Source Code
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These source-code files are part of a reconstructed copy of Comanche 51, the
initial release (though not the final mission release) of the Apollo 11
Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final
release was Comanche 55. The reconstruction is believed to be exactly accurate,
but in the absence of an actual Apollo-era listing of Comanche 51, some
explanation of the reconstruction process is needed to insure confidence in
that accuracy.
The starting point was the source code of Comanche 55, whose original source code
is available. Comanche 55 source code was then modified by undoing changes known
to have been made between revisions 51 and 55. The most-significant steps involved
reverting changes related to the R-2 lunar potential model, the details of which
were known from the previous, separate, independent reconstruction of the Apollo 10
Lunar Module software Luminary 69/2. The now-reconstructed
Comanche 51 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 match those on the Comanche 55 or Luminary 69 printouts, although
the source code would likely have different page numbers in a contemporary Comanche 51 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 55. Here's a guide
to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is
a short writeup about the reconstruction process in our software repository
that may be helpful in understanding it from a different perspective. There's also
a handy table
that lists what the number of memory-words should be for each routine in Comanche 51,
which could make a nice double-check; however, we've not performed that double-check ourselves.
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.
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042760,000002: ## Copyright: Public domain.
042761,000003: ## Filename: TVCSTROKETEST.agc
042762,000004: ## Purpose: A section of Comanche revision 051.
042763,000005: ## It is part of the reconstructed source code for the
042764,000006: ## original release of the flight software for the Command
042765,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
042766,000008: ## The code has been recreated from a copy of Comanche 055. It
042767,000009: ## has been adapted such that the resulting bugger words
042768,000010: ## exactly match those specified for Comanche 51 in NASA drawing
042769,000011: ## 2021153D, which gives relatively high confidence that the
042770,000012: ## reconstruction is correct.
042771,000013: ## Reference: pp. 979-983
042772,000014: ## Assembler: yaYUL
042773,000015: ## Contact: Ron Burkey <info@sandroid.org>.
042774,000016: ## Website: www.ibiblio.org/apollo/index.html
042775,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
042776,000018:
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Page 979
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042778,000020: # NAME STROKE TEST PACKAGE (INCLUDING INITIALIZATION PACKAGE)
042779,000021: # LOG SECTION...TVCSTROKETEST SUBROUTINE...DAPCSM
042780,000022: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
042781,000023:
042782,000024: # FUNCTIONAL DESCRIPTION....
042783,000025: # STROKE TEST PACKAGE GENERATES A WAVEFORM DESIGNED TO EXCITE BENDING
042784,000026: # STRKTSTI (STROKE TEST INITIALIZATION) IS CALLED AS A JOB BY VB68.
042785,000027: # IT INITIALIZES ALL ERASABLES REQD FOR A STROKE TEST, AND
042786,000028: # THEN TESTS FOR CSM/LM (BIT 13 OF DAPDATR1). IF CSM/LM,
042787,000029: # IN EITHER HIGH OR LOW-BANDWIDTH MODE, THE TEST IS STARTED
042788,000030: # IMMEDIATELY. IF NOT CSM/LM, PROGRAM EXITS WITH NO ACTION.
042789,000031: # HACK (STROKE TEST) GENERATES THE WAVEFORM BY DUMPING PULSE BURSTS
042790,000032: # OF PROPER SIGN AND IN PROPER SEQUENCE DIRECTLY INTO
042791,000033: # TVCPITCH, WORKING IN CONJUNCITON WITH BOTH PITCH AND YAW
042792,000034: # TVC DAPS, WITH INTERMEDIATE WAITLIST CALLS. NOTE, HOWEVER
042793,000035: # THAT THE STROKE TEST IS PERFORMED ONLY IN THE PITCH AXIS.
042794,000036: # AN EXAMPLE WAVEFORM IS GIVEN BELOW, TO DEMONSTRATE STROKE-
042795,000037: # TEST PARAMETER SELECTION
042796,000038: # RESTARTS CAUSE TEST TO BE TERMINATED. ANOTHER V68 REQD IF TEST
042797,000039: # IS TO BE RE-RUN.
042798,000040: # PULSE BURST SIZE IS PAD-LOADED (ESTROKER) SO THAT AMPLITUDE OF
042799,000041: # WAVEFORM CAN BE CHANGED. THERE ARE TEN PULSE BURSTS IN
042800,000042: # THE HALF-AMPLITUDE OF THE FIRST FREQUENCY SET IN THE
042801,000043: # STANDARD WAVEFORM. AMPLITUDE IS 10(ESTROKER)(1/42.15),
042802,000044: # NOMINALLY 50/42.15 = 1.185 DEG
042803,000045:
042804,000046: # CALLING SEQUENCE....
042805,000047: # EXTENDED VERB 68 SETS UP STRKTSTI JOB
042806,000048: # PITCH AND YAW TVCDAPS, FINDING STROKER NON-ZERO, DO A ..TC HACK..
042807,000049: # AN INTERNALLY-GENERATED WAITLIST CALL ENTERS AT ..HACKWLST..
042808,000050:
042809,000051: # NORMAL EXIT MODES....
042810,000052: # TC BUNKER (..Q.. IF ENTRY FROM DAP, ..TCTSKOVR.. IF FROM WAITLIST) LIST
042811,000053:
042812,000054: # SUBROUTINES CALLED....
042813,000055: # WAITLIST
042814,000056:
042815,000057: # ALARM OR ABORT EXIT MODES....
042816,000058: # NONE
042817,000059:
042818,000060: # ERASABLE INITIALIZATION REQUIRED....
042819,000061: # ESTROKER (PAD-LOAD)
042820,000062: # STROKER, CADDY, REVS, CARD, N
042821,000063:
042822,000064: # OUTPUT....
042823,000065: # STRKTSTI...INITIALIZATION FOR STROKE TEST
042824,000066: # HACK, HACKWLST...PULSE BURSTS INTO TVCPITCH VIA ..ADS..
042825,000067: # RESETS STROKER = +0 WHEN TEST COMPLETED
042826,000068:
042827,000069: # DEBRIS....
042828,000070: # N = CADDY = +0, CARD = -0, REVS = -1
042829,000071: # BUNKER
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Page 980
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042831,000073:
042832,000074: # EXAMPLE STROKE TEST WAVE FORM, DEMONSTRATING PARAMETER SELECTION
042833,000075:
042834,000076: # NOTE....THIS IS NOT THE OFFICIAL WAVEFORM....
042835,000077:
042836,000078: # ** **
042837,000079: # ** **
042838,000080: # ** ** EXAMPLE WAVEFORM (EACH * REPRESENTS
042839,000081: # * * * * 85.41 ARCSEC OF ACTUATOR CMND)
042840,000082: # * * * *
042841,000083: # * * * *
042842,000084: # * * * * ** ** ** ** **
042843,000085: # * * * * ** ** ** ** **
042844,000086: # * * * * ** ** ** ** **
042845,000087: # * * * * * * * * * * * * * * ** ** ** ** **
042846,000088: # * * * * * * * * * * * * * * ** ** ** ** **
042847,000089: # * * * * * * * * * * * * * * ** ** ** ** **
042848,000090: # -----------------------------------------------------------------------------------------------------
042849,000091: # * * * * * * * * * * * * * * ** ** ** ** **
042850,000092: # * * * * * * * * * * * * * * ** ** ** ** **
042851,000093: # * * * * * * * * * * * * * * ** ** ** ** **
042852,000094: # * * * * ** ** ** ** **
042853,000095: # * * * * ** ** ** ** **
042854,000096: # * * * * ** ** ** ** **
042855,000097: # * * * *
042856,000098: # * * * *
042857,000099: # * * * *
042858,000100: # ** **
042859,000101: # ** **
042860,000102: # ** **
042861,000103:
042862,000104: # FOR THIS (UNOFFICIAL, EXAMPLE) WAVEFORM, THE REQUIRED PARAMETERS ARE AS FOLLOWS....
042863,000105:
042864,000106: # FCARD = +3 (NUMBER OF SETS)
042865,000107: # ESTROKER = +3 (PULSE BURST SIZE, SC.AT 85.41 ARCSEC/BIT)
042866,000108:
042867,000109: # SET1..
042868,000110: # FREVS = +3 (NUMBER REVERSALS MINUS 1)
042869,000111: # FCADDY = +4 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
042870,000112: # SET2..
042871,000113: # FCARD1 = +9 (NUMBER REVERSALS MINUS 1)
042872,000114: # FCARD4 = +2 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
042873,000115: # SET3..
042874,000116: # FCARD2 = +9 (NUMBER REVERSALS MINUS 1)
042875,000117: # FCARD5 = +1 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
042876,000118: # SET4..
042877,000119: # FCARD3 = +0 (NUMBER REVERSALS MINUS 1)
042878,000120: # FCARD6 = +0 (NUMBER OF PULSE BURSTS IN 1/2 AMPLITUDE)
042879,000121:
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Page 981
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042881,000123: # STROKE TEST INITIALIZATION PACKAGE (AS A JOB, FROM VERB 68)
042882,000124:
042883,000125: 17,2552 BANK 17
042884,000126: 20,2000 SETLOC DAPS2
042885,000127: 20,2000 BANK
042886,000128:
042887,000129: 20,3501 COUNT* $$/STRK
042888,000130: 20,3501 E6,1655 EBANK= CADDY
042889,000131:
042890,000132: 20,3501 03512 STRKTSTI TCR TSTINIT # STROKE TEST INITIALIZATION PKG (CALLED
042891,000133: # AS A JOB BY VERB68)
042892,000134:
042893,000135: 20,3502 00004 STRKCHK INHINT
042894,000136:
042895,000137: 20,3503 31466 CAE DAPDATR1 # CHECK FOR CSM/LM CONFIGURATION
042896,000138: 20,3504 75002 MASK BIT14
042897,000139: 20,3505 00006 EXTEND
042898,000140: 20,3506 13511 BZF +3
042899,000141:
042900,000142: 20,3507 31413 CAE ESTROKER # BEGIN ON NEXT DAP PASS (PITCH OR YAW)
042901,000143: 20,3510 55574 TS STROKER # (STROKING DONE IN PITCH ONLY, HOWEVER)
042902,000144:
042903,000145: 20,3511 15217 TCF ENDOFJOB
042904,000146:
042905,000147: 20,3512 43522 TSTINIT CS FCADDY # NORMAL ENTRY FROM STRKTSTI
042906,000148: 20,3513 55655 TS CADDY
042907,000149: 20,3514 55656 TS N # NOTE SGN CHNG FCADDY(+) TO CADDY(-)
042908,000150:
042909,000151: 20,3515 33523 CAF FREVS
042910,000152: 20,3516 55660 TS REVS
042911,000153:
042912,000154: 20,3517 43524 CS FCARD # NOTE SGN CHNG FCARD(+) TO CARD(-)
042913,000155: 20,3520 55661 TS CARD
042914,000156:
042915,000157: 20,3521 00002 TC Q # RETURN TO STRKTSTI+1 (OR CHKSTRK+2 OR +4)
042916,000158:
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Page 982
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042918,000160: # THE OFFICIAL STROKE TEST WAVEFORM (3 JAN, 1967) CONSISTS OF FOUR STROKE SETS, AS FOLLOWS....
042919,000161:
042920,000162: # SET 1...10 BURSTS IN 1/2 AMP, 4 REVERSALS
042921,000163: # SET 2... 6 BURSTS IN 1/2 AMP, 6 REVERSALS
042922,000164: # SET 3... 5 BURSTS IN 1/2 AMP, 10 REVERSALS
042923,000165: # SET 4... 4 BURSTS IN 1/2 AMP, 14 REVERSALS
042924,000166:
042925,000167: # THE PULSE BURST SIZE (ESTROKER) IS PAD-LOADED (5 BITS AS OF 3 JAN, 1967)
042926,000168: # THE REMAINING WAVEFORM-GENERATING PARAMETERS ARE AS FOLLOWS....
042927,000169:
042928,000170: 20,3522 00012 FCADDY DEC 10 B-14 # NO. PULSE BURSTS IN 1/2 AMP, SET1..(+10)
042929,000171: 20,3523 00003 FREVS DEC 3 B-14 # NO. REVERSALS MINUS 1, SET1........( 3)
042930,000172:
042931,000173: 20,3524 00004 FCARD DEC 4 B-14 # NO. STROKE SETS....................(+ 4)
042932,000174:
042933,000175: 20,3525 00005 FCARD1 DEC 5 B-14 # NO. REVERSALS MINUS 1, SET2........( 5)
042934,000176:
042935,000177: 20,3526 00011 FCARD2 DEC 9 B-14 # 3........( 9)
042936,000178: 20,3527 00015 FCARD3 DEC 13 B-14 # 4........( 13)
042937,000179:
042938,000180: 20,3530 00006 FCARD4 DEC 6 B-14 # NO. PULSE BURSTS IN 1/2 AMP, SET2..(+ 6)
042939,000181: 20,3531 00005 FCARD5 DEC 5 B-14 # SET3..(+ 5)
042940,000182: 20,3532 00004 FCARD6 DEC 4 B-14 # SET4..(+ 4)
042941,000183:
042942,000184: 20,3533 5016 20MS = BIT2
042943,000185:
042944,000186: # STROKE TEST PACKAGE PROPER....
042945,000187:
042946,000188: 20,3533 E6,1657 EBANK= BUNKER
042947,000189:
042948,000190: 20,3533 00006 HACK EXTEND # ENTRY (IN T5 RUPT) FROM TVCDAPS
042949,000191: 20,3534 23657 QXCH BUNKER # SAVE Q FOR DAP RETURN
042950,000192:
042951,000193: 20,3535 35016 CAF 20MS # 2DAPSX2(PASSES/DAP)X2(CS/PASS)=8CS=TVCDT
042952,000194: 20,3536 05245 TC WAITLIST
042953,000195: 20,3537 E6,1657 EBANK= BUNKER
042954,000196: 20,3537 03542 40066 2CADR HACKWLST
042955,000197:
042956,000198: 20,3541 13544 TCF +3
042957,000199:
042958,000200: 20,3542 34367 HACKWLST CAF TCTSKOVR # ENTRY FROM WAITLIST
042959,000201: 20,3543 55657 TS BUNKER # BUNKER IS TC TASKOVER
042960,000202:
042961,000203: 20,3544 31574 CA STROKER # STROKE
042962,000204: 20,3545 26054 ADS TVCPITCH
042963,000205:
042964,000206: 20,3546 35005 CAF BIT11 # RELEASE THE ERROR COUNTERS
042965,000207: 20,3547 00006 EXTEND
042966,000208: 20,3550 05014 WOR CHAN14
042967,000209: 20,3551 25655 INCR CADDY # COUNT DOWN THE NO. BURSTS, THIS SLOPE
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Page 983
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042969,000211: 20,3552 41655 CS CADDY
042970,000212: 20,3553 00006 EXTEND
042971,000213: 20,3554 63556 BZMF +2
042972,000214: 20,3555 01657 TC BUNKER # EXIT, WHILE ON A SLOPE
042973,000215:
042974,000216: 20,3556 11660 CCS REVS
042975,000217: 20,3557 13577 TCF REVUP # POSITIVE REVS
042976,000218: 20,3560 13603 TCF REVUP +4 # FINAL REVERSAL, THIS SET
042977,000219:
042978,000220: 20,3561 25661 INCR CARD # NEGATIVE REVS SET LAST PASS, READY FOR
042979,000221: 20,3562 41661 CS CARD # THE NEXT SET. CHECK IF NO MORE SETS
042980,000222: 20,3563 00006 EXTEND
042981,000223: 20,3564 13575 BZF STROKILL # ALL SETS COMPLETED
042982,000224:
042983,000225: 20,3565 51661 INDEX CARD
042984,000226: 20,3566 33530 CAF FCARD +4 # PICK UP NO. REVERSALS (-), NEXT SET
042985,000227: 20,3567 55660 TS REVS # REINITIALIZE
042986,000228: 20,3570 51661 INDEX CARD
042987,000229: 20,3571 43533 CS FCARD +7 # PICK UP NO. BURSTS IN 1/2AMP, NEXT SET
042988,000230: 20,3572 55656 TS N # REINITIALIZE
042989,000231: 20,3573 55655 TS CADDY
042990,000232: 20,3574 01657 TC BUNKER # EXIT, AT END OF SET
042991,000233:
042992,000234: 20,3575 55574 STROKILL TS STROKER # RESET (TO +0) TO END TEST
042993,000235: 20,3576 01657 TC BUNKER # EXIT, STROKE TEST FINIS
042994,000236:
042995,000237: 20,3577 55660 REVUP TS REVS # ALL REVERSALS EXCEPT LAST OF SET
042996,000238: 20,3600 31656 CA N
042997,000239: 20,3601 60000 DOUBLE # 2 X 1/2AMP
042998,000240: 20,3602 13606 TCF +4
042999,000241:
043000,000242: 20,3603 45017 +4 CS ONE # FINAL REVERSAL, THIS SET
043001,000243: 20,3604 55660 TS REVS # PREPARE TO BRANCH TO NEW BURST
043002,000244: 20,3605 31656 CA N # JUST RETURN TO ZERO, FINAL SLOPE OF SET
043003,000245: 20,3606 55655 TS CADDY # CADUP
043004,000246:
043005,000247: 20,3607 41574 CS STROKER # CHANGE SIGN OF SLOPE
043006,000248: 20,3610 55574 TS STROKER
043007,000249: 20,3611 01657 TC BUNKER # EXIT AT A REVERSAL (SLOPE CHANGE)
043008,000250:
End of include-file TVCSTROKETEST.agc. Parent file is MAIN.agc