Source Code
018054,000001: # Copyright: Public domain.
018055,000002: # Filename: KALCMANU_STEERING.agc
018056,000003: # Purpose: Part of the source code for Comanche, build 055.
018057,000004: # It is part of the source code for the Command Module's (CM)
018058,000005: # Apollo Guidance Computer (AGC), Apollo 11.
018059,000006: # Assembler: yaYUL
018060,000007: # Reference: pp. 414-419
018061,000008: # Contact: Onno Hommes <ohommes@cmu.edu>.
018062,000009: # Website: www.ibiblio.org/apollo.
018063,000010: # Mod history: 05/07/09 OH Transcription Batch 1 Assignment
018064,000011:
018065,000012: # The contents of the "Comanche055" files, in general, are transcribed
018066,000013: # from scanned documents.
018067,000014:
018068,000015: # Assemble revision 055 of AGC program Comanche by NASA
018069,000016: # 2021113-051. April 1, 1969.
018070,000017:
018071,000018: # This AGC program shall also be referred to as Colossus 2A
018072,000019:
018073,000020: # Prepared by
018074,000021: # Massachussets Institute of Technology
018075,000022: # 75 Cambridge Parkway
018076,000023: # Cambridge, Massachusetts
018077,000024:
018078,000025: # under NASA contract NAS 9-4065.
018079,000026:
018080,000027: # Refer directly to the online document mentioned above for further information.
018081,000028: # Please report any errors to info@sandroid.org.
018082,000029:
018083,000030: # Page 414
018084,000031: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
018085,000032:
018086,000033: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
018087,000034:
018088,000035: 15,2000 BANK 15
018089,000036:
018090,000037: 22,2000 SETLOC KALCMON1
018091,000038: 22,2000 BANK
018092,000039:
018093,000040: 22,3026 E6,1661 EBANK= BCDU
018094,000041:
018095,000042: 22,3026 COUNT 22/KALC
018096,000043:
018097,000044: 22,3026 41332 NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
018098,000045: 22,3027 00006 EXTEND # BY ASTRONAUT.
018099,000046: 22,3030 62726 BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
018100,000047: 22,3031 06006 NEWANGL TC INTPRET
018101,000048: 22,3032 75160 AXC,1 AXC,2
018102,000049: 22,3033 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
018103,000050: 22,3034 03425 DEL # STABLE MEMBER AXES
018104,000051: 22,3035 77624 CALL
018105,000052: 22,3036 44304 MXM3
018106,000053: 22,3037 45575 VLOAD STADR
018107,000054: 22,3040 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
018108,000055: 22,3041 77626 STADR
018109,000056: 22,3042 50450 STOVL MIS +6D
018110,000057: 22,3043 77626 STADR
018111,000058: 22,3044 74456 STORE MIS
018112,000059: 22,3045 45160 AXC,1 CALL
018113,000060: 22,3046 03320 MIS
018114,000061: 22,3047 44655 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
018115,000062: 22,3050 77634 RTB
018116,000063: 22,3051 45552 V1STO2S
018117,000064: 22,3052 03267 STORE NCDU # NEW CDU ANGLES
018118,000065: 22,3053 77414 BONCLR EXIT
018119,000066: 22,3054 01215 CALCMAN2
018120,000067: 22,3055 40065 MANUSTAT # TO START MANEUVER
018121,000068: 22,3056 35016 CAF TWO # +0 OTHERWISE
018122,000069: 22,3057 55664 INCRDCDU TS KSPNDX
018123,000070: 22,3060 60000 DOUBLE
018124,000071: 22,3061 55665 TS KDPNDX
018125,000072: 22,3062 51664 INDEX KSPNDX
018126,000073: 22,3063 31666 CA NCDU # NEW DESIRED CDU ANGLES
018127,000074: 22,3064 00006 EXTEND
018128,000075: 22,3065 51664 INDEX KSPNDX
018129,000076: 22,3066 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
018130,000077: 22,3067 00006 EXTEND # CDU ANGLES
018131,000078: 22,3070 73002 MP QUADROT
018132,000079: 22,3071 51665 INDEX KDPNDX
018133,000080: 22,3072 53576 DXCH DELCDUX # ANGEL INCREMENTS TO BE ADDED TO
018134,000081: # Page 415
018135,000082: 22,3073 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
018136,000083: 22,3074 31666 CA NCDU # BY LEM DAP
018137,000084: 22,3075 51664 INDEX KSPNDX
018138,000085: 22,3076 57661 XCH BCDU
018139,000086: 22,3077 51665 INDEX KDPNDX
018140,000087: 22,3100 55646 TS CDUXD
018141,000088: 22,3101 11664 CCS KSPNDX
018142,000089: 22,3102 13057 TCF INCRDCDU # LOOP FOR THREE AXES
018143,000090:
018144,000091: 22,3103 00003 RELINT
018145,000092: # COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER
018146,000093:
018147,000094: 22,3104 03115 TMANUCHK TC TIMECHK
018148,000095: 22,3105 04701 TC POSTJUMP
018149,000096: 22,3106 40131 CADR CONTMANU
018150,000097:
018151,000098: 22,3107 35017 CAF ONE
018152,000099: 22,3110 05245 MANUSTAL TC WAITLIST
018153,000100: 22,3111 E6,1661 EBANK= BCDU
018154,000101: 22,3111 02000 42066 2CADR MANUSTOP
018155,000102:
018156,000103: 22,3113 00003 RELINT
018157,000104: 22,3114 15217 TCF ENDOFJOB
018158,000105:
018159,000106:
018160,000107: 22,3115 00006 TIMECHK EXTEND
018161,000108: 22,3116 40025 DCS TIME2
018162,000109: 22,3117 53673 DXCH TTEMP
018163,000110: 22,3120 00006 EXTEND
018164,000111: 22,3121 31717 DCA TM
018165,000112: 22,3122 21673 DAS TTEMP
018166,000113: 22,3123 11672 CCS TTEMP
018167,000114: 22,3124 00002 TC Q
018168,000115: 22,3125 13127 TCF +2
018169,000116: 22,3126 13137 TCF 2NDRETRN
018170,000117: 22,3127 11673 CCS TTEMP +1
018171,000118: 22,3130 00002 TC Q
018172,000119: 22,3131 13133 TCF MANUOFF
018173,000120: 22,3132 40000 COM
018174,000121: 22,3133 65041 MANUOFF AD 1SEC
018175,000122: 22,3134 00006 EXTEND
018176,000123: 22,3135 63137 BZMF 2NDRETRN
018177,000124: 22,3136 24002 INCR Q
018178,000125: 22,3137 24002 2NDRETRN INCR Q
018179,000126: 22,3140 24002 INCR Q
018180,000127: 22,3141 00002 TC Q
018181,000128:
018182,000129: 20,2000 SETLOC MANUSTUF
018183,000130: 20,2000 BANK
018184,000131: # Page 416
018185,000132: 20,2065 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
018186,000133: 20,2066 00006 EXTEND # FOR AUTOMATIC MANEUVERS
018187,000134: 20,2067 30025 DCA TIME2
018188,000135: 20,2070 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
018189,000136: 20,2071 45041 CS 1SEC
018190,000137: 20,2072 54001 TS L
018191,000138: 20,2073 45021 CS ZERO
018192,000139: 20,2074 21717 DAS TM # (TM+T0)-1
018193,000140: 20,2075 00004 INHINT
018194,000141: 20,2076 45017 CS ONE # ENABLE AUTOPILOT TO PERFORM
018195,000142: 20,2077 55332 TS HOLDFLAG # AUTOMATIC MANEUVERS
018196,000143: 20,2100 41130 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
018197,000144: 20,2101 66211 AD SIX
018198,000145: 20,2102 00006 EXTEND
018199,000146: 20,2103 62105 BZMF HIGHGAIN
018200,000147: 20,2104 12110 TCF +4
018201,000148: 20,2105 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
018202,000149: 20,2106 75001 MASK BIT15 # RCSFLAGS)
018203,000150: 20,2107 27501 ADS RCSFLAGS
018204,000151: 20,2110 53711 DXCH BRATE # X-AXIS MANEUVER RATE
018205,000152: 20,2111 53526 DXCH WBODY
018206,000153: 20,2112 53713 DXCH BRATE +2 # Y-AXIS MANEUVER RATE
018207,000154: 20,2113 53530 DXCH WBODY1
018208,000155: 20,2114 53715 DXCH BRATE +4 # Z-AXIS MANEUVER RATE
018209,000156: 20,2115 53532 DXCH WBODY2
018210,000157: 20,2116 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
018211,000158: 20,2117 55564 TS BIAS # INTO AUTOPILOT
018212,000159: 20,2120 31677 CA BIASTEMP +3
018213,000160: 20,2121 55565 TS BIAS1
018214,000161: 20,2122 31701 CA BIASTEMP +5
018215,000162: 20,2123 55566 TS BIAS2
018216,000163: 20,2124 30025 CA TIME1
018217,000164: 20,2125 65041 AD 1SEC
018218,000165: 20,2126 57671 XCH NEXTIME
018219,000166: 20,2127 04701 TC POSTJUMP
018220,000167: 20,2130 45056 CADR INCRDCDU -1
018221,000168:
018222,000169: 20,2131 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
018223,000170: 20,2132 40025 CS TIME1
018224,000171: 20,2133 61671 AD NEXTIME
018225,000172: 20,2134 10000 CCS A
018226,000173: 20,2135 65017 AD ONE
018227,000174: 20,2136 12141 TCF MANUCALL
018228,000175: 20,2137 65001 AD NEGMAX
018229,000176: 20,2140 40000 COM
018230,000177: 20,2141 05245 MANUCALL TC WAITLIST
018231,000178: 20,2142 E6,1661 EBANK= BCDU
018232,000179: 20,2142 02150 40066 2CADR UPDTCALL
018233,000180:
018234,000181: 20,2144 00003 RELINT
018235,000182: # Page 417
018236,000183: 20,2145 35041 CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE
018237,000184: 20,2146 27671 ADS NEXTIME
018238,000185: 20,2147 15217 TCF ENDOFJOB
018239,000186:
018240,000187:
018241,000188: 20,2150 37663 UPDTCALL CAF PRIO26 # CALL FOR UPDATE
018242,000189: 20,2151 05147 TC FINDVAC # OF STEERING COMMANDS
018243,000190: 20,2152 E6,1661 EBANK= BCDU
018244,000191: 20,2152 03026 44066 2CADR NEWDELHI
018245,000192:
018246,000193: 20,2154 05324 TC TASKOVER
018247,000194:
018248,000195: # Page 418
018249,000196: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018250,000197:
018251,000198: 21,2000 SETLOC KALCMON3
018252,000199: 21,2000 BANK
018253,000200:
018254,000201: 21,2000 04537 MANUSTOP TC STOPYZ
018255,000202: 21,2001 04740 TC IBNKCALL
018256,000203: 21,2002 45144 CADR LOADYZ
018257,000204:
018258,000205: 21,2003 31155 ENDROLL CA CPHI
018259,000206: 21,2004 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
018260,000207: 21,2005 04526 TC STOPRATE
018261,000208: 21,2006 31327 ENDMANU CA ATTPRIO # RESTORE USERS PRIO
018262,000209: 21,2007 54063 TS NEWPRIO
018263,000210:
018264,000211: 21,2010 35021 CA ZERO # ZERO ATTCADR
018265,000212: 21,2011 53326 DXCH ATTCADR
018266,000213:
018267,000214: 21,2012 05160 TC SPVAC # RETURN TO USER OF GOMANUR
018268,000215:
018269,000216: 21,2013 05324 TC TASKOVER
018270,000217:
018271,000218: 4000 SETLOC STOPRAT
018272,000219: 4000 BANK
018273,000220: 4526 35021 STOPRATE CAF ZERO
018274,000221: 4527 55575 TS DELCDUX
018275,000222: 4530 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
018276,000223: 4531 55525 TS WBODY # RATE
018277,000224: 4532 55526 TS WBODY +1
018278,000225: 4533 55564 TS BIAS # BIAS
018279,000226:
018280,000227: 4534 45001 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
018281,000228: 4535 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
018282,000229: 4536 55501 TS RCSFLAGS
018283,000230:
018284,000231: 4537 35021 STOPYZ CAF ZERO
018285,000232: 4540 55577 TS DELCDUY # ZERO PITCH, YAW
018286,000233: 4541 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
018287,000234: 4542 55601 TS DELCDUZ
018288,000235: 4543 55602 TS DELCDUZ +1
018289,000236: 4544 55527 TS WBODY1 # RATES
018290,000237: 4545 55530 TS WBODY1 +1
018291,000238: 4546 55531 TS WBODY2
018292,000239: 4547 55532 TS WBODY2 +1
018293,000240: 4550 55565 TS BIAS1 # BIASES
018294,000241: 4551 55566 TS BIAS2
018295,000242: 4552 00002 TC Q
018296,000243:
018297,000244: 20,2000 SETLOC MANUSTUF
018298,000245: 20,2000 BANK
018299,000246:
018300,000247: # Page 419
018301,000248: 20,2155 30032 ZEROERROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
018302,000249: 20,2156 55646 TS CDUXD # CDU DESIRED
018303,000250: 20,2157 30033 CA CDUY
018304,000251: 20,2160 55650 TS CDUYD
018305,000252: 20,2161 30034 CA CDUZ
018306,000253: 20,2162 55652 TS CDUZD
018307,000254: 20,2163 00002 TC Q
018308,000255:
018309,000256: 22,2000 SETLOC KALCMON1
018310,000257: 22,2000 BANK
018311,000258:
018312,000259: 22,3142 31155 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
018313,000260: 22,3143 55646 TS CDUXD # COMMAND ANGLES
018314,000261: 22,3144 31156 LOADYZ CA CTHETA
018315,000262: 22,3145 55650 TS CDUYD
018316,000263: 22,3146 31157 CA CPSI
018317,000264: 22,3147 55652 TS CDUZD
018318,000265: 22,3150 00002 TC Q
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc