Source Code
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These source-code files are part of a reconstructed copy of Comanche 67, the
Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 12.
They have been adapted from sources files for Comanche 55, and updated via
disassembly of binary dumps of original core rope memory modules, part numbers
2003972-1081, 2003972-1091, 2003972-1111, 2003972-1121, 2003972-1131, and 2003972-1141.
Since only binary dumps (rather than listings) of Comanche 67 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
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040770,000002: ## Copyright: Public domain.
040771,000003: ## Filename: TVCRESTARTS.agc
040772,000004: ## Purpose: A section of Comanche revision 067.
040773,000005: ## It is part of the reconstructed source code for the flight
040774,000006: ## software for the Command Module's (CM) Apollo Guidance Computer
040775,000007: ## (AGC) for Apollo 12. No original listings of this program are
040776,000008: ## available; instead, this file was created via dissassembly of
040777,000009: ## dumps of Comanche 067 core rope modules and comparison with
040778,000010: ## other AGC programs.
040779,000011: ## Assembler: yaYUL
040780,000012: ## Contact: Ron Burkey <info@sandroid.org>.
040781,000013: ## Website: www.ibiblio.org/apollo/index.html
040782,000014: ## Mod history: 2023-08-16 MAS Created from Comanche 055.
040783,000015:
040784,000016: # NAME....TVCRESTART PACKAGE, CONSISTING OF REDOTVC, ENABL1, 2, CMDSOUT, PHSCHK2, ETC.
040785,000017: # LOG SECTION...TVCRESTARTS SUBROUTINE...DAPCSM
040786,000018: # MODIFIED BY SCHLUNDT 21 OCTOBER 1968
040787,000019:
040788,000020: # FUNCTIONAL DESCRIPTION....
040789,000021:
040790,000022: # *RESTART-PROOFS THE TVC DAPS, INCLUDING PITCHDAP, YAWDAP,
040791,000023: # TVCEXECUTIVE, ROLLDAP, TVCINIT4, TVCDAPON, AND CSM/.M V46 SWTCHOVR.
040792,000024:
040793,000025: # *TVC RESTARTS DESERVE SPECIAL CONSIDERATION IN SEVERAL AREAS.
040794,000026: # RESTART DOWN-TIME IS IMPORTANT BECAUSE OF THE TRANSIENTS INTRODUCED
040795,000027: # BY THE THRUST VECTOR RETURN TO THE ACTUATOR MECHANICAL NULLS
040796,000028: # FOLLOWING TVC- AND OPTICS-ERROR-COUNTER-DISENABLES (CHANNEL 12).
040797,000029: # TVC USES A MIXTURE OF WAITLIST, T5, T6, AND JOB CALLS. THERE IS
040798,000030: # FILTER MEMORY (UP TO 6TH ORDER) TO BE PROTECTED IF WILD TRANSIENTS
040799,000031: # ARE TO BE AVOIDED. COUNTERS ARE INVOLVED FOR ONE-SHOT
040800,000032: # CORRECTIONS AND GAIN UPDATES. THE GIMBAL TRIM ESTIMATORS AND THE
040801,000033: # BODY AXIS ATTITUDE ERROR INTEGRATORS INVOLVE DIGITAL SUMMATION.
040802,000034: # DIGITAL DIFFERENTIATORS ARE INVOLVED IN THE BODY AXIS RATE ESTIMA-
040803,000035: # TIONS AND IN THE OUTPUTTING OF ACTUATOR COMMANDS. THERE IS AN
040804,000036: # OFFSET-TRACKER-FILTER TO PROTECT. ETC., ETC.
040805,000037:
040806,000038: # *THOSE QUANTITIES WHICH MUST BE PROTECTED ARE STORED IN TEMPORARY
040807,000039: # REGISTERS AS THEY ARE COMPUTED, FOR UPDATING THE REAL REGISTERS
040808,000040: # DURING COPYCYCLES.
040809,000041:
040810,000042: # *THE SEVERAL COPYCYCLES ARE EACH PROTECTED BY PHASE POINTS AT THEIR
040811,000043: # BEGINNING AND AT THEIR TERMINATION. THE PHASE POINTS ARE SIMPLY
040812,000044: # ..INCR.. INSTRUCTIONS, EITHER ..INCR TVCEXPHS.. FOR COPYCYCLES
040813,000045: # IN THE TVCEXECUTIVE, OR ..INCR TVCPHASE.. FOR THE PITCH AND YAW
040814,000046: # COPYCYCLES. INDEXING ON EACH OF THESE POINTERS THEN PERMITS A
040815,000047: # RETURN TO THE APPROPRIATE RESTART POINTS.
040816,000048:
040817,000049: # *IF A RESTART OCCURS DURING EITHER COPYCYCLE, THAT COPYCYCLE IS
040818,000050: # COMPLETED. THEN THE NORMAL TVCINIT4....DAPINIT....PITCHDAP STARTUP
040819,000051: # SEQUENCE IS CALLED UPON TO GET THINGS GOING AGAIN.
040820,000052:
040821,000053: # *TVC-ENABLE AND OPTICS-ERROR-COUNTER ENABLE MUST BE SET ASAP
040822,000054: # (ALLOWING FOR PROCEDURAL DELAYS). THEN THE ENGINES ARE COMMANDED
040823,000055: # TO THE P,YACTOFF TRIM VALUES. THE DAPS ARE THEN READY TO GO ON THE
040824,000056: # AIR, WITH THE REGULAR STARTUP SEQUENCE, EITHER AT MRCLEAN FOR A
040825,000057: # COMPLETE INITIALIZATION OR AT TVCINIT4 FOR A PARTIAL INITIALIZATION
040826,000058:
040827,000059: # *FOR RESTARTS PRIOR TO THE SETTING OF THE T5 BITS AT DOTVCON THE
040828,000060: # PRE40.6 SECTION OF S40.6 TAKES CARE OF RE-ESTABLISHING TRIMS.
040829,000061:
040830,000062: # *IF A RESTART OCCURS DURING THE TVCEXEC....TVCEXFIN SEQUENCE THE
040831,000063: # COMPUTATIONS WILL BE COMPLETED, STARTING AT THE APPROPRIATE RESTART
040832,000064: # POINT, AFTER THE DAPS ARE READY TO GO ON THE AIR.
040833,000065:
040834,000066: # *IF A RESTART OCCURS PRIOR TO TVCINIT4 (TVCPHASE = -1) E.G. DURING
040835,000067: # THE EARLY DAP INITIALIZATION PHASE, THE DAP STARTUP SEQUENCE IS
040836,000068: # ENTERED AT MRCLEAN FOR A FULL INITIALIZATION.
040837,000069:
040838,000070: # *FOR RESTARTS DURING CSM/LM V46 SWITCH-OVER, TVCPHASE IS SET TO -2.
040839,000071: # AND THE RESTART LOGIC GOES BACK TO REDO SWITCH-OVER (AFTER THE
040840,000072: # NORMAL DAP RESTART SEQUENCE IS FOLLOWED).
040841,000073:
040842,000074: # *RESTARTS ARE NOT CRITICAL TO THE ROLL DAP PERFORMANCES HENCE THE
040843,000075: # THE ROLL DAP IS MERELY RESTARTED.
040844,000076:
040845,000077: # *RESTARTS DURING A STROKE TEST (STROKER IS NON-ZERO) WILL CAUSE THE
040846,000078: # STROKE TEST TO BE TERMINATED. A NEW V68 ENTRY WILL BE REQUIRED
040847,000079: # TO GET IT GOING AGAIN (NO AUTOMATIC RESTART).
040848,000080: #
040849,000081: # *REDOTVC IS REACHED FOLLOWING ANY RESTART WHICH FINDS THE T5 BITS
040850,000082: # (BITS 15,14 OF FLAGWRD6) SET FOR TVC. DOTVCON SETS TVCPHASE = -1
040851,000083: # AND TVC EXPHS = 0 JUST BEFORE SETTING THESE BITS, JUST BEFORE
040852,000084: # MAKING THE T5 CALL TO TVCDAPON. ON A NORMAL SHUTDOWN DOTVCRCS
040853,000085: # CALLS RCSDAPON, WHICH RESETS THE T5 BITS FOR RCS.
