Source Code
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These source-code files are part of a reconstructed copy of Comanche 45/2 (AKA Manche45 revision 2),
the final, flown mission release of the Apollo 10 Command Module (CM) Apollo Guidance
Computer (AGC) software. Comanche 45/2 was preceded by Comanche 44 and Comanche 45. The
reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era
listing of Comanche 45/2, some explanation of the reconstruction process is needed
to insure confidence in that accuracy.
The starting point was the source code of Comanche 45 (itself previously accurately
reconstructed). Comanche 45 source code was then modified by incorporating changes
known from contemporary documentation to have been made between revisions 45 and 45/2.
The now-reconstructed Comanche 45/2 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:
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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017772,000002: ## Copyright: Public domain.
017773,000003: ## Filename: KALCMANU_STEERING.agc
017774,000004: ## Purpose: A section of Manche45 revision 2.
017775,000005: ## It is part of the reconstructed source code for the
017776,000006: ## final, flown release of the flight software for the Command
017777,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
017778,000008: ## The code has been recreated from a copy of Comanche 055. It
017779,000009: ## has been adapted such that the resulting bugger words
017780,000010: ## exactly match those specified for Manche 45/2 in NASA drawing
017781,000011: ## 2021153D, which gives relatively high confidence that the
017782,000012: ## reconstruction is correct.
017783,000013: ## Assembler: yaYUL
017784,000014: ## Contact: Ron Burkey <info@sandroid.org>.
017785,000015: ## Website: www.ibiblio.org/apollo/index.html
017786,000016: ## Mod history: 2020-12-24 MAS Created from Comanche 45.
017787,000017: ## 2021-05-30 ABS ZEROERROR -> ZEROEROR
017788,000018:
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Page 414
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017790,000020: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
017791,000021:
017792,000022: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
017793,000023:
017794,000024: 15,2000 BANK 15
017795,000025:
017796,000026: 22,2000 SETLOC KALCMON1
017797,000027: 22,2000 BANK
017798,000028:
017799,000029: 22,3026 E6,1661 EBANK= BCDU
017800,000030:
017801,000031: 22,3026 COUNT 22/KALC
017802,000032:
017803,000033: 22,3026 41332 NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
017804,000034: 22,3027 00006 EXTEND # BY ASTRONAUT
017805,000035: 22,3030 62726 BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
017806,000036: 22,3031 06006 NEWANGL TC INTPRET
017807,000037: 22,3032 75160 AXC,1 AXC,2
017808,000038: 22,3033 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
017809,000039: 22,3034 03425 DEL # STABLE MEMBER AXES
017810,000040: 22,3035 77624 CALL
017811,000041: 22,3036 44304 MXM3
017812,000042: 22,3037 45575 VLOAD STADR
017813,000043: 22,3040 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
017814,000044: 22,3041 77626 STADR
017815,000045: 22,3042 50450 STOVL MIS +6D
017816,000046: 22,3043 77626 STADR
017817,000047: 22,3044 74456 STORE MIS
017818,000048: 22,3045 45160 AXC,1 CALL
017819,000049: 22,3046 03320 MIS
017820,000050: 22,3047 44655 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
017821,000051: 22,3050 77634 RTB
017822,000052: 22,3051 45552 V1STO2S
017823,000053: 22,3052 03267 STORE NCDU # NEW CDU ANGLES
017824,000054: 22,3053 77414 BONCLR EXIT
017825,000055: 22,3054 01215 CALCMAN2
017826,000056: 22,3055 40065 MANUSTAT # TO START MANEUVER
017827,000057: 22,3056 35016 CAF TWO # +0 OTHERWISE
017828,000058: 22,3057 55664 INCRDCDU TS KSPNDX
017829,000059: 22,3060 60000 DOUBLE
017830,000060: 22,3061 55665 TS KDPNDX
017831,000061: 22,3062 51664 INDEX KSPNDX
017832,000062: 22,3063 31666 CA NCDU # NEW DESIRED CDU ANGLES
017833,000063: 22,3064 00006 EXTEND
017834,000064: 22,3065 51664 INDEX KSPNDX
017835,000065: 22,3066 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
017836,000066: 22,3067 00006 EXTEND # CDU ANGLES
017837,000067: 22,3070 73002 MP QUADROT
017838,000068: 22,3071 51665 INDEX KDPNDX
017839,000069: 22,3072 53576 DXCH DELCDUX # ANGLE INCREMENTS TO BE ADDED TO
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Page 415
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017841,000071: 22,3073 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
017842,000072: 22,3074 31666 CA NCDU # BY LEM DAP
017843,000073: 22,3075 51664 INDEX KSPNDX
017844,000074: 22,3076 57661 XCH BCDU
017845,000075: 22,3077 51665 INDEX KDPNDX
017846,000076: 22,3100 55646 TS CDUXD
017847,000077: 22,3101 11664 CCS KSPNDX
017848,000078: 22,3102 13057 TCF INCRDCDU # LOOP FOR THREE AXES
017849,000079:
017850,000080: 22,3103 00003 RELINT
017851,000081: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
017852,000082:
017853,000083: 22,3104 03115 TMANUCHK TC TIMECHK
017854,000084: 22,3105 04701 TC POSTJUMP
017855,000085: 22,3106 40131 CADR CONTMANU
017856,000086:
017857,000087: 22,3107 35017 CAF ONE
017858,000088: 22,3110 05245 MANUSTAL TC WAITLIST
017859,000089: 22,3111 E6,1661 EBANK= BCDU
017860,000090: 22,3111 02000 42066 2CADR MANUSTOP
017861,000091:
017862,000092: 22,3113 00003 RELINT
017863,000093: 22,3114 15217 TCF ENDOFJOB
017864,000094:
017865,000095:
017866,000096: 22,3115 00006 TIMECHK EXTEND
017867,000097: 22,3116 40025 DCS TIME2
017868,000098: 22,3117 53673 DXCH TTEMP
017869,000099: 22,3120 00006 EXTEND
017870,000100: 22,3121 31717 DCA TM
017871,000101: 22,3122 21673 DAS TTEMP
017872,000102: 22,3123 11672 CCS TTEMP
017873,000103: 22,3124 00002 TC Q
017874,000104: 22,3125 13127 TCF +2
017875,000105: 22,3126 13137 TCF 2NDRETRN
017876,000106: 22,3127 11673 CCS TTEMP +1
017877,000107: 22,3130 00002 TC Q
017878,000108: 22,3131 13133 TCF MANUOFF
017879,000109: 22,3132 40000 COM
017880,000110: 22,3133 65041 MANUOFF AD 1SEC
017881,000111: 22,3134 00006 EXTEND
017882,000112: 22,3135 63137 BZMF 2NDRETRN
017883,000113: 22,3136 24002 INCR Q
017884,000114: 22,3137 24002 2NDRETRN INCR Q
017885,000115: 22,3140 24002 INCR Q
017886,000116: 22,3141 00002 TC Q
017887,000117:
017888,000118: 20,2000 SETLOC MANUSTUF
017889,000119: 20,2000 BANK
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Page 416
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017891,000121: 20,2065 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
017892,000122: 20,2066 00006 EXTEND # FOR AUTOMATIC MANEUVERS
017893,000123: 20,2067 30025 DCA TIME2
017894,000124: 20,2070 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
017895,000125: 20,2071 45041 CS 1SEC
017896,000126: 20,2072 54001 TS L
017897,000127: 20,2073 45021 CS ZERO
017898,000128: 20,2074 21717 DAS TM # (TM+T0)-1
017899,000129: 20,2075 00004 INHINT
017900,000130: 20,2076 45017 CS ONE # ENABLE AUTOPILOT TO PERFORM
017901,000131: 20,2077 55332 TS HOLDFLAG # AUTOMATIC MANEUVERS
017902,000132: 20,2100 41130 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
017903,000133: 20,2101 66211 AD SIX
017904,000134: 20,2102 00006 EXTEND
017905,000135: 20,2103 62105 BZMF HIGHGAIN
017906,000136: 20,2104 12110 TCF +4
017907,000137: 20,2105 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
017908,000138: 20,2106 75001 MASK BIT15 # RCSFLAGS)
017909,000139: 20,2107 27501 ADS RCSFLAGS
017910,000140: 20,2110 53711 DXCH BRATE # X-AXIS MANEUVER RATE
017911,000141: 20,2111 53526 DXCH WBODY
017912,000142: 20,2112 53713 DXCH BRATE +2 # Y-AXIS MANEUVER RATE
017913,000143: 20,2113 53530 DXCH WBODY1
017914,000144: 20,2114 53715 DXCH BRATE +4 # Z-AXIS MANEUVER RATE
017915,000145: 20,2115 53532 DXCH WBODY2
017916,000146: 20,2116 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
017917,000147: 20,2117 55564 TS BIAS # INTO AUTOPILOT
017918,000148: 20,2120 31677 CA BIASTEMP +3
017919,000149: 20,2121 55565 TS BIAS1
017920,000150: 20,2122 31701 CA BIASTEMP +5
017921,000151: 20,2123 55566 TS BIAS2
017922,000152: 20,2124 30025 CA TIME1
017923,000153: 20,2125 65041 AD 1SEC
017924,000154: 20,2126 57671 XCH NEXTIME
017925,000155: 20,2127 04701 TC POSTJUMP
017926,000156: 20,2130 45056 CADR INCRDCDU -1
017927,000157:
017928,000158: 20,2131 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
017929,000159: 20,2132 40025 CS TIME1
017930,000160: 20,2133 61671 AD NEXTIME
017931,000161: 20,2134 10000 CCS A
017932,000162: 20,2135 65017 AD ONE
017933,000163: 20,2136 12141 TCF MANUCALL
017934,000164: 20,2137 65001 AD NEGMAX
017935,000165: 20,2140 40000 COM
017936,000166: 20,2141 05245 MANUCALL TC WAITLIST
017937,000167: 20,2142 E6,1661 EBANK= BCDU
017938,000168: 20,2142 02150 40066 2CADR UPDTCALL
017939,000169:
017940,000170: 20,2144 00003 RELINT
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Page 417
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017942,000172: 20,2145 35041 CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE
017943,000173: 20,2146 27671 ADS NEXTIME
017944,000174: 20,2147 15217 TCF ENDOFJOB
017945,000175:
017946,000176:
017947,000177: 20,2150 37663 UPDTCALL CAF PRIO26 # CALL FOR UPDATE
017948,000178: 20,2151 05147 TC FINDVAC # OF STEERING COMMANDS
017949,000179: 20,2152 E6,1661 EBANK= BCDU
017950,000180: 20,2152 03026 44066 2CADR NEWDELHI
017951,000181:
017952,000182: 20,2154 05324 TC TASKOVER
017953,000183:
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Page 418
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017955,000185: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017956,000186:
017957,000187: 21,2000 SETLOC KALCMON3
017958,000188: 21,2000 BANK
017959,000189:
017960,000190: 21,2000 04537 MANUSTOP TC STOPYZ
017961,000191: 21,2001 04740 TC IBNKCALL
017962,000192: 21,2002 45144 CADR LOADYZ
017963,000193:
017964,000194: 21,2003 31155 ENDROLL CA CPHI
017965,000195: 21,2004 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
017966,000196: 21,2005 04526 TC STOPRATE
017967,000197: 21,2006 31327 ENDMANU CA ATTPRIO # RESTORE USERS PRIORITY
017968,000198: 21,2007 54063 TS NEWPRIO
017969,000199:
017970,000200: 21,2010 35021 CA ZERO # ZERO ATTCADR
017971,000201: 21,2011 53326 DXCH ATTCADR
017972,000202:
017973,000203: 21,2012 05160 TC SPVAC # RETURN TO USER OF GOMANUR
017974,000204:
017975,000205: 21,2013 05324 TC TASKOVER
017976,000206:
017977,000207: 4000 SETLOC STOPRAT
017978,000208: 4000 BANK
017979,000209: 4526 35021 STOPRATE CAF ZERO
017980,000210: 4527 55575 TS DELCDUX
017981,000211: 4530 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
017982,000212: 4531 55525 TS WBODY # RATE
017983,000213: 4532 55526 TS WBODY +1
017984,000214: 4533 55564 TS BIAS # BIAS
017985,000215:
017986,000216: 4534 45001 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
017987,000217: 4535 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
017988,000218: 4536 55501 TS RCSFLAGS
017989,000219:
017990,000220: 4537 35021 STOPYZ CAF ZERO
017991,000221: 4540 55577 TS DELCDUY # ZERO PITCH, YAW
017992,000222: 4541 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
017993,000223: 4542 55601 TS DELCDUZ
017994,000224: 4543 55602 TS DELCDUZ +1
017995,000225: 4544 55527 TS WBODY1 # RATES
017996,000226: 4545 55530 TS WBODY1 +1
017997,000227: 4546 55531 TS WBODY2
017998,000228: 4547 55532 TS WBODY2 +1
017999,000229: 4550 55565 TS BIAS1 # BIASES
018000,000230: 4551 55566 TS BIAS2
018001,000231: 4552 00002 TC Q
018002,000232:
018003,000233: 20,2000 SETLOC MANUSTUF
018004,000234: 20,2000 BANK
018005,000235:
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018007,000237: 20,2155 30032 ZEROEROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
018008,000238: 20,2156 55646 TS CDUXD # CDU DESIRED
018009,000239: 20,2157 30033 CA CDUY
018010,000240: 20,2160 55650 TS CDUYD
018011,000241: 20,2161 30034 CA CDUZ
018012,000242: 20,2162 55652 TS CDUZD
018013,000243: 20,2163 00002 TC Q
018014,000244:
018015,000245: 22,2000 SETLOC KALCMON1
018016,000246: 22,2000 BANK
018017,000247:
018018,000248: 22,3142 31155 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
018019,000249: 22,3143 55646 TS CDUXD # COMMAND ANGLES
018020,000250: 22,3144 31156 LOADYZ CA CTHETA
018021,000251: 22,3145 55650 TS CDUYD
018022,000252: 22,3146 31157 CA CPSI
018023,000253: 22,3147 55652 TS CDUZD
018024,000254: 22,3150 00002 TC Q
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc