Source Code
015060,000001: # Copyright: Public domain.
015061,000002: # Filename: KALCMANU_STEERING.agc
015062,000003: # Purpose: A section of Luminary 1C, revision 131.
015063,000004: # It is part of the source code for the Lunar Module's (LM)
015064,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
015065,000006: # This file is intended to be a faithful transcription, except
015066,000007: # that the code format has been changed to conform to the
015067,000008: # requirements of the yaYUL assembler rather than the
015068,000009: # original YUL assembler.
015069,000010: # Reference: pp. 372-376 of 1729.pdf.
015070,000011: # Contact: Ron Burkey <info@sandroid.org>.
015071,000012: # Website: www.ibiblio.org/apollo/index.html
015072,000013: # Mod history: 05/11/03 RSB. Began transcribing.
015073,000014: # 05/14/05 RSB. Corrected website reference above.
015074,000015:
015075,000016: # Page 372
015076,000017: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015077,000018:
015078,000019: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015079,000020:
015080,000021: 22,3003 E6,1706 EBANK= TTEMP
015081,000022:
015082,000023: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015083,000024: 22,3004 54266 CADR ISITAUTO # ONLY
015084,000025: 22,3005 10000 CCS A
015085,000026: 22,3006 12730 TCF NOGO -2
015086,000027: 22,3007 06042 NEWANGL TC INTPRET
015087,000028: 22,3010 75160 AXC,1 AXC,2
015088,000029: 22,3011 03245 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015089,000030: 22,3012 02230 KEL # STABLE MEMBER AXES
015090,000031: 22,3013 77624 CALL
015091,000032: 22,3014 44312 MXM3
015092,000033: 22,3015 45575 VLOAD STADR
015093,000034: 22,3016 50515 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015094,000035: 22,3017 77626 STADR
015095,000036: 22,3020 50523 STOVL MIS +6D
015096,000037: 22,3021 77626 STADR
015097,000038: 22,3022 74531 STORE MIS
015098,000039: 22,3023 45160 AXC,1 CALL
015099,000040: 22,3024 03245 MIS
015100,000041: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015101,000042: 22,3026 77634 RTB
015102,000043: 22,3027 21621 V1STO2S
015103,000044: 22,3030 03303 STORE NCDU # NEW CDU ANGLES
015104,000045: 22,3031 77414 BONCLR EXIT
015105,000046: 22,3032 01215 CALCMAN2
015106,000047: 22,3033 45122 MANUSTAT # TO START MANEUVER
015107,000048: 22,3034 34752 CAF TWO # +0 OTHERWISE
015108,000049: 22,3035 55261 INCRDCDU TS SPNDX
015109,000050: 22,3036 51261 INDEX SPNDX
015110,000051: 22,3037 31675 CA BCDU # INITIAL CDU ANGLES
015111,000052: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015112,000053: 22,3041 51261 INDEX SPNDX
015113,000054: 22,3042 21702 MSU NCDU
015114,000055: 22,3043 00006 EXTEND
015115,000056:
015116,000057: # The following 2 lines seem to have no purpose at all --- RSB 2004.
015117,000058: # SETLOC KALCMON1
015118,000059: # BANK
015119,000060:
015120,000061: 22,3044 73121 MP DT/TAU
015121,000062: 22,3045 10000 CCS A # CONVERT TO 2'S COMPLEMENT
015122,000063: 22,3046 64753 AD ONE
015123,000064: 22,3047 13051 TCF +2
015124,000065: 22,3050 40000 COM
015125,000066: 22,3051 51261 INDEX SPNDX
015126,000067: 22,3052 55637 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015127,000068: 22,3053 51261 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
015128,000069: # Page 373
015129,000070: 22,3054 31702 CA NCDU # BY LEM DAP
015130,000071: 22,3055 51261 INDEX SPNDX
015131,000072: 22,3056 57675 XCH BCDU
015132,000073: 22,3057 51261 INDEX SPNDX
015133,000074: 22,3060 55634 TS CDUXD
015134,000075: 22,3061 11261 CCS SPNDX
015135,000076: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015136,000077:
015137,000078: 22,3063 00003 RELINT
015138,000079:
015139,000080: # COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER
015140,000081:
015141,000082: 22,3064 03075 TMANUCHK TC TIMECHK
015142,000083: 22,3065 13170 TCF CONTMANU
015143,000084: 22,3066 34753 CAF ONE
015144,000085: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015145,000086: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015146,000087: 22,3071 E6,1706 EBANK= TTEMP
015147,000088: 22,3071 03213 44066 2CADR MANUSTOP
015148,000089:
015149,000090: 22,3073 00003 RELINT
015150,000091: 22,3074 15155 TCF ENDOFJOB
015151,000092:
015152,000093: 22,3075 00006 TIMECHK EXTEND
015153,000094: 22,3076 40025 DCS TIME2
015154,000095: 22,3077 53707 DXCH TTEMP
015155,000096: 22,3100 00006 EXTEND
015156,000097: 22,3101 31733 DCA TM
015157,000098: 22,3102 21707 DAS TTEMP
015158,000099: 22,3103 11706 CCS TTEMP
015159,000100: 22,3104 00002 TC Q
015160,000101: 22,3105 13107 TCF +2
015161,000102: 22,3106 13117 TCF 2NDRETRN
015162,000103: 22,3107 11707 CCS TTEMP +1
015163,000104: 22,3110 00002 TC Q
015164,000105: 22,3111 13113 TCF MANUOFF
015165,000106: 22,3112 40000 COM
015166,000107: 22,3113 63166 MANUOFF AD ONESEK +1
015167,000108: 22,3114 00006 EXTEND
015168,000109: 22,3115 63117 BZMF 2NDRETRN
015169,000110: 22,3116 24002 INCR Q
015170,000111: 22,3117 24002 2NDRETRN INCR Q
015171,000112: 22,3120 00002 TC Q
015172,000113:
015173,000114: 22,3121 03146 DT/TAU DEC .1
015174,000115:
015175,000116: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015176,000117: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015177,000118: 22,3124 30025 DCA TIME2
015178,000119: # Page 374
015179,000120: 22,3125 21733 DAS TM # TM+TO MANEUVER COMPLETION TIME
015180,000121: 22,3126 00006 EXTEND
015181,000122: 22,3127 43166 DCS ONESEK
015182,000123: 22,3130 21733 DAS TM # (TM+TO)-1
015183,000124: 22,3131 00004 INHINT
015184,000125: 22,3132 34752 CAF TWO
015185,000126: 22,3133 55700 RATEBIAS TS KSPNDX
015186,000127: 22,3134 60000 DOUBLE
015187,000128: 22,3135 55701 TS KDPNDX
015188,000129: 22,3136 50000 INDEX A
015189,000130: 22,3137 31724 CA BRATE
015190,000131: 22,3140 51700 INDEX KSPNDX # STORE MANEUVER RATE IN
015191,000132: 22,3141 55642 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015192,000133: 22,3142 00006 EXTEND
015193,000134: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015194,000135: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015195,000136: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015196,000137: 22,3146 73167 MP BIASCALE # = -1/16
015197,000138: 22,3147 00006 EXTEND
015198,000139: 22,3150 51701 INDEX KDPNDX
015199,000140: 22,3151 71724 MP BRATE
015200,000141: 22,3152 00006 EXTEND
015201,000142: 22,3153 51700 INDEX KSPNDX
015202,000143: 22,3154 11530 DV 1JACC # = AJX
015203,000144: 22,3155 51700 INDEX KSPNDX
015204,000145: 22,3156 55274 TS DELPEROR
015205,000146: 22,3157 11700 CCS KSPNDX
015206,000147: 22,3160 13133 TCF RATEBIAS
015207,000148:
015208,000149: 22,3161 30025 CA TIME1
015209,000150: 22,3162 63166 AD ONESEK +1
015210,000151: 22,3163 57705 XCH NEXTIME
015211,000152: 22,3164 13034 TCF INCRDCDU -1
015212,000153:
015213,000154: 22,3165 00000 ONESEK DEC 0 B-14
015214,000155: 22,3166 00144 DEC 100 B-14
015215,000156:
015216,000157: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015217,000158:
015218,000159: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015219,000160: 22,3171 61705 AD NEXTIME
015220,000161: 22,3172 10000 CCS A
015221,000162: 22,3173 64753 AD ONE
015222,000163: 22,3174 13177 TCF MANUCALL
015223,000164: 22,3175 64735 AD NEGMAX
015224,000165: 22,3176 40000 COM
015225,000166: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015226,000167: 22,3200 05203 TC WAITLIST
015227,000168: 22,3201 E6,1706 EBANK= TTEMP
015228,000169: 22,3201 03206 44066 2CADR UPDTCALL
015229,000170: # Page 375
015230,000171: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015231,000172: 22,3204 27705 ADS NEXTIME
015232,000173: 22,3205 15155 TCF ENDOFJOB
015233,000174:
015234,000175: 22,3206 37717 UPDTCALL CAF PRIO26 # CATELLITE PROGRAM TO CALL FOR UPDATE
015235,000176: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015236,000177: 22,3210 E6,1706 EBANK= TTEMP
015237,000178: 22,3210 03003 44066 2CADR NEWDELHI
015238,000179:
015239,000180: 22,3212 05261 TC TASKOVER
015240,000181:
015241,000182: # Page 376
015242,000183: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015243,000184:
015244,000185: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015245,000186: 22,3214 55641 TS DELDCDU2
015246,000187: 22,3215 55644 TS OMEGARD
015247,000188: 22,3216 55276 TS DELREROR
015248,000189: 22,3217 55640 TS DELDCDU1
015249,000190: 22,3220 55643 TS OMEGAQD
015250,000191: 22,3221 55275 TS DELQEROR
015251,000192: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015252,000193: 22,3223 55636 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015253,000194: 22,3224 30322 CA CTHETA
015254,000195: 22,3225 55635 TS CDUYD
015255,000196: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015256,000197: 22,3227 55634 TS CDUXD
015257,000198: 22,3230 34755 CAF ZERO
015258,000199: 22,3231 55642 TS OMEGAPD # I.E., MANEUVER DID NOT GO THRU
015259,000200: 22,3232 55637 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015260,000201: 22,3233 55274 TS DELPEROR
015261,000202: 22,3234 31306 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015262,000203: 22,3235 54063 TS NEWPRIO
015263,000204:
015264,000205: 22,3236 34755 CA ZERO # ZERO ATTCADR
015265,000206: 22,3237 53305 DXCH ATTCADR
015266,000207:
015267,000208: 22,3240 05116 TC SPVAC # RETURN TO USER
015268,000209:
015269,000210: 22,3241 05261 TC TASKOVER
015270,000211:
015271,000212:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc