Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note 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 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, 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 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
016391,000002: ## Copyright: Public domain.
016392,000003: ## Filename: GIMBAL_LOCK_AVOIDANCE.agc
016393,000004: ## Purpose: A section of Luminary revision 210.
016394,000005: ## It is part of the source code for the Lunar Module's (LM)
016395,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17.
016396,000007: ## This file is intended to be a faithful transcription, except
016397,000008: ## that the code format has been changed to conform to the
016398,000009: ## requirements of the yaYUL assembler rather than the
016399,000010: ## original YUL assembler.
016400,000011: ## Reference: p. 376
016401,000012: ## Assembler: yaYUL
016402,000013: ## Contact: Ron Burkey <info@sandroid.org>.
016403,000014: ## Website: www.ibiblio.org/apollo/index.html
016404,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version.
016405,000016: ## 2016-11-24 HG Transcribed
016406,000017: ## 2016-12-23 RSB Proofed comment text with octopus/ProoferComments
016407,000018: ## but no errors found.
016408,000019: ## 2017-08-22 RSB Fixed comment-text typo identified in ZERLINA 56.
016409,000020:
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Page 376 |
016411,000022: 15,2162 BANK 15
016412,000023:
016413,000024: 22,2000 SETLOC KALCMON1
016414,000025: 22,2000 BANK
016415,000026:
016416,000027:
016417,000028: # DETECTING GIMBAL LOCK
016418,000029: 22,2744 22,2744 LOCSKIRT EQUALS NOGIMLOC
016419,000030:
016420,000031: 22,2744 77614 NOGIMLOC SET
016421,000032: 22,2745 01074 CALCMAN3
016422,000033: 22,2746 70740 WCALC LXC,1 DLOAD*
016423,000034: 22,2747 01322 RATEINDX # CHOOSE THE DESIRED MANEUVER RATE
016424,000035: 22,2750 04772 ARATE,1 # FROM A LIST OF FOUR
016425,000036: 22,2751 45002 SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
016426,000037: 22,2752 44527 DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
016427,000038: # ABOUT COF
016428,000039: 22,2753 74343 DLOAD* VXSC
016429,000040: 22,2754 04772 ARATE,1
016430,000041: 22,2755 03270 COF
016431,000042: 22,2756 17325 STODL BRATE # COMPONENT MANEUVER RATES 45 DEG/SEC
016432,000043: 22,2757 03335 AM
016433,000044: 22,2760 55605 DMP DDV*
016434,000045: 22,2761 05002 ANGLTIME
016435,000046: 22,2762 04772 ARATE,1
016436,000047: 22,2763 77661 SR
016437,000048: 22,2764 20606 5
016438,000049: 22,2765 03333 STORE TM # MANEUVER EXECUTION TIME SCALED AS T2
016439,000050: 22,2766 77614 SETGO
016440,000051: 22,2767 01035 CALCMAN2 # 0(OFF) = CONTINUE MANEUVER
016441,000052: 22,2770 45010 NEWANGL +1 # 1(ON) = START MANEUVER
016442,000053: # THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY
016443,000054: # LOADING RATEINDX WITH 0,2,4,6, RESPECTIVELY
016444,000055:
016445,000056:
016446,000057: 22,2771 00221 24255 ARATE 2DEC .0088888888 # = 0.2 DEG/SEC $ 22.5 DEG/SEC
016447,000058: 22,2773 00554 02660 2DEC .0222222222 # = 0.5 DEG/SEC $ 22.5 DEG/SEC
016448,000059: 22,2775 02660 13301 2DEC .0888888888 # = 2.0 DEG/SEC $ 22.5 DEG/SEC
016449,000060: 22,2777 16161 30707 2DEC .4444444444 # = 10.0 DEG/SEC $ 22.5 DEG/SEC
016450,000061:
016451,000062: 22,3001 00003 04000 ANGLTIME 2DEC .0001907349 # = 100B-19 FUDGE FACTOR TO CONVERT
016452,000063: # MANEUVER ANGLE TO MANEUVER TIME
End of include-file GIMBAL_LOCK_AVOIDANCE.agc. Parent file is MAIN.agc