Source Code
|
These source-code files are part of a reconstructed copy of Comanche 45, the
second release, though not the final mission release, of the Apollo 10
Command Module (CM) Apollo Guidance Computer (AGC) software. Comanche 45 was
preceded by Comanche 44 and followed by Comanche 45/2 (the flown release). The reconstruction
is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 45, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 44 (itself previously accurately
reconstructed). Comanche 44 source code was then modified
by incorporating changes known from contemporary documentation to have been
made between revisions 44 and 45. The now-reconstructed Comanche 45 source code was
verified by assembling it and checking that the assembled code had
the expected known-correct memory-bank checksums.
Note that page numbers in the reconstructed code tend to match those in the Comanche 55, the
most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy;
the source code would likely have different page numbers in a contemporary
Comanche 45 listing.
Annotations that were not present in the contemporary source code have been added to the reconstructed
code to justify each change relative to Comanche 44. Here's a guide to the Apollo documentation referenced
in those annotations:
There is also
a detailed commentary about the reconstruction process.
Comments expected to have been present in 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.
|
017758,000002: ## Copyright: Public domain.
017759,000003: ## Filename: KALCMANU_STEERING.agc
017760,000004: ## Purpose: A section of Comanche revision 045.
017761,000005: ## It is part of the reconstructed source code for the
017762,000006: ## second release of the flight software for the Command
017763,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
017764,000008: ## The code has been recreated from a copy of Comanche 055. It
017765,000009: ## has been adapted such that the resulting bugger words
017766,000010: ## exactly match those specified for Comanche 45 in NASA drawing
017767,000011: ## 2021153D, which gives relatively high confidence that the
017768,000012: ## reconstruction is correct.
017769,000013: ## Assembler: yaYUL
017770,000014: ## Contact: Ron Burkey <info@sandroid.org>.
017771,000015: ## Website: www.ibiblio.org/apollo/index.html
017772,000016: ## Mod history: 2020-12-06 MAS Created from Comanche 44.
017773,000017: ## 2021-05-30 ABS ZEROERROR -> ZEROEROR
017774,000018:
|
|
Page 414
|
017776,000020: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
017777,000021:
017778,000022: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
017779,000023:
017780,000024: 15,2000 BANK 15
017781,000025:
017782,000026: 22,2000 SETLOC KALCMON1
017783,000027: 22,2000 BANK
017784,000028:
017785,000029: 22,3026 E6,1661 EBANK= BCDU
017786,000030:
017787,000031: 22,3026 COUNT 22/KALC
017788,000032:
017789,000033: 22,3026 41332 NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
017790,000034: 22,3027 00006 EXTEND # BY ASTRONAUT
017791,000035: 22,3030 62726 BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
017792,000036: 22,3031 06006 NEWANGL TC INTPRET
017793,000037: 22,3032 75160 AXC,1 AXC,2
017794,000038: 22,3033 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
017795,000039: 22,3034 03425 DEL # STABLE MEMBER AXES
017796,000040: 22,3035 77624 CALL
017797,000041: 22,3036 44304 MXM3
017798,000042: 22,3037 45575 VLOAD STADR
017799,000043: 22,3040 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
017800,000044: 22,3041 77626 STADR
017801,000045: 22,3042 50450 STOVL MIS +6D
017802,000046: 22,3043 77626 STADR
017803,000047: 22,3044 74456 STORE MIS
017804,000048: 22,3045 45160 AXC,1 CALL
017805,000049: 22,3046 03320 MIS
017806,000050: 22,3047 44655 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
017807,000051: 22,3050 77634 RTB
017808,000052: 22,3051 45552 V1STO2S
017809,000053: 22,3052 03267 STORE NCDU # NEW CDU ANGLES
017810,000054: 22,3053 77414 BONCLR EXIT
017811,000055: 22,3054 01215 CALCMAN2
017812,000056: 22,3055 40065 MANUSTAT # TO START MANEUVER
017813,000057: 22,3056 35016 CAF TWO # +0 OTHERWISE
017814,000058: 22,3057 55664 INCRDCDU TS KSPNDX
017815,000059: 22,3060 60000 DOUBLE
017816,000060: 22,3061 55665 TS KDPNDX
017817,000061: 22,3062 51664 INDEX KSPNDX
017818,000062: 22,3063 31666 CA NCDU # NEW DESIRED CDU ANGLES
017819,000063: 22,3064 00006 EXTEND
017820,000064: 22,3065 51664 INDEX KSPNDX
017821,000065: 22,3066 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
017822,000066: 22,3067 00006 EXTEND # CDU ANGLES
017823,000067: 22,3070 73002 MP QUADROT
017824,000068: 22,3071 51665 INDEX KDPNDX
017825,000069: 22,3072 53576 DXCH DELCDUX # ANGLE INCREMENTS TO BE ADDED TO
|
|
Page 415
|
017827,000071: 22,3073 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
017828,000072: 22,3074 31666 CA NCDU # BY LEM DAP
017829,000073: 22,3075 51664 INDEX KSPNDX
017830,000074: 22,3076 57661 XCH BCDU
017831,000075: 22,3077 51665 INDEX KDPNDX
017832,000076: 22,3100 55646 TS CDUXD
017833,000077: 22,3101 11664 CCS KSPNDX
017834,000078: 22,3102 13057 TCF INCRDCDU # LOOP FOR THREE AXES
017835,000079:
017836,000080: 22,3103 00003 RELINT
017837,000081: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
017838,000082:
017839,000083: 22,3104 03115 TMANUCHK TC TIMECHK
017840,000084: 22,3105 04701 TC POSTJUMP
017841,000085: 22,3106 40131 CADR CONTMANU
017842,000086:
017843,000087: 22,3107 35017 CAF ONE
017844,000088: 22,3110 05245 MANUSTAL TC WAITLIST
017845,000089: 22,3111 E6,1661 EBANK= BCDU
017846,000090: 22,3111 02000 42066 2CADR MANUSTOP
017847,000091:
017848,000092: 22,3113 00003 RELINT
017849,000093: 22,3114 15217 TCF ENDOFJOB
017850,000094:
017851,000095:
017852,000096: 22,3115 00006 TIMECHK EXTEND
017853,000097: 22,3116 40025 DCS TIME2
017854,000098: 22,3117 53673 DXCH TTEMP
017855,000099: 22,3120 00006 EXTEND
017856,000100: 22,3121 31717 DCA TM
017857,000101: 22,3122 21673 DAS TTEMP
017858,000102: 22,3123 11672 CCS TTEMP
017859,000103: 22,3124 00002 TC Q
017860,000104: 22,3125 13127 TCF +2
017861,000105: 22,3126 13137 TCF 2NDRETRN
017862,000106: 22,3127 11673 CCS TTEMP +1
017863,000107: 22,3130 00002 TC Q
017864,000108: 22,3131 13133 TCF MANUOFF
017865,000109: 22,3132 40000 COM
017866,000110: 22,3133 65041 MANUOFF AD 1SEC
017867,000111: 22,3134 00006 EXTEND
017868,000112: 22,3135 63137 BZMF 2NDRETRN
017869,000113: 22,3136 24002 INCR Q
017870,000114: 22,3137 24002 2NDRETRN INCR Q
017871,000115: 22,3140 24002 INCR Q
017872,000116: 22,3141 00002 TC Q
017873,000117:
017874,000118: 20,2000 SETLOC MANUSTUF
017875,000119: 20,2000 BANK
|
|
Page 416
|
017877,000121: 20,2065 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
017878,000122: 20,2066 00006 EXTEND # FOR AUTOMATIC MANEUVERS
017879,000123: 20,2067 30025 DCA TIME2
017880,000124: 20,2070 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
017881,000125: 20,2071 45041 CS 1SEC
017882,000126: 20,2072 54001 TS L
017883,000127: 20,2073 45021 CS ZERO
017884,000128: 20,2074 21717 DAS TM # (TM+T0)-1
017885,000129: 20,2075 00004 INHINT
017886,000130: 20,2076 45017 CS ONE # ENABLE AUTOPILOT TO PERFORM
017887,000131: 20,2077 55332 TS HOLDFLAG # AUTOMATIC MANEUVERS
017888,000132: 20,2100 41130 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
017889,000133: 20,2101 66211 AD SIX
017890,000134: 20,2102 00006 EXTEND
017891,000135: 20,2103 62105 BZMF HIGHGAIN
017892,000136: 20,2104 12110 TCF +4
017893,000137: 20,2105 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
017894,000138: 20,2106 75001 MASK BIT15 # RCSFLAGS)
017895,000139: 20,2107 27501 ADS RCSFLAGS
017896,000140: 20,2110 53711 DXCH BRATE # X-AXIS MANEUVER RATE
017897,000141: 20,2111 53526 DXCH WBODY
017898,000142: 20,2112 53713 DXCH BRATE +2 # Y-AXIS MANEUVER RATE
017899,000143: 20,2113 53530 DXCH WBODY1
017900,000144: 20,2114 53715 DXCH BRATE +4 # Z-AXIS MANEUVER RATE
017901,000145: 20,2115 53532 DXCH WBODY2
017902,000146: 20,2116 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
017903,000147: 20,2117 55564 TS BIAS # INTO AUTOPILOT
017904,000148: 20,2120 31677 CA BIASTEMP +3
017905,000149: 20,2121 55565 TS BIAS1
017906,000150: 20,2122 31701 CA BIASTEMP +5
017907,000151: 20,2123 55566 TS BIAS2
017908,000152: 20,2124 30025 CA TIME1
017909,000153: 20,2125 65041 AD 1SEC
017910,000154: 20,2126 57671 XCH NEXTIME
017911,000155: 20,2127 04701 TC POSTJUMP
017912,000156: 20,2130 45056 CADR INCRDCDU -1
017913,000157:
017914,000158: 20,2131 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
017915,000159: 20,2132 40025 CS TIME1
017916,000160: 20,2133 61671 AD NEXTIME
017917,000161: 20,2134 10000 CCS A
017918,000162: 20,2135 65017 AD ONE
017919,000163: 20,2136 12141 TCF MANUCALL
017920,000164: 20,2137 65001 AD NEGMAX
017921,000165: 20,2140 40000 COM
017922,000166: 20,2141 05245 MANUCALL TC WAITLIST
017923,000167: 20,2142 E6,1661 EBANK= BCDU
017924,000168: 20,2142 02150 40066 2CADR UPDTCALL
017925,000169:
017926,000170: 20,2144 00003 RELINT
|
|
Page 417
|
017928,000172: 20,2145 35041 CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE
017929,000173: 20,2146 27671 ADS NEXTIME
017930,000174: 20,2147 15217 TCF ENDOFJOB
017931,000175:
017932,000176:
017933,000177: 20,2150 37663 UPDTCALL CAF PRIO26 # CALL FOR UPDATE
017934,000178: 20,2151 05147 TC FINDVAC # OF STEERING COMMANDS
017935,000179: 20,2152 E6,1661 EBANK= BCDU
017936,000180: 20,2152 03026 44066 2CADR NEWDELHI
017937,000181:
017938,000182: 20,2154 05324 TC TASKOVER
017939,000183:
|
|
Page 418
|
017941,000185: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017942,000186:
017943,000187: 21,2000 SETLOC KALCMON3
017944,000188: 21,2000 BANK
017945,000189:
017946,000190: 21,2000 04537 MANUSTOP TC STOPYZ
017947,000191: 21,2001 04740 TC IBNKCALL
017948,000192: 21,2002 45144 CADR LOADYZ
017949,000193:
017950,000194: 21,2003 31155 ENDROLL CA CPHI
017951,000195: 21,2004 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
017952,000196: 21,2005 04526 TC STOPRATE
017953,000197: 21,2006 31327 ENDMANU CA ATTPRIO # RESTORE USERS PRIORITY
017954,000198: 21,2007 54063 TS NEWPRIO
017955,000199:
017956,000200: 21,2010 35021 CA ZERO # ZERO ATTCADR
017957,000201: 21,2011 53326 DXCH ATTCADR
017958,000202:
017959,000203: 21,2012 05160 TC SPVAC # RETURN TO USER OF GOMANUR
017960,000204:
017961,000205: 21,2013 05324 TC TASKOVER
017962,000206:
017963,000207: 4000 SETLOC STOPRAT
017964,000208: 4000 BANK
017965,000209: 4526 35021 STOPRATE CAF ZERO
017966,000210: 4527 55575 TS DELCDUX
017967,000211: 4530 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
017968,000212: 4531 55525 TS WBODY # RATE
017969,000213: 4532 55526 TS WBODY +1
017970,000214: 4533 55564 TS BIAS # BIAS
017971,000215:
017972,000216: 4534 45001 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
017973,000217: 4535 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
017974,000218: 4536 55501 TS RCSFLAGS
017975,000219:
017976,000220: 4537 35021 STOPYZ CAF ZERO
017977,000221: 4540 55577 TS DELCDUY # ZERO PITCH, YAW
017978,000222: 4541 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
017979,000223: 4542 55601 TS DELCDUZ
017980,000224: 4543 55602 TS DELCDUZ +1
017981,000225: 4544 55527 TS WBODY1 # RATES
017982,000226: 4545 55530 TS WBODY1 +1
017983,000227: 4546 55531 TS WBODY2
017984,000228: 4547 55532 TS WBODY2 +1
017985,000229: 4550 55565 TS BIAS1 # BIASES
017986,000230: 4551 55566 TS BIAS2
017987,000231: 4552 00002 TC Q
017988,000232:
017989,000233: 20,2000 SETLOC MANUSTUF
017990,000234: 20,2000 BANK
017991,000235:
|
|
Page 419
|
017993,000237: 20,2155 30032 ZEROEROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
017994,000238: 20,2156 55646 TS CDUXD # CDU DESIRED
017995,000239: 20,2157 30033 CA CDUY
017996,000240: 20,2160 55650 TS CDUYD
017997,000241: 20,2161 30034 CA CDUZ
017998,000242: 20,2162 55652 TS CDUZD
017999,000243: 20,2163 00002 TC Q
018000,000244:
018001,000245: 22,2000 SETLOC KALCMON1
018002,000246: 22,2000 BANK
018003,000247:
018004,000248: 22,3142 31155 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
018005,000249: 22,3143 55646 TS CDUXD # COMMAND ANGLES
018006,000250: 22,3144 31156 LOADYZ CA CTHETA
018007,000251: 22,3145 55650 TS CDUYD
018008,000252: 22,3146 31157 CA CPSI
018009,000253: 22,3147 55652 TS CDUZD
018010,000254: 22,3150 00002 TC Q
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc