Source Code

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. 11,1969
Note that the date is the date of the printout, not the date of the program revision.

015328,000002:                                                                                                  ## Copyright:   Public domain.
015329,000003:                                                                                                  ## Filename:    KALCMANU_STEERING.agc
015330,000004:                                                                                                  ## Purpose:     A section of Luminary revision 116.
015331,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM) 
015332,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 12.
015333,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
015334,000008:                                                                                                  ##              that the code format has been changed to conform to the
015335,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
015336,000010:                                                                                                  ##              original YUL assembler.
015337,000011:                                                                                                  ## Reference:   pp. 366-370
015338,000012:                                                                                                  ## Assembler:   yaYUL
015339,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
015340,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
015341,000015:                                                                                                  ## Mod history: 2017-01-22 MAS  Created from Luminary 99.
015342,000016:                                                                                                  ##              2017-03-07 RSB  Transcribed, and then proofed comment-text using
015343,000017:                                                                                                  ##                              3-way diff vs Luminary 99 and Luminary 131.
015344,000018:                                                                                                  ##                              (Admittedly, the former is more for detecting errors
015345,000019:                                                                                                  ##                              in Luminary 99 than the other way around.)
015346,000020:                                                                                                  ##              2017-03-17 RSB  Comment-text fixes identified in diff'ing
015347,000021:                                                                                                  ##                              Luminary 99 vs Comanche 55.
015348,000022: 

Page 366

015350,000024:                                                                                                  #  GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015351,000025: 
015352,000026:                                                                                                  #  NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015353,000027: 
015354,000028: 22,3003  E6,1707                                  EBANK=   TTEMP                                 
015355,000029: 
015356,000030: 22,3003           04616        NEWDELHI           TC       BANKCALL                              #  CHECK FOR AUTO STABILIZATION
015357,000031: 22,3004           54266                           CADR     ISITAUTO                              #  ONLY
015358,000032: 22,3005           10000                           CCS      A                                     
015359,000033: 22,3006           12730                           TCF      NOGO       -2                         
015360,000034: 22,3007           06042        NEWANGL            TC       INTPRET                               
015361,000035: 22,3010           75160                           AXC,1    AXC,2                                 
015362,000036: 22,3011           03246                                    MIS                                   #  COMPUTE THE NEW MATRIX FROM S/C TO
015363,000037: 22,3012           02230                                    KEL                                   #  STABLE MEMBER AXES
015364,000038: 22,3013           77624                           CALL                                           
015365,000039: 22,3014           44312                                    MXM3                                  
015366,000040: 22,3015           45575                           VLOAD    STADR                                 
015367,000041: 22,3016           50514                           STOVL    MIS        +12D                       #  CALCULATE NEW DESIRED CDU ANGLES
015368,000042: 22,3017           77626                           STADR                                          
015369,000043: 22,3020           50522                           STOVL    MIS        +6D                        
015370,000044: 22,3021           77626                           STADR                                          
015371,000045: 22,3022           74530                           STORE    MIS                                   
015372,000046: 22,3023           45160                           AXC,1    CALL                                  
015373,000047: 22,3024           03246                                    MIS                                   
015374,000048: 22,3025           44654                                    DCMTOCDU                              #  PICK UP THE NEW CDU ANGLES FROM MATRIX
015375,000049: 22,3026           77634                           RTB                                            
015376,000050: 22,3027           21621                                    V1STO2S                               
015377,000051: 22,3030           03304                           STORE    NCDU                                  #  NEW CDU ANGLES
015378,000052: 22,3031           77414                           BONCLR   EXIT                                  
015379,000053: 22,3032           01215                                    CALCMAN2                              
015380,000054: 22,3033           45122                                    MANUSTAT                              #  TO START MANEUVER
015381,000055: 22,3034           34752                           CAF      TWO                                   #           +0 OTHERWISE
015382,000056: 22,3035           55261        INCRDCDU           TS       SPNDX                                 
015383,000057: 22,3036           51261                           INDEX    SPNDX                                 
015384,000058: 22,3037           31676                           CA       BCDU                                  #  INITIAL CDU ANGLES
015385,000059: 22,3040           00006                           EXTEND                                         #  OR PREVIOUS DESIRED CDU ANGLES
015386,000060: 22,3041           51261                           INDEX    SPNDX                                 
015387,000061: 22,3042           21703                           MSU      NCDU                                  
015388,000062: 22,3043           00006                           EXTEND                                         
015389,000063: 22,2000                                           SETLOC   KALCMON1                              
015390,000064: 22,2000                                           BANK                                           
015391,000065: 
015392,000066: 22,3044           73121                           MP       DT/TAU                                
015393,000067: 22,3045           10000                           CCS      A                                     #  CONVERT TO 2S COMPLEMENT
015394,000068: 22,3046           64753                           AD       ONE                                   
015395,000069: 22,3047           13051                           TCF      +2                                    
015396,000070: 22,3050           40000                           COM                                            
015397,000071: 22,3051           51261                           INDEX    SPNDX                                 
015398,000072: 22,3052           55640                           TS       DELDCDU                               #  ANGLE INCREMENTS TO BE ADDED TO
015399,000073: 22,3053           51261                           INDEX    SPNDX                                 #  CDUXD, CDUYD, CDUZD EVERY TENTH SECOND

Page 367

015401,000075: 22,3054           31703                           CA       NCDU                                  #  BY LEM DAP
015402,000076: 22,3055           51261                           INDEX    SPNDX                                 
015403,000077: 22,3056           57676                           XCH      BCDU                                  
015404,000078: 22,3057           51261                           INDEX    SPNDX                                 
015405,000079: 22,3060           55635                           TS       CDUXD                                 
015406,000080: 22,3061           11261                           CCS      SPNDX                                 
015407,000081: 22,3062           13035                           TCF      INCRDCDU                              #  LOOP FOR THREE AXES
015408,000082: 
015409,000083: 22,3063           00003                           RELINT                                         
015410,000084: 
015411,000085:                                                                                                  #  COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015412,000086: 
015413,000087: 22,3064           03075        TMANUCHK           TC       TIMECHK                               
015414,000088: 22,3065           13170                           TCF      CONTMANU                              
015415,000089: 22,3066           34753                           CAF      ONE                                   
015416,000090: 22,3067           00004        MANUSTAL           INHINT                                         #  END MAJOR PART OF MANEUVER WITHIN 1 SEC
015417,000091: 22,3070           05203                           TC       WAITLIST                              #  UNDER WAITLIST CALL TO MANUSTOP
015418,000092: 22,3071  E6,1707                                  EBANK=   TTEMP                                 
015419,000093: 22,3071           03213 44066                     2CADR    MANUSTOP                              
015420,000094: 
015421,000095: 22,3073           00003                           RELINT                                         
015422,000096: 22,3074           15155                           TCF      ENDOFJOB                              
015423,000097: 
015424,000098: 22,3075           00006        TIMECHK            EXTEND                                         
015425,000099: 22,3076           40025                           DCS      TIME2                                 
015426,000100: 22,3077           53710                           DXCH     TTEMP                                 
015427,000101: 22,3100           00006                           EXTEND                                         
015428,000102: 22,3101           31734                           DCA      TM                                    
015429,000103: 22,3102           21710                           DAS      TTEMP                                 
015430,000104: 22,3103           11707                           CCS      TTEMP                                 
015431,000105: 22,3104           00002                           TC       Q                                     
015432,000106: 22,3105           13107                           TCF      +2                                    
015433,000107: 22,3106           13117                           TCF      2NDRETRN                              
015434,000108: 22,3107           11710                           CCS      TTEMP      +1                         
015435,000109: 22,3110           00002                           TC       Q                                     
015436,000110: 22,3111           13113                           TCF      MANUOFF                               
015437,000111: 22,3112           40000                           COM                                            
015438,000112: 22,3113           63166        MANUOFF            AD       ONESEK     +1                         
015439,000113: 22,3114           00006                           EXTEND                                         
015440,000114: 22,3115           63117                           BZMF     2NDRETRN                              
015441,000115: 22,3116           24002                           INCR     Q                                     
015442,000116: 22,3117           24002        2NDRETRN           INCR     Q                                     
015443,000117: 22,3120           00002                           TC       Q                                     
015444,000118: 
015445,000119: 22,3121           03146        DT/TAU             DEC      .1                                    
015446,000120: 
015447,000121: 22,3122           77776        MANUSTAT           EXIT                                           #  INITIALIZATION ROUTINE
015448,000122: 22,3123           00006                           EXTEND                                         #  FOR AUTOMATIC MANEUVERS
015449,000123: 22,3124           30025                           DCA      TIME2                                 

Page 368

015451,000125: 22,3125           21734                           DAS      TM                                    #  TM+T0         MANEUVER COMPLETION TIME
015452,000126: 22,3126           00006                           EXTEND                                         
015453,000127: 22,3127           43166                           DCS      ONESEK                                
015454,000128: 22,3130           21734                           DAS      TM                                    #  (TM+T0)-1
015455,000129: 22,3131           00004                           INHINT                                         
015456,000130: 22,3132           34752                           CAF      TWO                                   
015457,000131: 22,3133           55701        RATEBIAS           TS       KSPNDX                                
015458,000132: 22,3134           60000                           DOUBLE                                         
015459,000133: 22,3135           55702                           TS       KDPNDX                                
015460,000134: 22,3136           50000                           INDEX    A                                     
015461,000135: 22,3137           31725                           CA       BRATE                                 
015462,000136: 22,3140           51701                           INDEX    KSPNDX                                #  STORE MANEUVER RATE IN
015463,000137: 22,3141           55643                           TS       OMEGAPD                               #  OMEGAPD, OMEGAQD, OMEGARD
015464,000138: 22,3142           00006                           EXTEND                                         
015465,000139: 22,3143           63145                           BZMF     +2                                    #  COMPUTE ATTITUDE ERROR
015466,000140: 22,3144           40000                           COM                                            #  OFFSET = (WX)ABS(WX)/2AJX
015467,000141: 22,3145           00006                           EXTEND                                         #  WHERE AJX= 2-JET ACCELERATION
015468,000142: 22,3146           73167                           MP       BIASCALE                              #  = -1/16
015469,000143: 22,3147           00006                           EXTEND                                         
015470,000144: 22,3150           51702                           INDEX    KDPNDX                                
015471,000145: 22,3151           71725                           MP       BRATE                                 
015472,000146: 22,3152           00006                           EXTEND                                         
015473,000147: 22,3153           51701                           INDEX    KSPNDX                                
015474,000148: 22,3154           11530                           DV       1JACC                                 #  = AJX         $ 90 DEG/SEC-SEC
015475,000149: 22,3155           51701                           INDEX    KSPNDX                                
015476,000150: 22,3156           55274                           TS       DELPEROR                              #                $ 180 DEG
015477,000151: 22,3157           11701                           CCS      KSPNDX                                
015478,000152: 22,3160           13133                           TCF      RATEBIAS                              
015479,000153: 
015480,000154: 22,3161           30025                           CA       TIME1                                 
015481,000155: 22,3162           63166                           AD       ONESEK     +1                         
015482,000156: 22,3163           57706                           XCH      NEXTIME                               
015483,000157: 22,3164           13034                           TCF      INCRDCDU   -1                         
015484,000158: 
015485,000159: 22,3165           00000        ONESEK             DEC      0          B-14                       
015486,000160: 22,3166           00144                           DEC      100        B-14                       
015487,000161: 
015488,000162: 22,3167           75777        BIASCALE           OCT      75777                                 #  = -1/16
015489,000163: 
015490,000164: 22,3170           40025        CONTMANU           CS       TIME1                                 #  RESET FOR NEXT DCDU UPDATE
015491,000165: 22,3171           61706                           AD       NEXTIME                               
015492,000166: 22,3172           10000                           CCS      A                                     
015493,000167: 22,3173           64753                           AD       ONE                                   
015494,000168: 22,3174           13177                           TCF      MANUCALL                              
015495,000169: 22,3175           64735                           AD       NEGMAX                                
015496,000170: 22,3176           40000                           COM                                            
015497,000171: 22,3177           00004        MANUCALL           INHINT                                         #  CALL FOR NEXT UPDATE VIA WAITLIST
015498,000172: 22,3200           05203                           TC       WAITLIST                              
015499,000173: 22,3201  E6,1707                                  EBANK=   TTEMP                                 
015500,000174: 22,3201           03206 44066                     2CADR    UPDTCALL                              

Page 369

015502,000176: 22,3203           33166                           CAF      ONESEK     +1                         #  INCREMENT TIME FOR NEXT UPDATE
015503,000177: 22,3204           27706                           ADS      NEXTIME                               
015504,000178: 22,3205           15155                           TCF      ENDOFJOB                              
015505,000179: 
015506,000180: 22,3206           37717        UPDTCALL           CAF      PRIO26                                #  SATELLITE PROGRAM TO CALL FOR UPDATE
015507,000181: 22,3207           05105                           TC       FINDVAC                               #  OF STEERING COMMANDS
015508,000182: 22,3210  E6,1707                                  EBANK=   TTEMP                                 
015509,000183: 22,3210           03003 44066                     2CADR    NEWDELHI                              
015510,000184: 
015511,000185: 22,3212           05261                           TC       TASKOVER                              
015512,000186: 

Page 370

015514,000188:                                                                                                  #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015515,000189: 
015516,000190: 22,3213           34755        MANUSTOP           CAF      ZERO                                  #  ZERO MANEUVER RATES
015517,000191: 22,3214           55642                           TS       DELDCDU2                              
015518,000192: 22,3215           55645                           TS       OMEGARD                               
015519,000193: 22,3216           55276                           TS       DELREROR                              
015520,000194: 22,3217           55641                           TS       DELDCDU1                              
015521,000195: 22,3220           55644                           TS       OMEGAQD                               
015522,000196: 22,3221           55275                           TS       DELQEROR                              
015523,000197: 22,3222           30323                           CA       CPSI                                  #  SET DESIRED GIMBAL ANGLES TO
015524,000198: 22,3223           55637                           TS       CDUZD                                 #  DESIRED FINAL GIMBAL ANGLES
015525,000199: 22,3224           30322                           CA       CTHETA                                
015526,000200: 22,3225           55636                           TS       CDUYD                                 
015527,000201: 22,3226           30321        ENDROLL            CA       CPHI                                  #  NO FINAL YAW
015528,000202: 22,3227           55635                           TS       CDUXD                                 
015529,000203: 22,3230           34755                           CAF      ZERO                                  
015530,000204: 22,3231           55643                           TS       OMEGAPD                               #  I.E. MANEUVER DID NOT GO THRU
015531,000205: 22,3232           55640                           TS       DELDCDU                               #  GIMBAL LOCK ORIGINALLY
015532,000206: 22,3233           55274                           TS       DELPEROR                              
015533,000207: 22,3234           31306        GOODMANU           CA       ATTPRIO                               #  RESTORE USERS PRIO
015534,000208: 22,3235           54063                           TS       NEWPRIO                               
015535,000209: 
015536,000210: 22,3236           34755                           CA       ZERO                                  #  ZERO ATTCADR
015537,000211: 22,3237           53305                           DXCH     ATTCADR                               
015538,000212: 
015539,000213: 22,3240           05116                           TC       SPVAC                                 #  RETURN TO USER
015540,000214: 
015541,000215: 22,3241           05261                           TC       TASKOVER                              
015542,000216: 
015543,000217: 

End of include-file KALCMANU_STEERING.agc.  Parent file is MAIN.agc