; LLVM IR from cvra/robot-software :: motor-control-firmware/src (setpoint)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%struct.setpoint_interpolator_t = type { i32, float, float, float, float, float, float, float, i32, float, float, i8 }
%struct.setpoint_s = type { i8, i8, float, float, float }

; Function Attrs: nounwind uwtable
declare dso_local float @vel_ramp(float noundef, float noundef, float noundef, float noundef, float noundef, float noundef, i1 noundef zeroext) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #1

declare float @filter_limit_sym(float noundef, float noundef) #2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #1

; Function Attrs: nounwind uwtable
define dso_local void @setpoint_compute(ptr noundef %0, ptr noundef %1, float noundef %2) #0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca float, align 4
  %7 = alloca i32, align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca float, align 4
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store float %2, ptr %6, align 4, !tbaa !9
  %13 = load ptr, ptr %4, align 8, !tbaa !5
  %14 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %13, i32 0, i32 0
  %15 = load i32, ptr %14, align 4, !tbaa !11
  %16 = icmp eq i32 %15, 3
  br i1 %16, label %17, label %56

17:                                               ; preds = %3
  call void @llvm.lifetime.start.p0(i64 4, ptr %7) #3
  %18 = call i32 @timestamp_get()
  store i32 %18, ptr %7, align 4, !tbaa !15
  call void @llvm.lifetime.start.p0(i64 4, ptr %8) #3
  %19 = load ptr, ptr %4, align 8, !tbaa !5
  %20 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %19, i32 0, i32 8
  %21 = load i32, ptr %20, align 4, !tbaa !16
  %22 = load i32, ptr %7, align 4, !tbaa !15
  %23 = call float @timestamp_duration_s(i32 noundef %21, i32 noundef %22)
  store float %23, ptr %8, align 4, !tbaa !9
  %24 = load ptr, ptr %5, align 8, !tbaa !5
  %25 = getelementptr inbounds %struct.setpoint_s, ptr %24, i32 0, i32 0
  store i8 1, ptr %25, align 4, !tbaa !17
  %26 = load ptr, ptr %5, align 8, !tbaa !5
  %27 = getelementptr inbounds %struct.setpoint_s, ptr %26, i32 0, i32 1
  store i8 1, ptr %27, align 1, !tbaa !19
  %28 = load ptr, ptr %4, align 8, !tbaa !5
  %29 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %28, i32 0, i32 5
  %30 = load float, ptr %29, align 4, !tbaa !20
  %31 = load ptr, ptr %4, align 8, !tbaa !5
  %32 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %31, i32 0, i32 6
  %33 = load float, ptr %32, align 4, !tbaa !21
  %34 = load ptr, ptr %4, align 8, !tbaa !5
  %35 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %34, i32 0, i32 7
  %36 = load float, ptr %35, align 4, !tbaa !22
  %37 = load float, ptr %8, align 4, !tbaa !9
  %38 = call float @pos_setpt_interpolation(float noundef %30, float noundef %33, float noundef %36, float noundef %37)
  %39 = load ptr, ptr %5, align 8, !tbaa !5
  %40 = getelementptr inbounds %struct.setpoint_s, ptr %39, i32 0, i32 2
  store float %38, ptr %40, align 4, !tbaa !23
  %41 = load ptr, ptr %4, align 8, !tbaa !5
  %42 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %41, i32 0, i32 6
  %43 = load float, ptr %42, align 4, !tbaa !21
  %44 = load ptr, ptr %4, align 8, !tbaa !5
  %45 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %44, i32 0, i32 7
  %46 = load float, ptr %45, align 4, !tbaa !22
  %47 = load float, ptr %8, align 4, !tbaa !9
  %48 = call float @vel_setpt_interpolation(float noundef %43, float noundef %46, float noundef %47)
  %49 = load ptr, ptr %5, align 8, !tbaa !5
  %50 = getelementptr inbounds %struct.setpoint_s, ptr %49, i32 0, i32 3
  store float %48, ptr %50, align 4, !tbaa !24
  %51 = load ptr, ptr %4, align 8, !tbaa !5
  %52 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %51, i32 0, i32 4
  %53 = load float, ptr %52, align 4, !tbaa !25
  %54 = load ptr, ptr %5, align 8, !tbaa !5
  %55 = getelementptr inbounds %struct.setpoint_s, ptr %54, i32 0, i32 4
  store float %53, ptr %55, align 4, !tbaa !26
  call void @llvm.lifetime.end.p0(i64 4, ptr %8) #3
  call void @llvm.lifetime.end.p0(i64 4, ptr %7) #3
  br label %168

56:                                               ; preds = %3
  %57 = load ptr, ptr %4, align 8, !tbaa !5
  %58 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %57, i32 0, i32 0
  %59 = load i32, ptr %58, align 4, !tbaa !11
  %60 = icmp eq i32 %59, 2
  br i1 %60, label %61, label %71

61:                                               ; preds = %56
  %62 = load ptr, ptr %5, align 8, !tbaa !5
  %63 = getelementptr inbounds %struct.setpoint_s, ptr %62, i32 0, i32 0
  store i8 0, ptr %63, align 4, !tbaa !17
  %64 = load ptr, ptr %5, align 8, !tbaa !5
  %65 = getelementptr inbounds %struct.setpoint_s, ptr %64, i32 0, i32 1
  store i8 0, ptr %65, align 1, !tbaa !19
  %66 = load ptr, ptr %4, align 8, !tbaa !5
  %67 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %66, i32 0, i32 4
  %68 = load float, ptr %67, align 4, !tbaa !25
  %69 = load ptr, ptr %5, align 8, !tbaa !5
  %70 = getelementptr inbounds %struct.setpoint_s, ptr %69, i32 0, i32 4
  store float %68, ptr %70, align 4, !tbaa !26
  br label %167

71:                                               ; preds = %56
  %72 = load ptr, ptr %4, align 8, !tbaa !5
  %73 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %72, i32 0, i32 0
  %74 = load i32, ptr %73, align 4, !tbaa !11
  %75 = icmp eq i32 %74, 1
  br i1 %75, label %76, label %106

76:                                               ; preds = %71
  %77 = load ptr, ptr %5, align 8, !tbaa !5
  %78 = getelementptr inbounds %struct.setpoint_s, ptr %77, i32 0, i32 0
  store i8 0, ptr %78, align 4, !tbaa !17
  %79 = load ptr, ptr %5, align 8, !tbaa !5
  %80 = getelementptr inbounds %struct.setpoint_s, ptr %79, i32 0, i32 1
  store i8 1, ptr %80, align 1, !tbaa !19
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #3
  %81 = load ptr, ptr %4, align 8, !tbaa !5
  %82 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %81, i32 0, i32 2
  %83 = load float, ptr %82, align 4, !tbaa !27
  %84 = load ptr, ptr %4, align 8, !tbaa !5
  %85 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %84, i32 0, i32 6
  %86 = load float, ptr %85, align 4, !tbaa !21
  %87 = fsub float %83, %86
  store float %87, ptr %9, align 4, !tbaa !9
  %88 = load float, ptr %9, align 4, !tbaa !9
  %89 = load float, ptr %6, align 4, !tbaa !9
  %90 = load ptr, ptr %4, align 8, !tbaa !5
  %91 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %90, i32 0, i32 9
  %92 = load float, ptr %91, align 4, !tbaa !28
  %93 = fmul float %89, %92
  %94 = call float @filter_limit_sym(float noundef %88, float noundef %93)
  %95 = load ptr, ptr %4, align 8, !tbaa !5
  %96 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %95, i32 0, i32 6
  %97 = load float, ptr %96, align 4, !tbaa !21
  %98 = fadd float %97, %94
  store float %98, ptr %96, align 4, !tbaa !21
  %99 = load ptr, ptr %4, align 8, !tbaa !5
  %100 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %99, i32 0, i32 6
  %101 = load float, ptr %100, align 4, !tbaa !21
  %102 = load ptr, ptr %5, align 8, !tbaa !5
  %103 = getelementptr inbounds %struct.setpoint_s, ptr %102, i32 0, i32 3
  store float %101, ptr %103, align 4, !tbaa !24
  %104 = load ptr, ptr %5, align 8, !tbaa !5
  %105 = getelementptr inbounds %struct.setpoint_s, ptr %104, i32 0, i32 4
  store float 0.000000e+00, ptr %105, align 4, !tbaa !26
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #3
  br label %166

106:                                              ; preds = %71
  %107 = load ptr, ptr %4, align 8, !tbaa !5
  %108 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %107, i32 0, i32 0
  %109 = load i32, ptr %108, align 4, !tbaa !11
  %110 = icmp eq i32 %109, 0
  br i1 %110, label %111, label %164

111:                                              ; preds = %106
  %112 = load ptr, ptr %5, align 8, !tbaa !5
  %113 = getelementptr inbounds %struct.setpoint_s, ptr %112, i32 0, i32 0
  store i8 1, ptr %113, align 4, !tbaa !17
  %114 = load ptr, ptr %5, align 8, !tbaa !5
  %115 = getelementptr inbounds %struct.setpoint_s, ptr %114, i32 0, i32 1
  store i8 1, ptr %115, align 1, !tbaa !19
  call void @llvm.lifetime.start.p0(i64 4, ptr %10) #3
  %116 = load ptr, ptr %4, align 8, !tbaa !5
  %117 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %116, i32 0, i32 5
  %118 = load float, ptr %117, align 4, !tbaa !20
  %119 = load ptr, ptr %4, align 8, !tbaa !5
  %120 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %119, i32 0, i32 6
  %121 = load float, ptr %120, align 4, !tbaa !21
  %122 = load ptr, ptr %4, align 8, !tbaa !5
  %123 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %122, i32 0, i32 1
  %124 = load float, ptr %123, align 4, !tbaa !29
  %125 = load float, ptr %6, align 4, !tbaa !9
  %126 = load ptr, ptr %4, align 8, !tbaa !5
  %127 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %126, i32 0, i32 10
  %128 = load float, ptr %127, align 4, !tbaa !30
  %129 = load ptr, ptr %4, align 8, !tbaa !5
  %130 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %129, i32 0, i32 9
  %131 = load float, ptr %130, align 4, !tbaa !28
  %132 = load ptr, ptr %4, align 8, !tbaa !5
  %133 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %132, i32 0, i32 11
  %134 = load i8, ptr %133, align 4, !tbaa !31, !range !32, !noundef !33
  %135 = trunc i8 %134 to i1
  %136 = call float @vel_ramp(float noundef %118, float noundef %121, float noundef %124, float noundef %125, float noundef %128, float noundef %131, i1 noundef zeroext %135)
  store float %136, ptr %10, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #3
  %137 = load ptr, ptr %4, align 8, !tbaa !5
  %138 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %137, i32 0, i32 5
  %139 = load float, ptr %138, align 4, !tbaa !20
  %140 = load ptr, ptr %4, align 8, !tbaa !5
  %141 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %140, i32 0, i32 6
  %142 = load float, ptr %141, align 4, !tbaa !21
  %143 = load float, ptr %10, align 4, !tbaa !9
  %144 = load float, ptr %6, align 4, !tbaa !9
  %145 = call float @pos_setpt_interpolation(float noundef %139, float noundef %142, float noundef %143, float noundef %144)
  store float %145, ptr %11, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #3
  %146 = load ptr, ptr %4, align 8, !tbaa !5
  %147 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %146, i32 0, i32 6
  %148 = load float, ptr %147, align 4, !tbaa !21
  %149 = load float, ptr %10, align 4, !tbaa !9
  %150 = load float, ptr %6, align 4, !tbaa !9
  %151 = call float @vel_setpt_interpolation(float noundef %148, float noundef %149, float noundef %150)
  store float %151, ptr %12, align 4, !tbaa !9
  %152 = load float, ptr %11, align 4, !tbaa !9
  %153 = load ptr, ptr %4, align 8, !tbaa !5
  %154 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %153, i32 0, i32 5
  store float %152, ptr %154, align 4, !tbaa !20
  %155 = load ptr, ptr %5, align 8, !tbaa !5
  %156 = getelementptr inbounds %struct.setpoint_s, ptr %155, i32 0, i32 2
  store float %152, ptr %156, align 4, !tbaa !23
  %157 = load float, ptr %12, align 4, !tbaa !9
  %158 = load ptr, ptr %4, align 8, !tbaa !5
  %159 = getelementptr inbounds %struct.setpoint_interpolator_t, ptr %158, i32 0, i32 6
  store float %157, ptr %159, align 4, !tbaa !21
  %160 = load ptr, ptr %5, align 8, !tbaa !5
  %161 = getelementptr inbounds %struct.setpoint_s, ptr %160, i32 0, i32 3
  store float %157, ptr %161, align 4, !tbaa !24
  %162 = load ptr, ptr %5, align 8, !tbaa !5
  %163 = getelementptr inbounds %struct.setpoint_s, ptr %162, i32 0, i32 4
  store float 0.000000e+00, ptr %163, align 4, !tbaa !26
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #3
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #3
  call void @llvm.lifetime.end.p0(i64 4, ptr %10) #3
  br label %165