040854,000086:
040855,000087: # CALLING SEQUENCE....T5, IN PARTICULAR BY ELRSKIP OF FRESH START/RESTART
040856,000088:
040857,000089: # NORMAL EXIT MODES....RESUME, NOQRSM, POSTJUMP (TO TVCINIT4 OR MRCLEAN)
040858,000090:
040859,000091: # ALARM OR ABORT EXIT MODES....NONE
040860,000092:
040861,000093: # SUBROUTINES CALLED....
040862,000094:
040863,000095: # *PCOPY+1, YCOPY+1 (PITCH AND YAW COPYCYCLES)
040864,000096: # *ENABLE1,2, CMDSOUT (RE-ESTABLISH ACTUATOR TRIMS)
040865,000097: # *MRCLEAN OR TVCINIT4 (TVCDAP INITIALIZATIONS)
040866,000098: # *SWICHOVR +5 (CSM/LM V46 SWITCH-OVER)
040867,000099: # *EXRSTRT AND TVCEXECUTIVE PHASE POINTS 1 THRU 6
040868,000100: # *WAITLIST, IBNKCALL, POSTJUMP, ISWCALL
040869,000101:
040870,000102: # OTHER INTERFACES....DOTVCON AND RCSDAPON (T5 BITS), ELRSKIP (CALLS IT)
040871,000103:
040872,000104: # ERASABLE INITIALIZATION REQUIRED....
040873,000105:
040874,000106: # *T5 BITS (1,0), TVCPHASE (-2,-1,0,1,2,3), TVCEXPHS (1 THRU 6)
040875,000107: # *TVC DAP VARIABLES
040876,000108: # *OPERATIONS PERFORMED BY REDOTVC ARE BASED ON THE ASSUMPTION THAT
040877,000109: # THE TVC DAPS ARE RUNNING NORMALLY
040878,000110:
040879,000111: # OUTPUT....
040880,000112:
040881,000113: # *PITCH AND YAW TVC DAP COPYCYCLES COMPLETED IF INTERUPTED
040882,000114: # *TVCEXECUTIVE COMPLETED IF INTERUPTED
040883,000115: # *STROKE TEST TERMINATED IF INTERRUPTED
040884,000116: # *CSM/LM V46 SWITCH-OVER REPEATED IF INTERRUPTED
040885,000117: # *ACTUATOR TRIMS RE-ESTABLISHED (ACTUATORS BACK ON THE AIR)
040886,000118: # *TVC DAP INITIALIZATION AS REQUIRED
040887,000119: # *ALL TVC DAP OPERATIONS ON THE AIR
040888,000120:
040889,000121: # DEBRIS....TVC TEMPORARIES IN EBANK6
040890,000122:
040891,000123:
040892,000124: 16,3212 BANK 16
040893,000125: 16,2000 SETLOC DAPROLL
040894,000126: 16,2000 BANK
040895,000127: 16,3212 E6,1644 EBANK= TVCPHASE
040896,000128: 16,3212 COUNT* $$/RSRT
040897,000129:
040898,000130: 16,3212 22016 REDOTVC LXCH BANKRUPT # TVC RESTART PACKAGE
040899,000131: 16,3213 00006 EXTEND
040900,000132: 16,3214 22012 QXCH QRUPT # (..TCR.. IN ..FINCOPY..)
040901,000133:
040902,000134: 16,3215 11653 EXECPHS CCS TVCEXPHS # CHECK TVCEXECUTIVE PHASE
040903,000135: 16,3216 13220 TCF +2 # MUST RESTART TVCEXECUTIVE
040904,000136: 16,3217 13224 TCF TVCDAPHS # NO NEED TO RESTART TVCEXECUTIVE
040905,000137:
040906,000138: 16,3220 34334 CAF NINE # 9CS DELAY TO FORCE EXRSTRT TO OCCUR
040907,000139: 16,3221 05261 TC WAITLIST # BEFORE PITCHDAP, AFTER CMDSOUT
040908,000140: 16,3222 E6,1653 EBANK= TVCEXPHS
040909,000141: 16,3222 03325 34066 2CADR EXRSTRT
040910,000142:
040911,000143: 16,3224 47700 TVCDAPHS CS OCT37776 # CHECK BITS 15 AND 1 OF TVCPHASE TO SEE
040912,000144: 16,3225 71644 MASK TVCPHASE # DAP RESTART LOCATION (-1,1,2,3)
040913,000145: 16,3226 10000 CCS A
040914,000146: 16,3227 13312 TCF FINCOPY # FINISH THE COPYCYCLE FIRST
040915,000147: 16,3230 13235 TCF ENABL1 # JUST PREPARE THE OUTCOUNTERS AND GO
040916,000148:
040917,000149: 16,3231 41644 CS TVCPHASE # TEST FOR TVCPHASE = -2
040918,000150: 16,3232 75032 MASK BIT2 # (THIS INDICATES RESTART OCCURRED
040919,000151: 16,3233 00006 EXTEND # DURING CSM/LM V46 SWITCH-OVER)
040920,000152: 16,3234 13316 BZF TRIM/CMD # NO, TVCPHASE = -1, RSTRT WAS IN TVCINIT
040921,000153:
040922,000154: 16,3235 35024 ENABL1 CAF BIT8 # TVC ENABLE, FOLLOWED BY 40 MS (MIN) WAIT
040923,000155: 16,3236 65021 AD BIT11 # SET BIT FOR OPTICS-DAC-ENABLE ALSO
040924,000156: 16,3237 00006 EXTEND # (ENABL1 ENTERED FROM TVCDAPHS / FINCOPY)
040925,000157: 16,3240 05012 WOR CHAN12
040926,000158: 16,3241 33331 CAF TVCADDR # WAIT, CALLING ENABL2 (BBCON THERE)
040927,000159: 16,3242 55312 TS T5LOC
040928,000160: 16,3243 33335 CAF TVCADDR +4 # 60 MS (TVCEXADR)
040929,000161: 16,3244 54030 TS TIME5
040930,000162:
040931,000163: 16,3245 15347 TCF RESUME
040932,000164:
040933,000165: 16,3246 22016 ENABL2 LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS
040934,000166:
040935,000167: 16,3247 35032 CAF BIT2 # OPTICS ERROR CNTR ENABLE, 4MS MIN WAIT
040936,000168: 16,3250 00006 EXTEND
040937,000169: 16,3251 05012 WOR CHAN12
040938,000170: 16,3252 33333 CAF TVCADDR +2 # WAIT, CALLING CMDSOUT (BBCON THERE)
040939,000171: 16,3253 55312 TS T5LOC
040940,000172: 16,3254 37700 CAF OCT37776 # 20MS
040941,000173: 16,3255 54030 TS TIME5
040942,000174:
040943,000175: 16,3256 15351 TCF NOQRSM
040944,000176:
040945,000177: 16,3257 22016 CMDSOUT LXCH BANKRUPT # CONTINUE PREPARATION OF OUTCOUNTERS
040946,000178: 16,3260 00006 EXTEND
040947,000179: 16,3261 22012 QXCH QRUPT
040948,000180:
040949,000181: 16,3262 45035 CS ZERO # MOST RECENT ACTUATOR COMMANDS
040950,000182: 16,3263 61623 AD PCMD # (AVOID +0)
040951,000183: 16,3264 54054 TS TVCPITCH
040952,000184: 16,3265 45035 CS ZERO
040953,000185: 16,3266 61624 AD YCMD
040954,000186: 16,3267 54053 TS TVCYAW
040955,000187:
040956,000188: 16,3270 35076 CAF PRIO6 # RELEASE THE COUNTERS (BITS 11,12)
040957,000189: 16,3271 00006 EXTEND
040958,000190: 16,3272 05014 WOR CHAN14
040959,000191:
040960,000192: 16,3273 11644 PHSCHK2 CCS TVCPHASE # CHECK TVCPHASE AGAIN
040961,000193: 16,3274 13304 TCF CHKSTRK
040962,000194: 16,3275 13304 TCF CHKSTRK
040963,000195: 16,3276 10000 CCS A # A CONTAINS THE DIMINISHED ABSOLUTE OF
040964,000196: 16,3277 03302 TC +3 # TVCPHASE (-2 BECOMES +1. -1 BECOMES +0)
040965,000197:
040966,000198: 16,3300 04715 TC POSTJUMP # REPEAT TVC INITIALIZATION
040967,000199: 16,3301 36210 CADR MRCLEAN # (DO NOT RETURN)
040968,000200:
040969,000201: 16,3302 04754 +3 TC IBNKCALL # REPEAT CSM/LM V46 SWITCH-OVER
040970,000202: 16,3303 36417 CADR SWICHOVR +5 # (RETURN TO CHECK FOR STROKE TEST)
040971,000203:
040972,000204: 16,3304 11574 CHKSTRK CCS STROKER # CHECK FOR STROKE TEST IN PROGRESS
040973,000205: 16,3305 13322 TCF TSTINITJ # YES, KILL IT
040974,000206: 16,3306 13310 TCF +2 # NO, PROCEED
040975,000207: 16,3307 13322 TCF TSTINITJ # YES, KILL IT
040976,000208:
040977,000209: 16,3310 04715 +4 TC POSTJUMP # IF POSITIVE OR ZERO, RESTART AT
040978,000210: 16,3311 36362 CADR TVCINIT4 # TVCINIT4 (ZEROS TVCPHASE, AND
040979,000211: # CALLS TVC DAPS VIA DAPINIT)
040980,000212: 16,3312 51644 FINCOPY INDEX TVCPHASE # PICK UP THE APPROPRIATE COPYCYCLE
040981,000213: 16,3313 33331 CAF TVCCADR
040982,000214: 16,3314 04760 TCR ISWCALL # RE-ENTER THE COPYCYCLE, RETURN AT END
040983,000215: 16,3315 13235 TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS
040984,000216:
040985,000217: 16,3316 00006 TRIM/CMD EXTEND # TVCDAPON INITIALIZATION NOT COMPLETED,
040986,000218: 16,3317 31424 DCA PACTOFF # EG. P,YCMD MAY NOT BE SET. SET...
040987,000219: 16,3320 53624 DXCH PCMD
040988,000220: 16,3321 13235 TCF ENABL1 # NOW PREPARE THE OUTCOUNTERS
040989,000221:
040990,000222: 16,3322 35035 TSTINITJ CAF ZERO # DISABLE STROKE TEST (-0 SHOWS PRIOR V68)
040991,000223: 16,3323 55574 TS STROKER # (+0 MEANS NEW V68 REQUIRED FOR STARTUP)
040992,000224:
040993,000225: 16,3324 13310 TCF CHKSTRK +4
040994,000226:
040995,000227: 16,3325 51653 EXRSTRT INDEX TVCEXPHS # TVCEXECUTIVE RESTARTS....GO TO
040996,000228: 16,3326 33335 CAF TVCEXADR # APPROPRIATE RESTART POINT
040997,000229: 16,3327 50000 INDEX A
040998,000230: 16,3330 10000 TCF 0
040999,000231:
041000,000232: # TVC RESTART TABLES.... ORDER IS REQUIRED. HI-ORDER WORDS ONLY, OF 2CADRS, SINCE BBCON IS ALREADY THERE.
041001,000233:
041002,000234: 16,3331 16,3331 TVCADDR = TVCCADR # TABLE OF CADRS, UNUSED LOCS FOR GENADRS
041003,000235: 16,3331 03246 TVCCADR GENADR ENABL2 # (FOR T5 CALL, UNUSED TABLE LOC)
041004,000236: 16,3332 40714 +1 CADR PCOPY +1 # PITCH COPYCYCLE
041005,000237: 16,3333 03257 +2 GENADR CMDSOUT # (FOR T5 CALL, UNUSED TABLE LOC)
041006,000238: 16,3334 41104 +3 CADR YCOPY +1 # YAW COPYCYCLE
041007,000239: 16,3335 37772 TVCEXADR OCT 37772 # (UNUSED TABLE LOC, FILL WITH 60MS, T5)
041008,000240: 16,3336 03055 +1 GENADR EXECCOPY +1 # TVCEXECUTIVE RESTART POINTS (ORDERED)
041009,000241: 16,3337 03063 +2 GENADR 1SHOTCHK
041010,000242: 16,3340 03112 +3 GENADR TEMPSET
041011,000243: 16,3341 03115 +4 GENADR CORSETUP
041012,000244: 16,3342 03173 +5 GENADR CORCOPY +1
041013,000245: 16,3343 03204 +6 GENADR CNTRCOPY
End of include-file TVCRESTARTS.agc. Parent file is MAIN.agc