Source Code
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These source-code files are part of a reconstructed copy of Luminary 163, the
first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 173. Changes
between revision 163 and 173 were backed out, as described by Luminary memos 157
and 158. The reconstruction was verified by matching memory-bank checksums
to those listed in drawing 2021152N. Note that page numbers in the reconstructed
code match those for the baseline log section mentioned in each file's changelog;
the page numbers for a real Luminary 163 listing would be different.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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015798,000002: ## Copyright: Public domain.
015799,000003: ## Filename: KALCMANU_STEERING.agc
015800,000004: ## Purpose: A section of Luminary revision 163.
015801,000005: ## It is part of the reconstructed source code for the first
015802,000006: ## (unflown) release of the flight software for the Lunar
015803,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
015804,000008: ## The code has been recreated from a reconstructed copy of
015805,000009: ## Luminary 173, as well as Luminary memos 157 amd 158.
015806,000010: ## It has been adapted such that the resulting bugger words
015807,000011: ## exactly match those specified for Luminary 163 in NASA
015808,000012: ## drawing 2021152N, which gives relatively high confidence
015809,000013: ## that the reconstruction is correct.
015810,000014: ## Reference: pp. 370-374
015811,000015: ## Assembler: yaYUL
015812,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015813,000017: ## Website: www.ibiblio.org/apollo/index.html
015814,000018: ## Mod history: 2019-08-21 MAS Created from Luminary 173.
015815,000019:
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Page 370
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015817,000021: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015818,000022:
015819,000023: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015820,000024:
015821,000025: 22,3003 E6,1706 EBANK= TTEMP
015822,000026:
015823,000027: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015824,000028: 22,3004 54270 CADR ISITAUTO # ONLY
015825,000029: 22,3005 10000 CCS A
015826,000030: 22,3006 12730 TCF NOGO -2
015827,000031: 22,3007 06042 NEWANGL TC INTPRET
015828,000032: 22,3010 75160 AXC,1 AXC,2
015829,000033: 22,3011 03245 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015830,000034: 22,3012 02230 KEL # STABLE MEMBER AXES
015831,000035: 22,3013 77624 CALL
015832,000036: 22,3014 44312 MXM3
015833,000037: 22,3015 45575 VLOAD STADR
015834,000038: 22,3016 50515 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015835,000039: 22,3017 77626 STADR
015836,000040: 22,3020 50523 STOVL MIS +6D
015837,000041: 22,3021 77626 STADR
015838,000042: 22,3022 74531 STORE MIS
015839,000043: 22,3023 45160 AXC,1 CALL
015840,000044: 22,3024 03245 MIS
015841,000045: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015842,000046: 22,3026 77634 RTB
015843,000047: 22,3027 21621 V1STO2S
015844,000048: 22,3030 03303 STORE NCDU # NEW CDU ANGLES
015845,000049: 22,3031 77414 BONCLR EXIT
015846,000050: 22,3032 01215 CALCMAN2
015847,000051: 22,3033 45122 MANUSTAT # TO START MANEUVER
015848,000052: 22,3034 34752 CAF TWO # +0 OTHERWISE
015849,000053: 22,3035 55261 INCRDCDU TS SPNDX
015850,000054: 22,3036 51261 INDEX SPNDX
015851,000055: 22,3037 31675 CA BCDU # INITIAL CDU ANGLES
015852,000056: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015853,000057: 22,3041 51261 INDEX SPNDX
015854,000058: 22,3042 21702 MSU NCDU
015855,000059: 22,3043 00006 EXTEND
015856,000060: 22,2000 SETLOC KALCMON1
015857,000061: 22,2000 BANK
015858,000062:
015859,000063: 22,3044 73121 MP DT/TAU
015860,000064: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015861,000065: 22,3046 64753 AD ONE
015862,000066: 22,3047 13051 TCF +2
015863,000067: 22,3050 40000 COM
015864,000068: 22,3051 51261 INDEX SPNDX
015865,000069: 22,3052 55637 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015866,000070: 22,3053 51261 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
015867,000071:
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Page 371
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015869,000073: 22,3054 31702 CA NCDU # BY LEM DAP
015870,000074: 22,3055 51261 INDEX SPNDX
015871,000075: 22,3056 57675 XCH BCDU
015872,000076: 22,3057 51261 INDEX SPNDX
015873,000077: 22,3060 55634 TS CDUXD
015874,000078: 22,3061 11261 CCS SPNDX
015875,000079: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015876,000080:
015877,000081: 22,3063 00003 RELINT
015878,000082:
015879,000083: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015880,000084:
015881,000085: 22,3064 03075 TMANUCHK TC TIMECHK
015882,000086: 22,3065 13170 TCF CONTMANU
015883,000087: 22,3066 34753 CAF ONE
015884,000088: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015885,000089: 22,3070 05214 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015886,000090: 22,3071 E6,1706 EBANK= TTEMP
015887,000091: 22,3071 03213 44066 2CADR MANUSTOP
015888,000092:
015889,000093: 22,3073 00003 RELINT
015890,000094: 22,3074 15155 TCF ENDOFJOB
015891,000095:
015892,000096: 22,3075 00006 TIMECHK EXTEND
015893,000097: 22,3076 40025 DCS TIME2
015894,000098: 22,3077 53707 DXCH TTEMP
015895,000099: 22,3100 00006 EXTEND
015896,000100: 22,3101 31733 DCA TM
015897,000101: 22,3102 21707 DAS TTEMP
015898,000102: 22,3103 11706 CCS TTEMP
015899,000103: 22,3104 00002 TC Q
015900,000104: 22,3105 13107 TCF +2
015901,000105: 22,3106 13117 TCF 2NDRETRN
015902,000106: 22,3107 11707 CCS TTEMP +1
015903,000107: 22,3110 00002 TC Q
015904,000108: 22,3111 13113 TCF MANUOFF
015905,000109: 22,3112 40000 COM
015906,000110: 22,3113 63166 MANUOFF AD ONESEK +1
015907,000111: 22,3114 00006 EXTEND
015908,000112: 22,3115 63117 BZMF 2NDRETRN
015909,000113: 22,3116 24002 INCR Q
015910,000114: 22,3117 24002 2NDRETRN INCR Q
015911,000115: 22,3120 00002 TC Q
015912,000116:
015913,000117: 22,3121 03146 DT/TAU DEC .1
015914,000118:
015915,000119: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015916,000120: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015917,000121: 22,3124 30025 DCA TIME2
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015919,000123: 22,3125 21733 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015920,000124: 22,3126 00006 EXTEND
015921,000125: 22,3127 43166 DCS ONESEK
015922,000126: 22,3130 21733 DAS TM # (TM+T0)-1
015923,000127: 22,3131 00004 INHINT
015924,000128: 22,3132 34752 CAF TWO
015925,000129: 22,3133 55700 RATEBIAS TS KSPNDX
015926,000130: 22,3134 60000 DOUBLE
015927,000131: 22,3135 55701 TS KDPNDX
015928,000132: 22,3136 50000 INDEX A
015929,000133: 22,3137 31724 CA BRATE
015930,000134: 22,3140 51700 INDEX KSPNDX # STORE MANEUVER RATE IN
015931,000135: 22,3141 55642 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015932,000136: 22,3142 00006 EXTEND
015933,000137: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015934,000138: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015935,000139: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015936,000140: 22,3146 73167 MP BIASCALE # = -1/16
015937,000141: 22,3147 00006 EXTEND
015938,000142: 22,3150 51701 INDEX KDPNDX
015939,000143: 22,3151 71724 MP BRATE
015940,000144: 22,3152 00006 EXTEND
015941,000145: 22,3153 51700 INDEX KSPNDX
015942,000146: 22,3154 11530 DV 1JACC # =AJX $ 90 DEG/SEC-SEC
015943,000147: 22,3155 51700 INDEX KSPNDX
015944,000148: 22,3156 55274 TS DELPEROR # $ 180 DEG
015945,000149: 22,3157 11700 CCS KSPNDX
015946,000150: 22,3160 13133 TCF RATEBIAS
015947,000151:
015948,000152: 22,3161 30025 CA TIME1
015949,000153: 22,3162 63166 AD ONESEK +1
015950,000154: 22,3163 57705 XCH NEXTIME
015951,000155: 22,3164 13034 TCF INCRDCDU -1
015952,000156:
015953,000157: 22,3165 00000 ONESEK DEC 0 B-14
015954,000158: 22,3166 00144 DEC 100 B-14
015955,000159:
015956,000160: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015957,000161:
015958,000162: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015959,000163: 22,3171 61705 AD NEXTIME
015960,000164: 22,3172 10000 CCS A
015961,000165: 22,3173 64753 AD ONE
015962,000166: 22,3174 13177 TCF MANUCALL
015963,000167: 22,3175 64735 AD NEGMAX
015964,000168: 22,3176 40000 COM
015965,000169: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015966,000170: 22,3200 05214 TC WAITLIST
015967,000171: 22,3201 E6,1706 EBANK= TTEMP
015968,000172: 22,3201 03206 44066 2CADR UPDTCALL
015969,000173:
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015971,000175: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015972,000176: 22,3204 27705 ADS NEXTIME
015973,000177: 22,3205 15155 TCF ENDOFJOB
015974,000178:
015975,000179:
015976,000180: 22,3206 37717 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015977,000181: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015978,000182: 22,3210 E6,1706 EBANK= TTEMP
015979,000183: 22,3210 03003 44066 2CADR NEWDELHI
015980,000184:
015981,000185: 22,3212 05272 TC TASKOVER
015982,000186:
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Page 374
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015984,000188: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015985,000189:
015986,000190: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015987,000191: 22,3214 55641 TS DELDCDU2
015988,000192: 22,3215 55644 TS OMEGARD
015989,000193: 22,3216 55276 TS DELREROR
015990,000194: 22,3217 55640 TS DELDCDU1
015991,000195: 22,3220 55643 TS OMEGAQD
015992,000196: 22,3221 55275 TS DELQEROR
015993,000197: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015994,000198: 22,3223 55636 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015995,000199: 22,3224 30322 CA CTHETA
015996,000200: 22,3225 55635 TS CDUYD
015997,000201: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015998,000202: 22,3227 55634 TS CDUXD
015999,000203: 22,3230 34755 CAF ZERO
016000,000204: 22,3231 55642 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
016001,000205: 22,3232 55637 TS DELDCDU # GIMBAL LOCK ORIGINALLY
016002,000206: 22,3233 55274 TS DELPEROR
016003,000207: 22,3234 31306 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
016004,000208: 22,3235 54063 TS NEWPRIO
016005,000209:
016006,000210: 22,3236 34755 CA ZERO # ZERO ATTCADR
016007,000211: 22,3237 53305 DXCH ATTCADR
016008,000212:
016009,000213: 22,3240 05116 TC SPVAC # RETURN TO USER
016010,000214:
016011,000215: 22,3241 05272 TC TASKOVER
016012,000216:
016013,000217:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc