THE_LUNAR_LANDING.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: THE_LUNAR_LANDING.agc
## Purpose: The main source file for Luminary revision 069.
## It is part of the source code for the original release
## of the flight software for the Lunar Module's (LM) Apollo
## Guidance Computer (AGC) for Apollo 10. The actual flown
## version was Luminary 69 revision 2, which included a
## newer lunar gravity model and only affected module 2.
## This file is intended to be a faithful transcription, except
## that the code format has been changed to conform to the
## requirements of the yaYUL assembler rather than the
## original YUL assembler.
## Reference: pp. 789-796
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2016-12-13 MAS Created from Luminary 99.
## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
## 2017-01-09 RRB Updated for Luminary 69.
## 2017-01-23 HG Fix interpretive sequence SET VLOAD -> SET CLEAR
## APSFLAG APSFLAG
## RN SWANDISP
## Add missing interpretive sequence SET VLOAD
## LRBYPASS
## RN
## Fix operator TS -> DXCH
## Fix value for GUIDDURN +66440 -> +65164
## 2017-01-28 RSB Proofed comment text using octopus/prooferComments
## and fixed errors found.
## 2017-03-16 RSB Comment-text fixes identified in 5-way
## side-by-side diff of Luminary 69/99/116/131/210.
## Page 789
BANK 32
SETLOC F2DPS*32
BANK
EBANK= E2DPS
# ****************************************
# P63: THE LUNAR LANDING, BRAKING PHASE
# ****************************************
COUNT* $$/P63
P63LM TC PHASCHNG
OCT 04024
TC BANKCALL # DO IMU STATUS CHECK ROUTINE R02
CADR R02BOTH
CAF P63ADRES # INITIALIZE WHICH FOR BURNBABY
TS WHICH
CAF DPSTHRSH # INITIALIZE DVMON
TS DVTHRUSH
CAF FOUR
TS DVCNTR
CS ONE # INITIALIZE WCHPHASE AND FLPASSO
ZL # FOR IGNITION ALGORITHM
DXCH WCHPHASE
CS BIT14
EXTEND
WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE.
FLAGORGY TC INTPRET # DIONYSIAN FLAG WAVING
CLEAR CLEAR
NOTHROTL
REDFLAG
CLEAR SET
LRBYPASS
MUNFLAG
CLEAR CLEAR
P25FLAG # TERMINATE P25 IF IT IS RUNNING.
RNDVZFLG # TERMINATE P20 IF IT IS RUNNING
# ****************************************
IGNALG SETPD VLOAD # FIRST SET UP INPUTS FOR RP-TO-R:-
0 # AT 0D LANDING SITE IN MOON FIXED FRAME
RLS # AT 6D ESTIMATED TIME OF LANDING
## Page 790
PDDL PUSH # MPAC NON-ZERO TO INDICATE LUNAR CASE
TLAND
STCALL TPIP # ALSO SET TPIP FOR FIRST GUIDANCE PASS
RP-TO-R
VSL4 MXV
REFSMMAT
STCALL LAND
GUIDINIT # GUIDINIT INITIALIZES WM AND /LAND/
DLOAD DSU
TLAND
GUIDDURN
STCALL TDEC1 # INTEGRATE STATE FORWARD TO THAT TIME
LEMPREC
SSP VLOAD
NIGNLOOP
40D
UNITX
STOVL CG
UNITY
STOVL CG +6
UNITZ
STODL CG +14
99999CON
STOVL DELTAH # INITIALIZE DELTAH FOR V16N68 DISPLAY
ZEROVECS
STODL UNFC/2 # INITIALIZE TRIM VELOCITY CORRECTION TERM
HI6ZEROS
STORE TTF/8
IGNALOOP DLOAD
TAT
STOVL PIPTIME1
RATT1
VSL4 MXV
REFSMMAT
STCALL R
MUNGRAV
STCALL GDT/2
?GUIDSUB # WHICH DELIVERS N PASSES OF GUIDANCE
# DDUMCALC IS PROGRAMMED AS FOLLOWS:-
# 2 -
# (RIGNZ - RGU )/16 + 16(RGU )KIGNY/B8 + (RGU - RIGNX)KIGNX/B4 + (ABVAL(VGU) - VIGN)KIGNV/B4
# 2 1 0
# DDUM = -------------------------------------------------------------------------------------------
# 10
# 2 (VGU - 16 VGU KIGNX/B4)
# 2 0
## Page 791
# THE NUMERATOR IS SCALED IN METERS AT 2(28). THE DENOMINATOR IS A VELOCITY IN UNITS OF 2(10) M/CS.
# THE QUOTIENT IS THUS A TIME IN UNITS OF 2(18) CENTISECONDS. THE FINAL SHIFT RESCALES TO UNITS OF 2(28) CS.
# THERE IS NO DAMPING FACTOR. THE CONSTANTS KIGNX/B4, KIGNY/B8 AND KIGNV/B4 ARE ALL NEGATIVE IN SIGN.
DDUMCALC TS NIGNLOOP
TC INTPRET
DLOAD DMPR # FORM DENOMINATOR FIRST
VGU
KIGNX/B4
SL4R BDSU
VGU +4
PDDL DSU
RIGNZ
RGU +4
SR4R PDDL
RGU +2
DSQ DMPR
KIGNY/B8
SL4R PDDL
RGU
DSU DMPR
RIGNX
KIGNX/B4
PDVL ABVAL
VGU
DSU DMPR
VIGN
KIGNV/B4
DAD DAD
DAD DDV
SRR
10D
PUSH DAD
PIPTIME1
STODL TDEC1 # STORE NEW GUESS FOR NEXT INTEGRATION
ABS DSU
DDUMCRIT
BMN CALL
DDUMGOOD
INTSTALL
SET SET
INTYPFLG
MOONFLAG
DLOAD
PIPTIME1
STOVL TET # HOPEFULLY ?GUIDSUB DID NOT
RATT1 # CLOBBER RATT1 AND VATT1
STOVL RCV
VATT1
## Page 792
STCALL VCV
INTEGRVS
GOTO
IGNALOOP
DDUMGOOD SLOAD SR
ZOOMTIME
14D
BDSU
TDEC1
STOVL TIG # COMPUTE DISTANCE LANDING SITE WILL BE
V # OUT OF LM'S ORBITAL PLANE AT IGNITION:
VXV UNIT # SIGN IS + IF LANDING SITE IS TO THE
R # RIGHT, NORTH; - IF TO THE LEFT, SOUTH.
DOT SL1
LAND
R60INIT STOVL OUTOFPLN # INITIALIZATION FOR CALCMANU
UNFC/2
STORE R60VSAVE # STORE UNFC/2 TEMPORARILY IN R60SAVE
EXIT
# ****************************************
IGNALGRT TC PHASCHNG # PREVENT REPEATING IGNALG
OCT 04024
ASTNCLOK CS ASTNDEX
TC BANKCALL
CADR STCLOK2
TCF ENDOFJOB # RETURN IN NEW JOB AND IN EBANK FIVE
ASTNRET TC INTPRET
SSP RTB # GO PICK UP DISPLAY AT END OF R51:
QMAJ # "PROCEED" WILL DO A FINE ALIGNMENT
FCADR P63SPOT2 # "ENTER" WILL RETURN TO P63SPOT2
R51P63
P63SPOT2 VLOAD UNIT # INITIALIZE KALCMANU FOR BURN ATTITUDE
R60VSAVE
STOVL POINTVSM
UNITX
STORE SCAXIS
EXIT
CAF EBANK7
TS EBANK
INHINT
TC IBNKCALL
CADR PFLITEDB
RELINT
## Page 793
TC BANKCALL
CADR R60LEM
TC PHASCHNG # PREVENT RECALLING R60
OCT 04024
P63SPOT3 CA BIT6 # IS THE LR ANTENNA IN POSITION 1 YET
EXTEND
RAND CHAN33
EXTEND
BZF P63SPOT4 # BRANCH IF ANTENNA ALREADY IN POSITION 1
CAF CODE500 # ASTRONAUT: PLEASE CRANK THE
TC BANKCALL # SILLY THING AROUND
CADR GOPERF1
TCF GOTOPOOH # TERMINATE
TCF P63SPOT3 # PROCEED SEE IF HE'S LYING
P63SPOT4 TC BANKCALL # ENTER INITIALIZE LANDING RADAR
CADR SETPOS1
TC POSTJUMP # OFF TO SEE THE WIZARD ...
CADR BURNBABY
# ----------------------------------------
# CONSTANTS FOR P63LM AND IGNALG
P63ADRES GENADR P63TABLE
ASTNDEX OCT 00027 # INDEX FOR CLOKTASK
CODE500 OCT 00500
99999CON 2DEC 30479.7 B-24
GUIDDURN 2DEC +65164
DDUMCRIT 2DEC +8 B-28 # CRITERION FOR IGNALG CONVERGENCE
## Page 794
# ----------------------------------------
## Page 795
# ****************************************
# P68: LANDING CONFIRMATION
# ****************************************
BANK 31
SETLOC F2DPS*31
BANK
COUNT* $$/P6567
LANDJUNK TC PHASCHNG
OCT 04024
INHINT
TC BANKCALL # ZERO ATTITUDE ERROR
CADR ZATTEROR
TC BANKCALL # SET 5 DEGREE DEADBAND
CADR SETMAXDB
TC INTPRET # TO INTERPRETIVE AS TIME IS NOT CRITICAL
SET CLEAR
SURFFLAG
LETABORT
SET CLEAR
APSFLAG
SWANDISP
SET VLOAD
LRBYPASS
RN
STODL ALPHAV
PIPTIME
SET CALL
LUNAFLAG
LAT-LONG
SETPD VLOAD # COMPUTE RLS AND STORE IT AWAY
0
RN
VSL2 PDDL
PIPTIME
PUSH CALL
R-TO-RP
STORE RLS
EXIT
CAF V06N43* # ASTRONAUT: NOW LOOK WHERE YOU ENDED UP
TC BANKCALL
CADR GOFLASH
TCF GOTOPOOH # TERMINATE
TCF +2 # PROCEED
TCF -5 # RECYCLE
## Page 796
TC INTPRET
VLOAD # INITIALIZE GSAV AND (USING REFMF)
UNITX # YNBSAV, ZNBSAV AND ATTFLAG FOR P57
STCALL GSAV
REFMF
EXIT
TCF GOTOPOOH # ASTRONAUT: PLEASE SELECT P57
V06N43* VN 0643
