Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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015360,000002: ## Copyright: Public domain.
015361,000003: ## Filename: KALCMANU_STEERING.agc
015362,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
015363,000005: ## This was the original program released for the Apollo 13 LM,
015364,000006: ## although several more revisions would follow. It has been
015365,000007: ## reconstructed from a listing of Luminary 131, from which it
015366,000008: ## differs on only two lines in P70-P71. The difference is
015367,000009: ## described in detail in Luminary memo #129, which was used
015368,000010: ## to perform the reconstruction. This file is intended to be a
015369,000011: ## faithful reconstruction, except that the code format has been
015370,000012: ## changed to conform to the requirements of the yaYUL assembler
015371,000013: ## rather than the original YUL assembler.
015372,000014: ## Reference: pp. 367-371
015373,000015: ## Contact: Ron Burkey <info@sandroid.org>.
015374,000016: ## Website: www.ibiblio.org/apollo/index.html
015375,000017: ## Mod history: 05/11/03 RSB Began transcribing.
015376,000018: ## 05/14/05 RSB Corrected website reference above.
015377,000019: ## 2011-05-07 JL Removed workarounds.
015378,000020: ## 2017-01-06 RSB Page numbers now agree with those on the
015379,000021: ## original harcopy, as opposed to the PDF page
015380,000022: ## numbers in 1701.pdf.
015381,000023: ## 2017-01-28 RSB WTIH -> WITH.
015382,000024: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
015383,000025: ## 2017-02-28 RSB Fixed lingering typos.
015384,000026: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
015385,000027: ## Luminary 99 vs Comanche 55.
015386,000028: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
015387,000029:
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Page 367
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015389,000031: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015390,000032:
015391,000033: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015392,000034:
015393,000035: 22,3003 E6,1706 EBANK= TTEMP
015394,000036:
015395,000037: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015396,000038: 22,3004 54266 CADR ISITAUTO # ONLY
015397,000039: 22,3005 10000 CCS A
015398,000040: 22,3006 12730 TCF NOGO -2
015399,000041: 22,3007 06042 NEWANGL TC INTPRET
015400,000042: 22,3010 75160 AXC,1 AXC,2
015401,000043: 22,3011 03245 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015402,000044: 22,3012 02230 KEL # STABLE MEMBER AXES
015403,000045: 22,3013 77624 CALL
015404,000046: 22,3014 44312 MXM3
015405,000047: 22,3015 45575 VLOAD STADR
015406,000048: 22,3016 50515 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015407,000049: 22,3017 77626 STADR
015408,000050: 22,3020 50523 STOVL MIS +6D
015409,000051: 22,3021 77626 STADR
015410,000052: 22,3022 74531 STORE MIS
015411,000053: 22,3023 45160 AXC,1 CALL
015412,000054: 22,3024 03245 MIS
015413,000055: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015414,000056: 22,3026 77634 RTB
015415,000057: 22,3027 21621 V1STO2S
015416,000058: 22,3030 03303 STORE NCDU # NEW CDU ANGLES
015417,000059: 22,3031 77414 BONCLR EXIT
015418,000060: 22,3032 01215 CALCMAN2
015419,000061: 22,3033 45122 MANUSTAT # TO START MANEUVER
015420,000062: 22,3034 34752 CAF TWO # +0 OTHERWISE
015421,000063: 22,3035 55261 INCRDCDU TS SPNDX
015422,000064: 22,3036 51261 INDEX SPNDX
015423,000065: 22,3037 31675 CA BCDU # INITIAL CDU ANGLES
015424,000066: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015425,000067: 22,3041 51261 INDEX SPNDX
015426,000068: 22,3042 21702 MSU NCDU
015427,000069: 22,3043 00006 EXTEND
015428,000070: 22,2000 SETLOC KALCMON1
015429,000071: 22,2000 BANK
015430,000072:
015431,000073: 22,3044 73121 MP DT/TAU
015432,000074: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015433,000075: 22,3046 64753 AD ONE
015434,000076: 22,3047 13051 TCF +2
015435,000077: 22,3050 40000 COM
015436,000078: 22,3051 51261 INDEX SPNDX
015437,000079: 22,3052 55637 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015438,000080: 22,3053 51261 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 368
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015440,000082: 22,3054 31702 CA NCDU # BY LEM DAP
015441,000083: 22,3055 51261 INDEX SPNDX
015442,000084: 22,3056 57675 XCH BCDU
015443,000085: 22,3057 51261 INDEX SPNDX
015444,000086: 22,3060 55634 TS CDUXD
015445,000087: 22,3061 11261 CCS SPNDX
015446,000088: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015447,000089:
015448,000090: 22,3063 00003 RELINT
015449,000091:
015450,000092: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015451,000093:
015452,000094: 22,3064 03075 TMANUCHK TC TIMECHK
015453,000095: 22,3065 13170 TCF CONTMANU
015454,000096: 22,3066 34753 CAF ONE
015455,000097: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015456,000098: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015457,000099: 22,3071 E6,1706 EBANK= TTEMP
015458,000100: 22,3071 03213 44066 2CADR MANUSTOP
015459,000101:
015460,000102: 22,3073 00003 RELINT
015461,000103: 22,3074 15155 TCF ENDOFJOB
015462,000104:
015463,000105: 22,3075 00006 TIMECHK EXTEND
015464,000106: 22,3076 40025 DCS TIME2
015465,000107: 22,3077 53707 DXCH TTEMP
015466,000108: 22,3100 00006 EXTEND
015467,000109: 22,3101 31733 DCA TM
015468,000110: 22,3102 21707 DAS TTEMP
015469,000111: 22,3103 11706 CCS TTEMP
015470,000112: 22,3104 00002 TC Q
015471,000113: 22,3105 13107 TCF +2
015472,000114: 22,3106 13117 TCF 2NDRETRN
015473,000115: 22,3107 11707 CCS TTEMP +1
015474,000116: 22,3110 00002 TC Q
015475,000117: 22,3111 13113 TCF MANUOFF
015476,000118: 22,3112 40000 COM
015477,000119: 22,3113 63166 MANUOFF AD ONESEK +1
015478,000120: 22,3114 00006 EXTEND
015479,000121: 22,3115 63117 BZMF 2NDRETRN
015480,000122: 22,3116 24002 INCR Q
015481,000123: 22,3117 24002 2NDRETRN INCR Q
015482,000124: 22,3120 00002 TC Q
015483,000125:
015484,000126: 22,3121 03146 DT/TAU DEC .1
015485,000127:
015486,000128: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015487,000129: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015488,000130: 22,3124 30025 DCA TIME2
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Page 369
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015490,000132: 22,3125 21733 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015491,000133: 22,3126 00006 EXTEND
015492,000134: 22,3127 43166 DCS ONESEK
015493,000135: 22,3130 21733 DAS TM # (TM+T0)-1
015494,000136: 22,3131 00004 INHINT
015495,000137: 22,3132 34752 CAF TWO
015496,000138: 22,3133 55700 RATEBIAS TS KSPNDX
015497,000139: 22,3134 60000 DOUBLE
015498,000140: 22,3135 55701 TS KDPNDX
015499,000141: 22,3136 50000 INDEX A
015500,000142: 22,3137 31724 CA BRATE
015501,000143: 22,3140 51700 INDEX KSPNDX # STORE MANEUVER RATE IN
015502,000144: 22,3141 55642 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015503,000145: 22,3142 00006 EXTEND
015504,000146: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015505,000147: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015506,000148: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015507,000149: 22,3146 73167 MP BIASCALE # = -1/16
015508,000150: 22,3147 00006 EXTEND
015509,000151: 22,3150 51701 INDEX KDPNDX
015510,000152: 22,3151 71724 MP BRATE
015511,000153: 22,3152 00006 EXTEND
015512,000154: 22,3153 51700 INDEX KSPNDX
015513,000155: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015514,000156: 22,3155 51700 INDEX KSPNDX
015515,000157: 22,3156 55274 TS DELPEROR # $ 180 DEG
015516,000158: 22,3157 11700 CCS KSPNDX
015517,000159: 22,3160 13133 TCF RATEBIAS
015518,000160:
015519,000161: 22,3161 30025 CA TIME1
015520,000162: 22,3162 63166 AD ONESEK +1
015521,000163: 22,3163 57705 XCH NEXTIME
015522,000164: 22,3164 13034 TCF INCRDCDU -1
015523,000165:
015524,000166: 22,3165 00000 ONESEK DEC 0 B-14
015525,000167: 22,3166 00144 DEC 100 B-14
015526,000168:
015527,000169: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015528,000170:
015529,000171: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015530,000172: 22,3171 61705 AD NEXTIME
015531,000173: 22,3172 10000 CCS A
015532,000174: 22,3173 64753 AD ONE
015533,000175: 22,3174 13177 TCF MANUCALL
015534,000176: 22,3175 64735 AD NEGMAX
015535,000177: 22,3176 40000 COM
015536,000178: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015537,000179: 22,3200 05203 TC WAITLIST
015538,000180: 22,3201 E6,1706 EBANK= TTEMP
015539,000181: 22,3201 03206 44066 2CADR UPDTCALL
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Page 370
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015541,000183: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015542,000184: 22,3204 27705 ADS NEXTIME
015543,000185: 22,3205 15155 TCF ENDOFJOB
015544,000186:
015545,000187: 22,3206 37717 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015546,000188: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015547,000189: 22,3210 E6,1706 EBANK= TTEMP
015548,000190: 22,3210 03003 44066 2CADR NEWDELHI
015549,000191:
015550,000192: 22,3212 05261 TC TASKOVER
015551,000193:
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Page 371
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015553,000195: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015554,000196:
015555,000197: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015556,000198: 22,3214 55641 TS DELDCDU2
015557,000199: 22,3215 55644 TS OMEGARD
015558,000200: 22,3216 55276 TS DELREROR
015559,000201: 22,3217 55640 TS DELDCDU1
015560,000202: 22,3220 55643 TS OMEGAQD
015561,000203: 22,3221 55275 TS DELQEROR
015562,000204: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015563,000205: 22,3223 55636 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015564,000206: 22,3224 30322 CA CTHETA
015565,000207: 22,3225 55635 TS CDUYD
015566,000208: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015567,000209: 22,3227 55634 TS CDUXD
015568,000210: 22,3230 34755 CAF ZERO
015569,000211: 22,3231 55642 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015570,000212: 22,3232 55637 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015571,000213: 22,3233 55274 TS DELPEROR
015572,000214: 22,3234 31306 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015573,000215: 22,3235 54063 TS NEWPRIO
015574,000216:
015575,000217: 22,3236 34755 CA ZERO # ZERO ATTCADR
015576,000218: 22,3237 53305 DXCH ATTCADR
015577,000219:
015578,000220: 22,3240 05116 TC SPVAC # RETURN TO USER
015579,000221:
015580,000222: 22,3241 05261 TC TASKOVER
015581,000223:
015582,000224:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc