Source Code
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These source-code files are part of a reconstructed copy of Comanche 67, the
Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 12.
They have been adapted from sources files for Comanche 55, and updated via
disassembly of binary dumps of original core rope memory modules, part numbers
2003972-1081, 2003972-1091, 2003972-1111, 2003972-1121, 2003972-1131, and 2003972-1141.
Since only binary dumps (rather than listings) of Comanche 67 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
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017285,000002: ## Copyright: Public domain.
017286,000003: ## Filename: GIMBAL_LOCK_AVOIDANCE.agc
017287,000004: ## Purpose: A section of Comanche revision 067.
017288,000005: ## It is part of the reconstructed source code for the flight
017289,000006: ## software for the Command Module's (CM) Apollo Guidance Computer
017290,000007: ## (AGC) for Apollo 12. No original listings of this program are
017291,000008: ## available; instead, this file was created via dissassembly of
017292,000009: ## dumps of Comanche 067 core rope modules and comparison with
017293,000010: ## other AGC programs.
017294,000011: ## Assembler: yaYUL
017295,000012: ## Contact: Ron Burkey <info@sandroid.org>.
017296,000013: ## Website: www.ibiblio.org/apollo/index.html
017297,000014: ## Mod history: 2023-08-16 MAS Created from Comanche 055.
017298,000015:
017299,000016: 15,2000 BANK 15
017300,000017: 22,2000 SETLOC KALCMON1
017301,000018: 22,2000 BANK
017302,000019:
017303,000020: 22,2737 E6,1661 EBANK= BCDU
017304,000021:
017305,000022: # DETECTING GIMBAL LOCK
017306,000023: 22,2737 22,2737 LOCSKIRT EQUALS WCALC
017307,000024: 22,2737 70740 WCALC LXC,1 DLOAD*
017308,000025: 22,2740 01130 RATEINDX
017309,000026: 22,2741 04771 ARATE,1
017310,000027: 22,2742 45002 SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
017311,000028: 22,2743 44530 DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
017312,000029: # ABOUT COF
017313,000030: 22,2744 74343 DLOAD* VXSC
017314,000031: 22,2745 04771 ARATE,1
017315,000032: 22,2746 03343 COF
017316,000033: 22,2747 77721 MXV
017317,000034: 22,2750 05003 QUADROT
017318,000035: 22,2751 17311 STODL BRATE
017319,000036: 22,2752 03365 AM
017320,000037: 22,2753 55605 DMP DDV*
017321,000038: 22,2754 05001 ANGLTIME
017322,000039: 22,2755 04771 ARATE,1
017323,000040: 22,2756 77661 SR
017324,000041: 22,2757 20606 5
017325,000042: 22,2760 27317 STOVL TM
017326,000043: 22,2761 03311 BRATE
017327,000044: 22,2762 77761 VXSC
017328,000045: 22,2763 05025 BIASCALE
017329,000046: 22,2764 03275 STORE BIASTEMP # ATTITUDE ERROR BIAS TO PREVENT OVERSHOOT
017330,000047: # IN SYSTEM
017331,000048: 22,2765 77614 SETGO # STATE SWITCH CALCMAN2 (43D)
017332,000049: 22,2766 01035 CALCMAN2 # 0(OFF) = BYPASS STARTING PROCEDURE
017333,000050: 22,2767 45032 NEWANGL +1 # 1(ON) = START MANEUVER
017334,000051:
017335,000052:
017336,000053: 22,2770 00044 15053 ARATE 2DEC .0022222222 # = .05 DEG/SEC
017337,000054:
017338,000055: 22,2772 00221 24255 2DEC .0088888889 # = .2 DEG/SEC
017339,000056:
017340,000057: 22,2774 00554 02660 2DEC .0222222222 # = .5 DEG/SEC
017341,000058:
017342,000059: 22,2776 02660 13301 2DEC .0888888889 # = 2 DEG/SEC $22.5 DEG/SEC
017343,000060:
017344,000061: 22,3000 00003 04000 ANGLTIME 2DEC .000190735 # = 100B - 19
017345,000062:
017346,000063: # MANEUVER ANGLE TO MANEUVER TIME
017347,000064: 22,3002 03146 14632 QUADROT 2DEC .1 # ROTATION MATRIX FROM S/C AXES TO CONTROL
017348,000065:
017349,000066: 22,3004 00000 00000 2DEC 0 B-28 # AXES (X ROT = -7.25 DEG)
017350,000067:
017351,000068: 22,3006 00000 00000 2DEC 0 B-28
017352,000069:
017353,000070: 22,3010 00000 00000 2DEC 0 B-28
017354,000071:
017355,000072: 22,3012 03131 11275 2DEC .099200 # =(.1)COS7.25
017356,000073:
017357,000074: 22,3014 77461 47370 2DEC -.012620 # =-(.1)SIN7.25
017358,000075:
017359,000076: 22,3016 00000 00000 2DEC 0 B-28
017360,000077:
017361,000078: 22,3020 00316 30407 2DEC .012620 # (.1)SIN7.25
017362,000079:
017363,000080: 22,3022 03131 11275 2DEC .099200 # (.1)COS7.25
017364,000081:
017365,000082: 22,3024 00004 05253 BIASCALE 2DEC .0002543132 # = (450/180)(1/0.6)(1/16384)
End of include-file GIMBAL_LOCK_AVOIDANCE.agc. Parent file is MAIN.agc