Source Code
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These source-code files were obtained by digitally photographing the
Colossus 237 program listing from the private collection of original
AGC developer Fred Martin, and then modifying pre-existing Colossus 249
(Apollo 9) source files to incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968 |
017755,000002: # Copyright: Public domain.
017756,000003: # Filename: KALCMANU_STEERING.agc
017757,000004: # Purpose: Part of the source code for Colossus build 237.
017758,000005: # This is for the Command Module's (CM) Apollo Guidance
017759,000006: # Computer (AGC), we believe for Apollo 8.
017760,000007: # Assembler: yaYUL
017761,000008: # Contact: Onno Hommes <ohommes@alumni.cmu.edu>
017762,000009: # Website: www.ibiblio.org/apollo/index.html
017763,000010: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
017764,000011: # Mod history: 2010-06-01 OH Adapted from corresponding Colossus 249 file.
017765,000012: # 2010-12-04 JL Remove Colossus 249 header comments. Change
017766,000013: # to double-hash page numbers.
017767,000014: # 2011-01-27 JL Minor fixes.
017768,000015:
017769,000016: # # Page 405
017770,000017: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
017771,000018:
017772,000019: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
017773,000020:
017774,000021: 15,2000 BANK 15
017775,000022:
017776,000023: 22,2000 SETLOC KALCMON1
017777,000024: 22,2000 BANK
017778,000025:
017779,000026: 22,3027 E6,1661 EBANK= BCDU
017780,000027:
017781,000028: 22,3027 COUNT 22/KALC
017782,000029:
017783,000030: 22,3027 41332 NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
017784,000031: 22,3030 00006 EXTEND # BY ASTRONAUT
017785,000032: 22,3031 62725 BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
017786,000033: 22,3032 06006 NEWANGL TC INTPRET
017787,000034: 22,3033 75160 AXC,1 AXC,2
017788,000035: 22,3034 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
017789,000036: 22,3035 03425 DEL # STABLE MEMBER AXES
017790,000037: 22,3036 77624 CALL
017791,000038: 22,3037 44304 MXM3
017792,000039: 22,3040 45575 VLOAD STADR
017793,000040: 22,3041 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
017794,000041: 22,3042 77626 STADR
017795,000042: 22,3043 50450 STOVL MIS +6D
017796,000043: 22,3044 77626 STADR
017797,000044: 22,3045 74456 STORE MIS
017798,000045: 22,3046 45160 AXC,1 CALL
017799,000046: 22,3047 03320 MIS
017800,000047: 22,3050 44655 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
017801,000048: 22,3051 77634 RTB
017802,000049: 22,3052 45547 V1STO2S
017803,000050: 22,3053 03267 STORE NCDU # NEW CDU ANGLES
017804,000051: 22,3054 77414 BONCLR EXIT
017805,000052: 22,3055 01215 CALCMAN2
017806,000053: 22,3056 45142 MANUSTAT # TO START MANEUVER
017807,000054: 22,3057 34711 CAF TWO # +0 OTHERWISE
017808,000055: 22,3060 55664 INCRDCDU TS KSPNDX
017809,000056: 22,3061 60000 DOUBLE
017810,000057: 22,3062 55665 TS KDPNDX
017811,000058: 22,3063 51664 INDEX KSPNDX
017812,000059: 22,3064 31666 CA NCDU # NEW DESIRED CDU ANGLES
017813,000060: 22,3065 00006 EXTEND
017814,000061: 22,3066 51664 INDEX KSPNDX
017815,000062: 22,3067 21661 MSU BCDU # INITIAL S/C ANGLE OR PRVIOUS DESIRED
017816,000063: 22,3070 00006 EXTEND # CDU ANGLES
017817,000064: 22,3071 73141 MP DT/TAU
017818,000065: 22,3072 51665 INDEX KDPNDX
017819,000066: 22,3073 53576 DXCH DELCDUX # ANGEL INCREMENTS TO BE ADDED TO
017820,000067: # # Page 406
017821,000068: 22,3074 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
017822,000069: 22,3075 31666 CA NCDU # BY LEM DAP
017823,000070: 22,3076 51664 INDEX KSPNDX
017824,000071: 22,3077 57661 XCH BCDU
017825,000072: 22,3100 51665 INDEX KDPNDX
017826,000073: 22,3101 55646 TS CDUXD
017827,000074: 22,3102 11664 CCS KSPNDX
017828,000075: 22,3103 13060 TCF INCRDCDU # LOOP FOR THREE AXES
017829,000076:
017830,000077: 22,3104 00003 RELINT
017831,000078: # COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER
017832,000079:
017833,000080: 22,3105 03115 TMANUCHK TC TIMECHK
017834,000081: 22,3106 13206 TCF CONTMANU
017835,000082: 22,3107 34712 CAF ONE
017836,000083: 22,3110 05140 MANUSTAL TC WAITLIST
017837,000084: 22,3111 E6,1661 EBANK= BCDU
017838,000085: 22,3111 03232 44066 2CADR MANUSTOP
017839,000086: 22,3113 00003 RELINT
017840,000087: 22,3114 15112 TCF ENDOFJOB
017841,000088:
017842,000089:
017843,000090: 22,3115 00006 TIMECHK EXTEND
017844,000091: 22,3116 40025 DCS TIME2
017845,000092: 22,3117 53673 DXCH TTEMP
017846,000093: 22,3120 00006 EXTEND
017847,000094: 22,3121 31717 DCA TM
017848,000095: 22,3122 21673 DAS TTEMP
017849,000096: 22,3123 11672 CCS TTEMP
017850,000097: 22,3124 00002 TC Q
017851,000098: 22,3125 13127 TCF +2
017852,000099: 22,3126 13137 TCF 2NDRETRN
017853,000100: 22,3127 11673 CCS TTEMP +1
017854,000101: 22,3130 00002 TC Q
017855,000102: 22,3131 13133 TCF MANUOFF
017856,000103: 22,3132 40000 COM
017857,000104: 22,3133 63205 MANUOFF AD ONESEC +1
017858,000105: 22,3134 00006 EXTEND
017859,000106: 22,3135 63137 BZMF 2NDRETRN
017860,000107: 22,3136 24002 INCR Q
017861,000108: 22,3137 24002 2NDRETRN INCR Q
017862,000109: 22,3140 00002 TC Q
017863,000110: 22,3141 03146 DT/TAU DEC .1
017864,000111:
017865,000112: 22,3142 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
017866,000113: 22,3143 00006 EXTEND # FOR AUTOMATIC MANEUVERS
017867,000114: 22,3144 30025 DCA TIME2
017868,000115: 22,3145 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
017869,000116: 22,3146 00006 EXTEND
017870,000117: # # Page 407
017871,000118: 22,3147 43205 DCS ONESEC
017872,000119: 22,3150 21717 DAS TM # (TM+T0)-1
017873,000120: 22,3151 00004 INHINT
017874,000121: 22,3152 44712 CS ONE # ENABLE AUTOPILOT TO PERFORM
017875,000122: 22,3153 55332 TS HOLDFLAG # AUTOMATIC MANEUVERS
017876,000123: 22,3154 41130 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
017877,000124: 22,3155 66211 AD SIX
017878,000125: 22,3156 00006 EXTEND
017879,000126: 22,3157 63161 BZMF HIGHGAIN
017880,000127: 22,3160 13164 TCF +4
017881,000128: 22,3161 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
017882,000129: 22,3162 74674 MASK BIT15 # RCSFLAGS)
017883,000130: 22,3163 27501 ADS RCSFLAGS
017884,000131: 22,3164 53711 DXCH BRATE # X-AXIS MANEUVER RATE
017885,000132: 22,3165 53526 DXCH WBODY
017886,000133: 22,3166 53713 DXCH BRATE +2 # Y-AXIS MANEUVER RATE
017887,000134: 22,3167 53530 DXCH WBODY1
017888,000135: 22,3170 53715 DXCH BRATE +4 # Z-AXIS MANEUVER RATE
017889,000136: 22,3171 53532 DXCH WBODY2
017890,000137: 22,3172 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
017891,000138: 22,3173 55564 TS BIAS # INTO AUTOPILOT
017892,000139: 22,3174 31677 CA BIASTEMP +3
017893,000140: 22,3175 55565 TS BIAS1
017894,000141: 22,3176 31701 CA BIASTEMP +5
017895,000142: 22,3177 55566 TS BIAS2
017896,000143: 22,3200 30025 CA TIME1
017897,000144: 22,3201 63205 AD ONESEC +1
017898,000145: 22,3202 57671 XCH NEXTIME
017899,000146: 22,3203 13057 TCF INCRDCDU -1
017900,000147:
017901,000148: 22,3204 00000 ONESEC DEC 0 B-14
017902,000149: 22,3205 00144 DEC 100 B-14
017903,000150:
017904,000151: 22,3206 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
017905,000152: 22,3207 40025 CS TIME1
017906,000153: 22,3210 61671 AD NEXTIME
017907,000154: 22,3211 10000 CCS A
017908,000155: 22,3212 64712 AD ONE
017909,000156: 22,3213 13216 TCF MANUCALL
017910,000157: 22,3214 64674 AD NEGMAX
017911,000158: 22,3215 40000 COM
017912,000159: 22,3216 05140 MANUCALL TC WAITLIST
017913,000160: 22,3217 E6,1661 EBANK= BCDU
017914,000161: 22,3217 03225 44066 2CADR UPDTCALL
017915,000162: 22,3221 00003 RELINT
017916,000163: 22,3222 33205 CAF ONESEC +1 # INCREMENT TIME FOR NEXT UPDATE
017917,000164: 22,3223 27671 ADS NEXTIME
017918,000165: 22,3224 15112 TCF ENDOFJOB
017919,000166:
017920,000167: # # Page 408
017921,000168: 22,3225 37663 UPDTCALL CAF PRIO26 # CALL FOR UPDATE
017922,000169: 22,3226 05042 TC FINDVAC # OF STEERING COMMANDS
017923,000170: 22,3227 E6,1661 EBANK= BCDU
017924,000171: 22,3227 03027 44066 2CADR NEWDELHI
017925,000172: 22,3231 05213 TC TASKOVER
017926,000173:
017927,000174: # # Page 409
017928,000175: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017929,000176:
017930,000177: 22,3232 03256 MANUSTOP TC STOPYZ
017931,000178: 22,3233 03303 TC LOADYZ
017932,000179:
017933,000180: 22,3234 31155 ENDROLL CA CPHI
017934,000181: 22,3235 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
017935,000182: 22,3236 03245 TC STOPRATE
017936,000183: 22,3237 31327 ENDMANU CA ATTPRIO # RESTORE USERS PRIORITY
017937,000184: 22,3240 54063 TS NEWPRIO
017938,000185:
017939,000186: 22,3241 34714 CA ZERO # ZERO ATTCADR
017940,000187: 22,3242 53326 DXCH ATTCADR
017941,000188:
017942,000189: 22,3243 05053 TC SPVAC # RETURN TO USER OF GOMANUR
017943,000190:
017944,000191: 22,3244 05213 TC TASKOVER
017945,000192:
017946,000193: 22,3245 34714 STOPRATE CAF ZERO
017947,000194: 22,3246 55575 TS DELCDUX
017948,000195: 22,3247 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
017949,000196: 22,3250 55525 TS WBODY # RATE
017950,000197: 22,3251 55526 TS WBODY +1
017951,000198: 22,3252 55564 TS BIAS # BIAS
017952,000199:
017953,000200: 22,3253 44674 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
017954,000201: 22,3254 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
017955,000202: 22,3255 55501 TS RCSFLAGS
017956,000203:
017957,000204: 22,3256 34714 STOPYZ CAF ZERO
017958,000205: 22,3257 55577 TS DELCDUY # ZERO PITCH, YAW
017959,000206: 22,3260 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
017960,000207: 22,3261 55601 TS DELCDUZ
017961,000208: 22,3262 55602 TS DELCDUZ +1
017962,000209: 22,3263 55527 TS WBODY1 # RATES
017963,000210: 22,3264 55530 TS WBODY1 +1
017964,000211: 22,3265 55531 TS WBODY2
017965,000212: 22,3266 55532 TS WBODY2 +1
017966,000213: 22,3267 55565 TS BIAS1 # BIASES
017967,000214: 22,3270 55566 TS BIAS2
017968,000215: 22,3271 00002 TC Q
017969,000216:
017970,000217: 22,3272 30032 ZEROEROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
017971,000218: 22,3273 55646 TS CDUXD # CDU DESIRED
017972,000219: 22,3274 30033 CA CDUY
017973,000220: 22,3275 55650 TS CDUYD
017974,000221: 22,3276 30034 CA CDUZ
017975,000222: 22,3277 55652 TS CDUZD
017976,000223: 22,3300 00002 TC Q
017977,000224:
017978,000225: # # Page 410
017979,000226: 22,3301 31155 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
017980,000227: 22,3302 55646 TS CDUXD # COMMAND ANGLES
017981,000228: 22,3303 31156 LOADYZ CA CTHETA
017982,000229: 22,3304 55650 TS CDUYD
017983,000230: 22,3305 31157 CA CPSI
017984,000231: 22,3306 55652 TS CDUZD
017985,000232: 22,3307 00002 TC Q
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc