Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
015265,000002: ## Copyright: Public domain.
015266,000003: ## Filename: GIMBAL_LOCK_AVOIDANCE.agc
015267,000004: ## Purpose: A section of Luminary revision 116.
015268,000005: ## It is part of the source code for the Lunar Module's (LM)
015269,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
015270,000007: ## This file is intended to be a faithful transcription, except
015271,000008: ## that the code format has been changed to conform to the
015272,000009: ## requirements of the yaYUL assembler rather than the
015273,000010: ## original YUL assembler.
015274,000011: ## Reference: p. 365
015275,000012: ## Assembler: yaYUL
015276,000013: ## Contact: Ron Burkey <info@sandroid.org>.
015277,000014: ## Website: www.ibiblio.org/apollo/index.html
015278,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
015279,000016: ## 2017-02-28 f0n Modified per scan 0365.jpg
015280,000017: ## 2017-03-01 MAS Removed some outdated/extra comments.
015281,000018: ## 2017-03-01 RSB Proofed comment text by diff vs Luminary 131
015282,000019: ## but no errors found.
015283,000020: ## 2017-08-22 RSB Fixed comment-text typo identified in ZERLINA 56.
015284,000021:
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Page 365 |
015286,000023: 15,2050 BANK 15
015287,000024:
015288,000025: 22,2000 SETLOC KALCMON1
015289,000026: 22,2000 BANK
015290,000027:
015291,000028: # DETECTING GIMBAL LOCK
015292,000029: 22,2744 22,2744 LOCSKIRT EQUALS NOGIMLOC
015293,000030:
015294,000031: 22,2744 77614 NOGIMLOC SET
015295,000032: 22,2745 01074 CALCMAN3
015296,000033: 22,2746 70740 WCALC LXC,1 DLOAD*
015297,000034: 22,2747 01322 RATEINDX # CHOOSE THE DESIRED MANEUVER RATE
015298,000035: 22,2750 04772 ARATE,1 # FROM A LIST OF FOUR
015299,000036: 22,2751 45002 SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
015300,000037: 22,2752 44527 DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
015301,000038: # ABOUT COF
015302,000039: 22,2753 74343 DLOAD* VXSC
015303,000040: 22,2754 04772 ARATE,1
015304,000041: 22,2755 03271 COF
015305,000042: 22,2756 17326 STODL BRATE # COMPONENT MANEUVER RATES 45 DEG/SEC
015306,000043: 22,2757 03336 AM
015307,000044: 22,2760 55605 DMP DDV*
015308,000045: 22,2761 05002 ANGLTIME
015309,000046: 22,2762 04772 ARATE,1
015310,000047: 22,2763 77661 SR
015311,000048: 22,2764 20606 5
015312,000049: 22,2765 03334 STORE TM # MANEUVER EXECUTION TIME SCALED AS T2
015313,000050: 22,2766 77614 SETGO
015314,000051: 22,2767 01035 CALCMAN2 # 0(OFF) = CONTINUE MANEUVER
015315,000052: 22,2770 45010 NEWANGL +1 # 1(ON) = START MANEUVER
015316,000053:
015317,000054: # THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY
015318,000055: # LOADING RATEINDX WITH 0, 2, 4, 6, RESPECTIVELY
015319,000056:
015320,000057: 22,2771 00221 24255 ARATE 2DEC .0088888888 # = 0.2 DEG/SEC $ 22.5 DEG/SEC
015321,000058:
015322,000059: 22,2773 00554 02660 2DEC .0222222222 # = 0.5 DEG/SEC $ 22.5 DEG/SEC
015323,000060:
015324,000061: 22,2775 02660 13301 2DEC .0888888888 # = 2.0 DEG/SEC $ 22.5 DEG/SEC
015325,000062:
015326,000063: 22,2777 16161 30707 2DEC .4444444444 # = 10.0 DEG/SEC $ 22.5 DEG/SEC
015327,000064:
015328,000065: 22,3001 00003 04000 ANGLTIME 2DEC .0001907349 # = 100B-19 FUDGE FACTOR TO CONVERT
015329,000066: # MANEUVER ANGLE TO MANEUVER TIME
End of include-file GIMBAL_LOCK_AVOIDANCE.agc. Parent file is MAIN.agc