Original Apollo 11 Guidance Computer (AGC) source code for the command and lunar modules. Tracking the original at upload https://github.com/chrislgarry/Apollo-11
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# Copyright: Public domain.
# Filename: KALCMANU_STEERING.agc
# Purpose: Part of the source code for Comanche, build 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), Apollo 11.
# Assembler: yaYUL
# Reference: pp. 414-419
# Contact: Onno Hommes <ohommes@cmu.edu>.
# Website: www.ibiblio.org/apollo.
# Mod history: 05/07/09 OH Transcription Batch 1 Assignment
#
# The contents of the "Comanche055" files, in general, are transcribed
# from scanned documents.
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. April 1, 1969.
#
# This AGC program shall also be referred to as Colossus 2A
#
# Prepared by
# Massachusetts Institute of Technology
# 75 Cambridge Parkway
# Cambridge, Massachusetts
#
# under NASA contract NAS 9-4065.
#
# Refer directly to the online document mentioned above for further information.
# Please report any errors to info@sandroid.org.
# Page 414
# GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
#
# NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
BANK 15
SETLOC KALCMON1
BANK
EBANK= BCDU
COUNT 22/KALC
NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
EXTEND # BY ASTRONAUT.
BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
NEWANGL TC INTPRET
AXC,1 AXC,2
MIS # COMPUTE THE NEW MATRIX FROM S/C TO
DEL # STABLE MEMBER AXES
CALL
MXM3
VLOAD STADR
STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
STADR
STOVL MIS +6D
STADR
STORE MIS
AXC,1 CALL
MIS
DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
RTB
V1STO2S
STORE NCDU # NEW CDU ANGLES
BONCLR EXIT
CALCMAN2
MANUSTAT # TO START MANEUVER
CAF TWO # +0 OTHERWISE
INCRDCDU TS KSPNDX
DOUBLE
TS KDPNDX
INDEX KSPNDX
CA NCDU # NEW DESIRED CDU ANGLES
EXTEND
INDEX KSPNDX
MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
EXTEND # CDU ANGLES
MP QUADROT
INDEX KDPNDX
DXCH DELCDUX # ANGEL INCREMENTS TO BE ADDED TO
# Page 415
INDEX KSPNDX # DCDU EVERY TENTH SEC
CA NCDU # BY LEM DAP
INDEX KSPNDX
XCH BCDU
INDEX KDPNDX
TS CDUXD
CCS KSPNDX
TCF INCRDCDU # LOOP FOR THREE AXES
RELINT
# COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
TMANUCHK TC TIMECHK
TC POSTJUMP
CADR CONTMANU
CAF ONE
MANUSTAL TC WAITLIST
EBANK= BCDU
2CADR MANUSTOP
RELINT
TCF ENDOFJOB
TIMECHK EXTEND
DCS TIME2
DXCH TTEMP
EXTEND
DCA TM
DAS TTEMP
CCS TTEMP
TC Q
TCF +2
TCF 2NDRETRN
CCS TTEMP +1
TC Q
TCF MANUOFF
COM
MANUOFF AD 1SEC
EXTEND
BZMF 2NDRETRN
INCR Q
2NDRETRN INCR Q
INCR Q
TC Q
SETLOC MANUSTUF
BANK
# Page 416
MANUSTAT EXIT # INITIALIZATION ROUTINE
EXTEND # FOR AUTOMATIC MANEUVERS
DCA TIME2
DAS TM # TM+T0 MANEUVER COMPLETION TIME
CS 1SEC
TS L
CS ZERO
DAS TM # (TM+T0)-1
INHINT
CS ONE # ENABLE AUTOPILOT TO PERFORM
TS HOLDFLAG # AUTOMATIC MANEUVERS
CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
AD SIX
EXTEND
BZMF HIGHGAIN
TCF +4
HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
MASK BIT15 # RCSFLAGS)
ADS RCSFLAGS
DXCH BRATE # X-AXIS MANEUVER RATE
DXCH WBODY
DXCH BRATE +2 # Y-AXIS MANEUVER RATE
DXCH WBODY1
DXCH BRATE +4 # Z-AXIS MANEUVER RATE
DXCH WBODY2
CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
TS BIAS # INTO AUTOPILOT
CA BIASTEMP +3
TS BIAS1
CA BIASTEMP +5
TS BIAS2
CA TIME1
AD 1SEC
XCH NEXTIME
TC POSTJUMP
CADR INCRDCDU -1
CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
CS TIME1
AD NEXTIME
CCS A
AD ONE
TCF MANUCALL
AD NEGMAX
COM
MANUCALL TC WAITLIST
EBANK= BCDU
2CADR UPDTCALL
RELINT
# Page 417
CAF 1SEC # INCREMENT TIME FOR NEXT UPDATE
ADS NEXTIME
TCF ENDOFJOB
UPDTCALL CAF PRIO26 # CALL FOR UPDATE
TC FINDVAC # OF STEERING COMMANDS
EBANK= BCDU
2CADR NEWDELHI
TC TASKOVER
# Page 418
# ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
SETLOC KALCMON3
BANK
MANUSTOP TC STOPYZ
TC IBNKCALL
CADR LOADYZ
ENDROLL CA CPHI
TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
TC STOPRATE
ENDMANU CA ATTPRIO # RESTORE USERS PRIO
TS NEWPRIO
CA ZERO # ZERO ATTCADR
DXCH ATTCADR
TC SPVAC # RETURN TO USER OF GOMANUR
TC TASKOVER
SETLOC STOPRAT
BANK
STOPRATE CAF ZERO
TS DELCDUX
TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
TS WBODY # RATE
TS WBODY +1
TS BIAS # BIAS
CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
MASK RCSFLAGS # RCSFLAGS) IS RESET.
TS RCSFLAGS
STOPYZ CAF ZERO
TS DELCDUY # ZERO PITCH, YAW
TS DELCDUY +1 # INCREMENTAL ANGLES
TS DELCDUZ
TS DELCDUZ +1
TS WBODY1 # RATES
TS WBODY1 +1
TS WBODY2
TS WBODY2 +1
TS BIAS1 # BIASES
TS BIAS2
TC Q
SETLOC MANUSTUF
BANK
# Page 419
ZEROERROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
TS CDUXD # CDU DESIRED
CA CDUY
TS CDUYD
CA CDUZ
TS CDUZD
TC Q
SETLOC KALCMON1
BANK
LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
TS CDUXD # COMMAND ANGLES
LOADYZ CA CTHETA
TS CDUYD
CA CPSI
TS CDUZD
TC Q