Source Code
015250,000001: # Copyright: Public domain.
015251,000002: # Filename: KALCMANU_STEERING.agc
015252,000003: # Purpose: Part of the source code for Luminary 1A build 099.
015253,000004: # It is part of the source code for the Lunar Module's (LM)
015254,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
015255,000006: # Assembler: yaYUL
015256,000007: # Contact: Ron Burkey <info@sandroid.org>.
015257,000008: # Website: www.ibiblio.org/apollo.
015258,000009: # Pages: 365-369
015259,000010: # Mod history: 2009-05-17 RSB Adapted from the corresponding
015260,000011: # Luminary131 file, using page
015261,000012: # images from Luminary 1A.
015262,000013: # 2011-01-06 JL Added missing comment characters.
015263,000014:
015264,000015: # This source code has been transcribed or otherwise adapted from
015265,000016: # digitized images of a hardcopy from the MIT Museum. The digitization
015266,000017: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
015267,000018: # the Museum. Many thanks to both. The images (with suitable reduction
015268,000019: # in storage size and consequent reduction in image quality as well) are
015269,000020: # available online at www.ibiblio.org/apollo. If for some reason you
015270,000021: # find that the images are illegible, contact me at info@sandroid.org
015271,000022: # about getting access to the (much) higher-quality images which Paul
015272,000023: # actually created.
015273,000024:
015274,000025: # Notations on the hardcopy document read, in part:
015275,000026:
015276,000027: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
015277,000028: # 16:27 JULY 14, 1969
015278,000029:
015279,000030: # Page 365
015280,000031: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015281,000032:
015282,000033: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015283,000034:
015284,000035: 22,3003 E6,1707 EBANK= TTEMP
015285,000036:
015286,000037: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015287,000038: 22,3004 54262 CADR ISITAUTO # ONLY
015288,000039: 22,3005 10000 CCS A
015289,000040: 22,3006 12730 TCF NOGO -2
015290,000041: 22,3007 06037 NEWANGL TC INTPRET
015291,000042: 22,3010 75160 AXC,1 AXC,2
015292,000043: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015293,000044: 22,3012 02230 KEL # STABLE MEMBER AXES
015294,000045: 22,3013 77624 CALL
015295,000046: 22,3014 44312 MXM3
015296,000047: 22,3015 45575 VLOAD STADR
015297,000048: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015298,000049: 22,3017 77626 STADR
015299,000050: 22,3020 50522 STOVL MIS +6D
015300,000051: 22,3021 77626 STADR
015301,000052: 22,3022 74530 STORE MIS
015302,000053: 22,3023 45160 AXC,1 CALL
015303,000054: 22,3024 03246 MIS
015304,000055: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015305,000056: 22,3026 77634 RTB
015306,000057: 22,3027 21620 V1STO2S
015307,000058: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015308,000059: 22,3031 77414 BONCLR EXIT
015309,000060: 22,3032 01215 CALCMAN2
015310,000061: 22,3033 45122 MANUSTAT # TO START MANEUVER
015311,000062: 22,3034 34752 CAF TWO # +0 OTHERWISE
015312,000063: 22,3035 55272 INCRDCDU TS SPNDX
015313,000064: 22,3036 51272 INDEX SPNDX
015314,000065: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015315,000066: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015316,000067: 22,3041 51272 INDEX SPNDX
015317,000068: 22,3042 21703 MSU NCDU
015318,000069: 22,3043 00006 EXTEND
015319,000070:
015320,000071: # The following 2 lines seem to have no purpose at all.
015321,000072: # I am removing them because they only serve to confuse
015322,000073: # the assembler by getting in between EXTEND and MP.
015323,000074: # --- RSB 2009.
015324,000075: # SETLOC KALCMON1
015325,000076: # BANK
015326,000077:
015327,000078: 22,3044 73121 MP DT/TAU
015328,000079: 22,3045 10000 CCS A # CONVERT TO 2'S COMPLEMENT
015329,000080: 22,3046 64753 AD ONE
015330,000081: 22,3047 13051 TCF +2
015331,000082: 22,3050 40000 COM
015332,000083: 22,3051 51272 INDEX SPNDX
015333,000084: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015334,000085: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
015335,000086: # Page 366
015336,000087: 22,3054 31703 CA NCDU # BY LEM DAP
015337,000088: 22,3055 51272 INDEX SPNDX
015338,000089: 22,3056 57676 XCH BCDU
015339,000090: 22,3057 51272 INDEX SPNDX
015340,000091: 22,3060 55635 TS CDUXD
015341,000092: 22,3061 11272 CCS SPNDX
015342,000093: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015343,000094:
015344,000095: 22,3063 00003 RELINT
015345,000096:
015346,000097: # COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER
015347,000098:
015348,000099: 22,3064 03075 TMANUCHK TC TIMECHK
015349,000100: 22,3065 13170 TCF CONTMANU
015350,000101: 22,3066 34753 CAF ONE
015351,000102: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015352,000103: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015353,000104: 22,3071 E6,1707 EBANK= TTEMP
015354,000105: 22,3071 03213 44066 2CADR MANUSTOP
015355,000106:
015356,000107: 22,3073 00003 RELINT
015357,000108: 22,3074 15155 TCF ENDOFJOB
015358,000109:
015359,000110: 22,3075 00006 TIMECHK EXTEND
015360,000111: 22,3076 40025 DCS TIME2
015361,000112: 22,3077 53710 DXCH TTEMP
015362,000113: 22,3100 00006 EXTEND
015363,000114: 22,3101 31734 DCA TM
015364,000115: 22,3102 21710 DAS TTEMP
015365,000116: 22,3103 11707 CCS TTEMP
015366,000117: 22,3104 00002 TC Q
015367,000118: 22,3105 13107 TCF +2
015368,000119: 22,3106 13117 TCF 2NDRETRN
015369,000120: 22,3107 11710 CCS TTEMP +1
015370,000121: 22,3110 00002 TC Q
015371,000122: 22,3111 13113 TCF MANUOFF
015372,000123: 22,3112 40000 COM
015373,000124: 22,3113 63166 MANUOFF AD ONESEK +1
015374,000125: 22,3114 00006 EXTEND
015375,000126: 22,3115 63117 BZMF 2NDRETRN
015376,000127: 22,3116 24002 INCR Q
015377,000128: 22,3117 24002 2NDRETRN INCR Q
015378,000129: 22,3120 00002 TC Q
015379,000130:
015380,000131: 22,3121 03146 DT/TAU DEC .1
015381,000132:
015382,000133: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015383,000134: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015384,000135: 22,3124 30025 DCA TIME2
015385,000136: # Page 367
015386,000137: 22,3125 21734 DAS TM # TM+TO MANEUVER COMPLETION TIME
015387,000138: 22,3126 00006 EXTEND
015388,000139: 22,3127 43166 DCS ONESEK
015389,000140: 22,3130 21734 DAS TM # (TM+TO)-1
015390,000141: 22,3131 00004 INHINT
015391,000142: 22,3132 34752 CAF TWO
015392,000143: 22,3133 55701 RATEBIAS TS KSPNDX
015393,000144: 22,3134 60000 DOUBLE
015394,000145: 22,3135 55702 TS KDPNDX
015395,000146: 22,3136 50000 INDEX A
015396,000147: 22,3137 31725 CA BRATE
015397,000148: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015398,000149: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015399,000150: 22,3142 00006 EXTEND
015400,000151: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015401,000152: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015402,000153: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015403,000154: 22,3146 73167 MP BIASCALE # = -1/16
015404,000155: 22,3147 00006 EXTEND
015405,000156: 22,3150 51702 INDEX KDPNDX
015406,000157: 22,3151 71725 MP BRATE
015407,000158: 22,3152 00006 EXTEND
015408,000159: 22,3153 51701 INDEX KSPNDX
015409,000160: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015410,000161: 22,3155 51701 INDEX KSPNDX
015411,000162: 22,3156 55277 TS DELPEROR # $ 180 DEG
015412,000163: 22,3157 11701 CCS KSPNDX
015413,000164: 22,3160 13133 TCF RATEBIAS
015414,000165:
015415,000166: 22,3161 30025 CA TIME1
015416,000167: 22,3162 63166 AD ONESEK +1
015417,000168: 22,3163 57706 XCH NEXTIME
015418,000169: 22,3164 13034 TCF INCRDCDU -1
015419,000170:
015420,000171: 22,3165 00000 ONESEK DEC 0 B-14
015421,000172: 22,3166 00144 DEC 100 B-14
015422,000173:
015423,000174: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015424,000175:
015425,000176: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015426,000177: 22,3171 61706 AD NEXTIME
015427,000178: 22,3172 10000 CCS A
015428,000179: 22,3173 64753 AD ONE
015429,000180: 22,3174 13177 TCF MANUCALL
015430,000181: 22,3175 64735 AD NEGMAX
015431,000182: 22,3176 40000 COM
015432,000183: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015433,000184: 22,3200 05203 TC WAITLIST
015434,000185: 22,3201 E6,1707 EBANK= TTEMP
015435,000186: 22,3201 03206 44066 2CADR UPDTCALL
015436,000187: # Page 368
015437,000188: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015438,000189: 22,3204 27706 ADS NEXTIME
015439,000190: 22,3205 15155 TCF ENDOFJOB
015440,000191:
015441,000192: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015442,000193: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015443,000194: 22,3210 E6,1707 EBANK= TTEMP
015444,000195: 22,3210 03003 44066 2CADR NEWDELHI
015445,000196:
015446,000197: 22,3212 05261 TC TASKOVER
015447,000198:
015448,000199: # Page 369
015449,000200: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015450,000201:
015451,000202: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015452,000203: 22,3214 55642 TS DELDCDU2
015453,000204: 22,3215 55645 TS OMEGARD
015454,000205: 22,3216 55301 TS DELREROR
015455,000206: 22,3217 55641 TS DELDCDU1
015456,000207: 22,3220 55644 TS OMEGAQD
015457,000208: 22,3221 55300 TS DELQEROR
015458,000209: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015459,000210: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015460,000211: 22,3224 30322 CA CTHETA
015461,000212: 22,3225 55636 TS CDUYD
015462,000213: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015463,000214: 22,3227 55635 TS CDUXD
015464,000215: 22,3230 34755 CAF ZERO
015465,000216: 22,3231 55643 TS OMEGAPD # I.E., MANEUVER DID NOT GO THRU
015466,000217: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015467,000218: 22,3233 55277 TS DELPEROR
015468,000219: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015469,000220: 22,3235 54063 TS NEWPRIO
015470,000221:
015471,000222: 22,3236 34755 CA ZERO # ZERO ATTCADR
015472,000223: 22,3237 53310 DXCH ATTCADR
015473,000224:
015474,000225: 22,3240 05116 TC SPVAC # RETURN TO USER
015475,000226:
015476,000227: 22,3241 05261 TC TASKOVER
015477,000228:
015478,000229:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc