ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
017965,000002: ## Copyright: Public domain.
017966,000003: ## Filename: KALCMANU_STEERING.agc
017967,000004: ## Purpose: Part of the source code for Colossus, build 249.
017968,000005: ## It is part of the source code for the Command Module's (CM)
017969,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
017970,000007: ## Assembler: yaYUL
017971,000008: ## Reference: pp. 407-412.
017972,000009: ## Contact: Ron Burkey <info@sandroid.org>.
017973,000010: ## Website: www.ibiblio.org/apollo.
017974,000011: ## Mod history: 08/10/04 RSB. Began adapting from corresponding Luminary131
017975,000012: ## source file.
017976,000013: ## 2017-01-06 RSB Page numbers now agree with those on the
017977,000014: ## original harcopy, as opposed to the PDF page
017978,000015: ## numbers in 1701.pdf.
017979,000016: ## 2017-01-15 RSB Cross-diff'd comment text (not whitespace)
017980,000017: ## vs the already-proofed corresponding Colossus
017981,000018: ## 237 and Comanche 55 source-code files
017982,000019: ## and corrected errors found. No differences
017983,000020: ## remained afterward.
017984,000021: ## 2017-01-28 RSB WTIH -> WITH.
017985,000022: ## 2021-05-30 ABS ZEROERROR -> ZEROEROR
017986,000023: ##
017987,000024: ## The contents of the "Colossus249" files, in general, are transcribed
017988,000025: ## from a scanned copy of the program listing. Notations on this
017989,000026: ## document read, in part:
017990,000027: ##
017991,000028: ## Assemble revision 249 of AGC program Colossus by NASA
017992,000029: ## 2021111-041. October 28, 1968.
017993,000030: ##
017994,000031: ## This AGC program shall also be referred to as
017995,000032: ## Colossus 1A
017996,000033: ##
017997,000034: ## Prepared by
017998,000035: ## Massachusetts Institute of Technology
017999,000036: ## 75 Cambridge Parkway
018000,000037: ## Cambridge, Massachusetts
018001,000038: ## under NASA contract NAS 9-4065.
018002,000039: ##
018003,000040: ## Refer directly to the online document mentioned above for further information.
018004,000041: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
018005,000042: ##
018006,000043: ## In some cases, where the source code for Luminary 131 overlaps that of
018007,000044: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
018008,000045: ## source file, and then is proofed to incorporate any changes.
018009,000046:
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Page 407 |
018011,000048: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
018012,000049:
018013,000050: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
018014,000051:
018015,000052: 15,2000 BANK 15
018016,000053: 22,2000 SETLOC KALCMON1
018017,000054: 22,2000 BANK
018018,000055:
018019,000056: 22,3027 E6,1661 EBANK= BCDU
018020,000057:
018021,000058: 22,3027 COUNT 22/KALC
018022,000059:
018023,000060: 22,3027 41332 NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
018024,000061: 22,3030 00006 EXTEND # BY ASTRONAUT
018025,000062: 22,3031 62725 BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
018026,000063: 22,3032 06006 NEWANGL TC INTPRET
018027,000064: 22,3033 75160 AXC,1 AXC,2
018028,000065: 22,3034 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
018029,000066: 22,3035 03425 DEL # STABLE MEMBER AXES
018030,000067: 22,3036 77624 CALL
018031,000068: 22,3037 44304 MXM3
018032,000069: 22,3040 45575 VLOAD STADR
018033,000070: 22,3041 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
018034,000071: 22,3042 77626 STADR
018035,000072: 22,3043 50450 STOVL MIS +6D
018036,000073: 22,3044 77626 STADR
018037,000074: 22,3045 74456 STORE MIS
018038,000075: 22,3046 45160 AXC,1 CALL
018039,000076: 22,3047 03320 MIS
018040,000077: 22,3050 44655 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
018041,000078: 22,3051 77634 RTB
018042,000079: 22,3052 45547 V1STO2S
018043,000080: 22,3053 03267 STORE NCDU # NEW CDU ANGLES
018044,000081: 22,3054 77414 BONCLR EXIT
018045,000082: 22,3055 01215 CALCMAN2
018046,000083: 22,3056 45142 MANUSTAT # TO START MANEUVER
018047,000084: 22,3057 34711 CAF TWO # +0 OTHERWISE
018048,000085: 22,3060 55664 INCRDCDU TS KSPNDX
018049,000086: 22,3061 60000 DOUBLE
018050,000087: 22,3062 55665 TS KSPNDX +1
018051,000088: 22,3063 51664 INDEX KSPNDX
018052,000089: 22,3064 31666 CA NCDU # NEW DESIRED CDU ANGLES
018053,000090: 22,3065 00006 EXTEND
018054,000091: 22,3066 51664 INDEX KSPNDX
018055,000092: 22,3067 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
018056,000093: 22,3070 00006 EXTEND # CDU ANGLES
018057,000094: 22,3071 73141 MP DT/TAU
018058,000095: 22,3072 51665 INDEX KDPNDX
018059,000096: 22,3073 53576 DXCH DELCDUX # ANGLE INCREMENTS TO BE ADDED TO
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Page 408 |
018061,000098: 22,3074 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
018062,000099: 22,3075 31666 CA NCDU # BY LEM DAP
018063,000100: 22,3076 51664 INDEX KSPNDX
018064,000101: 22,3077 57661 XCH BCDU
018065,000102: 22,3100 51665 INDEX KSPNDX +1
018066,000103: 22,3101 55646 TS CDUXD
018067,000104: 22,3102 11664 CCS KSPNDX
018068,000105: 22,3103 13060 TCF INCRDCDU # LOOP FOR THREE AXES
018069,000106:
018070,000107: 22,3104 00003 RELINT
018071,000108:
018072,000109: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
018073,000110:
018074,000111: 22,3105 03115 TMANUCHK TC TIMECHK
018075,000112: 22,3106 13206 TCF CONTMANU
018076,000113: 22,3107 34712 CAF ONE
018077,000114: 22,3110 05140 MANUSTAL TC WAITLIST
018078,000115: 22,3111 E6,1661 EBANK= BCDU
018079,000116: 22,3111 03232 44106 2CADR MANUSTOP
018080,000117:
018081,000118: 22,3113 00003 RELINT
018082,000119: 22,3114 15112 TCF ENDOFJOB
018083,000120:
018084,000121: 22,3115 00006 TIMECHK EXTEND
018085,000122: 22,3116 40025 DCS TIME2
018086,000123: 22,3117 53673 DXCH TTEMP
018087,000124: 22,3120 00006 EXTEND
018088,000125: 22,3121 31717 DCA TM
018089,000126: 22,3122 21673 DAS TTEMP
018090,000127: 22,3123 11672 CCS TTEMP
018091,000128: 22,3124 00002 TC Q
018092,000129: 22,3125 13127 TCF +2
018093,000130: 22,3126 13137 TCF 2NDRETRN
018094,000131: 22,3127 11673 CCS TTEMP +1
018095,000132: 22,3130 00002 TC Q
018096,000133: 22,3131 13133 TCF MANUOFF
018097,000134: 22,3132 40000 COM
018098,000135: 22,3133 63205 MANUOFF AD ONESEC +1
018099,000136: 22,3134 00006 EXTEND
018100,000137: 22,3135 63137 BZMF 2NDRETRN
018101,000138: 22,3136 24002 INCR Q
018102,000139: 22,3137 24002 2NDRETRN INCR Q
018103,000140: 22,3140 00002 TC Q
018104,000141:
018105,000142: 22,3141 03146 DT/TAU DEC .1
018106,000143:
018107,000144: 22,3142 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
018108,000145: 22,3143 00006 EXTEND # FOR AUTOMATIC MANEUVERS
018109,000146: 22,3144 30025 DCA TIME2
018110,000147: 22,3145 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
018111,000148: 22,3146 00006 EXTEND
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Page 409 |
018113,000150: 22,3147 43205 DCS ONESEC
018114,000151: 22,3150 21717 DAS TM # (TM+T0)-1
018115,000152: 22,3151 00004 INHINT
018116,000153: 22,3152 44712 CS ONE # ENABLE AUTOPILOT TO PERFORM
018117,000154: 22,3153 55332 TS HOLDFLAG # AUTOMATIC MANEUVERS
018118,000155: 22,3154 41130 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
018119,000156: 22,3155 66211 AD SIX
018120,000157: 22,3156 00006 EXTEND
018121,000158: 22,3157 63161 BZMF HIGHGAIN
018122,000159: 22,3160 13164 TCF +4
018123,000160: 22,3161 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
018124,000161: 22,3162 74674 MASK BIT15 # RCSFLAGS)
018125,000162: 22,3163 27501 ADS RCSFLAGS
018126,000163: 22,3164 53711 DXCH BRATE # X-AXIS MANEUVER RATE
018127,000164: 22,3165 53526 DXCH WBODY
018128,000165: 22,3166 53713 DXCH BRATE +2 # Y-AXIS MANEUVER RATE
018129,000166: 22,3167 53530 DXCH WBODY1
018130,000167: 22,3170 53715 DXCH BRATE +4 # Z-AXIS MANEUVER RATE
018131,000168: 22,3171 53532 DXCH WBODY2
018132,000169: 22,3172 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
018133,000170: 22,3173 55564 TS BIAS # INTO AUTOPILOT
018134,000171: 22,3174 31677 CA BIASTEMP +3
018135,000172: 22,3175 55565 TS BIAS1
018136,000173: 22,3176 31701 CA BIASTEMP +5
018137,000174: 22,3177 55566 TS BIAS2
018138,000175: 22,3200 30025 CA TIME1
018139,000176: 22,3201 63205 AD ONESEC +1
018140,000177: 22,3202 57671 XCH NEXTIME
018141,000178: 22,3203 13057 TCF INCRDCDU -1
018142,000179:
018143,000180: 22,3204 00000 ONESEC DEC 0 B-14
018144,000181: 22,3205 00144 DEC 100 B-14
018145,000182:
018146,000183: 22,3206 00004 CONTMANU INHINT
018147,000184: 22,3207 40025 CS TIME1 # CONTINUE WITH UPDATE PROCESS
018148,000185: 22,3210 61671 AD NEXTIME
018149,000186: 22,3211 10000 CCS A
018150,000187: 22,3212 64712 AD ONE
018151,000188: 22,3213 13216 TCF MANUCALL
018152,000189: 22,3214 64674 AD NEGMAX
018153,000190: 22,3215 40000 COM
018154,000191: 22,3216 05140 MANUCALL TC WAITLIST
018155,000192: 22,3217 E6,1661 EBANK= BCDU
018156,000193: 22,3217 03225 44106 2CADR UPDTCALL
018157,000194: 22,3221 00003 RELINT
018158,000195: 22,3222 33205 CAF ONESEC +1 # INCREMENT TIME FOR NEXT UPDATE
018159,000196: 22,3223 27671 ADS NEXTIME
018160,000197: 22,3224 15112 TCF ENDOFJOB
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Page 410 |
018162,000199:
018163,000200: 22,3225 37663 UPDTCALL CAF PRIO26 # CALL FOR UPDATE
018164,000201: 22,3226 05042 TC FINDVAC # OF STEERING COMMANDS
018165,000202: 22,3227 E6,1661 EBANK= BCDU
018166,000203: 22,3227 03027 44106 2CADR NEWDELHI
018167,000204:
018168,000205: 22,3231 05213 TC TASKOVER
018169,000206:
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Page 411 |
018171,000208: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018172,000209:
018173,000210: 22,3232 03256 MANUSTOP TC STOPYZ
018174,000211: 22,3233 03303 TC LOADYZ
018175,000212:
018176,000213: 22,3234 31155 ENDROLL CA CPHI
018177,000214: 22,3235 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
018178,000215: 22,3236 03245 TC STOPRATE
018179,000216: 22,3237 31327 ENDMANU CA ATTPRIO # RESTORE USERS PRIORITY
018180,000217: 22,3240 54063 TS NEWPRIO
018181,000218:
018182,000219: 22,3241 34714 CA ZERO # ZERO ATTCADR
018183,000220: 22,3242 53326 DXCH ATTCADR
018184,000221:
018185,000222: 22,3243 05053 TC SPVAC # RETURN TO USER OF GOMANUR
018186,000223:
018187,000224: 22,3244 05213 TC TASKOVER
018188,000225:
018189,000226: 22,3245 34714 STOPRATE CAF ZERO
018190,000227: 22,3246 55575 TS DELCDUX
018191,000228: 22,3247 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
018192,000229: 22,3250 55525 TS WBODY # RATE
018193,000230: 22,3251 55526 TS WBODY +1
018194,000231: 22,3252 55564 TS BIAS # BIAS
018195,000232:
018196,000233: 22,3253 44674 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
018197,000234: 22,3254 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
018198,000235: 22,3255 55501 TS RCSFLAGS
018199,000236:
018200,000237: 22,3256 34714 STOPYZ CAF ZERO
018201,000238: 22,3257 55577 TS DELCDUY # ZERO PITCH, YAW
018202,000239: 22,3260 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
018203,000240: 22,3261 55601 TS DELCDUZ
018204,000241: 22,3262 55602 TS DELCDUZ +1
018205,000242: 22,3263 55527 TS WBODY1 # RATES
018206,000243: 22,3264 55530 TS WBODY1 +1
018207,000244: 22,3265 55531 TS WBODY2
018208,000245: 22,3266 55532 TS WBODY2 +1
018209,000246: 22,3267 55565 TS BIAS1 # BIASES
018210,000247: 22,3270 55566 TS BIAS2
018211,000248: 22,3271 00002 TC Q
018212,000249:
018213,000250: 22,3272 30032 ZEROEROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
018214,000251: 22,3273 55646 TS CDUXD # CDU DESIRED
018215,000252: 22,3274 30033 CA CDUY
018216,000253: 22,3275 55650 TS CDUYD
018217,000254: 22,3276 30034 CA CDUZ
018218,000255: 22,3277 55652 TS CDUZD
018219,000256: 22,3300 00002 TC Q
018220,000257:
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Page 412 |
018222,000259: 22,3301 31155 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
018223,000260: 22,3302 55646 TS CDUXD # COMMAND ANGLES
018224,000261: 22,3303 31156 LOADYZ CA CTHETA
018225,000262: 22,3304 55650 TS CDUYD
018226,000263: 22,3305 31157 CA CPSI
018227,000264: 22,3306 55652 TS CDUZD
018228,000265: 22,3307 00002 TC Q
018229,000266:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc