GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 (Apollo 15-17 Command Module) program listing from a private
collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Photography was by Ron Burkey, and transcription
was performed by a team of volunteers. Note that the page images
presented online are of reduced quality, and that additional images
may be available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971Note that the date is the date of the printout, not the date of the program revision. |
018572,000002: ## Copyright: Public domain.
018573,000003: ## Filename: KALCMANU_STEERING.agc
018574,000004: ## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
018575,000005: ## build 072. This is for the Command Module's (CM)
018576,000006: ## Apollo Guidance Computer (AGC), for
018577,000007: ## Apollo 15-17.
018578,000008: ## Assembler: yaYUL
018579,000009: ## Contact: Sergio Navarro <sergionavarrog@gmail.com>
018580,000010: ## Website: www.ibiblio.org/apollo/index.html
018581,000011: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
018582,000012: ## Mod history: 2009-08-19 SN Adapted from corresponding Comanche 055 file.
018583,000013: ## 2009-09-04 JL Fix typos.
018584,000014: ## 2010-01-31 JL Fixed build errors.
018585,000015: ## 2010-02-20 RSB Un-##'d this header.
018586,000016: ## 2017-02-05 RSB Proofed comment text by diff'ing vs Comanche 55
018587,000017: ## and corrected errors found.
018588,000018:
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018590,000020:
018591,000021: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
018592,000022:
018593,000023: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
018594,000024:
018595,000025: 22,2000 SETLOC KALCMON1
018596,000026: 22,2000 BANK
018597,000027:
018598,000028: 22,3037 E6,1661 EBANK= BCDU
018599,000029:
018600,000030: 22,3037 COUNT* $$/KALC
018601,000031: 22,3037 34767 NEWDELHI CAF R67BIT
018602,000032: 22,3040 70104 MASK FLAGWRD8
018603,000033: 22,3041 00006 EXTEND
018604,000034: 22,3042 13047 BZF NEWANGL -3 # NON-R67 SEQUENCE
018605,000035:
018606,000036: 22,3043 34764 CAF TRACKBIT
018607,000037: 22,3044 70075 MASK FLAGWRD1
018608,000038: 22,3045 00006 EXTEND # CHECK TRACKFLAG
018609,000039: 22,3046 13161 BZF MYSTEND # IF OFF DO MYSTEND
018610,000040:
018611,000041: 22,3047 41340 -3 CS HOLDFLAG
018612,000042: 22,3050 00006 EXTEND # CHECK HOLDFLAG
018613,000043: 22,3051 62720 BZMF NOGOM2 # IF POS, DO STOPRATE
018614,000044:
018615,000045: 22,3052 06006 NEWANGL TC INTPRET
018616,000046: 22,3053 75160 +1 AXC,1 AXC,2
018617,000047: 22,3054 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
018618,000048: 22,3055 03425 DEL # STABLE MEMBER AXES
018619,000049: 22,3056 77624 CALL
018620,000050: 22,3057 44304 MXM3
018621,000051: 22,3060 45575 VLOAD STADR
018622,000052: 22,3061 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
018623,000053: 22,3062 77626 STADR
018624,000054: 22,3063 50450 STOVL MIS +6D
018625,000055: 22,3064 77626 STADR
018626,000056: 22,3065 74456 STORE MIS
018627,000057: 22,3066 45160 AXC,1 CALL
018628,000058: 22,3067 03320 MIS
018629,000059: 22,3070 44647 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
018630,000060: 22,3071 77634 RTB
018631,000061: 22,3072 45644 V1STO2S
018632,000062: 22,3073 03267 NWNGL17D STORE NCDU # NEW CDU ANGLES (TAG IS USED BY EDIT)
018633,000063: 22,3074 77414 BONCLR EXIT
018634,000064: 22,3075 01215 CALCMAN2
018635,000065: 22,3076 40064 MANUSTAT # TO START MANEUVER
018636,000066: 22,3077 34767 -1 CAF TWO # +0 OTHERWISE
018637,000067: 22,3100 55664 INCRDCDU TS KSPNDX
018638,000068: 22,3101 60000 DOUBLE
018639,000069: 22,3102 55665 TS KDPNDX
018640,000070: 22,3103 51664 INDEX KSPNDX
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018642,000072: 22,3104 31666 CA NCDU # NEW DESIRED CDU ANGLES
018643,000073: 22,3105 00006 EXTEND
018644,000074: 22,3106 51664 INDEX KSPNDX
018645,000075: 22,3107 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
018646,000076: 22,3110 00006 EXTEND # CDU ANGLES
018647,000077: 22,3111 73013 MP QUADROT
018648,000078: 22,3112 51665 INDEX KDPNDX
018649,000079: 22,3113 53576 DXCH DELCDUX # ANGLE INCREMENTS TO BE ADDED TO
018650,000080: 22,3114 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
018651,000081: 22,3115 31666 CA NCDU # BY LEM DAP
018652,000082: 22,3116 51664 INDEX KSPNDX
018653,000083: 22,3117 57661 XCH BCDU
018654,000084: 22,3120 51665 INDEX KDPNDX
018655,000085: 22,3121 55646 TS CDUXD
018656,000086: 22,3122 11664 CCS KSPNDX
018657,000087: 22,3123 13100 TCF INCRDCDU # LOOP FOR THREE AXES
018658,000088:
018659,000089: 22,3124 00003 RELINT
018660,000090:
018661,000091: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
018662,000092:
018663,000093: 22,3125 03135 TMANUCHK TC TIMECHK
018664,000094: 22,3126 04655 TC POSTJUMP
018665,000095: 22,3127 40143 CADR CONTMANU
018666,000096:
018667,000097: 22,3130 34770 CAF ONE
018668,000098: 22,3131 05233 MANUSTAL TC WAITLIST
018669,000099: 22,3132 E6,1661 EBANK= BCDU
018670,000100: 22,3132 02303 20066 2CADR MANUSTOP
018671,000101:
018672,000102: 22,3134 15205 TCF ENDOFJOB
018673,000103:
018674,000104:
018675,000105: 22,3135 00006 TIMECHK EXTEND
018676,000106: 22,3136 40025 DCS TIME2
018677,000107: 22,3137 53673 DXCH TTEMP
018678,000108: 22,3140 00006 EXTEND
018679,000109: 22,3141 31717 DCA TM
018680,000110: 22,3142 21673 DAS TTEMP
018681,000111: 22,3143 11672 CCS TTEMP
018682,000112: 22,3144 00002 TC Q
018683,000113: 22,3145 13147 TCF +2
018684,000114: 22,3146 13157 TCF 2NDRETRN
018685,000115: 22,3147 11673 CCS TTEMP +1
018686,000116: 22,3150 00002 TC Q
018687,000117: 22,3151 13153 TCF MANUOFF
018688,000118: 22,3152 40000 COM
018689,000119: 22,3153 65016 MANUOFF AD 1SEC
018690,000120: 22,3154 00006 EXTEND
018691,000121: 22,3155 63157 BZMF 2NDRETRN
018692,000122: 22,3156 24002 INCR Q
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018694,000124: 22,3157 24002 2NDRETRN INCR Q
018695,000125: 22,3160 16706 TCF Q+1
018696,000126: 22,3161 04655 MYSTEND TC POSTJUMP
018697,000127: 22,3162 74416 CADR FIXDB
018698,000128:
018699,000129: 20,2000 SETLOC MANUSTUF
018700,000130: 20,2000 BANK
018701,000131:
018702,000132: 20,2064 COUNT* $$/KALC
018703,000133: 20,2064 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE FOR AUTO
018704,000134: 20,2065 34767 CAF R67BIT # MANEUVERS
018705,000135: 20,2066 70104 MASK FLAGWRD8
018706,000136: 20,2067 00006 EXTEND
018707,000137: 20,2070 12075 BZF +5
018708,000138: 20,2071 00006 EXTEND # R67 RUNNING
018709,000139: 20,2072 34750 DCA DPOSMAX
018710,000140: 20,2073 53717 DXCH TM
018711,000141: 20,2074 12104 TCF TMDON
018712,000142: 20,2075 00006 EXTEND # NON-R67 PROGRAM
018713,000143: 20,2076 30025 DCA TIME2
018714,000144: 20,2077 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
018715,000145: 20,2100 45016 CS 1SEC
018716,000146: 20,2101 54001 TS L
018717,000147: 20,2102 44772 CS ZERO
018718,000148: 20,2103 21717 DAS TM # (TM+T0)-1
018719,000149: 20,2104 00004 TMDON INHINT
018720,000150: 20,2105 44770 CS ONE # ENABLE AUTOPILOT TO PERFORM
018721,000151: 20,2106 55340 TS HOLDFLAG # AUTOMATIC MANEUVERS
018722,000152: 20,2107 40774 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
018723,000153: 20,2110 66211 AD SIX
018724,000154: 20,2111 00006 EXTEND
018725,000155: 20,2112 62114 BZMF HIGHGAIN
018726,000156: 20,2113 12117 TCF +4
018727,000157: 20,2114 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
018728,000158: 20,2115 74752 MASK BIT15 # RCSFLAGS)
018729,000159: 20,2116 27501 ADS RCSFLAGS
018730,000160: 20,2117 00006 EXTEND
018731,000161: 20,2120 31711 DCA BRATE # X-AXIS MANEUVER RATE
018732,000162: 20,2121 53526 DXCH WBODY
018733,000163: 20,2122 00006 EXTEND
018734,000164: 20,2123 31713 DCA BRATE +2 # Y-AXIS MANEUVER RATE
018735,000165: 20,2124 53530 DXCH WBODY1
018736,000166: 20,2125 00006 EXTEND
018737,000167: 20,2126 31715 DCA BRATE +4 # Z-AXIS MANEUVER RATE
018738,000168: 20,2127 53532 DXCH WBODY2
018739,000169: 20,2130 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
018740,000170: 20,2131 55564 TS BIAS # INTO AUTOPILOT
018741,000171: 20,2132 31677 CA BIASTEMP +3
018742,000172: 20,2133 55565 TS BIAS1
018743,000173: 20,2134 31701 CA BIASTEMP +5
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018745,000175: 20,2135 55566 TS BIAS2
018746,000176: 20,2136 30025 CA TIME1
018747,000177: 20,2137 65016 AD 1SEC
018748,000178: 20,2140 57671 XCH NEXTIME
018749,000179: 20,2141 04655 TC POSTJUMP
018750,000180: 20,2142 45077 CADR INCRDCDU -1
018751,000181:
018752,000182: 20,2143 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
018753,000183: 20,2144 40025 CS TIME1
018754,000184: 20,2145 61671 AD NEXTIME
018755,000185: 20,2146 10000 CCS A
018756,000186: 20,2147 64770 AD ONE
018757,000187: 20,2150 12153 TCF MANUCALL
018758,000188: 20,2151 64752 AD NEGMAX
018759,000189: 20,2152 40000 COM
018760,000190: 20,2153 05223 MANUCALL TC TWIDDLE
018761,000191: 20,2154 02161 ADRES UPDTCALL
018762,000192: 20,2155 00003 RELINT
018763,000193: 20,2156 35016 CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE
018764,000194: 20,2157 27671 ADS NEXTIME
018765,000195: 20,2160 15205 TCF ENDOFJOB
018766,000196:
018767,000197: 20,2161 34767 UPDTCALL CAF R67BIT
018768,000198: 20,2162 70104 MASK FLAGWRD8
018769,000199: 20,2163 00006 EXTEND
018770,000200: 20,2164 12171 BZF +5
018771,000201:
018772,000202: 20,2165 11774 CCS R61CNTR
018773,000203: 20,2166 12170 TCF +2
018774,000204: 20,2167 12176 TCF DOREMIS
018775,000205: 20,2170 55774 TS R61CNTR
018776,000206:
018777,000207: 20,2171 37650 CAF PRIO26
018778,000208: 20,2172 05135 TC FINDVAC # OF STEERING COMMANDS
018779,000209: 20,2173 E6,1661 EBANK= BCDU
018780,000210: 20,2173 03037 44066 2CADR NEWDELHI
018781,000211:
018782,000212: 20,2175 05314 TC TASKOVER
018783,000213:
018784,000214: 20,2176 37650 DOREMIS CAF PRIO26
018785,000215: 20,2177 05135 TC FINDVAC
018786,000216: 20,2200 E6,1661 EBANK= BCDU
018787,000217: 20,2200 02374 74066 2CADR R67RSTRT # MAKE SURE MIS DOES DEGRADE
018788,000218:
018789,000219: 20,2202 05314 TC TASKOVER
018790,000220:
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018792,000222: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018793,000223:
018794,000224: 10,2000 SETLOC KALCMON3
018795,000225: 10,2000 BANK
018796,000226:
018797,000227: 10,2303 COUNT* $$/KALC
018798,000228: 10,2303 04474 MANUSTOP TC STOPYZ
018799,000229: 10,2304 04714 TC IBNKCALL
018800,000230: 10,2305 45165 CADR LOADYZ
018801,000231:
018802,000232: 10,2306 31307 ENDROLL CA CPHI
018803,000233: 10,2307 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
018804,000234: 10,2310 04463 TC STOPRATE
018805,000235: 10,2311 35053 ENDMANU CAF PRIO14
018806,000236: 10,2312 05135 TC FINDVAC
018807,000237: 10,2313 E6,1774 EBANK= R61CNTR
018808,000238: 10,2313 02141 56066 2CADR ENDMANUV
018809,000239:
018810,000240: 10,2315 05314 TC TASKOVER
018811,000241:
018812,000242: 4000 SETLOC STOPRAT
018813,000243: 4000 BANK
018814,000244: 4463 COUNT* $$/KALC
018815,000245: 4463 34772 STOPRATE CAF ZERO
018816,000246: 4464 55575 TS DELCDUX
018817,000247: 4465 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
018818,000248: 4466 55525 TS WBODY # RATE
018819,000249: 4467 55526 TS WBODY +1
018820,000250: 4470 55564 TS BIAS # BIAS
018821,000251:
018822,000252: 4471 44752 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
018823,000253: 4472 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
018824,000254: 4473 55501 TS RCSFLAGS
018825,000255:
018826,000256: 4474 34772 STOPYZ CAF ZERO
018827,000257: 4475 55577 TS DELCDUY # ZERO PITCH, YAW
018828,000258: 4476 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
018829,000259: 4477 55601 TS DELCDUZ
018830,000260: 4500 55602 TS DELCDUZ +1
018831,000261: 4501 55527 TS WBODY1 # RATES
018832,000262: 4502 55530 TS WBODY1 +1
018833,000263: 4503 55531 TS WBODY2
018834,000264: 4504 55532 TS WBODY2 +1
018835,000265: 4505 55565 TS BIAS1 # BIASES
018836,000266: 4506 55566 TS BIAS2
018837,000267: 4507 00002 TC Q
018838,000268:
018839,000269: 20,2000 SETLOC MANUSTUF
018840,000270: 20,2000 BANK
018841,000271:
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018843,000273: 20,2203 COUNT* $$/KALC
018844,000274: 20,2203 30032 ZEROEROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
018845,000275: 20,2204 55646 TS CDUXD # CDU DESIRED
018846,000276: 20,2205 30033 CA CDUY
018847,000277: 20,2206 55650 TS CDUYD
018848,000278: 20,2207 30034 CA CDUZ
018849,000279: 20,2210 55652 TS CDUZD
018850,000280: 20,2211 00002 TC Q
018851,000281:
018852,000282: 22,2000 SETLOC KALCMON1
018853,000283: 22,2000 BANK
018854,000284:
018855,000285: 22,3163 COUNT* $$/KALC
018856,000286: 22,3163 31307 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
018857,000287: 22,3164 55646 TS CDUXD # COMMAND ANGLES
018858,000288: 22,3165 31310 LOADYZ CA CTHETA
018859,000289: 22,3166 55650 TS CDUYD
018860,000290: 22,3167 31311 CA CPSI
018861,000291: 22,3170 55652 TS CDUZD
018862,000292: 22,3171 00002 TC Q
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc