Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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014888,000002: ## Copyright: Public domain.
014889,000003: ## Filename: GIMBAL_LOCK_AVOIDANCE.agc
014890,000004: ## Purpose: A section of Luminary revision 96.
014891,000005: ## It is part of the reconstructed source code for the
014892,000006: ## original release of the flight software for the Lunar
014893,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
014894,000008: ## The code has been recreated from a previously reconstructed
014895,000009: ## copy of Luminary 97 by undoing changes described in anomaly
014896,000010: ## report LNY-59. The code has been adapted such that the
014897,000011: ## resulting bugger words exactly match those specified for
014898,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
014899,000013: ## high confidence that the reconstruction is correct.
014900,000014: ## Reference: p. 364
014901,000015: ## Assembler: yaYUL
014902,000016: ## Contact: Ron Burkey <info@sandroid.org>.
014903,000017: ## Website: www.ibiblio.org/apollo/index.html
014904,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
014905,000019:
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Page 364
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014907,000021: 15,2050 BANK 15
014908,000022:
014909,000023: 22,2000 SETLOC KALCMON1
014910,000024: 22,2000 BANK
014911,000025:
014912,000026: # DETECTING GIMBAL LOCK
014913,000027: 22,2744 22,2744 LOCSKIRT EQUALS NOGIMLOC
014914,000028:
014915,000029: 22,2744 77614 NOGIMLOC SET
014916,000030: 22,2745 01074 CALCMAN3
014917,000031: 22,2746 70740 WCALC LXC,1 DLOAD*
014918,000032: 22,2747 01325 RATEINDX # CHOOSE THE DESIRED MANEUVER RATE
014919,000033: 22,2750 04772 ARATE,1 # FROM A LIST OF FOUR
014920,000034: 22,2751 45002 SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
014921,000035: 22,2752 44527 DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
014922,000036: # ABOUT COF
014923,000037: 22,2753 74343 DLOAD* VXSC
014924,000038: 22,2754 04772 ARATE,1
014925,000039: 22,2755 03271 COF
014926,000040: 22,2756 17326 STODL BRATE # COMPONENT MANEUVER RATES 45 DEG/SEC
014927,000041: 22,2757 03336 AM
014928,000042: 22,2760 55605 DMP DDV*
014929,000043: 22,2761 05002 ANGLTIME
014930,000044: 22,2762 04772 ARATE,1
014931,000045: 22,2763 77661 SR
014932,000046: 22,2764 20606 5
014933,000047: 22,2765 03334 STORE TM # MANEUVER EXECUTION TIME SCALED AS T2
014934,000048: 22,2766 77614 SETGO
014935,000049: 22,2767 01035 CALCMAN2 # 0(OFF) = CONTINUE MANEUVER
014936,000050: 22,2770 45010 NEWANGL +1 # 1(ON) = START MANEUVER
014937,000051:
014938,000052: # THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY
014939,000053: # LOADING RATEINDX WITH 0, 2, 4, 6, RESPECTIVELY
014940,000054:
014941,000055: 22,2771 00221 24255 ARATE 2DEC .0088888888 # = 0.2 DEG/SEC $ 22.5 DEG/SEC
014942,000056:
014943,000057: 22,2773 00554 02660 2DEC .0222222222 # = 0.5 DEG/SEC $ 22.5 DEG/SEC
014944,000058:
014945,000059: 22,2775 02660 13301 2DEC .0888888888 # = 2.0 DEG/SEC $ 22.5 DEG/SEC
014946,000060:
014947,000061: 22,2777 16161 30707 2DEC .4444444444 # = 10.0 DEG/SEC $ 22.5 DEG/SEC
014948,000062:
014949,000063: 22,3001 00003 04000 ANGLTIME 2DEC .0001907349 # = 100B-19 FUDGE FACTOR TO CONVERT
014950,000064: # MANEUVER ANGLE TO MANEUVER TIME
014951,000065:
014952,000066:
End of include-file GIMBAL_LOCK_AVOIDANCE.agc. Parent file is MAIN.agc