164:                                              ; preds = %106
  br label %165

165:                                              ; preds = %164, %111
  br label %166

166:                                              ; preds = %165, %76
  br label %167

167:                                              ; preds = %166, %61
  br label %168

168:                                              ; preds = %167, %17
  ret void
}

declare i32 @timestamp_get() #2

declare float @timestamp_duration_s(i32 noundef, i32 noundef) #2

; Function Attrs: nounwind uwtable
declare hidden float @pos_setpt_interpolation(float noundef, float noundef, float noundef, float noundef) #0

; Function Attrs: nounwind uwtable
declare hidden float @vel_setpt_interpolation(float noundef, float noundef, float noundef) #0

attributes #0 = { nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #2 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = !{!12, !13, i64 0}
!12 = !{!"", !13, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !13, i64 32, !10, i64 36, !10, i64 40, !14, i64 44}
!13 = !{!"int", !7, i64 0}
!14 = !{!"_Bool", !7, i64 0}
!15 = !{!13, !13, i64 0}
!16 = !{!12, !13, i64 32}
!17 = !{!18, !14, i64 0}
!18 = !{!"setpoint_s", !14, i64 0, !14, i64 1, !10, i64 4, !10, i64 8, !10, i64 12}
!19 = !{!18, !14, i64 1}
!20 = !{!12, !10, i64 20}
!21 = !{!12, !10, i64 24}
!22 = !{!12, !10, i64 28}
!23 = !{!18, !10, i64 4}
!24 = !{!18, !10, i64 8}
!25 = !{!12, !10, i64 16}
!26 = !{!18, !10, i64 12}
!27 = !{!12, !10, i64 8}
!28 = !{!12, !10, i64 36}
!29 = !{!12, !10, i64 4}
!30 = !{!12, !10, i64 40}
!31 = !{!12, !14, i64 44}
!32 = !{i8 0, i8 2}
!33 = !{}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

; Function Attrs: nounwind uwtable
declare dso_local float @vel_ramp(float noundef, float noundef, float noundef, float noundef, float noundef, float noundef, i1 noundef zeroext) local_unnamed_addr #0

declare float @filter_limit_sym(float noundef, float noundef) local_unnamed_addr #1

; Function Attrs: nounwind uwtable
define dso_local void @setpoint_compute(ptr nocapture noundef %0, ptr nocapture noundef writeonly %1, float noundef %2) local_unnamed_addr #0 {
  %4 = load i32, ptr %0, align 4, !tbaa !5
  switch i32 %4, label %67 [
    i32 3, label %5
    i32 2, label %25
    i32 1, label %29
    i32 0, label %43
  ]

5:                                                ; preds = %3
  %6 = tail call i32 @timestamp_get() #2
  %7 = getelementptr inbounds i8, ptr %0, i64 32
  %8 = load i32, ptr %7, align 4, !tbaa !12
  %9 = tail call float @timestamp_duration_s(i32 noundef %8, i32 noundef %6) #2
  store i8 1, ptr %1, align 4, !tbaa !13
  %10 = getelementptr inbounds i8, ptr %1, i64 1
  store i8 1, ptr %10, align 1, !tbaa !15
  %11 = getelementptr inbounds i8, ptr %0, i64 20
  %12 = load float, ptr %11, align 4, !tbaa !16
  %13 = getelementptr inbounds i8, ptr %0, i64 24
  %14 = load float, ptr %13, align 4, !tbaa !17
  %15 = getelementptr inbounds i8, ptr %0, i64 28
  %16 = load float, ptr %15, align 4, !tbaa !18
  %17 = tail call float @pos_setpt_interpolation(float noundef %12, float noundef %14, float noundef %16, float noundef %9)
  %18 = getelementptr inbounds i8, ptr %1, i64 4
  store float %17, ptr %18, align 4, !tbaa !19
  %19 = load float, ptr %13, align 4, !tbaa !17
  %20 = load float, ptr %15, align 4, !tbaa !18
  %21 = tail call float @vel_setpt_interpolation(float noundef %19, float noundef %20, float noundef %9)
  %22 = getelementptr inbounds i8, ptr %1, i64 8
  store float %21, ptr %22, align 4, !tbaa !20
  %23 = getelementptr inbounds i8, ptr %0, i64 16
  %24 = load float, ptr %23, align 4, !tbaa !21
  br label %.sink.split

25:                                               ; preds = %3
  store i8 0, ptr %1, align 4, !tbaa !13
  %26 = getelementptr inbounds i8, ptr %1, i64 1
  store i8 0, ptr %26, align 1, !tbaa !15
  %27 = getelementptr inbounds i8, ptr %0, i64 16
  %28 = load float, ptr %27, align 4, !tbaa !21
  br label %.sink.split

29:                                               ; preds = %3
  store i8 0, ptr %1, align 4, !tbaa !13
  %30 = getelementptr inbounds i8, ptr %1, i64 1
  store i8 1, ptr %30, align 1, !tbaa !15
  %31 = getelementptr inbounds i8, ptr %0, i64 8
  %32 = load float, ptr %31, align 4, !tbaa !22
  %33 = getelementptr inbounds i8, ptr %0, i64 24
  %34 = load float, ptr %33, align 4, !tbaa !17
  %35 = fsub float %32, %34
  %36 = getelementptr inbounds i8, ptr %0, i64 36
  %37 = load float, ptr %36, align 4, !tbaa !23
  %38 = fmul float %37, %2
  %39 = tail call float @filter_limit_sym(float noundef %35, float noundef %38) #2
  %40 = load float, ptr %33, align 4, !tbaa !17
  %41 = fadd float %39, %40
  store float %41, ptr %33, align 4, !tbaa !17
  %42 = getelementptr inbounds i8, ptr %1, i64 8
  store float %41, ptr %42, align 4, !tbaa !20
  br label %.sink.split

43:                                               ; preds = %3
  store i8 1, ptr %1, align 4, !tbaa !13
  %44 = getelementptr inbounds i8, ptr %1, i64 1
  store i8 1, ptr %44, align 1, !tbaa !15
  %45 = getelementptr inbounds i8, ptr %0, i64 20
  %46 = load float, ptr %45, align 4, !tbaa !16
  %47 = getelementptr inbounds i8, ptr %0, i64 24
  %48 = load float, ptr %47, align 4, !tbaa !17
  %49 = getelementptr inbounds i8, ptr %0, i64 4
  %50 = load float, ptr %49, align 4, !tbaa !24
  %51 = getelementptr inbounds i8, ptr %0, i64 40
  %52 = load float, ptr %51, align 4, !tbaa !25
  %53 = getelementptr inbounds i8, ptr %0, i64 36
  %54 = load float, ptr %53, align 4, !tbaa !23
  %55 = getelementptr inbounds i8, ptr %0, i64 44
  %56 = load i8, ptr %55, align 4, !tbaa !26, !range !27, !noundef !28
  %57 = trunc nuw i8 %56 to i1
  %58 = tail call float @vel_ramp(float noundef %46, float noundef %48, float noundef %50, float noundef %2, float noundef %52, float noundef %54, i1 noundef zeroext %57)
  %59 = load float, ptr %45, align 4, !tbaa !16
  %60 = load float, ptr %47, align 4, !tbaa !17
  %61 = tail call float @pos_setpt_interpolation(float noundef %59, float noundef %60, float noundef %58, float noundef %2)
  %62 = load float, ptr %47, align 4, !tbaa !17
  %63 = tail call float @vel_setpt_interpolation(float noundef %62, float noundef %58, float noundef %2)
  store float %61, ptr %45, align 4, !tbaa !16
  %64 = getelementptr inbounds i8, ptr %1, i64 4
  store float %61, ptr %64, align 4, !tbaa !19
  store float %63, ptr %47, align 4, !tbaa !17
  %65 = getelementptr inbounds i8, ptr %1, i64 8
  store float %63, ptr %65, align 4, !tbaa !20
  br label %.sink.split

.sink.split:                                      ; preds = %5, %29, %43, %25
  %.sink = phi float [ %28, %25 ], [ 0.000000e+00, %43 ], [ 0.000000e+00, %29 ], [ %24, %5 ]
  %66 = getelementptr inbounds i8, ptr %1, i64 12
  store float %.sink, ptr %66, align 4, !tbaa !29
  br label %67

67:                                               ; preds = %.sink.split, %3
  ret void
}

declare i32 @timestamp_get() local_unnamed_addr #1

declare float @timestamp_duration_s(i32 noundef, i32 noundef) local_unnamed_addr #1

; Function Attrs: nounwind uwtable
declare hidden float @pos_setpt_interpolation(float noundef, float noundef, float noundef, float noundef) local_unnamed_addr #0

; Function Attrs: nounwind uwtable
declare hidden float @vel_setpt_interpolation(float noundef, float noundef, float noundef) local_unnamed_addr #0

attributes #0 = { nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !7, i64 0}
!6 = !{!"", !7, i64 0, !10, i64 4, !10, i64 8, !10, i64 12, !10, i64 16, !10, i64 20, !10, i64 24, !10, i64 28, !7, i64 32, !10, i64 36, !10, i64 40, !11, i64 44}
!7 = !{!"int", !8, i64 0}
!8 = !{!"omnipotent char", !9, i64 0}
!9 = !{!"Simple C/C++ TBAA"}
!10 = !{!"float", !8, i64 0}
!11 = !{!"_Bool", !8, i64 0}
!12 = !{!6, !7, i64 32}
!13 = !{!14, !11, i64 0}
!14 = !{!"setpoint_s", !11, i64 0, !11, i64 1, !10, i64 4, !10, i64 8, !10, i64 12}
!15 = !{!14, !11, i64 1}
!16 = !{!6, !10, i64 20}
!17 = !{!6, !10, i64 24}
!18 = !{!6, !10, i64 28}
!19 = !{!14, !10, i64 4}
!20 = !{!14, !10, i64 8}
!21 = !{!6, !10, i64 16}
!22 = !{!6, !10, i64 8}
!23 = !{!6, !10, i64 36}
!24 = !{!6, !10, i64 4}
!25 = !{!6, !10, i64 40}
!26 = !{!6, !11, i64 44}
!27 = !{i8 0, i8 2}
!28 = !{}
!29 = !{!14, !10, i64 12}


; Effective O3 passes: EarlyCSEPass,GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,PostOrderFunctionAttrsPass,ReassociatePass,SROAPass,SimplifyCFGPass,TailCallElimPass