; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src/osqp/src (cs)

; 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"

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: nounwind uwtable
declare hidden ptr @csc_malloc(i64 noundef, i64 noundef) #1

; Function Attrs: nounwind uwtable
define dso_local ptr @csc_pinv(ptr noundef %0, i64 noundef %1) #1 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i64, align 8
  %6 = alloca i64, align 8
  %7 = alloca ptr, align 8
  %8 = alloca i32, align 4
  store ptr %0, ptr %4, align 8, !tbaa !5
  store i64 %1, ptr %5, align 8, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %6) #2
  call void @llvm.lifetime.start.p0(i64 8, ptr %7) #2
  %9 = load ptr, ptr %4, align 8, !tbaa !5
  %10 = icmp ne ptr %9, null
  br i1 %10, label %12, label %11

11:                                               ; preds = %2
  store ptr null, ptr %3, align 8
  store i32 1, ptr %8, align 4
  br label %36

12:                                               ; preds = %2
  %13 = load i64, ptr %5, align 8, !tbaa !9
  %14 = call ptr @csc_malloc(i64 noundef %13, i64 noundef 8)
  store ptr %14, ptr %7, align 8, !tbaa !5
  %15 = load ptr, ptr %7, align 8, !tbaa !5
  %16 = icmp ne ptr %15, null
  br i1 %16, label %18, label %17

17:                                               ; preds = %12
  store ptr null, ptr %3, align 8
  store i32 1, ptr %8, align 4
  br label %36

18:                                               ; preds = %12
  store i64 0, ptr %6, align 8, !tbaa !9
  br label %19

19:                                               ; preds = %31, %18
  %20 = load i64, ptr %6, align 8, !tbaa !9
  %21 = load i64, ptr %5, align 8, !tbaa !9
  %22 = icmp slt i64 %20, %21
  br i1 %22, label %23, label %34

23:                                               ; preds = %19
  %24 = load i64, ptr %6, align 8, !tbaa !9
  %25 = load ptr, ptr %7, align 8, !tbaa !5
  %26 = load ptr, ptr %4, align 8, !tbaa !5
  %27 = load i64, ptr %6, align 8, !tbaa !9
  %28 = getelementptr inbounds i64, ptr %26, i64 %27
  %29 = load i64, ptr %28, align 8, !tbaa !9
  %30 = getelementptr inbounds i64, ptr %25, i64 %29
  store i64 %24, ptr %30, align 8, !tbaa !9
  br label %31

31:                                               ; preds = %23
  %32 = load i64, ptr %6, align 8, !tbaa !9
  %33 = add nsw i64 %32, 1
  store i64 %33, ptr %6, align 8, !tbaa !9
  br label %19, !llvm.loop !11

34:                                               ; preds = %19
  %35 = load ptr, ptr %7, align 8, !tbaa !5
  store ptr %35, ptr %3, align 8
  store i32 1, ptr %8, align 4
  br label %36

36:                                               ; preds = %34, %17, %11
  call void @llvm.lifetime.end.p0(i64 8, ptr %7) #2
  call void @llvm.lifetime.end.p0(i64 8, ptr %6) #2
  %37 = load ptr, ptr %3, align 8
  ret ptr %37
}

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 #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, !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 = !{!"long long", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}


; 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 hidden ptr @csc_malloc(i64 noundef, i64 noundef) local_unnamed_addr #0

; Function Attrs: nounwind uwtable
define dso_local ptr @csc_pinv(ptr noundef readonly %0, i64 noundef %1) local_unnamed_addr #0 {
  %.not = icmp eq ptr %0, null
  br i1 %.not, label %.loopexit, label %3

3:                                                ; preds = %2
  %4 = tail call ptr @csc_malloc(i64 noundef %1, i64 noundef 8)
  %.not14 = icmp eq ptr %4, null
  br i1 %.not14, label %.loopexit, label %.preheader

.preheader:                                       ; preds = %3
  %5 = icmp sgt i64 %1, 0
  br i1 %5, label %.lr.ph.preheader, label %.loopexit

.lr.ph.preheader:                                 ; preds = %.preheader
  %xtraiter = and i64 %1, 3
  %6 = icmp ult i64 %1, 4
  br i1 %6, label %.loopexit.loopexit.unr-lcssa, label %.lr.ph.preheader.new

.lr.ph.preheader.new:                             ; preds = %.lr.ph.preheader
  %unroll_iter = and i64 %1, 9223372036854775804
  br label %.lr.ph

.lr.ph:                                           ; preds = %.lr.ph, %.lr.ph.preheader.new
  %.01115 = phi i64 [ 0, %.lr.ph.preheader.new ], [ %22, %.lr.ph ]
  %niter = phi i64 [ 0, %.lr.ph.preheader.new ], [ %niter.next.3, %.lr.ph ]
  %7 = getelementptr inbounds i64, ptr %0, i64 %.01115
  %8 = load i64, ptr %7, align 8, !tbaa !5
  %9 = getelementptr inbounds i64, ptr %4, i64 %8
  store i64 %.01115, ptr %9, align 8, !tbaa !5
  %10 = or disjoint i64 %.01115, 1
  %11 = getelementptr inbounds i64, ptr %0, i64 %10
  %12 = load i64, ptr %11, align 8, !tbaa !5
  %13 = getelementptr inbounds i64, ptr %4, i64 %12
  store i64 %10, ptr %13, align 8, !tbaa !5
  %14 = or disjoint i64 %.01115, 2
  %15 = getelementptr inbounds i64, ptr %0, i64 %14
  %16 = load i64, ptr %15, align 8, !tbaa !5
  %17 = getelementptr inbounds i64, ptr %4, i64 %16
  store i64 %14, ptr %17, align 8, !tbaa !5
  %18 = or disjoint i64 %.01115, 3
  %19 = getelementptr inbounds i64, ptr %0, i64 %18
  %20 = load i64, ptr %19, align 8, !tbaa !5
  %21 = getelementptr inbounds i64, ptr %4, i64 %20
  store i64 %18, ptr %21, align 8, !tbaa !5
  %22 = add nuw nsw i64 %.01115, 4
  %niter.next.3 = add i64 %niter, 4
  %niter.ncmp.3 = icmp eq i64 %niter.next.3, %unroll_iter
  br i1 %niter.ncmp.3, label %.loopexit.loopexit.unr-lcssa, label %.lr.ph, !llvm.loop !9

.loopexit.loopexit.unr-lcssa:                     ; preds = %.lr.ph, %.lr.ph.preheader
  %.01115.unr = phi i64 [ 0, %.lr.ph.preheader ], [ %22, %.lr.ph ]
  %lcmp.mod.not = icmp eq i64 %xtraiter, 0
  br i1 %lcmp.mod.not, label %.loopexit, label %.lr.ph.epil

.lr.ph.epil:                                      ; preds = %.loopexit.loopexit.unr-lcssa, %.lr.ph.epil
  %.01115.epil = phi i64 [ %26, %.lr.ph.epil ], [ %.01115.unr, %.loopexit.loopexit.unr-lcssa ]
  %epil.iter = phi i64 [ %epil.iter.next, %.lr.ph.epil ], [ 0, %.loopexit.loopexit.unr-lcssa ]
  %23 = getelementptr inbounds i64, ptr %0, i64 %.01115.epil
  %24 = load i64, ptr %23, align 8, !tbaa !5
  %25 = getelementptr inbounds i64, ptr %4, i64 %24
  store i64 %.01115.epil, ptr %25, align 8, !tbaa !5
  %26 = add nuw nsw i64 %.01115.epil, 1
  %epil.iter.next = add i64 %epil.iter, 1
  %epil.iter.cmp.not = icmp eq i64 %epil.iter.next, %xtraiter
  br i1 %epil.iter.cmp.not, label %.loopexit, label %.lr.ph.epil, !llvm.loop !11

.loopexit:                                        ; preds = %.loopexit.loopexit.unr-lcssa, %.lr.ph.epil, %.preheader, %3, %2
  %.0 = phi ptr [ null, %2 ], [ null, %3 ], [ %4, %.preheader ], [ %4, %.lr.ph.epil ], [ %4, %.loopexit.loopexit.unr-lcssa ]
  ret ptr %.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 = !{!"long long", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C/C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.unroll.disable"}


; Effective O3 passes: GlobalOptPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass,TailCallElimPass