Source Code
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These source-code files are part of a reconstructed copy of Luminary 173, the
second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with reconstructed source code for Luminary 178. Changes
between revision 173 and 178 were backed out, as described by Luminary memo 167
(revision 1). 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 173 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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015792,000002: ## Copyright: Public domain.
015793,000003: ## Filename: KALCMANU_STEERING.agc
015794,000004: ## Purpose: A section of Luminary revision 173.
015795,000005: ## It is part of the reconstructed source code for the second
015796,000006: ## (unflown) release of the flight software for the Lunar
015797,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
015798,000008: ## The code has been recreated from a reconstructed copy of
015799,000009: ## Luminary 178, as well as Luminary memo 167 (revision 1).
015800,000010: ## It has been adapted such that the resulting bugger words
015801,000011: ## exactly match those specified for Luminary 173 in NASA
015802,000012: ## drawing 2021152N, which gives relatively high confidence
015803,000013: ## that the reconstruction is correct.
015804,000014: ## Reference: pp. 370-374
015805,000015: ## Assembler: yaYUL
015806,000016: ## Contact: Ron Burkey <info@sandroid.org>.
015807,000017: ## Website: www.ibiblio.org/apollo/index.html
015808,000018: ## Mod history: 2019-09-18 MAS Created from Luminary 178.
015809,000019:
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Page 370
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015811,000021: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015812,000022:
015813,000023: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015814,000024:
015815,000025: 22,3003 E6,1706 EBANK= TTEMP
015816,000026:
015817,000027: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015818,000028: 22,3004 54270 CADR ISITAUTO # ONLY
015819,000029: 22,3005 10000 CCS A
015820,000030: 22,3006 12730 TCF NOGO -2
015821,000031: 22,3007 06042 NEWANGL TC INTPRET
015822,000032: 22,3010 75160 AXC,1 AXC,2
015823,000033: 22,3011 03245 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015824,000034: 22,3012 02230 KEL # STABLE MEMBER AXES
015825,000035: 22,3013 77624 CALL
015826,000036: 22,3014 44312 MXM3
015827,000037: 22,3015 45575 VLOAD STADR
015828,000038: 22,3016 50515 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015829,000039: 22,3017 77626 STADR
015830,000040: 22,3020 50523 STOVL MIS +6D
015831,000041: 22,3021 77626 STADR
015832,000042: 22,3022 74531 STORE MIS
015833,000043: 22,3023 45160 AXC,1 CALL
015834,000044: 22,3024 03245 MIS
015835,000045: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015836,000046: 22,3026 77634 RTB
015837,000047: 22,3027 21621 V1STO2S
015838,000048: 22,3030 03303 STORE NCDU # NEW CDU ANGLES
015839,000049: 22,3031 77414 BONCLR EXIT
015840,000050: 22,3032 01215 CALCMAN2
015841,000051: 22,3033 45122 MANUSTAT # TO START MANEUVER
015842,000052: 22,3034 34752 CAF TWO # +0 OTHERWISE
015843,000053: 22,3035 55261 INCRDCDU TS SPNDX
015844,000054: 22,3036 51261 INDEX SPNDX
015845,000055: 22,3037 31675 CA BCDU # INITIAL CDU ANGLES
015846,000056: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015847,000057: 22,3041 51261 INDEX SPNDX
015848,000058: 22,3042 21702 MSU NCDU
015849,000059: 22,3043 00006 EXTEND
015850,000060: 22,2000 SETLOC KALCMON1
015851,000061: 22,2000 BANK
015852,000062:
015853,000063: 22,3044 73121 MP DT/TAU
015854,000064: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015855,000065: 22,3046 64753 AD ONE
015856,000066: 22,3047 13051 TCF +2
015857,000067: 22,3050 40000 COM
015858,000068: 22,3051 51261 INDEX SPNDX
015859,000069: 22,3052 55637 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015860,000070: 22,3053 51261 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
015861,000071:
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Page 371
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015863,000073: 22,3054 31702 CA NCDU # BY LEM DAP
015864,000074: 22,3055 51261 INDEX SPNDX
015865,000075: 22,3056 57675 XCH BCDU
015866,000076: 22,3057 51261 INDEX SPNDX
015867,000077: 22,3060 55634 TS CDUXD
015868,000078: 22,3061 11261 CCS SPNDX
015869,000079: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015870,000080:
015871,000081: 22,3063 00003 RELINT
015872,000082:
015873,000083: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015874,000084:
015875,000085: 22,3064 03075 TMANUCHK TC TIMECHK
015876,000086: 22,3065 13170 TCF CONTMANU
015877,000087: 22,3066 34753 CAF ONE
015878,000088: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015879,000089: 22,3070 05214 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015880,000090: 22,3071 E6,1706 EBANK= TTEMP
015881,000091: 22,3071 03213 44066 2CADR MANUSTOP
015882,000092:
015883,000093: 22,3073 00003 RELINT
015884,000094: 22,3074 15155 TCF ENDOFJOB
015885,000095:
015886,000096: 22,3075 00006 TIMECHK EXTEND
015887,000097: 22,3076 40025 DCS TIME2
015888,000098: 22,3077 53707 DXCH TTEMP
015889,000099: 22,3100 00006 EXTEND
015890,000100: 22,3101 31733 DCA TM
015891,000101: 22,3102 21707 DAS TTEMP
015892,000102: 22,3103 11706 CCS TTEMP
015893,000103: 22,3104 00002 TC Q
015894,000104: 22,3105 13107 TCF +2
015895,000105: 22,3106 13117 TCF 2NDRETRN
015896,000106: 22,3107 11707 CCS TTEMP +1
015897,000107: 22,3110 00002 TC Q
015898,000108: 22,3111 13113 TCF MANUOFF
015899,000109: 22,3112 40000 COM
015900,000110: 22,3113 63166 MANUOFF AD ONESEK +1
015901,000111: 22,3114 00006 EXTEND
015902,000112: 22,3115 63117 BZMF 2NDRETRN
015903,000113: 22,3116 24002 INCR Q
015904,000114: 22,3117 24002 2NDRETRN INCR Q
015905,000115: 22,3120 00002 TC Q
015906,000116:
015907,000117: 22,3121 03146 DT/TAU DEC .1
015908,000118:
015909,000119: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015910,000120: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015911,000121: 22,3124 30025 DCA TIME2
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015913,000123: 22,3125 21733 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015914,000124: 22,3126 00006 EXTEND
015915,000125: 22,3127 43166 DCS ONESEK
015916,000126: 22,3130 21733 DAS TM # (TM+T0)-1
015917,000127: 22,3131 00004 INHINT
015918,000128: 22,3132 34752 CAF TWO
015919,000129: 22,3133 55700 RATEBIAS TS KSPNDX
015920,000130: 22,3134 60000 DOUBLE
015921,000131: 22,3135 55701 TS KDPNDX
015922,000132: 22,3136 50000 INDEX A
015923,000133: 22,3137 31724 CA BRATE
015924,000134: 22,3140 51700 INDEX KSPNDX # STORE MANEUVER RATE IN
015925,000135: 22,3141 55642 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015926,000136: 22,3142 00006 EXTEND
015927,000137: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015928,000138: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015929,000139: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015930,000140: 22,3146 73167 MP BIASCALE # = -1/16
015931,000141: 22,3147 00006 EXTEND
015932,000142: 22,3150 51701 INDEX KDPNDX
015933,000143: 22,3151 71724 MP BRATE
015934,000144: 22,3152 00006 EXTEND
015935,000145: 22,3153 51700 INDEX KSPNDX
015936,000146: 22,3154 11530 DV 1JACC # =AJX $ 90 DEG/SEC-SEC
015937,000147: 22,3155 51700 INDEX KSPNDX
015938,000148: 22,3156 55274 TS DELPEROR # $ 180 DEG
015939,000149: 22,3157 11700 CCS KSPNDX
015940,000150: 22,3160 13133 TCF RATEBIAS
015941,000151:
015942,000152: 22,3161 30025 CA TIME1
015943,000153: 22,3162 63166 AD ONESEK +1
015944,000154: 22,3163 57705 XCH NEXTIME
015945,000155: 22,3164 13034 TCF INCRDCDU -1
015946,000156:
015947,000157: 22,3165 00000 ONESEK DEC 0 B-14
015948,000158: 22,3166 00144 DEC 100 B-14
015949,000159:
015950,000160: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015951,000161:
015952,000162: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015953,000163: 22,3171 61705 AD NEXTIME
015954,000164: 22,3172 10000 CCS A
015955,000165: 22,3173 64753 AD ONE
015956,000166: 22,3174 13177 TCF MANUCALL
015957,000167: 22,3175 64735 AD NEGMAX
015958,000168: 22,3176 40000 COM
015959,000169: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015960,000170: 22,3200 05214 TC WAITLIST
015961,000171: 22,3201 E6,1706 EBANK= TTEMP
015962,000172: 22,3201 03206 44066 2CADR UPDTCALL
015963,000173:
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015965,000175: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015966,000176: 22,3204 27705 ADS NEXTIME
015967,000177: 22,3205 15155 TCF ENDOFJOB
015968,000178:
015969,000179:
015970,000180: 22,3206 37717 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015971,000181: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015972,000182: 22,3210 E6,1706 EBANK= TTEMP
015973,000183: 22,3210 03003 44066 2CADR NEWDELHI
015974,000184:
015975,000185: 22,3212 05272 TC TASKOVER
015976,000186:
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Page 374
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015978,000188: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015979,000189:
015980,000190: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015981,000191: 22,3214 55641 TS DELDCDU2
015982,000192: 22,3215 55644 TS OMEGARD
015983,000193: 22,3216 55276 TS DELREROR
015984,000194: 22,3217 55640 TS DELDCDU1
015985,000195: 22,3220 55643 TS OMEGAQD
015986,000196: 22,3221 55275 TS DELQEROR
015987,000197: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015988,000198: 22,3223 55636 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015989,000199: 22,3224 30322 CA CTHETA
015990,000200: 22,3225 55635 TS CDUYD
015991,000201: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015992,000202: 22,3227 55634 TS CDUXD
015993,000203: 22,3230 34755 CAF ZERO
015994,000204: 22,3231 55642 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015995,000205: 22,3232 55637 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015996,000206: 22,3233 55274 TS DELPEROR
015997,000207: 22,3234 31306 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015998,000208: 22,3235 54063 TS NEWPRIO
015999,000209:
016000,000210: 22,3236 34755 CA ZERO # ZERO ATTCADR
016001,000211: 22,3237 53305 DXCH ATTCADR
016002,000212:
016003,000213: 22,3240 05116 TC SPVAC # RETURN TO USER
016004,000214:
016005,000215: 22,3241 05272 TC TASKOVER
016006,000216:
016007,000217:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc