Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 listing.
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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018480,000002: ## Copyright: Public domain.
018481,000003: ## Filename: KALCMANU_STEERING.agc
018482,000004: ## Purpose: A section of Artemis revision 071.
018483,000005: ## It is part of the reconstructed source code for the first
018484,000006: ## release of the flight software for the Command Module's
018485,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
018486,000008: ## 17. The code has been recreated from a copy of Artemis 072.
018487,000009: ## It has been adapted such that the resulting bugger words
018488,000010: ## exactly match those specified for Artemis 071 in NASA
018489,000011: ## drawing 2021154-, which gives relatively high confidence
018490,000012: ## that the reconstruction is correct.
018491,000013: ## Reference: 418
018492,000014: ## Assembler: yaYUL
018493,000015: ## Contact: Ron Burkey <info@sandroid.org>.
018494,000016: ## Website: www.ibiblio.org/apollo/index.html
018495,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
018496,000018:
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Page 418
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018498,000020:
018499,000021: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
018500,000022:
018501,000023: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
018502,000024:
018503,000025: 22,2000 SETLOC KALCMON1
018504,000026: 22,2000 BANK
018505,000027:
018506,000028: 22,3037 E6,1661 EBANK= BCDU
018507,000029:
018508,000030: 22,3037 COUNT* $$/KALC
018509,000031: 22,3037 34767 NEWDELHI CAF R67BIT
018510,000032: 22,3040 70104 MASK FLAGWRD8
018511,000033: 22,3041 00006 EXTEND
018512,000034: 22,3042 13047 BZF NEWANGL -3 # NON-R67 SEQUENCE
018513,000035:
018514,000036: 22,3043 34764 CAF TRACKBIT
018515,000037: 22,3044 70075 MASK FLAGWRD1
018516,000038: 22,3045 00006 EXTEND # CHECK TRACKFLAG
018517,000039: 22,3046 13161 BZF MYSTEND # IF OFF DO MYSTEND
018518,000040:
018519,000041: 22,3047 41340 -3 CS HOLDFLAG
018520,000042: 22,3050 00006 EXTEND # CHECK HOLDFLAG
018521,000043: 22,3051 62720 BZMF NOGOM2 # IF POS, DO STOPRATE
018522,000044:
018523,000045: 22,3052 06006 NEWANGL TC INTPRET
018524,000046: 22,3053 75160 +1 AXC,1 AXC,2
018525,000047: 22,3054 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
018526,000048: 22,3055 03425 DEL # STABLE MEMBER AXES
018527,000049: 22,3056 77624 CALL
018528,000050: 22,3057 44304 MXM3
018529,000051: 22,3060 45575 VLOAD STADR
018530,000052: 22,3061 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
018531,000053: 22,3062 77626 STADR
018532,000054: 22,3063 50450 STOVL MIS +6D
018533,000055: 22,3064 77626 STADR
018534,000056: 22,3065 74456 STORE MIS
018535,000057: 22,3066 45160 AXC,1 CALL
018536,000058: 22,3067 03320 MIS
018537,000059: 22,3070 44647 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
018538,000060: 22,3071 77634 RTB
018539,000061: 22,3072 45644 V1STO2S
018540,000062: 22,3073 03267 NWNGL17D STORE NCDU # NEW CDU ANGLES (TAG IS USED BY EDIT)
018541,000063: 22,3074 77414 BONCLR EXIT
018542,000064: 22,3075 01215 CALCMAN2
018543,000065: 22,3076 40064 MANUSTAT # TO START MANEUVER
018544,000066: 22,3077 34767 -1 CAF TWO # +0 OTHERWISE
018545,000067: 22,3100 55664 INCRDCDU TS KSPNDX
018546,000068: 22,3101 60000 DOUBLE
018547,000069: 22,3102 55665 TS KDPNDX
018548,000070: 22,3103 51664 INDEX KSPNDX
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Page 419
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018550,000072: 22,3104 31666 CA NCDU # NEW DESIRED CDU ANGLES
018551,000073: 22,3105 00006 EXTEND
018552,000074: 22,3106 51664 INDEX KSPNDX
018553,000075: 22,3107 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
018554,000076: 22,3110 00006 EXTEND # CDU ANGLES
018555,000077: 22,3111 73013 MP QUADROT
018556,000078: 22,3112 51665 INDEX KDPNDX
018557,000079: 22,3113 53576 DXCH DELCDUX # ANGLE INCREMENTS TO BE ADDED TO
018558,000080: 22,3114 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
018559,000081: 22,3115 31666 CA NCDU # BY LEM DAP
018560,000082: 22,3116 51664 INDEX KSPNDX
018561,000083: 22,3117 57661 XCH BCDU
018562,000084: 22,3120 51665 INDEX KDPNDX
018563,000085: 22,3121 55646 TS CDUXD
018564,000086: 22,3122 11664 CCS KSPNDX
018565,000087: 22,3123 13100 TCF INCRDCDU # LOOP FOR THREE AXES
018566,000088:
018567,000089: 22,3124 00003 RELINT
018568,000090:
018569,000091: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
018570,000092:
018571,000093: 22,3125 03135 TMANUCHK TC TIMECHK
018572,000094: 22,3126 04655 TC POSTJUMP
018573,000095: 22,3127 40143 CADR CONTMANU
018574,000096:
018575,000097: 22,3130 34770 CAF ONE
018576,000098: 22,3131 05233 MANUSTAL TC WAITLIST
018577,000099: 22,3132 E6,1661 EBANK= BCDU
018578,000100: 22,3132 02303 20066 2CADR MANUSTOP
018579,000101:
018580,000102: 22,3134 15205 TCF ENDOFJOB
018581,000103:
018582,000104:
018583,000105: 22,3135 00006 TIMECHK EXTEND
018584,000106: 22,3136 40025 DCS TIME2
018585,000107: 22,3137 53673 DXCH TTEMP
018586,000108: 22,3140 00006 EXTEND
018587,000109: 22,3141 31717 DCA TM
018588,000110: 22,3142 21673 DAS TTEMP
018589,000111: 22,3143 11672 CCS TTEMP
018590,000112: 22,3144 00002 TC Q
018591,000113: 22,3145 13147 TCF +2
018592,000114: 22,3146 13157 TCF 2NDRETRN
018593,000115: 22,3147 11673 CCS TTEMP +1
018594,000116: 22,3150 00002 TC Q
018595,000117: 22,3151 13153 TCF MANUOFF
018596,000118: 22,3152 40000 COM
018597,000119: 22,3153 65016 MANUOFF AD 1SEC
018598,000120: 22,3154 00006 EXTEND
018599,000121: 22,3155 63157 BZMF 2NDRETRN
018600,000122: 22,3156 24002 INCR Q
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Page 420
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018602,000124: 22,3157 24002 2NDRETRN INCR Q
018603,000125: 22,3160 16706 TCF Q+1
018604,000126: 22,3161 04655 MYSTEND TC POSTJUMP
018605,000127: 22,3162 74416 CADR FIXDB
018606,000128:
018607,000129: 20,2000 SETLOC MANUSTUF
018608,000130: 20,2000 BANK
018609,000131:
018610,000132: 20,2064 COUNT* $$/KALC
018611,000133: 20,2064 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE FOR AUTO
018612,000134: 20,2065 34767 CAF R67BIT # MANEUVERS
018613,000135: 20,2066 70104 MASK FLAGWRD8
018614,000136: 20,2067 00006 EXTEND
018615,000137: 20,2070 12075 BZF +5
018616,000138: 20,2071 00006 EXTEND # R67 RUNNING
018617,000139: 20,2072 34750 DCA DPOSMAX
018618,000140: 20,2073 53717 DXCH TM
018619,000141: 20,2074 12104 TCF TMDON
018620,000142: 20,2075 00006 EXTEND # NON-R67 PROGRAM
018621,000143: 20,2076 30025 DCA TIME2
018622,000144: 20,2077 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
018623,000145: 20,2100 45016 CS 1SEC
018624,000146: 20,2101 54001 TS L
018625,000147: 20,2102 44772 CS ZERO
018626,000148: 20,2103 21717 DAS TM # (TM+T0)-1
018627,000149: 20,2104 00004 TMDON INHINT
018628,000150: 20,2105 44770 CS ONE # ENABLE AUTOPILOT TO PERFORM
018629,000151: 20,2106 55340 TS HOLDFLAG # AUTOMATIC MANEUVERS
018630,000152: 20,2107 40774 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
018631,000153: 20,2110 66211 AD SIX
018632,000154: 20,2111 00006 EXTEND
018633,000155: 20,2112 62114 BZMF HIGHGAIN
018634,000156: 20,2113 12117 TCF +4
018635,000157: 20,2114 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
018636,000158: 20,2115 74752 MASK BIT15 # RCSFLAGS)
018637,000159: 20,2116 27501 ADS RCSFLAGS
018638,000160: 20,2117 00006 EXTEND
018639,000161: 20,2120 31711 DCA BRATE # X-AXIS MANEUVER RATE
018640,000162: 20,2121 53526 DXCH WBODY
018641,000163: 20,2122 00006 EXTEND
018642,000164: 20,2123 31713 DCA BRATE +2 # Y-AXIS MANEUVER RATE
018643,000165: 20,2124 53530 DXCH WBODY1
018644,000166: 20,2125 00006 EXTEND
018645,000167: 20,2126 31715 DCA BRATE +4 # Z-AXIS MANEUVER RATE
018646,000168: 20,2127 53532 DXCH WBODY2
018647,000169: 20,2130 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
018648,000170: 20,2131 55564 TS BIAS # INTO AUTOPILOT
018649,000171: 20,2132 31677 CA BIASTEMP +3
018650,000172: 20,2133 55565 TS BIAS1
018651,000173: 20,2134 31701 CA BIASTEMP +5
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Page 421
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018653,000175: 20,2135 55566 TS BIAS2
018654,000176: 20,2136 30025 CA TIME1
018655,000177: 20,2137 65016 AD 1SEC
018656,000178: 20,2140 57671 XCH NEXTIME
018657,000179: 20,2141 04655 TC POSTJUMP
018658,000180: 20,2142 45077 CADR INCRDCDU -1
018659,000181:
018660,000182: 20,2143 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
018661,000183: 20,2144 40025 CS TIME1
018662,000184: 20,2145 61671 AD NEXTIME
018663,000185: 20,2146 10000 CCS A
018664,000186: 20,2147 64770 AD ONE
018665,000187: 20,2150 12153 TCF MANUCALL
018666,000188: 20,2151 64752 AD NEGMAX
018667,000189: 20,2152 40000 COM
018668,000190: 20,2153 05223 MANUCALL TC TWIDDLE
018669,000191: 20,2154 02161 ADRES UPDTCALL
018670,000192: 20,2155 00003 RELINT
018671,000193: 20,2156 35016 CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE
018672,000194: 20,2157 27671 ADS NEXTIME
018673,000195: 20,2160 15205 TCF ENDOFJOB
018674,000196:
018675,000197: 20,2161 34767 UPDTCALL CAF R67BIT
018676,000198: 20,2162 70104 MASK FLAGWRD8
018677,000199: 20,2163 00006 EXTEND
018678,000200: 20,2164 12171 BZF +5
018679,000201:
018680,000202: 20,2165 11774 CCS R61CNTR
018681,000203: 20,2166 12170 TCF +2
018682,000204: 20,2167 12176 TCF DOREMIS
018683,000205: 20,2170 55774 TS R61CNTR
018684,000206:
018685,000207: 20,2171 37650 CAF PRIO26
018686,000208: 20,2172 05135 TC FINDVAC # OF STEERING COMMANDS
018687,000209: 20,2173 E6,1661 EBANK= BCDU
018688,000210: 20,2173 03037 44066 2CADR NEWDELHI
018689,000211:
018690,000212: 20,2175 05314 TC TASKOVER
018691,000213:
018692,000214: 20,2176 37650 DOREMIS CAF PRIO26
018693,000215: 20,2177 05135 TC FINDVAC
018694,000216: 20,2200 E6,1661 EBANK= BCDU
018695,000217: 20,2200 02374 74066 2CADR R67RSTRT # MAKE SURE MIS DOES DEGRADE
018696,000218:
018697,000219: 20,2202 05314 TC TASKOVER
018698,000220:
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Page 422
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018700,000222: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018701,000223:
018702,000224: 10,2000 SETLOC KALCMON3
018703,000225: 10,2000 BANK
018704,000226:
018705,000227: 10,2303 COUNT* $$/KALC
018706,000228: 10,2303 04474 MANUSTOP TC STOPYZ
018707,000229: 10,2304 04714 TC IBNKCALL
018708,000230: 10,2305 45165 CADR LOADYZ
018709,000231:
018710,000232: 10,2306 31307 ENDROLL CA CPHI
018711,000233: 10,2307 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
018712,000234: 10,2310 04463 TC STOPRATE
018713,000235: 10,2311 35053 ENDMANU CAF PRIO14
018714,000236: 10,2312 05135 TC FINDVAC
018715,000237: 10,2313 E6,1774 EBANK= R61CNTR
018716,000238: 10,2313 02141 56066 2CADR ENDMANUV
018717,000239:
018718,000240: 10,2315 05314 TC TASKOVER
018719,000241:
018720,000242: 4000 SETLOC STOPRAT
018721,000243: 4000 BANK
018722,000244: 4463 COUNT* $$/KALC
018723,000245: 4463 34772 STOPRATE CAF ZERO
018724,000246: 4464 55575 TS DELCDUX
018725,000247: 4465 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
018726,000248: 4466 55525 TS WBODY # RATE
018727,000249: 4467 55526 TS WBODY +1
018728,000250: 4470 55564 TS BIAS # BIAS
018729,000251:
018730,000252: 4471 44752 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
018731,000253: 4472 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
018732,000254: 4473 55501 TS RCSFLAGS
018733,000255:
018734,000256: 4474 34772 STOPYZ CAF ZERO
018735,000257: 4475 55577 TS DELCDUY # ZERO PITCH, YAW
018736,000258: 4476 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
018737,000259: 4477 55601 TS DELCDUZ
018738,000260: 4500 55602 TS DELCDUZ +1
018739,000261: 4501 55527 TS WBODY1 # RATES
018740,000262: 4502 55530 TS WBODY1 +1
018741,000263: 4503 55531 TS WBODY2
018742,000264: 4504 55532 TS WBODY2 +1
018743,000265: 4505 55565 TS BIAS1 # BIASES
018744,000266: 4506 55566 TS BIAS2
018745,000267: 4507 00002 TC Q
018746,000268:
018747,000269: 20,2000 SETLOC MANUSTUF
018748,000270: 20,2000 BANK
018749,000271:
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Page 423
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018751,000273: 20,2203 COUNT* $$/KALC
018752,000274: 20,2203 30032 ZEROEROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
018753,000275: 20,2204 55646 TS CDUXD # CDU DESIRED
018754,000276: 20,2205 30033 CA CDUY
018755,000277: 20,2206 55650 TS CDUYD
018756,000278: 20,2207 30034 CA CDUZ
018757,000279: 20,2210 55652 TS CDUZD
018758,000280: 20,2211 00002 TC Q
018759,000281:
018760,000282: 22,2000 SETLOC KALCMON1
018761,000283: 22,2000 BANK
018762,000284:
018763,000285: 22,3163 COUNT* $$/KALC
018764,000286: 22,3163 31307 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
018765,000287: 22,3164 55646 TS CDUXD # COMMAND ANGLES
018766,000288: 22,3165 31310 LOADYZ CA CTHETA
018767,000289: 22,3166 55650 TS CDUYD
018768,000290: 22,3167 31311 CA CPSI
018769,000291: 22,3170 55652 TS CDUZD
018770,000292: 22,3171 00002 TC Q
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc