Source Code
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These source-code files are part of a reconstructed copy of Luminary 178, the
final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Zerlina 56, Luminary 210, and
Luminary 131, previously transcribed from digitized copies of those programs.
The code was created by combining the three, using Zerlina 56 as a base, since
it was based off of Luminary 183. The differences between the three were
carefully merged using the Luminary memos as a guide, with all changes made
after Luminary 178 being backed out. 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 178 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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062921,000002: ## Copyright: Public domain.
062922,000003: ## Filename: KALMAN_FILTER.agc
062923,000004: ## Purpose: A section of Luminary revision 178.
062924,000005: ## It is part of the reconstructed source code for the final
062925,000006: ## release of the flight software for the Lunar Module's
062926,000007: ## (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
062927,000008: ## code has been recreated from copies of Zerlina 56, Luminary
062928,000009: ## 210, and Luminary 131, as well as many Luminary memos.
062929,000010: ## It has been adapted such that the resulting bugger words
062930,000011: ## exactly match those specified for Luminary 178 in NASA
062931,000012: ## drawing 2021152N, which gives relatively high confidence
062932,000013: ## that the reconstruction is correct.
062933,000014: ## Reference: pp. 1458-1459
062934,000015: ## Assembler: yaYUL
062935,000016: ## Contact: Ron Burkey <info@sandroid.org>.
062936,000017: ## Website: www.ibiblio.org/apollo/index.html
062937,000018: ## Mod history: 2019-08-14 MAS Created from Zerlina 56.
062938,000019:
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Page 1458
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062940,000021: 17,3777 E6,1522 EBANK= NO.UJETS
062941,000022: 16,3644 BANK 16
062942,000023: 16,2000 SETLOC DAPS1
062943,000024: 16,2000 BANK
062944,000025:
062945,000026: 16,3644 COUNT* $$/DAP
062946,000027:
062947,000028: 16,3644 34752 RATELOOP CA TWO
062948,000029: 16,3645 55743 TS DAPTEMP6
062949,000030: 16,3646 60000 DOUBLE
062950,000031: 16,3647 54002 TS Q
062951,000032: 16,3650 51743 INDEX DAPTEMP6
062952,000033: 16,3651 11524 CCS TJP
062953,000034: 16,3652 13654 TCF +2
062954,000035: 16,3653 13673 TCF LOOPRATE
062955,000036: 16,3654 63734 AD -100MST6
062956,000037: 16,3655 00006 EXTEND
062957,000038: 16,3656 63712 BZMF SMALLTJU
062958,000039: 16,3657 51743 INDEX DAPTEMP6
062959,000040: 16,3660 11524 CCS TJP
062960,000041: 16,3661 33734 CA -100MST6
062961,000042: 16,3662 13664 TCF +2
062962,000043: 16,3663 43734 CS -100MST6
062963,000044: 16,3664 51743 INDEX DAPTEMP6
062964,000045: 16,3665 27524 ADS TJP
062965,000046: 16,3666 51743 INDEX DAPTEMP6
062966,000047: 16,3667 11524 CCS TJP
062967,000048: 16,3670 43620 CS -100MS # 0.1 AT 1
062968,000049: 16,3671 13673 TCF +2
062969,000050: 16,3672 33620 CA -100MS
062970,000051: 16,3673 00006 LOOPRATE EXTEND
062971,000052: 16,3674 51743 INDEX DAPTEMP6
062972,000053: 16,3675 71521 MP NO.PJETS
062973,000054: 16,3676 30001 CA L
062974,000055: 16,3677 51743 INDEX DAPTEMP6
062975,000056: 16,3700 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
062976,000057: 16,3701 00006 EXTEND
062977,000058: 16,3702 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
062978,000059: 16,3703 00006 EXTEND
062979,000060: 16,3704 63735 BZMF NEGTORK
062980,000061: 16,3705 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
062981,000062: 16,3706 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
062982,000063:
062983,000064: 16,3707 11743 CCS DAPTEMP6
062984,000065: 16,3710 13645 TCF RATELOOP +1
062985,000066: 16,3711 13721 TCF ROTORQUE
062986,000067: 16,3712 34755 SMALLTJU CA ZERO
062987,000068: 16,3713 51743 INDEX DAPTEMP6
062988,000069: 16,3714 57524 XCH TJP
062989,000070: 16,3715 00006 EXTEND
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Page 1459
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062991,000072: 16,3716 74760 MP ELEVEN # 10.24 PLUS
062992,000073: 16,3717 30001 CA L
062993,000074: 16,3720 13673 TCF LOOPRATE
062994,000075: 16,3721 31737 ROTORQUE CA DAPTEMP2
062995,000076: 16,3722 61740 AD DAPTEMP3
062996,000077: 16,3723 00006 EXTEND
062997,000078: 16,3724 71532 MP 1JACCR
062998,000079: 16,3725 55746 TS JETRATER
062999,000080: 16,3726 41740 CS DAPTEMP3
063000,000081: 16,3727 61737 AD DAPTEMP2
063001,000082: 16,3730 00006 EXTEND
063002,000083: 16,3731 71531 MP 1JACCQ
063003,000084: 16,3732 55745 TS JETRATEQ
063004,000085: 16,3733 12316 TCF BACKP
063005,000086: 16,3734 77537 -100MST6 DEC -160 B-14
063006,000087:
063007,000088: 16,3735 40000 NEGTORK COM
063008,000089: 16,3736 24002 INCR Q
063009,000090: 16,3737 13705 TCF STORTORK
063010,000091:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc