3166 00144 DEC 100 B-14
015491,000161:
015492,000162: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015493,000163:
015494,000164: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015495,000165: 22,3171 61706 AD NEXTIME
015496,000166: 22,3172 10000 CCS A
015497,000167: 22,3173 64753 AD ONE
015498,000168: 22,3174 13177 TCF MANUCALL
015499,000169: 22,3175 64735 AD NEGMAX
015500,000170: 22,3176 40000 COM
015501,000171: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015502,000172: 22,3200 05203 TC WAITLIST
015503,000173: 22,3201 E6,1707 EBANK= TTEMP
015504,000174: 22,3201 03206 44066 2CADR UPDTCALL
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Page 369 |
015506,000176: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015507,000177: 22,3204 27706 ADS NEXTIME
015508,000178: 22,3205 15155 TCF ENDOFJOB
015509,000179:
015510,000180: 22,3206 37717 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015511,000181: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015512,000182: 22,3210 E6,1707 EBANK= TTEMP
015513,000183: 22,3210 03003 44066 2CADR NEWDELHI
015514,000184:
015515,000185: 22,3212 05261 TC TASKOVER
015516,000186:
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Page 370 |
015518,000188: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015519,000189:
015520,000190: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015521,000191: 22,3214 55642 TS DELDCDU2
015522,000192: 22,3215 55645 TS OMEGARD
015523,000193: 22,3216 55276 TS DELREROR
015524,000194: 22,3217 55641 TS DELDCDU1
015525,000195: 22,3220 55644 TS OMEGAQD
015526,000196: 22,3221 55275 TS DELQEROR
015527,000197: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015528,000198: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015529,000199: 22,3224 30322 CA CTHETA
015530,000200: 22,3225 55636 TS CDUYD
015531,000201: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015532,000202: 22,3227 55635 TS CDUXD
015533,000203: 22,3230 34755 CAF ZERO
015534,000204: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015535,000205: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015536,000206: 22,3233 55274 TS DELPEROR
015537,000207: 22,3234 31306 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015538,000208: 22,3235 54063 TS NEWPRIO
015539,000209:
015540,000210: 22,3236 34755 CA ZERO # ZERO ATTCADR
015541,000211: 22,3237 53305 DXCH ATTCADR
015542,000212:
015543,000213: 22,3240 05116 TC SPVAC # RETURN TO USER
015544,000214:
015545,000215: 22,3241 05261 TC TASKOVER
015546,000216:
015547,000217:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc