Source Code

018052,000001: # Copyright: Public domain. 018053,000002: # Filename: KALCMANU_STEERING.agc 018054,000003: # Purpose: Part of the source code for Comanche, build 055. 018055,000004: # It is part of the source code for the Command Module's (CM) 018056,000005: # Apollo Guidance Computer (AGC), Apollo 11. 018057,000006: # Assembler: yaYUL 018058,000007: # Reference: pp. 414-419 018059,000008: # Contact: Onno Hommes <ohommes@cmu.edu>. 018060,000009: # Website: www.ibiblio.org/apollo. 018061,000010: # Mod history: 05/07/09 OH Transcription Batch 1 Assignment 018062,000011: 018063,000012: # The contents of the "Comanche055" files, in general, are transcribed 018064,000013: # from scanned documents. 018065,000014: 018066,000015: # Assemble revision 055 of AGC program Comanche by NASA 018067,000016: # 2021113-051. April 1, 1969. 018068,000017: 018069,000018: # This AGC program shall also be referred to as Colossus 2A 018070,000019: 018071,000020: # Prepared by 018072,000021: # Massachusetts Institute of Technology 018073,000022: # 75 Cambridge Parkway 018074,000023: # Cambridge, Massachusetts 018075,000024: 018076,000025: # under NASA contract NAS 9-4065. 018077,000026: 018078,000027: # Refer directly to the online document mentioned above for further information. 018079,000028: # Please report any errors to info@sandroid.org. 018080,000029: 018081,000030: # Page 414 018082,000031: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS 018083,000032: 018084,000033: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER 018085,000034: 018086,000035: 15,2000 BANK 15 018087,000036: 018088,000037: 22,2000 SETLOC KALCMON1 018089,000038: 22,2000 BANK 018090,000039: 018091,000040: 22,3026 E6,1661 EBANK= BCDU 018092,000041: 018093,000042: 22,3026 COUNT 22/KALC 018094,000043: 018095,000044: 22,3026 41332 NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED 018096,000045: 22,3027 00006 EXTEND # BY ASTRONAUT. 018097,000046: 22,3030 62726 BZMF NOGO -2 # IF SO, TERMINATE KALCMANU 018098,000047: 22,3031 06006 NEWANGL TC INTPRET 018099,000048: 22,3032 75160 AXC,1 AXC,2 018100,000049: 22,3033 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO 018101,000050: 22,3034 03425 DEL # STABLE MEMBER AXES 018102,000051: 22,3035 77624 CALL 018103,000052: 22,3036 44304 MXM3 018104,000053: 22,3037 45575 VLOAD STADR 018105,000054: 22,3040 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES 018106,000055: 22,3041 77626 STADR 018107,000056: 22,3042 50450 STOVL MIS +6D 018108,000057: 22,3043 77626 STADR 018109,000058: 22,3044 74456 STORE MIS 018110,000059: 22,3045 45160 AXC,1 CALL 018111,000060: 22,3046 03320 MIS 018112,000061: 22,3047 44655 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX 018113,000062: 22,3050 77634 RTB 018114,000063: 22,3051 45552 V1STO2S 018115,000064: 22,3052 03267 STORE NCDU # NEW CDU ANGLES 018116,000065: 22,3053 77414 BONCLR EXIT 018117,000066: 22,3054 01215 CALCMAN2 018118,000067: 22,3055 40065 MANUSTAT # TO START MANEUVER 018119,000068: 22,3056 35016 CAF TWO # +0 OTHERWISE 018120,000069: 22,3057 55664 INCRDCDU TS KSPNDX 018121,000070: 22,3060 60000 DOUBLE 018122,000071: 22,3061 55665 TS KDPNDX 018123,000072: 22,3062 51664 INDEX KSPNDX 018124,000073: 22,3063 31666 CA NCDU # NEW DESIRED CDU ANGLES 018125,000074: 22,3064 00006 EXTEND 018126,000075: 22,3065 51664 INDEX KSPNDX 018127,000076: 22,3066 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED 018128,000077: 22,3067 00006 EXTEND # CDU ANGLES 018129,000078: 22,3070 73002 MP QUADROT 018130,000079: 22,3071 51665 INDEX KDPNDX 018131,000080: 22,3072 53576 DXCH DELCDUX # ANGEL INCREMENTS TO BE ADDED TO 018132,000081: # Page 415 018133,000082: 22,3073 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC 018134,000083: 22,3074 31666 CA NCDU # BY LEM DAP 018135,000084: 22,3075 51664 INDEX KSPNDX 018136,000085: 22,3076 57661 XCH BCDU 018137,000086: 22,3077 51665 INDEX KDPNDX 018138,000087: 22,3100 55646 TS CDUXD 018139,000088: 22,3101 11664 CCS KSPNDX 018140,000089: 22,3102 13057 TCF INCRDCDU # LOOP FOR THREE AXES 018141,000090: 018142,000091: 22,3103 00003 RELINT 018143,000092: # COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER 018144,000093: 018145,000094: 22,3104 03115 TMANUCHK TC TIMECHK 018146,000095: 22,3105 04701 TC POSTJUMP 018147,000096: 22,3106 40131 CADR CONTMANU 018148,000097: 018149,000098: 22,3107 35017 CAF ONE 018150,000099: 22,3110 05245 MANUSTAL TC WAITLIST 018151,000100: 22,3111 E6,1661 EBANK= BCDU 018152,000101: 22,3111 02000 42066 2CADR MANUSTOP 018153,000102: 018154,000103: 22,3113 00003 RELINT 018155,000104: 22,3114 15217 TCF ENDOFJOB 018156,000105: 018157,000106: 018158,000107: 22,3115 00006 TIMECHK EXTEND 018159,000108: 22,3116 40025 DCS TIME2 018160,000109: 22,3117 53673 DXCH TTEMP 018161,000110: 22,3120 00006 EXTEND 018162,000111: 22,3121 31717 DCA TM 018163,000112: 22,3122 21673 DAS TTEMP 018164,000113: 22,3123 11672 CCS TTEMP 018165,000114: 22,3124 00002 TC Q 018166,000115: 22,3125 13127 TCF +2 018167,000116: 22,3126 13137 TCF 2NDRETRN 018168,000117: 22,3127 11673 CCS TTEMP +1 018169,000118: 22,3130 00002 TC Q 018170,000119: 22,3131 13133 TCF MANUOFF 018171,000120: 22,3132 40000 COM 018172,000121: 22,3133 65041 MANUOFF AD 1SEC 018173,000122: 22,3134 00006 EXTEND 018174,000123: 22,3135 63137 BZMF 2NDRETRN 018175,000124: 22,3136 24002 INCR Q 018176,000125: 22,3137 24002 2NDRETRN INCR Q 018177,000126: 22,3140 24002 INCR Q 018178,000127: 22,3141 00002 TC Q 018179,000128: 018180,000129: 20,2000 SETLOC MANUSTUF 018181,000130: 20,2000 BANK 018182,000131: # Page 416 018183,000132: 20,2065 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE 018184,000133: 20,2066 00006 EXTEND # FOR AUTOMATIC MANEUVERS 018185,000134: 20,2067 30025 DCA TIME2 018186,000135: 20,2070 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME 018187,000136: 20,2071 45041 CS 1SEC 018188,000137: 20,2072 54001 TS L 018189,000138: 20,2073 45021 CS ZERO 018190,000139: 20,2074 21717 DAS TM # (TM+T0)-1 018191,000140: 20,2075 00004 INHINT 018192,000141: 20,2076 45017 CS ONE # ENABLE AUTOPILOT TO PERFORM 018193,000142: 20,2077 55332 TS HOLDFLAG # AUTOMATIC MANEUVERS 018194,000143: 20,2100 41130 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE 018195,000144: 20,2101 66211 AD SIX 018196,000145: 20,2102 00006 EXTEND 018197,000146: 20,2103 62105 BZMF HIGHGAIN 018198,000147: 20,2104 12110 TCF +4 018199,000148: 20,2105 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF 018200,000149: 20,2106 75001 MASK BIT15 # RCSFLAGS) 018201,000150: 20,2107 27501 ADS RCSFLAGS 018202,000151: 20,2110 53711 DXCH BRATE # X-AXIS MANEUVER RATE 018203,000152: 20,2111 53526 DXCH WBODY 018204,000153: 20,2112 53713 DXCH BRATE +2 # Y-AXIS MANEUVER RATE 018205,000154: 20,2113 53530 DXCH WBODY1 018206,000155: 20,2114 53715 DXCH BRATE +4 # Z-AXIS MANEUVER RATE 018207,000156: 20,2115 53532 DXCH WBODY2 018208,000157: 20,2116 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES 018209,000158: 20,2117 55564 TS BIAS # INTO AUTOPILOT 018210,000159: 20,2120 31677 CA BIASTEMP +3 018211,000160: 20,2121 55565 TS BIAS1 018212,000161: 20,2122 31701 CA BIASTEMP +5 018213,000162: 20,2123 55566 TS BIAS2 018214,000163: 20,2124 30025 CA TIME1 018215,000164: 20,2125 65041 AD 1SEC 018216,000165: 20,2126 57671 XCH NEXTIME 018217,000166: 20,2127 04701 TC POSTJUMP 018218,000167: 20,2130 45056 CADR INCRDCDU -1 018219,000168: 018220,000169: 20,2131 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS 018221,000170: 20,2132 40025 CS TIME1 018222,000171: 20,2133 61671 AD NEXTIME 018223,000172: 20,2134 10000 CCS A 018224,000173: 20,2135 65017 AD ONE 018225,000174: 20,2136 12141 TCF MANUCALL 018226,000175: 20,2137 65001 AD NEGMAX 018227,000176: 20,2140 40000 COM 018228,000177: 20,2141 05245 MANUCALL TC WAITLIST 018229,000178: 20,2142 E6,1661 EBANK= BCDU 018230,000179: 20,2142 02150 40066 2CADR UPDTCALL 018231,000180: 018232,000181: 20,2144 00003 RELINT 018233,000182: # Page 417 018234,000183: 20,2145 35041 CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE 018235,000184: 20,2146 27671 ADS NEXTIME 018236,000185: 20,2147 15217 TCF ENDOFJOB 018237,000186: 018238,000187: 018239,000188: 20,2150 37663 UPDTCALL CAF PRIO26 # CALL FOR UPDATE 018240,000189: 20,2151 05147 TC FINDVAC # OF STEERING COMMANDS 018241,000190: 20,2152 E6,1661 EBANK= BCDU 018242,000191: 20,2152 03026 44066 2CADR NEWDELHI 018243,000192: 018244,000193: 20,2154 05324 TC TASKOVER 018245,000194: 018246,000195: # Page 418 018247,000196: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS 018248,000197: 018249,000198: 21,2000 SETLOC KALCMON3 018250,000199: 21,2000 BANK 018251,000200: 018252,000201: 21,2000 04537 MANUSTOP TC STOPYZ 018253,000202: 21,2001 04740 TC IBNKCALL 018254,000203: 21,2002 45144 CADR LOADYZ 018255,000204: 018256,000205: 21,2003 31155 ENDROLL CA CPHI 018257,000206: 21,2004 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL 018258,000207: 21,2005 04526 TC STOPRATE 018259,000208: 21,2006 31327 ENDMANU CA ATTPRIO # RESTORE USERS PRIO 018260,000209: 21,2007 54063 TS NEWPRIO 018261,000210: 018262,000211: 21,2010 35021 CA ZERO # ZERO ATTCADR 018263,000212: 21,2011 53326 DXCH ATTCADR 018264,000213: 018265,000214: 21,2012 05160 TC SPVAC # RETURN TO USER OF GOMANUR 018266,000215: 018267,000216: 21,2013 05324 TC TASKOVER 018268,000217: 018269,000218: 4000 SETLOC STOPRAT 018270,000219: 4000 BANK 018271,000220: 4526 35021 STOPRATE CAF ZERO 018272,000221: 4527 55575 TS DELCDUX 018273,000222: 4530 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES 018274,000223: 4531 55525 TS WBODY # RATE 018275,000224: 4532 55526 TS WBODY +1 018276,000225: 4533 55564 TS BIAS # BIAS 018277,000226: 018278,000227: 4534 45001 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF 018279,000228: 4535 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET. 018280,000229: 4536 55501 TS RCSFLAGS 018281,000230: 018282,000231: 4537 35021 STOPYZ CAF ZERO 018283,000232: 4540 55577 TS DELCDUY # ZERO PITCH, YAW 018284,000233: 4541 55600 TS DELCDUY +1 # INCREMENTAL ANGLES 018285,000234: 4542 55601 TS DELCDUZ 018286,000235: 4543 55602 TS DELCDUZ +1 018287,000236: 4544 55527 TS WBODY1 # RATES 018288,000237: 4545 55530 TS WBODY1 +1 018289,000238: 4546 55531 TS WBODY2 018290,000239: 4547 55532 TS WBODY2 +1 018291,000240: 4550 55565 TS BIAS1 # BIASES 018292,000241: 4551 55566 TS BIAS2 018293,000242: 4552 00002 TC Q 018294,000243: 018295,000244: 20,2000 SETLOC MANUSTUF 018296,000245: 20,2000 BANK 018297,000246: 018298,000247: # Page 419 018299,000248: 20,2155 30032 ZEROERROR CA CDUX # PICK UP CDU ANGLES AND STORE IN 018300,000249: 20,2156 55646 TS CDUXD # CDU DESIRED 018301,000250: 20,2157 30033 CA CDUY 018302,000251: 20,2160 55650 TS CDUYD 018303,000252: 20,2161 30034 CA CDUZ 018304,000253: 20,2162 55652 TS CDUZD 018305,000254: 20,2163 00002 TC Q 018306,000255: 018307,000256: 22,2000 SETLOC KALCMON1 018308,000257: 22,2000 BANK 018309,000258: 018310,000259: 22,3142 31155 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO 018311,000260: 22,3143 55646 TS CDUXD # COMMAND ANGLES 018312,000261: 22,3144 31156 LOADYZ CA CTHETA 018313,000262: 22,3145 55650 TS CDUYD 018314,000263: 22,3146 31157 CA CPSI 018315,000264: 22,3147 55652 TS CDUZD 018316,000265: 22,3150 00002 TC Q End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc