Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. 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, 1968Note that the date is the date of the printout, not the date of the program revision. |
017832,000002: ## Copyright: Public domain.
017833,000003: ## Filename: KALCMANU_STEERING.agc
017834,000004: ## Purpose: Part of the source code for Colossus build 237.
017835,000005: ## This is for the Command Module's (CM) Apollo Guidance
017836,000006: ## Computer (AGC), for Apollo 8.
017837,000007: ## Assembler: yaYUL
017838,000008: ## Contact: Onno Hommes <ohommes@alumni.cmu.edu>
017839,000009: ## Website: www.ibiblio.org/apollo/index.html
017840,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
017841,000011: ## Mod history: 2010-06-01 OH Adapted from corresponding Colossus 249 file.
017842,000012: ## 2010-12-04 JL Remove Colossus 249 header comments. Change
017843,000013: ## to double-hash page numbers.
017844,000014: ## 2011-01-27 JL Minor fixes.
017845,000015: ## 2016-08-14 RSB Added SBANKs for addressing discrepancies.
017846,000016: ## 2016-12-30 RSB Proofed comment text using octopus/ProoferComments,
017847,000017: ## and corrected errors found.
017848,000018: ## 2017-01-28 RSB WTIH -> WITH.
017849,000019: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
017850,000020:
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017852,000022: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
017853,000023:
017854,000024: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
017855,000025:
017856,000026: 15,2000 BANK 15
017857,000027:
017858,000028: 22,2000 SETLOC KALCMON1
017859,000029: 22,2000 BANK
017860,000030:
017861,000031: 22,3027 E6,1661 EBANK= BCDU
017862,000032:
017863,000033: 22,3027 COUNT 22/KALC
017864,000034:
017865,000035: 22,3027 41332 NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
017866,000036: 22,3030 00006 EXTEND # BY ASTRONAUT
017867,000037: 22,3031 62725 BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
017868,000038: 22,3032 06006 NEWANGL TC INTPRET
017869,000039: 22,3033 75160 AXC,1 AXC,2
017870,000040: 22,3034 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
017871,000041: 22,3035 03425 DEL # STABLE MEMBER AXES
017872,000042: 22,3036 77624 CALL
017873,000043: 22,3037 44304 MXM3
017874,000044: 22,3040 45575 VLOAD STADR
017875,000045: 22,3041 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
017876,000046: 22,3042 77626 STADR
017877,000047: 22,3043 50450 STOVL MIS +6D
017878,000048: 22,3044 77626 STADR
017879,000049: 22,3045 74456 STORE MIS
017880,000050: 22,3046 45160 AXC,1 CALL
017881,000051: 22,3047 03320 MIS
017882,000052: 22,3050 44655 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
017883,000053: 22,3051 77634 RTB
017884,000054: 22,3052 45547 V1STO2S
017885,000055: 22,3053 03267 STORE NCDU # NEW CDU ANGLES
017886,000056: 22,3054 77414 BONCLR EXIT
017887,000057: 22,3055 01215 CALCMAN2
017888,000058: 22,3056 45142 MANUSTAT # TO START MANEUVER
017889,000059: 22,3057 34711 CAF TWO # +0 OTHERWISE
017890,000060: 22,3060 55664 INCRDCDU TS KSPNDX
017891,000061: 22,3061 60000 DOUBLE
017892,000062: 22,3062 55665 TS KDPNDX
017893,000063: 22,3063 51664 INDEX KSPNDX
017894,000064: 22,3064 31666 CA NCDU # NEW DESIRED CDU ANGLES
017895,000065: 22,3065 00006 EXTEND
017896,000066: 22,3066 51664 INDEX KSPNDX
017897,000067: 22,3067 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
017898,000068: 22,3070 00006 EXTEND # CDU ANGLES
017899,000069: 22,3071 73141 MP DT/TAU
017900,000070: 22,3072 51665 INDEX KDPNDX
017901,000071: 22,3073 53576 DXCH DELCDUX # ANGLE INCREMENTS TO BE ADDED TO
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017903,000073: 22,3074 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
017904,000074: 22,3075 31666 CA NCDU # BY LEM DAP
017905,000075: 22,3076 51664 INDEX KSPNDX
017906,000076: 22,3077 57661 XCH BCDU
017907,000077: 22,3100 51665 INDEX KDPNDX
017908,000078: 22,3101 55646 TS CDUXD
017909,000079: 22,3102 11664 CCS KSPNDX
017910,000080: 22,3103 13060 TCF INCRDCDU # LOOP FOR THREE AXES
017911,000081:
017912,000082: 22,3104 00003 RELINT
017913,000083: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
017914,000084:
017915,000085: 22,3105 03115 TMANUCHK TC TIMECHK
017916,000086: 22,3106 13206 TCF CONTMANU
017917,000087: 22,3107 34712 CAF ONE
017918,000088: 22,3110 05140 MANUSTAL TC WAITLIST
017919,000089: 22,3111 E6,1661 EBANK= BCDU
017920,000090: 22,3111 03232 44106 2CADR MANUSTOP
017921,000091: 22,3113 00003 RELINT
017922,000092: 22,3114 15112 TCF ENDOFJOB
017923,000093:
017924,000094:
017925,000095: 22,3115 00006 TIMECHK EXTEND
017926,000096: 22,3116 40025 DCS TIME2
017927,000097: 22,3117 53673 DXCH TTEMP
017928,000098: 22,3120 00006 EXTEND
017929,000099: 22,3121 31717 DCA TM
017930,000100: 22,3122 21673 DAS TTEMP
017931,000101: 22,3123 11672 CCS TTEMP
017932,000102: 22,3124 00002 TC Q
017933,000103: 22,3125 13127 TCF +2
017934,000104: 22,3126 13137 TCF 2NDRETRN
017935,000105: 22,3127 11673 CCS TTEMP +1
017936,000106: 22,3130 00002 TC Q
017937,000107: 22,3131 13133 TCF MANUOFF
017938,000108: 22,3132 40000 COM
017939,000109: 22,3133 63205 MANUOFF AD ONESEC +1
017940,000110: 22,3134 00006 EXTEND
017941,000111: 22,3135 63137 BZMF 2NDRETRN
017942,000112: 22,3136 24002 INCR Q
017943,000113: 22,3137 24002 2NDRETRN INCR Q
017944,000114: 22,3140 00002 TC Q
017945,000115: 22,3141 03146 DT/TAU DEC .1
017946,000116:
017947,000117: 22,3142 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
017948,000118: 22,3143 00006 EXTEND # FOR AUTOMATIC MANEUVERS
017949,000119: 22,3144 30025 DCA TIME2
017950,000120: 22,3145 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
017951,000121: 22,3146 00006 EXTEND
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017953,000123: 22,3147 43205 DCS ONESEC
017954,000124: 22,3150 21717 DAS TM # (TM+T0)-1
017955,000125: 22,3151 00004 INHINT
017956,000126: 22,3152 44712 CS ONE # ENABLE AUTOPILOT TO PERFORM
017957,000127: 22,3153 55332 TS HOLDFLAG # AUTOMATIC MANEUVERS
017958,000128: 22,3154 41130 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
017959,000129: 22,3155 66211 AD SIX
017960,000130: 22,3156 00006 EXTEND
017961,000131: 22,3157 63161 BZMF HIGHGAIN
017962,000132: 22,3160 13164 TCF +4
017963,000133: 22,3161 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
017964,000134: 22,3162 74674 MASK BIT15 # RCSFLAGS)
017965,000135: 22,3163 27501 ADS RCSFLAGS
017966,000136: 22,3164 53711 DXCH BRATE # X-AXIS MANEUVER RATE
017967,000137: 22,3165 53526 DXCH WBODY
017968,000138: 22,3166 53713 DXCH BRATE +2 # Y-AXIS MANEUVER RATE
017969,000139: 22,3167 53530 DXCH WBODY1
017970,000140: 22,3170 53715 DXCH BRATE +4 # Z-AXIS MANEUVER RATE
017971,000141: 22,3171 53532 DXCH WBODY2
017972,000142: 22,3172 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
017973,000143: 22,3173 55564 TS BIAS # INTO AUTOPILOT
017974,000144: 22,3174 31677 CA BIASTEMP +3
017975,000145: 22,3175 55565 TS BIAS1
017976,000146: 22,3176 31701 CA BIASTEMP +5
017977,000147: 22,3177 55566 TS BIAS2
017978,000148: 22,3200 30025 CA TIME1
017979,000149: 22,3201 63205 AD ONESEC +1
017980,000150: 22,3202 57671 XCH NEXTIME
017981,000151: 22,3203 13057 TCF INCRDCDU -1
017982,000152:
017983,000153: 22,3204 00000 ONESEC DEC 0 B-14
017984,000154: 22,3205 00144 DEC 100 B-14
017985,000155:
017986,000156: 22,3206 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
017987,000157: 22,3207 40025 CS TIME1
017988,000158: 22,3210 61671 AD NEXTIME
017989,000159: 22,3211 10000 CCS A
017990,000160: 22,3212 64712 AD ONE
017991,000161: 22,3213 13216 TCF MANUCALL
017992,000162: 22,3214 64674 AD NEGMAX
017993,000163: 22,3215 40000 COM
017994,000164: 22,3216 05140 MANUCALL TC WAITLIST
017995,000165: 22,3217 E6,1661 EBANK= BCDU
017996,000166: 22,3217 03225 44106 2CADR UPDTCALL
017997,000167: 22,3221 00003 RELINT
017998,000168: 22,3222 33205 CAF ONESEC +1 # INCREMENT TIME FOR NEXT UPDATE
017999,000169: 22,3223 27671 ADS NEXTIME
018000,000170: 22,3224 15112 TCF ENDOFJOB
018001,000171:
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018003,000173: 22,3225 37663 UPDTCALL CAF PRIO26 # CALL FOR UPDATE
018004,000174: 22,3226 05042 TC FINDVAC # OF STEERING COMMANDS
018005,000175: 22,3227 E6,1661 EBANK= BCDU
018006,000176: 22,3227 03027 44106 2CADR NEWDELHI
018007,000177: 22,3231 05213 TC TASKOVER
018008,000178:
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018010,000180: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018011,000181:
018012,000182: 22,3232 03256 MANUSTOP TC STOPYZ
018013,000183: 22,3233 03303 TC LOADYZ
018014,000184:
018015,000185: 22,3234 31155 ENDROLL CA CPHI
018016,000186: 22,3235 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
018017,000187: 22,3236 03245 TC STOPRATE
018018,000188: 22,3237 31327 ENDMANU CA ATTPRIO # RESTORE USERS PRIORITY
018019,000189: 22,3240 54063 TS NEWPRIO
018020,000190:
018021,000191: 22,3241 34714 CA ZERO # ZERO ATTCADR
018022,000192: 22,3242 53326 DXCH ATTCADR
018023,000193:
018024,000194: 22,3243 05053 TC SPVAC # RETURN TO USER OF GOMANUR
018025,000195:
018026,000196: 22,3244 05213 TC TASKOVER
018027,000197:
018028,000198: 22,3245 34714 STOPRATE CAF ZERO
018029,000199: 22,3246 55575 TS DELCDUX
018030,000200: 22,3247 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
018031,000201: 22,3250 55525 TS WBODY # RATE
018032,000202: 22,3251 55526 TS WBODY +1
018033,000203: 22,3252 55564 TS BIAS # BIAS
018034,000204:
018035,000205: 22,3253 44674 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
018036,000206: 22,3254 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
018037,000207: 22,3255 55501 TS RCSFLAGS
018038,000208:
018039,000209: 22,3256 34714 STOPYZ CAF ZERO
018040,000210: 22,3257 55577 TS DELCDUY # ZERO PITCH, YAW
018041,000211: 22,3260 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
018042,000212: 22,3261 55601 TS DELCDUZ
018043,000213: 22,3262 55602 TS DELCDUZ +1
018044,000214: 22,3263 55527 TS WBODY1 # RATES
018045,000215: 22,3264 55530 TS WBODY1 +1
018046,000216: 22,3265 55531 TS WBODY2
018047,000217: 22,3266 55532 TS WBODY2 +1
018048,000218: 22,3267 55565 TS BIAS1 # BIASES
018049,000219: 22,3270 55566 TS BIAS2
018050,000220: 22,3271 00002 TC Q
018051,000221:
018052,000222: 22,3272 30032 ZEROEROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
018053,000223: 22,3273 55646 TS CDUXD # CDU DESIRED
018054,000224: 22,3274 30033 CA CDUY
018055,000225: 22,3275 55650 TS CDUYD
018056,000226: 22,3276 30034 CA CDUZ
018057,000227: 22,3277 55652 TS CDUZD
018058,000228: 22,3300 00002 TC Q
018059,000229:
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018061,000231: 22,3301 31155 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
018062,000232: 22,3302 55646 TS CDUXD # COMMAND ANGLES
018063,000233: 22,3303 31156 LOADYZ CA CTHETA
018064,000234: 22,3304 55650 TS CDUYD
018065,000235: 22,3305 31157 CA CPSI
018066,000236: 22,3306 55652 TS CDUZD
018067,000237: 22,3307 00002 TC Q
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc