Apollo-11/Luminary099
Dimitri Belopopsky 65bef40ca7
Proof IMU_COMPENSATION_PACKAGE #587 (#707)
Co-authored-by: James Harris <wopian@wopian.me>
2020-10-14 17:55:46 +01:00
..
AGC_BLOCK_TWO_SELF_CHECK.agc Update comments in Luminary099/AGC_BLOCK_TWO_SELF_CHECK.agc (#686) 2020-08-03 21:51:26 +01:00
AGS_INITIALIZATION.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
ALARM_AND_ABORT.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
AOSTASK_AND_AOSJOB.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
AOTMARK.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
ASCENT_GUIDANCE.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
ASSEMBLY_AND_OPERATION_INFORMATION.agc Typos in Luminary099/ASSEMBLY_AND_OPERATION_INFORMATION.agc (#688) 2020-08-03 21:50:52 +01:00
ATTITUDE_MANEUVER_ROUTINE.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00
CONIC_SUBROUTINES.agc Fix YaYUL Fatal Errors in Luminary099 (#665) 2020-03-04 17:17:16 +00:00
CONTROLLED_CONSTANTS.agc Trim whitespace 2016-12-28 16:11:25 +00:00
DAP_INTERFACE_SUBROUTINES.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
DAPIDLER_PROGRAM.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
DISPLAY_INTERFACE_ROUTINES.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
DOWN_TELEMETRY_PROGRAM.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
DOWNLINK_LISTS.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
ERASABLE_ASSIGNMENTS.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
EXECUTIVE.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
EXTENDED_VERBS.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00
FINDCDUW--GUIDAP_INTERFACE.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
FIXED_FIXED_CONSTANT_POOL.agc Proof FIXED_FIXED_CONSTANT_POOL #582 (#712) 2020-10-13 19:12:44 +01:00
FLAGWORD_ASSIGNMENTS.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
FRESH_START_AND_RESTART.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00
GIMBAL_LOCK_AVOIDANCE.agc Proof GIMBAL_LOCK_AVOIDANCE #585 (#700) 2020-09-19 22:16:44 +01:00
GROUND_TRACKING_DETERMINATION_PROGRAM.agc Proof GROUND_TRACKING_DETERMINATION_PROGRAM #586 (#701) 2020-09-20 22:43:35 +01:00
IMU_COMPENSATION_PACKAGE.agc Proof IMU_COMPENSATION_PACKAGE #587 (#707) 2020-10-14 17:55:46 +01:00
IMU_MODE_SWITCHING_ROUTINES.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
IMU_PERFORMANCE_TEST_2.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
IMU_PERFORMANCE_TESTS_4.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
INFLIGHT_ALIGNMENT_ROUTINES.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc Proof INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.acg #592 (#708) 2020-10-11 03:01:06 +01:00
INTEGRATION_INITIALIZATION.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00
INTER-BANK_COMMUNICATION.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
INTERPRETER.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
INTERPRETIVE_CONSTANT.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
INTERRUPT_LEAD_INS.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
KALCMANU_STEERING.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
KALMAN_FILTER.agc Proof KALMAN_FILTER 2020-10-08 21:24:21 +01:00
KEYRUPT_UPRUPT.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
LAMBERT_AIMPOINT_GUIDANCE.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00
LANDING_ANALOG_DISPLAYS.agc Trim whitespace 2016-12-28 16:11:25 +00:00
LATITUDE_LONGITUDE_SUBROUTINES.agc missing Luminary099 files retrieved from virtualagc at https://github.com/rburkey2005/virtualagc/tree/master/Luminary099 2016-07-31 16:32:55 -06:00
LEM_GEOMETRY.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc Proof LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES #605 (#713) 2020-10-13 19:41:18 +01:00
