- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
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These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
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013491,000002: ## Copyright: Public domain.
013492,000003: ## Filename: KALCMANU_STEERING.agc
013493,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
013494,000005: ## as closely as possible with available information. Sundance
013495,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
013496,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
013497,000008: ## using the mixed-revision SundanceXXX as a starting point, and
013498,000009: ## pulling back features from Luminary 69 believed to have been
013499,000010: ## added based on memos, checklists, observed address changes,
013500,000011: ## or the Sundance GSOPs.
013501,000012: ## Assembler: yaYUL
013502,000013: ## Contact: Ron Burkey <info@sandroid.org>.
013503,000014: ## Website: www.ibiblio.org/apollo/index.html
013504,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
013505,000016:
013506,000017:
013507,000018:
013508,000019: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
013509,000020:
013510,000021: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
013511,000022:
013512,000023: 22,2777 E6,1704 EBANK= TTEMP
013513,000024:
013514,000025: 22,2777 04655 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
013515,000026: 22,3000 54276 CADR ISITAUTO # ONLY
013516,000027: 22,3001 10000 CCS A
013517,000028: 22,3002 12724 TCF NOGO -2
013518,000029: 22,3003 06014 NEWANGL TC INTPRET
013519,000030: 22,3004 75160 AXC,1 AXC,2
013520,000031: 22,3005 03243 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
013521,000032: 22,3006 02236 KEL # STABLE MEMBER AXES
013522,000033: 22,3007 77624 CALL
013523,000034: 22,3010 44306 MXM3
013524,000035: 22,3011 45575 VLOAD STADR
013525,000036: 22,3012 50517 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
013526,000037: 22,3013 77626 STADR
013527,000038: 22,3014 50525 STOVL MIS +6D
013528,000039: 22,3015 77626 STADR
013529,000040: 22,3016 74533 STORE MIS
013530,000041: 22,3017 45160 AXC,1 CALL
013531,000042: 22,3020 03243 MIS
013532,000043: 22,3021 44650 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
013533,000044: 22,3022 77634 RTB
013534,000045: 22,3023 21516 V1STO2S
013535,000046: 22,3024 03301 STORE NCDU # NEW CDU ANGLES
013536,000047: 22,3025 77414 BONCLR EXIT
013537,000048: 22,3026 01215 CALCMAN2
013538,000049: 22,3027 45116 MANUSTAT # TO START MANEUVER
013539,000050: 22,3030 35025 CAF TWO # +0 OTHERWISE
013540,000051: 22,3031 55274 INCRDCDU TS SPNDX
013541,000052: 22,3032 51274 INDEX SPNDX
013542,000053: 22,3033 31673 CA BCDU # INITIAL CDU ANGLES
013543,000054: 22,3034 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
013544,000055: 22,3035 51274 INDEX SPNDX
013545,000056: 22,3036 21700 MSU NCDU
013546,000057: 22,3037 00006 EXTEND
013547,000058: 22,2000 SETLOC KALCMON1
013548,000059: 22,2000 BANK
013549,000060:
013550,000061: 22,3040 73115 MP DT/TAU
013551,000062: 22,3041 10000 CCS A # CONVERT TO 2S COMPLEMENT
013552,000063: 22,3042 65026 AD ONE
013553,000064: 22,3043 13045 TCF +2
013554,000065: 22,3044 40000 COM
013555,000066: 22,3045 51274 INDEX SPNDX
013556,000067: 22,3046 55635 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
013557,000068: 22,3047 51274 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
013558,000069: 22,3050 31700 CA NCDU # BY LEM DAP
013559,000070: 22,3051 51274 INDEX SPNDX
013560,000071: 22,3052 57673 XCH BCDU
013561,000072: 22,3053 51274 INDEX SPNDX
013562,000073: 22,3054 55632 TS CDUXD
013563,000074: 22,3055 11274 CCS SPNDX
013564,000075: 22,3056 13031 TCF INCRDCDU # LOOP FOR THREE AXES
013565,000076:
013566,000077: 22,3057 00003 RELINT
013567,000078:
013568,000079: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
013569,000080:
013570,000081: 22,3060 03071 TMANUCHK TC TIMECHK
013571,000082: 22,3061 13164 TCF CONTMANU
013572,000083: 22,3062 35026 CAF ONE
013573,000084: 22,3063 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
013574,000085: 22,3064 05252 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
013575,000086: 22,3065 E6,1704 EBANK= TTEMP
013576,000087: 22,3065 03207 44066 2CADR MANUSTOP
013577,000088:
013578,000089: 22,3067 00003 RELINT
013579,000090: 22,3070 15225 TCF ENDOFJOB
013580,000091:
013581,000092: 22,3071 00006 TIMECHK EXTEND
013582,000093: 22,3072 40025 DCS TIME2
013583,000094: 22,3073 53705 DXCH TTEMP
013584,000095: 22,3074 00006 EXTEND
013585,000096: 22,3075 31731 DCA TM
013586,000097: 22,3076 21705 DAS TTEMP
013587,000098: 22,3077 11704 CCS TTEMP
013588,000099: 22,3100 00002 TC Q
013589,000100: 22,3101 13103 TCF +2
013590,000101: 22,3102 13113 TCF 2NDRETRN
013591,000102: 22,3103 11705 CCS TTEMP +1
013592,000103: 22,3104 00002 TC Q
013593,000104: 22,3105 13107 TCF MANUOFF
013594,000105: 22,3106 40000 COM
013595,000106: 22,3107 63162 MANUOFF AD ONESEK +1
013596,000107: 22,3110 00006 EXTEND
013597,000108: 22,3111 63113 BZMF 2NDRETRN
013598,000109: 22,3112 24002 INCR Q
013599,000110: 22,3113 24002 2NDRETRN INCR Q
013600,000111: 22,3114 00002 TC Q
013601,000112:
013602,000113: 22,3115 03146 DT/TAU DEC .1
013603,000114:
013604,000115: 22,3116 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
013605,000116: 22,3117 00006 EXTEND # FOR AUTOMATIC MANEUVERS
013606,000117: 22,3120 30025 DCA TIME2
013607,000118: 22,3121 21731 DAS TM # TM+T0 MANEUVER COMPLETION TIME
013608,000119: 22,3122 00006 EXTEND
013609,000120: 22,3123 43162 DCS ONESEK
013610,000121: 22,3124 21731 DAS TM # (TM+T0)-1
013611,000122: 22,3125 00004 INHINT
013612,000123: 22,3126 35025 CAF TWO
013613,000124: 22,3127 55676 RATEBIAS TS KSPNDX
013614,000125: 22,3130 60000 DOUBLE
013615,000126: 22,3131 55677 TS KDPNDX
013616,000127: 22,3132 50000 INDEX A
013617,000128: 22,3133 31722 CA BRATE
013618,000129: 22,3134 51676 INDEX KSPNDX # STORE MANEUVER RATE IN
013619,000130: 22,3135 55640 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
013620,000131: 22,3136 00006 EXTEND
013621,000132: 22,3137 63141 BZMF +2 # COMPUTE ATTITUDE ERROR
013622,000133: 22,3140 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
013623,000134: 22,3141 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
013624,000135: 22,3142 73163 MP BIASCALE # = -1/16
013625,000136: 22,3143 00006 EXTEND
013626,000137: 22,3144 51677 INDEX KDPNDX
013627,000138: 22,3145 71722 MP BRATE
013628,000139: 22,3146 00006 EXTEND
013629,000140: 22,3147 51676 INDEX KSPNDX
013630,000141: 22,3150 11522 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
013631,000142: 22,3151 51676 INDEX KSPNDX
013632,000143: 22,3152 55301 TS DELPEROR # $ 180 DEG
013633,000144: 22,3153 11676 CCS KSPNDX
013634,000145: 22,3154 13127 TCF RATEBIAS
013635,000146:
013636,000147: 22,3155 30025 CA TIME1
013637,000148: 22,3156 63162 AD ONESEK +1
013638,000149: 22,3157 57703 XCH NEXTIME
013639,000150: 22,3160 13030 TCF INCRDCDU -1
013640,000151:
013641,000152: 22,3161 00000 ONESEK DEC 0 B-14
013642,000153: 22,3162 00144 DEC 100 B-14
013643,000154:
013644,000155: 22,3163 75777 BIASCALE OCT 75777 # = -1/16
013645,000156:
013646,000157: 22,3164 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
013647,000158: 22,3165 61703 AD NEXTIME
013648,000159: 22,3166 10000 CCS A
013649,000160: 22,3167 65026 AD ONE
013650,000161: 22,3170 13173 TCF MANUCALL
013651,000162: 22,3171 65010 AD NEGMAX
013652,000163: 22,3172 40000 COM
013653,000164: 22,3173 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
013654,000165: 22,3174 05252 TC WAITLIST
013655,000166: 22,3175 E6,1704 EBANK= TTEMP
013656,000167: 22,3175 03202 44066 2CADR UPDTCALL
013657,000168: 22,3177 33162 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
013658,000169: 22,3200 27703 ADS NEXTIME
013659,000170: 22,3201 15225 TCF ENDOFJOB
013660,000171:
013661,000172: 22,3202 37666 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
013662,000173: 22,3203 05155 TC FINDVAC # OF STEERING COMMANDS
013663,000174: 22,3204 E6,1704 EBANK= TTEMP
013664,000175: 22,3204 02777 44066 2CADR NEWDELHI
013665,000176:
013666,000177: 22,3206 05331 TC TASKOVER
013667,000178:
013668,000179: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
013669,000180:
013670,000181: 22,3207 35030 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
013671,000182: 22,3210 55637 TS DELDCDU2
013672,000183: 22,3211 55642 TS OMEGARD
013673,000184: 22,3212 55303 TS DELREROR
013674,000185: 22,3213 55636 TS DELDCDU1
013675,000186: 22,3214 55641 TS OMEGAQD
013676,000187: 22,3215 55302 TS DELQEROR
013677,000188: 22,3216 31210 CA CPSI # SET DESIRED GIMBAL ANGLES TO
013678,000189: 22,3217 55634 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
013679,000190: 22,3220 31207 CA CTHETA
013680,000191: 22,3221 55633 TS CDUYD
013681,000192: 22,3222 31206 ENDROLL CA CPHI # NO FINAL YAW
013682,000193: 22,3223 55632 TS CDUXD
013683,000194: 22,3224 35030 CAF ZERO
013684,000195: 22,3225 55640 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
013685,000196: 22,3226 55635 TS DELDCDU # GIMBAL LOCK ORIGINALLY
013686,000197: 22,3227 55301 TS DELPEROR
013687,000198: 22,3230 31313 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
013688,000199: 22,3231 54063 TS NEWPRIO
013689,000200:
013690,000201: 22,3232 35030 CA ZERO # ZERO ATTCADR
013691,000202: 22,3233 53312 DXCH ATTCADR
013692,000203:
013693,000204: 22,3234 05166 TC SPVAC # RETURN TO USER
013694,000205:
013695,000206: 22,3235 05331 TC TASKOVER
013696,000207:
013697,000208:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc