Source Code

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.

017368,000002:                                                                                                  ## Copyright:   Public domain.
017369,000003:                                                                                                  ## Filename:    KALCMANU_STEERING.agc
017370,000004:                                                                                                  ## Purpose:     A section of Comanche revision 067.
017371,000005:                                                                                                  ##              It is part of the reconstructed source code for the flight
017372,000006:                                                                                                  ##              software for the Command Module's (CM) Apollo Guidance Computer
017373,000007:                                                                                                  ##              (AGC) for Apollo 12. No original listings of this program are
017374,000008:                                                                                                  ##              available; instead, this file was created via dissassembly of
017375,000009:                                                                                                  ##              dumps of Comanche 067 core rope modules and comparison with
017376,000010:                                                                                                  ##              other AGC programs.
017377,000011:                                                                                                  ## Assembler:   yaYUL
017378,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
017379,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
017380,000014:                                                                                                  ## Mod history: 2023-08-16 MAS  Created from Comanche 055.
017381,000015: 
017382,000016:                                                                                                  #  GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
017383,000017: 
017384,000018:                                                                                                  #  NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
017385,000019: 
017386,000020: 15,2000                                           BANK     15                                    
017387,000021: 
017388,000022: 22,2000                                           SETLOC   KALCMON1                              
017389,000023: 22,2000                                           BANK                                           
017390,000024: 
017391,000025: 22,3026  E6,1661                                  EBANK=   BCDU                                  
017392,000026: 
017393,000027: 22,3026                                           COUNT    22/KALC                               
017394,000028: 
017395,000029: 22,3026           41332        NEWDELHI           CS       HOLDFLAG                              #  SEE IF MANEUVER HAS BEEN INTERRUPTED
017396,000030: 22,3027           00006                           EXTEND                                         #  BY ASTRONAUT
017397,000031: 22,3030           62726                           BZMF     NOGO       -2                         #  IF SO, TERMINATE KALCMANU
017398,000032: 22,3031           06006        NEWANGL            TC       INTPRET                               
017399,000033: 22,3032           75160                           AXC,1    AXC,2                                 
017400,000034: 22,3033           03320                                    MIS                                   #  COMPUTE THE NEW MATRIX FROM S/C TO
017401,000035: 22,3034           03425                                    DEL                                   #  STABLE MEMBER AXES
017402,000036: 22,3035           77624                           CALL                                           
017403,000037: 22,3036           44304                                    MXM3                                  
017404,000038: 22,3037           45575                           VLOAD    STADR                                 
017405,000039: 22,3040           50442                           STOVL    MIS        +12D                       #  CALCULATE NEW DESIRED CDU ANGLES
017406,000040: 22,3041           77626                           STADR                                          
017407,000041: 22,3042           50450                           STOVL    MIS        +6D                        
017408,000042: 22,3043           77626                           STADR                                          
017409,000043: 22,3044           74456                           STORE    MIS                                   
017410,000044: 22,3045           45160                           AXC,1    CALL                                  
017411,000045: 22,3046           03320                                    MIS                                   
017412,000046: 22,3047           44655                                    DCMTOCDU                              #  PICK UP THE NEW CDU ANGLES FROM MATRIX
017413,000047: 22,3050           77634                           RTB                                            
017414,000048: 22,3051           45552                                    V1STO2S                               
017415,000049: 22,3052           03267                           STORE    NCDU                                  #  NEW CDU ANGLES
017416,000050: 22,3053           77414                           BONCLR   EXIT                                  
017417,000051: 22,3054           01215                                    CALCMAN2                              
017418,000052: 22,3055           40065                                    MANUSTAT                              #  TO START MANEUVER
017419,000053: 22,3056           35032                           CAF      TWO                                   #           +0 OTHERWISE
017420,000054: 22,3057           55664        INCRDCDU           TS       KSPNDX                                
017421,000055: 22,3060           60000                           DOUBLE                                         
017422,000056: 22,3061           55665                           TS       KDPNDX                                
017423,000057: 22,3062           51664                           INDEX    KSPNDX                                
017424,000058: 22,3063           31666                           CA       NCDU                                  #  NEW DESIRED CDU ANGLES
017425,000059: 22,3064           00006                           EXTEND                                         
017426,000060: 22,3065           51664                           INDEX    KSPNDX                                
017427,000061: 22,3066           21661                           MSU      BCDU                                  #  INITIAL S/C ANGLE OR PREVIOUS DESIRED
017428,000062: 22,3067           00006                           EXTEND                                         #  CDU ANGLES
017429,000063: 22,3070           73002                           MP       QUADROT                               
017430,000064: 22,3071           51665                           INDEX    KDPNDX                                
017431,000065: 22,3072           53576                           DXCH     DELCDUX                               #  ANGLE INCREMENTS TO BE ADDED TO
017432,000066: 22,3073           51664                           INDEX    KSPNDX                                #  DCDU EVERY TENTH SEC
017433,000067: 22,3074           31666                           CA       NCDU                                  #  BY LEM DAP
017434,000068: 22,3075           51664                           INDEX    KSPNDX                                
017435,000069: 22,3076           57661                           XCH      BCDU                                  
017436,000070: 22,3077           51665                           INDEX    KDPNDX                                
017437,000071: 22,3100           55646                           TS       CDUXD                                 
017438,000072: 22,3101           11664                           CCS      KSPNDX                                
017439,000073: 22,3102           13057                           TCF      INCRDCDU                              #  LOOP FOR THREE AXES
017440,000074: 
017441,000075: 22,3103           00003                           RELINT                                         
017442,000076:                                                                                                  #  COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
017443,000077: 
017444,000078: 22,3104           03115        TMANUCHK           TC       TIMECHK                               
017445,000079: 22,3105           04715                           TC       POSTJUMP                              
017446,000080: 22,3106           40131                           CADR     CONTMANU                              
017447,000081: 
017448,000082: 22,3107           35033                           CAF      ONE                                   
017449,000083: 22,3110           05261        MANUSTAL           TC       WAITLIST                              
017450,000084: 22,3111  E6,1661                                  EBANK=   BCDU                                  
017451,000085: 22,3111           02012 42066                     2CADR    MANUSTOP                              
017452,000086: 
017453,000087: 22,3113           00003                           RELINT                                         
017454,000088: 22,3114           15233                           TCF      ENDOFJOB                              
017455,000089: 
017456,000090: 
017457,000091: 22,3115           00006        TIMECHK            EXTEND                                         
017458,000092: 22,3116           40025                           DCS      TIME2                                 
017459,000093: 22,3117           53673                           DXCH     TTEMP                                 
017460,000094: 22,3120           00006                           EXTEND                                         
017461,000095: 22,3121           31717                           DCA      TM                                    
017462,000096: 22,3122           21673                           DAS      TTEMP                                 
017463,000097: 22,3123           11672                           CCS      TTEMP                                 
017464,000098: 22,3124           00002                           TC       Q                                     
017465,000099: 22,3125           13127                           TCF      +2                                    
017466,000100: 22,3126           13137                           TCF      2NDRETRN                              
017467,000101: 22,3127           11673                           CCS      TTEMP      +1                         
017468,000102: 22,3130           00002                           TC       Q                                     
017469,000103: 22,3131           13133                           TCF      MANUOFF                               
017470,000104: 22,3132           40000                           COM                                            
017471,000105: 22,3133           65055        MANUOFF            AD       1SEC                                  
017472,000106: 22,3134           00006                           EXTEND                                         
017473,000107: 22,3135           63137                           BZMF     2NDRETRN                              
017474,000108: 22,3136           24002                           INCR     Q                                     
017475,000109: 22,3137           24002        2NDRETRN           INCR     Q                                     
017476,000110: 22,3140           24002                           INCR     Q                                     
017477,000111: 22,3141           00002                           TC       Q                                     
017478,000112: 
017479,000113: 20,2000                                           SETLOC   MANUSTUF                              
017480,000114: 20,2000                                           BANK                                           
017481,000115: 20,2065           77776        MANUSTAT           EXIT                                           #  INITIALIZATION ROUTINE
017482,000116: 20,2066           00006                           EXTEND                                         #  FOR AUTOMATIC MANEUVERS
017483,000117: 20,2067           30025                           DCA      TIME2                                 
017484,000118: 20,2070           21717                           DAS      TM                                    #  TM+T0    MANEUVER COMPLETION TIME
017485,000119: 20,2071           45055                           CS       1SEC                                  
017486,000120: 20,2072           54001                           TS       L                                     
017487,000121: 20,2073           45035                           CS       ZERO                                  
017488,000122: 20,2074           21717                           DAS      TM                                    #  (TM+T0)-1
017489,000123: 20,2075           00004                           INHINT                                         
017490,000124: 20,2076           45033                           CS       ONE                                   #  ENABLE AUTOPILOT TO PERFORM
017491,000125: 20,2077           55332                           TS       HOLDFLAG                              #  AUTOMATIC MANEUVERS
017492,000126: 20,2100           41130                           CS       RATEINDX                              #  SEE IF MANEUVERING AT HIGH RATE
017493,000127: 20,2101           66211                           AD       SIX                                   
017494,000128: 20,2102           00006                           EXTEND                                         
017495,000129: 20,2103           62105                           BZMF     HIGHGAIN                              
017496,000130: 20,2104           12110                           TCF      +4                                    
017497,000131: 20,2105           41501        HIGHGAIN           CS       RCSFLAGS                              #  IF SO, SET HIGH RATE FLAG (BIT 15 OF
017498,000132: 20,2106           75015                           MASK     BIT15                                 #  RCSFLAGS)
017499,000133: 20,2107           27501                           ADS      RCSFLAGS                              
017500,000134: 20,2110           53711                           DXCH     BRATE                                 #  X-AXIS MANEUVER RATE
017501,000135: 20,2111           53526                           DXCH     WBODY                                 
017502,000136: 20,2112           53713                           DXCH     BRATE      +2                         #  Y-AXIS MANEUVER RATE
017503,000137: 20,2113           53530                           DXCH     WBODY1                                
017504,000138: 20,2114           53715                           DXCH     BRATE      +4                         #  Z-AXIS MANEUVER RATE
017505,000139: 20,2115           53532                           DXCH     WBODY2                                
017506,000140: 20,2116           31675                           CA       BIASTEMP   +1                         #  INSERT ATTITUDE ERROR BIASES
017507,000141: 20,2117           55564                           TS       BIAS                                  #  INTO AUTOPILOT
017508,000142: 20,2120           31677                           CA       BIASTEMP   +3                         
017509,000143: 20,2121           55565                           TS       BIAS1                                 
017510,000144: 20,2122           31701                           CA       BIASTEMP   +5                         
017511,000145: 20,2123           55566                           TS       BIAS2                                 
017512,000146: 20,2124           30025                           CA       TIME1                                 
017513,000147: 20,2125           65055                           AD       1SEC                                  
017514,000148: 20,2126           57671                           XCH      NEXTIME                               
017515,000149: 20,2127           04715                           TC       POSTJUMP                              
017516,000150: 20,2130           45056                           CADR     INCRDCDU   -1                         
017517,000151: 
017518,000152: 20,2131           00004        CONTMANU           INHINT                                         #  CONTINUE WITH UPDATE PROCESS
017519,000153: 20,2132           40025                           CS       TIME1                                 
017520,000154: 20,2133           61671                           AD       NEXTIME                               
017521,000155: 20,2134           10000                           CCS      A                                     
017522,000156: 20,2135           65033                           AD       ONE                                   
017523,000157: 20,2136           12141                           TCF      MANUCALL                              
017524,000158: 20,2137           65015                           AD       NEGMAX                                
017525,000159: 20,2140           40000                           COM                                            
017526,000160: 20,2141           05261        MANUCALL           TC       WAITLIST                              
017527,000161: 20,2142  E6,1661                                  EBANK=   BCDU                                  
017528,000162: 20,2142           02150 40066                     2CADR    UPDTCALL                              
017529,000163: 
017530,000164: 20,2144           00003                           RELINT                                         
017531,000165: 20,2145           35055                           CAF      1SEC                                  #  INCREMENT TIME FOR NEXT UPDATE
017532,000166: 20,2146           27671                           ADS      NEXTIME                               
017533,000167: 20,2147           15233                           TCF      ENDOFJOB                              
017534,000168: 
017535,000169: 
017536,000170: 20,2150           37663        UPDTCALL           CAF      PRIO26                                #  CALL FOR UPDATE
017537,000171: 20,2151           05163                           TC       FINDVAC                               #  OF STEERING COMMANDS
017538,000172: 20,2152  E6,1661                                  EBANK=   BCDU                                  
017539,000173: 20,2152           03026 44066                     2CADR    NEWDELHI                              
017540,000174: 
017541,000175: 20,2154           05340                           TC       TASKOVER                              
017542,000176: 
017543,000177:                                                                                                  #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017544,000178: 
017545,000179: 21,2000                                           SETLOC   KALCMON3                              
017546,000180: 21,2000                                           BANK                                           
017547,000181: 
017548,000182: 21,2012           04537        MANUSTOP           TC       STOPYZ                                
017549,000183: 21,2013           04754                           TC       IBNKCALL                              
017550,000184: 21,2014           45144                           CADR     LOADYZ                                
017551,000185: 
017552,000186: 21,2015           31155        ENDROLL            CA       CPHI                                  
017553,000187: 21,2016           55646                           TS       CDUXD                                 #  SET CDUXD TO THE COMMANDED OUTER GIMBAL
017554,000188: 21,2017           04526                           TC       STOPRATE                              
017555,000189: 21,2020           31327        ENDMANU            CA       ATTPRIO                               #  RESTORE USERS PRIORITY
017556,000190: 21,2021           54063                           TS       NEWPRIO                               
017557,000191: 
017558,000192: 21,2022           35035                           CA       ZERO                                  #  ZERO ATTCADR
017559,000193: 21,2023           53326                           DXCH     ATTCADR                               
017560,000194: 
017561,000195: 21,2024           05174                           TC       SPVAC                                 #  RETURN TO USER OF GOMANUR
017562,000196: 
017563,000197: 21,2025           05340                           TC       TASKOVER                              
017564,000198: 
017565,000199:    4000                                           SETLOC   STOPRAT                               
017566,000200:    4000                                           BANK                                           
017567,000201:    4526           35035        STOPRATE           CAF      ZERO                                  
017568,000202:    4527           55575                           TS       DELCDUX                               
017569,000203:    4530           55576                           TS       DELCDUX    +1                         #  ZERO ROLL INCREMENTAL ANGLES
017570,000204:    4531           55525                           TS       WBODY                                 #  RATE
017571,000205:    4532           55526                           TS       WBODY      +1                         
017572,000206:    4533           55564                           TS       BIAS                                  #  BIAS
017573,000207: 
017574,000208:    4534           45015                           CS       BIT15                                 #  MAKE SURE HIGH RATE FLAG (BIT 15 OF
017575,000209:    4535           71501                           MASK     RCSFLAGS                              #  RCSFLAGS) IS RESET.
017576,000210:    4536           55501                           TS       RCSFLAGS                              
017577,000211: 
017578,000212:    4537           35035        STOPYZ             CAF      ZERO                                  
017579,000213:    4540           55577                           TS       DELCDUY                               #  ZERO PITCH, YAW
017580,000214:    4541           55600                           TS       DELCDUY    +1                         #  INCREMENTAL ANGLES
017581,000215:    4542           55601                           TS       DELCDUZ                               
017582,000216:    4543           55602                           TS       DELCDUZ    +1                         
017583,000217:    4544           55527                           TS       WBODY1                                #  RATES
017584,000218:    4545           55530                           TS       WBODY1     +1                         
017585,000219:    4546           55531                           TS       WBODY2                                
017586,000220:    4547           55532                           TS       WBODY2     +1                         
017587,000221:    4550           55565                           TS       BIAS1                                 #  BIASES
017588,000222:    4551           55566                           TS       BIAS2                                 
017589,000223:    4552           00002                           TC       Q                                     
017590,000224: 
017591,000225: 20,2000                                           SETLOC   MANUSTUF                              
017592,000226: 20,2000                                           BANK                                           
017593,000227: 
017594,000228: 20,2155           30032        ZEROEROR           CA       CDUX                                  #  PICK UP CDU ANGLES AND STORE IN
017595,000229: 20,2156           55646                           TS       CDUXD                                 #  CDU DESIRED
017596,000230: 20,2157           30033                           CA       CDUY                                  
017597,000231: 20,2160           55650                           TS       CDUYD                                 
017598,000232: 20,2161           30034                           CA       CDUZ                                  
017599,000233: 20,2162           55652                           TS       CDUZD                                 
017600,000234: 20,2163           00002                           TC       Q                                     
017601,000235: 
017602,000236: 22,2000                                           SETLOC   KALCMON1                              
017603,000237: 22,2000                                           BANK                                           
017604,000238: 
017605,000239: 22,3142           31155        LOADCDUD           CA       CPHI                                  #  STORE TERMINAL ANGLES INTO
017606,000240: 22,3143           55646                           TS       CDUXD                                 #  COMMAND ANGLES
017607,000241: 22,3144           31156        LOADYZ             CA       CTHETA                                
017608,000242: 22,3145           55650                           TS       CDUYD                                 
017609,000243: 22,3146           31157                           CA       CPSI                                  
017610,000244: 22,3147           55652                           TS       CDUZD                                 
017611,000245: 22,3150           00002                           TC       Q                                     

End of include-file KALCMANU_STEERING.agc.  Parent file is MAIN.agc