LUNAR_LANDING_GUIDANCE_EQUATIONS.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
MAIN.agc Convert MAIN into Markdown source code indices (#666) 2020-09-01 16:17:52 +01:00
MEASUREMENT_INCORPORATION.agc missing Luminary099 files retrieved from virtualagc at https://github.com/rburkey2005/virtualagc/tree/master/Luminary099 2016-07-31 16:32:55 -06:00
ORBITAL_INTEGRATION.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
P12.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
P20-P25.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00
P30_P37.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
P32-P35_P72-P75.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00
P34-35_P74-75.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00
P40-P47.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
P51-P53.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
P70-P71.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
P76.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
P-AXIS_RCS_AUTOPILOT.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
PHASE_TABLE_MAINTENANCE.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
PINBALL_GAME_BUTTONS_AND_LIGHTS.agc Fix YaYUL Fatal Errors in Luminary099 (#665) 2020-03-04 17:17:16 +00:00
PINBALL_NOUN_TABLES.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
PLANETARY_INERTIAL_ORIENTATION.agc missing Luminary099 files retrieved from virtualagc at https://github.com/rburkey2005/virtualagc/tree/master/Luminary099 2016-07-31 16:32:55 -06:00
POWERED_FLIGHT_SUBROUTINES.agc Revert "Proof POWERED_FLIGHT_SUBROUTINES #624" (#758) 2020-10-13 16:58:43 +01:00
Q_R-AXIS_RCS_AUTOPILOT.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
R30.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
R31.agc Proof R31 #627 (#703) 2020-10-07 02:14:08 +01:00
R60_62.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
R63.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
RADAR_LEADIN_ROUTINES.agc Proof Luminary099/RADAR_LEADIN_ROUTINES.agc (#705) 2020-10-07 21:24:45 +01:00
RCS_FAILURE_MONITOR.agc Proof RCS_FAILURE_MONITOR #631 (#711) 2020-10-13 18:53:32 +01:00
README.md Convert MAIN into Markdown source code indices (#666) 2020-09-01 16:17:52 +01:00
RESTART_TABLES.agc Proof RESTART_TABLES #633 (#714) 2020-10-13 19:59:52 +01:00
RESTARTS_ROUTINE.agc Poof RESTARTS_ROUTINE #632 (#715) 2020-10-13 20:13:17 +01:00
RTB_OP_CODES.agc proof(luminary099): RTP_OP_CODES (#697) 2020-09-02 16:21:41 +01:00
S-BAND_ANTENNA_FOR_LM.agc proof(luminary): S-BAND_ANTENNA_FOR_LM (#696) 2020-09-02 16:21:58 +01:00
SERVICE_ROUTINES.agc proof(luminary099): SERVICE_ROUTINES.agc (#695) 2020-09-04 23:13:42 +01:00
SERVICER.agc Fix YaYUL Fatal Errors in Luminary099 (#665) 2020-03-04 17:17:16 +00:00
SINGLE_PRECISION_SUBROUTINES.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
SPS_BACK-UP_RCS_CONTROL.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
STABLE_ORBIT.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
SYSTEM_TEST_STANDARD_LEAD_INS.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
T4RUPT_PROGRAM.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
T6-RUPT_PROGRAMS.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
TAGS_FOR_RELATIVE_SETLOC.agc Trim whitespace 2016-12-28 16:11:25 +00:00
THE_LUNAR_LANDING.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
THROTTLE_CONTROL_ROUTINES.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
TIME_OF_FREE_FALL.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
TJET_LAW.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
TRIM_GIMBAL_CONTROL_SYSTEM.agc Code review of #756 2020-10-13 17:40:29 +01:00
UPDATE_PROGRAM.agc Common fixes (#691) 2020-08-04 02:09:29 +01:00
WAITLIST.agc proof: VNP00H to VNPOOH 2020-10-08 23:00:42 +01:00

Luminary099

The images (with suitable reduction in storage size and consequent reduction in image quality as well) are available online at www.ibiblio.org/apollo. If for some reason you find that the images are illegible, contact me at info@sandroid.org about getting access to the (much) higher-quality images which Paul actually created.

Background

The contents of the "Luminary099" files, in general, are transcribed from a digital images created from a hardcopy of the program residing at the MIT Museum. Many thanks to Debbie Douglas of the Museum, and to Paul Fjeld (who made the images).

Notations on this document read, in part:

ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
16:27 JULY 14,1969
[Note that this is the date the hardcopy was made,
not the date of the program revision or the assembly.]
...
THIS LGC PROGRAM IS INTENDED FOR USE IN THE LM DURING THE MANNED
LUNAR LANDING MISSION OR ANY SUBSET THEREOF.
...

For organizational purposes RSB split the huge monolithic source code into smaller, more manageable chunks--i.e., into individual source files. Those files are rejoined within MAIN.agc file as "includes". It just makes it a little easier to work with. The code chunks correspond to natural divisions into sub-programs. In fact, these divisions are more-or-less specified by the source code itself. Refer to the "TABLE OF SUBROUTINE LOG SECTIONS" at the very beginning of the file ASSEMBLY_AND_OPERATION_INFORMATION.agc.

It may be reasonably asked why tens of thousands of lines of source are joined by means of inclusion, rather than simply assembling the source files individually and then linking them to form the executable. The answer is that the original development team had no linker. The builds were monolithic just like this.

There was a big emphasis on reusability of the code in the original project, apparently, but this reusability took the form of inserting your deck of punch-cards at the appropriate position in somebody else's deck of punch-cards. (Actually, I believe a tape-library method was used to avoid having to continually reload the card decks, but that doesn't change the basic principle.) So, indeed, the method of file-inclusion is a very fair representation of the methods used in the original development ... with the improvement, of course, that you no longer have to worry about dropping the card deck. On the other hand, I wasn't there at the time, so I may have no idea what I'm talking about.

Finally, note that the original Apollo AGC assembler (called "YUL") is no longer available (as far as I can tell). In fact, it was replaced by another assembler ("GAP") even before Apollo 11, but GAP is no more available than is YUL. The replacement assembler yaYUL accepts a slightly different format for the source code from what YUL or GAP accepted, so the source code has been targeted for assembly with yaYUL.

What follows is simply a bunch of file-includes for the individual code chunks. I've marked the page numbers to make proof-reading easier. Besides, the digital images of the assembly listing contains a lot of interesting tables (cross-referenced to page numbers) created by GAP, but not duplicated by yaYUL, so it's still valuable even if the source-files listed below are at hand.

Source Code Index

Derived from MAIN.agc

Source File Page Number
ASSEMBLY_AND_OPERATION_INFORMATION.agc 1-27
TAGS_FOR_RELATIVE_SETLOC.agc 28-37
CONTROLLED_CONSTANTS.agc 38-53
INPUT_OUTPUT_CHANNEL_BIT_DESCRIPTIONS.agc 54-60
FLAGWORD_ASSIGNMENTS.agc 61-88
ERASABLE_ASSIGNMENTS.agc 90-152
INTERRUPT_LEAD_INS.agc 153-154
T4RUPT_PROGRAM.agc 155-189
RCS_FAILURE_MONITOR.agc 190-192
DOWNLINK_LISTS.agc 193-205
AGS_INITIALIZATION.agc 206-210
FRESH_START_AND_RESTART.agc 211-237
RESTART_TABLES.agc 238-243
AOTMARK.agc 244-261
EXTENDED_VERBS.agc 262-300
PINBALL_NOUN_TABLES.agc 301-319
LEM_GEOMETRY.agc 320-325
IMU_COMPENSATION_PACKAGE.agc 326-337
R63.agc 338-341
ATTITUDE_MANEUVER_ROUTINE.agc 342-363
GIMBAL_LOCK_AVOIDANCE.agc 364
KALCMANU_STEERING.agc 365-369
SYSTEM_TEST_STANDARD_LEAD_INS.agc 370-372
IMU_PERFORMANCE_TEST_2.agc 373-381
IMU_PERFORMANCE_TESTS_4.agc 382-389
PINBALL_GAME_BUTTONS_AND_LIGHTS.agc 390-471
R60_62.agc 472-485
S-BAND_ANTENNA_FOR_LM.agc 486-489
RADAR_LEADIN_ROUTINES.agc 490-491
P20-P25.agc 492-614
P30_P37.agc 615-617
P32-P35_P72-P75.agc 618-650
LAMBERT_AIMPOINT_GUIDANCE.agc 651-653
GROUND_TRACKING_DETERMINATION_PROGRAM.agc 654-657
P34-35_P74-75.agc 658-702
R31.agc 703-708
P76.agc 709-711
R30.agc 712-722
STABLE_ORBIT.agc 723-730
BURN_BABY_BURN--MASTER_IGNITION_ROUTINE.agc 731-751
P40-P47.agc 752-784
THE_LUNAR_LANDING.agc 785-792
THROTTLE_CONTROL_ROUTINES.agc 793-797
LUNAR_LANDING_GUIDANCE_EQUATIONS.agc 798-828
P70-P71.agc 829-837
P12.agc 838-842
ASCENT_GUIDANCE.agc 843-856
SERVICER.agc 857-897
LANDING_ANALOG_DISPLAYS.agc 898-907
FINDCDUW--GUIDAP_INTERFACE.agc 908-925
P51-P53.agc 926-983
LUNAR_AND_SOLAR_EPHEMERIDES_SUBROUTINES.agc 984-987
DOWN_TELEMETRY_PROGRAM.agc 988-997
INTER-BANK_COMMUNICATION.agc 998-1001
INTERPRETER.agc 1002-1094
FIXED_FIXED_CONSTANT_POOL.agc 1095-1099
INTERPRETIVE_CONSTANT.agc 1100-1101
SINGLE_PRECISION_SUBROUTINES.agc 1102
EXECUTIVE.agc 1103-1116
WAITLIST.agc 1117-1132
LATITUDE_LONGITUDE_SUBROUTINES.agc 1133-1139
PLANETARY_INERTIAL_ORIENTATION.agc 1140-1148
MEASUREMENT_INCORPORATION.agc 1149-1158
CONIC_SUBROUTINES.agc 1159-1204
INTEGRATION_INITIALIZATION.agc 1205-1226
ORBITAL_INTEGRATION.agc 1227-1248
INFLIGHT_ALIGNMENT_ROUTINES.agc 1249-1258
POWERED_FLIGHT_SUBROUTINES.agc 1259-1267
TIME_OF_FREE_FALL.agc 1268-1283
AGC_BLOCK_TWO_SELF_CHECK.agc 1284-1293
PHASE_TABLE_MAINTENANCE.agc 1294-1302
RESTARTS_ROUTINE.agc 1303-1308
IMU_MODE_SWITCHING_ROUTINES.agc 1309-1337
KEYRUPT_UPRUPT.agc 1338-1340
DISPLAY_INTERFACE_ROUTINES.agc 1341-1373
SERVICE_ROUTINES.agc 1374-1380
ALARM_AND_ABORT.agc 1381-1385
UPDATE_PROGRAM.agc 1386-1396
RTB_OP_CODES.agc 1397-1402
T6-RUPT_PROGRAMS.agc 1403-1405
DAP_INTERFACE_SUBROUTINES.agc 1406-1409
DAPIDLER_PROGRAM.agc 1410-1420
P-AXIS_RCS_AUTOPILOT.agc 1421-1441
Q_R-AXIS_RCS_AUTOPILOT.agc 1442-1459
TJET_LAW.agc 1460-1459
KALMAN_FILTER.agc 1470-1471
TRIM_GIMBAL_CNTROL_SYSTEM.agc 1472-1484
AOSTASK_AND_AOSJOB.agc 1485-1506
SPS_BACK-UP_RCS_CONTROL.agc 1507-1510

MISCELLANEOUS

Source File Page Number
GAP-generated tables 89, 1511-1743