; LLVM IR from cvra/robot-software :: lib/pid (pid)

; 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.pid_ctrl_t = type { float, float, float, float, float, float, float }

; Function Attrs: nounwind uwtable
define dso_local void @pid_init(ptr noundef %0) #0 {
  %2 = alloca ptr, align 8
  store ptr %0, ptr %2, align 8, !tbaa !5
  %3 = load ptr, ptr %2, align 8, !tbaa !5
  call void @pid_set_gains(ptr noundef %3, float noundef 1.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %4 = load ptr, ptr %2, align 8, !tbaa !5
  %5 = getelementptr inbounds %struct.pid_ctrl_t, ptr %4, i32 0, i32 3
  store float 0.000000e+00, ptr %5, align 4, !tbaa !9
  %6 = load ptr, ptr %2, align 8, !tbaa !5
  %7 = getelementptr inbounds %struct.pid_ctrl_t, ptr %6, i32 0, i32 4
  store float 0.000000e+00, ptr %7, align 4, !tbaa !12
  %8 = load ptr, ptr %2, align 8, !tbaa !5
  %9 = getelementptr inbounds %struct.pid_ctrl_t, ptr %8, i32 0, i32 5
  store float 0x7FF0000000000000, ptr %9, align 4, !tbaa !13
  %10 = load ptr, ptr %2, align 8, !tbaa !5
  %11 = getelementptr inbounds %struct.pid_ctrl_t, ptr %10, i32 0, i32 6
  store float 1.000000e+00, ptr %11, align 4, !tbaa !14
  ret void
}

; Function Attrs: nounwind uwtable
declare dso_local void @pid_set_gains(ptr noundef, 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" }

!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, !11, i64 12}
!10 = !{!"", !11, i64 0, !11, i64 4, !11, i64 8, !11, i64 12, !11, i64 16, !11, i64 20, !11, i64 24}
!11 = !{!"float", !7, i64 0}
!12 = !{!10, !11, i64 16}
!13 = !{!10, !11, i64 20}
!14 = !{!10, !11, i64 24}


; 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
define dso_local void @pid_init(ptr noundef %0) local_unnamed_addr #0 {
  tail call void @pid_set_gains(ptr noundef %0, float noundef 1.000000e+00, float noundef 0.000000e+00, float noundef 0.000000e+00)
  %2 = getelementptr inbounds i8, ptr %0, i64 12
  store <4 x float> <float 0.000000e+00, float 0.000000e+00, float 0x7FF0000000000000, float 1.000000e+00>, ptr %2, align 4, !tbaa !5
  ret void
}

; Function Attrs: nounwind uwtable
declare dso_local void @pid_set_gains(ptr noundef, 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" }

!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 = !{!"float", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}


; Effective O3 passes: GlobalOptPass,InstCombinePass,SLPVectorizerPass,SROAPass,TailCallElimPass