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. |
064274,000002: ## Copyright: Public domain.
064275,000003: ## Filename: SPS_BACK-UP_RCS_CONTROL.agc
064276,000004: ## Purpose: A section of Luminary revision 116.
064277,000005: ## It is part of the source code for the Lunar Module's (LM)
064278,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
064279,000007: ## This file is intended to be a faithful transcription, except
064280,000008: ## that the code format has been changed to conform to the
064281,000009: ## requirements of the yaYUL assembler rather than the
064282,000010: ## original YUL assembler.
064283,000011: ## Reference: pp. 1497-1500
064284,000012: ## Assembler: yaYUL
064285,000013: ## Contact: Ron Burkey <info@sandroid.org>.
064286,000014: ## Website: www.ibiblio.org/apollo/index.html
064287,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
064288,000016: ## 2017-01-23 RRB Updated for Luminary 116.
064289,000017: ## 2017-03-14 RSB Proofed comment text via 3-way diff vs
064290,000018: ## Luminary 99 and 131.
064291,000019:
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Page 1497 |
064293,000021: # PROGRAM NAME: SPSRCS
064294,000022:
064295,000023: # AUTHOR: EDGAR M. OSHIKA (AC ELECTRONICS)
064296,000024:
064297,000025: # MODIFIED: TO RETURN TO ALL AXES VIA Q BY P.S.WEISSMAN, OCT 7, 1968
064298,000026:
064299,000027: # MODIFIED TO IMPROVE BENDING STABILITY BY G. KALAN,FEB.14, 1969
064300,000028: # FUNCTIONAL DESCRIPTION:
064301,000029:
064302,000030: # THIS PROGRAM CONTROLS THE FIRING OF ALL RCS JETS IN THE DOCKED CONFIGURATION ACCORDING TO THE FOLLOWING PHASE
064303,000031: # PLANE LOGIC.
064304,000032:
064305,000033: # 1. JET SENSE TEST (SPSRCS)
064306,000034:
064307,000035: # IF JETS ARE FIRING NEGATIVELY,SET OLDSENSE NEGATIVE AND CONTINUE
064308,000036: # IF JETS ARE FIRING POSITIVELY,SET OLDSENSE POSITIVE AND CONTINUE
064309,000037: # IF JETS ARE NOT FIRING,SET OLDSENSE TO ZERO AND GO TO OUTER RATE LIMIT TEST
064310,000038:
064311,000039: # 2. RATE DEAD BAND TEST
064312,000040:
064313,000041: # IF JETS ARE FIRING NEGATIVELY AND RATE IS GREATER THAN TARGET RATE, LEAVE
064314,000042: # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
064315,000043: # IF JETS ARE FIRING POSITIVELY AND RATE IS LESS THAN TARGET RATE, LEAVE
064316,000044: # JETS ON AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
064317,000045:
064318,000046: # 3. OUTER RATE LIMIT TEST (SPSSTART)
064319,000047:
064320,000048: # IF MAGNITUDE OF EDOT IS GREATER THAN 1.73 DEG/SEC SET JET FIRING TIME
064321,000049: # TO REDUCE RATE AND GO TO INHIBITION LOGIC. OTHERWISE, CONTINUE.
064322,000050:
064323,000051: # 4. COAST ZONE TEST
064324,000052:
064325,000053: # IF STATE (E,EDOT) IS BELOW LINE E + 4 X EDOT > -1.4 DEG AND EDOT IS LESS THAN 1.30 DEG/SEC SET JET TIME POSI-
064326,000054: # TIVE AND CONTINUE. OTHERWISE,SET JET FIRING TIME TO ZERO AND CONTINUE.
064327,000055: # IF STATE IS ABOVE LINE E + 4 X EDOT > +1.4 DEG AND EDOT IS GREATER THAN -1.30 DEG/SEC, SET JET TIME NEGATIVE
064328,000056: # AND CONTINUE. OTHERWISE,SET JET FIRING TIME TO ZERO AND CONTINUE.
064329,000057:
064330,000058: # 5. INHIBITION LOGIC
064331,000059:
064332,000060: # IF OLDSENSE IS NON-ZERO:
064333,000061:
064334,000062: # A) RETURN IF JET TIME HAS SAME SIGN AS OLDSENSE
064335,000063: # B) SET INHIBITION COUNTER*AND RETURN IF JET TIME IS ZERO
064336,000064: # C) SET INHIBITION COUNTER,*SET JET TIME TO ZERO AND RETURN IF SIGN
064337,000065: # OF JET TIME IS OPPOSITE TO THAT OF OLDSENSE
064338,000066:
064339,000067: # IF OLDSENSE IS ZERO:
064340,000068: # A) RETURN IF INHIBITION COUNTER IS NOT POSITIVE
064341,000069: # B) SET JET TIME TO ZERO AND RETURN IF INHIBITION COUNTER IS POSITIVE
064342,000070: # *NOTE: INHIBITION COUNTERS CAN BE SET TO 4 OR 10 FOR THE P, AND UV AXES,
064343,000071: # RESPECTIVELY, IN SPSRCS. THEY ARE DECREMENTED BY ONE AT THE BEGINNING OF
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Page 1498 |
064345,000073: # EACH DAP PASS.
064346,000074:
064347,000075: # THE MINIMUM PULSE WIDTH OF THIS CONTROLLER IS DETERMINED BY THE REPETITION RATE AT WHICH THIS ROUTINE IS CALLED
064348,000076: # AND IS NOMINALLY 100 MS FOR ALL AXES IN DRIFTING FLIGHT. DURING POWERED FLIGHT THE MINIMUM IS 100 MS FOR THE
064349,000077: # P AXIS AND 200 MS FOR THE CONTROL OF THE U AND V AXES.
064350,000078:
064351,000079: # CALLING SEQUENCE:
064352,000080:
064353,000081: # INHINT
064354,000082: # TC IBNKCALL
064355,000083: # CADR SPSRCS
064356,000084:
064357,000085: # EXIT:
064358,000086:
064359,000087: # TC Q
064360,000088: # ALARM/ABORT MODE: NONE
064361,000089:
064362,000090: # SUBROUTINES CALLED: NONE
064363,000091:
064364,000092: # INPUT: E,EDOT
064365,000093: # TJP, TJV, TJU TJ MUST NOT BE NEGATIVE ZERO
064366,000094:
064367,000095: # OUTPUT: TJP, TJV, TJU
064368,000096:
064369,000097: 21,3647 BANK 21
064370,000098: 21,2000 SETLOC DAPS4
064371,000099: 21,2000 BANK
064372,000100:
064373,000101: 21,3647 COUNT* $$/DAPBU
064374,000102:
064375,000103: 21,3647 E6,1525 EBANK= TJU
064376,000104: 21,3647 00632 RATELIM2 OCT 00632 # 1.125 DEG/SEC
064377,000105: 21,3650 34736 POSTHRST CA HALF
064378,000106:
064379,000107: 21,3651 51505 NDX AXISCTR
064380,000108: 21,3652 55525 TS TJU
064381,000109: 21,3653 11745 CCS OLDSENSE
064382,000110: 21,3654 13674 TCF POSCHECK # JETS FIRING POSITIVELY
064383,000111: 21,3655 13677 TCF CTRCHECK # JETS OFF. CHECK INHIBITION CTR
064384,000112: 21,3656 51505 NEGCHECK INDEX AXISCTR # JETS FIRING NEGATIVELY
064385,000113: 21,3657 41525 CS TJU
064386,000114: 21,3660 10000 CCS A
064387,000115: 21,3661 00002 TC Q # RETURN
064388,000116: 21,3662 13664 TCF +2
064389,000117: 21,3663 13664 TCF +1 # JETS COMMANDED OFF.SET CTR AND RETURN
064390,000118: 21,3664 51505 SETCTR INDEX AXISCTR # JET FIRING REVERSAL COMMANDED. SET CTR,
064391,000119: 21,3665 33706 CA UTIME # SET JET TIME TO ZERO, AND RETURN
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Page 1499 |
064393,000121: 21,3666 51505 INDEX AXISCTR
064394,000122: 21,3667 55770 TS UJETCTR
064395,000123: 21,3670 34755 ZAPTJ CA ZERO
064396,000124: 21,3671 51505 INDEX AXISCTR
064397,000125: 21,3672 55525 TS TJU
064398,000126: 21,3673 00002 TC Q
064399,000127: 21,3674 51505 POSCHECK INDEX AXISCTR
064400,000128: 21,3675 31525 CA TJU
064401,000129: 21,3676 13660 TCF NEGCHECK +2
064402,000130: 21,3677 51505 CTRCHECK INDEX AXISCTR # CHECK JET INHIBITION COUNTER
064403,000131: 21,3700 11770 CCS UJETCTR
064404,000132: 21,3701 13703 TCF +2
064405,000133: 21,3702 00002 TC Q # CTR IS NOT POSITIVE. RETURN
064406,000134: 21,3703 13670 TCF ZAPTJ # CTR IS POSITIVE.INHIBIT FIRINGS
064407,000135: 21,3704 00002 TC Q # CTR IS NOT POSITIVE.RETURN
064408,000136: 21,3705 00004 OCT 00004
064409,000137: 21,3706 00012 UTIME OCT 00012
064410,000138: 21,3707 00012 OCT 00012
064411,000139: 21,3710 E6,1745 OLDSENSE EQUALS DAPTREG1
064412,000140: 21,3710 44753 NEGFIRE CS ONE # JETS FIRING NEGATIVELY
064413,000141: 21,3711 55745 TS OLDSENSE
064414,000142: 21,3712 31427 CA EDOT
064415,000143: 21,3713 13717 TCF +4
064416,000144: 21,3714 34753 PLUSFIRE CA ONE
064417,000145: 21,3715 55745 TS OLDSENSE
064418,000146: 21,3716 41427 CS EDOT # RATE DEAD BAND TEST
064419,000147: 21,3717 22000 LXCH A
064420,000148: 21,3720 40111 CS DAPBOOLS # IF DRIFTBIT = 1, USE ZERO TARGET RATE
064421,000149: 21,3721 74744 MASK DRIFTBIT # IF DRIFTBIT = 0, USE 0.10 RATE TARGET
064422,000150: 21,3722 10000 CCS A
064423,000151: 21,3723 34767 CA RATEDB1
064424,000152: 21,3724 60001 AD L
064425,000153: 21,3725 00006 EXTEND
064426,000154: 21,3726 63736 BZMF SPSSTART
064427,000155: 21,3727 13653 TCF POSTHRST +3
064428,000156:
064429,000157: 21,3730 51505 SPSRCS INDEX AXISCTR # JET SENSE TEST
064430,000158: 21,3731 11525 CCS TJU
064431,000159: 21,3732 13714 TCF PLUSFIRE # JETS FIRING POSITIVELY
064432,000160: 21,3733 13735 TCF +2
064433,000161: 21,3734 13710 TCF NEGFIRE # JETS FIRING NEGATIVELY
064434,000162: 21,3735 55745 TS OLDSENSE # JETS OFF
064435,000163: 21,3736 31427 SPSSTART CA EDOT # OUTER RATE LIMIT TEST
064436,000164: 21,3737 00006 EXTEND
064437,000165: 21,3740 74766 MP RATELIM1
064438,000166: 21,3741 10000 CCS A
064439,000167: 21,3742 13761 TCF NEGTHRST # OUTER RATE LIMIT EXCEEDED
064440,000168: 21,3743 13745 TCF +2
064441,000169: 21,3744 13650 TCF POSTHRST # OUTER RATE LIMIT EXCEEDED
064442,000170: 21,3745 31427 CA EDOT # COAST ZONE TEST
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Page 1500 |
064444,000172: 21,3746 61752 AD E
064445,000173: 21,3747 00006 EXTEND
064446,000174: 21,3750 71411 MP DKDB # PAD LOADED DEADBAND. FRESHSTART: 1.4 DEG
064447,000175: 21,3751 00006 EXTEND
064448,000176: 21,3752 13767 BZF TJZERO
064449,000177:
064450,000178: 21,3753 00006 EXTEND
064451,000179: 21,3754 63763 BZMF +7
064452,000180: 21,3755 31427 CA EDOT
064453,000181: 21,3756 63647 AD RATELIM2
064454,000182: 21,3757 00006 EXTEND
064455,000183: 21,3760 63767 BZMF TJZERO
064456,000184: 21,3761 44736 NEGTHRST CS HALF
064457,000185: 21,3762 13651 TCF POSTHRST +1
064458,000186: 21,3763 43647 +7 CS RATELIM2
064459,000187: 21,3764 61427 AD EDOT
064460,000188: 21,3765 00006 EXTEND
064461,000189: 21,3766 63650 BZMF POSTHRST
064462,000190: 21,3767 34755 TJZERO CA ZERO
064463,000191: 21,3770 13651 TCF POSTHRST +1
064464,000192:
064465,000193: 21,3771 4766 RATELIM1 = CALLCODE # = 00032, CORRESPONDING TO 1.73 DEG/SEC
064466,000194: 21,3771 4767 RATEDB1 = TBUILDFX # = 00045, CORRESPONDS TO 0.101 DEG/SEC
064467,000195:
End of include-file SPS_BACK-UP_RCS_CONTROL.agc. Parent file is MAIN.agc