user: Converte this assembly snippet into its equivalent C code:

```asm
<Quaternion2RPY>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0x40,%rsp
  mov    %rdi,-0x38(%rbp)
  mov    %rsi,-0x40(%rbp)
  mov    -0x38(%rbp),%rax
  movss  (%rax),%xmm1
  mov    -0x38(%rbp),%rax
  movss  (%rax),%xmm0
  mulss  %xmm1,%xmm0
  movss  %xmm0,-0x24(%rbp)
  mov    -0x38(%rbp),%rax
  add    $0x4,%rax
  movss  (%rax),%xmm1
  mov    -0x38(%rbp),%rax
  add    $0x4,%rax
  movss  (%rax),%xmm0
  mulss  %xmm1,%xmm0
  movss  %xmm0,-0x20(%rbp)
  mov    -0x38(%rbp),%rax
  add    $0x8,%rax
  movss  (%rax),%xmm1
  mov    -0x38(%rbp),%rax
  add    $0x8,%rax
  movss  (%rax),%xmm0
  mulss  %xmm1,%xmm0
  movss  %xmm0,-0x1c(%rbp)
  mov    -0x38(%rbp),%rax
  add    $0xc,%rax
  movss  (%rax),%xmm1
  mov    -0x38(%rbp),%rax
  add    $0xc,%rax
  movss  (%rax),%xmm0
  mulss  %xmm1,%xmm0
  movss  %xmm0,-0x18(%rbp)
  mov    -0x38(%rbp),%rax
  add    $0x4,%rax
  movss  (%rax),%xmm1
  mov    -0x38(%rbp),%rax
  add    $0xc,%rax
  movss  (%rax),%xmm0
  mulss  %xmm1,%xmm0
  mov    -0x38(%rbp),%rax
  movss  (%rax),%xmm2
  mov    -0x38(%rbp),%rax
  add    $0x8,%rax
  movss  (%rax),%xmm1
  mulss  %xmm2,%xmm1
  subss  %xmm1,%xmm0
  addss  %xmm0,%xmm0
  movss  %xmm0,-0x14(%rbp)
  movss  -0x24(%rbp),%xmm0
  addss  -0x20(%rbp),%xmm0
  subss  -0x1c(%rbp),%xmm0
  subss  -0x18(%rbp),%xmm0
  movss  %xmm0,-0x10(%rbp)
  mov    -0x38(%rbp),%rax
  add    $0x4,%rax
  movss  (%rax),%xmm1
  mov    -0x38(%rbp),%rax
  add    $0x8,%rax
  movss  (%rax),%xmm0
  mulss  %xmm0,%xmm1
  mov    -0x38(%rbp),%rax
  movss  (%rax),%xmm2
  mov    -0x38(%rbp),%rax
  add    $0xc,%rax
  movss  (%rax),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm1,%xmm0
  addss  %xmm0,%xmm0
  movss  %xmm0,-0xc(%rbp)
  mov    -0x38(%rbp),%rax
  add    $0x8,%rax
  movss  (%rax),%xmm1
  mov    -0x38(%rbp),%rax
  add    $0xc,%rax
  movss  (%rax),%xmm0
  mulss  %xmm0,%xmm1
  mov    -0x38(%rbp),%rax
  movss  (%rax),%xmm2
  mov    -0x38(%rbp),%rax
  add    $0x4,%rax
  movss  (%rax),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm1,%xmm0
  addss  %xmm0,%xmm0
  movss  %xmm0,-0x8(%rbp)
  movss  -0x24(%rbp),%xmm0
  subss  -0x20(%rbp),%xmm0
  subss  -0x1c(%rbp),%xmm0
  movss  -0x18(%rbp),%xmm1
  addss  %xmm1,%xmm0
  movss  %xmm0,-0x4(%rbp)
  movss  -0x14(%rbp),%xmm0
  movss  D31(%rip),%xmm1
  xorps  %xmm1,%xmm0
  movd   %xmm0,%eax
  movd   %eax,%xmm0
  call   <asinf@plt>
  mov    -0x40(%rbp),%rax
  add    $0x4,%rax
  movss  D2(%rip),%xmm1
  mulss  %xmm1,%xmm0
  movss  %xmm0,(%rax)
  movss  -0x10(%rbp),%xmm0
  mov    -0xc(%rbp),%eax
  movaps %xmm0,%xmm1
  movd   %eax,%xmm0
  call   <atan2f@plt>
  mov    -0x40(%rbp),%rax
  add    $0x8,%rax
  movss  D2(%rip),%xmm1
  mulss  %xmm1,%xmm0
  movss  %xmm0,(%rax)
  movss  -0x4(%rbp),%xmm0
  mov    -0x8(%rbp),%eax
  movaps %xmm0,%xmm1
  movd   %eax,%xmm0
  call   <atan2f@plt>
  movss  D2(%rip),%xmm1
  mulss  %xmm1,%xmm0
  mov    -0x40(%rbp),%rax
  movss  %xmm0,(%rax)
  nop
  leave
  ret
```

tool_calls: name: parse_data
arguments: data_tag: D31
type_infered: byte[4]
name: parse_data
arguments: data_tag: D2
type_infered: byte[4]

tool: {"D31": [0x00,0x00,0x00,0x80]}

tool: {"D2": [0xe0,0x2e,0x65,0x42]}

assistant: ```c
void Quaternion2RPY(const float q[4], float rpy[3]) {
  float R13, R11, R12, R23, R33;
  float q0s = q[0] * q[0];
  float q1s = q[1] * q[1];
  float q2s = q[2] * q[2];
  float q3s = q[3] * q[3];
  R13 = 2.0f * (q[1] * q[3] - q[0] * q[2]);
  R11 = q0s + q1s - q2s - q3s;
  R12 = 2.0f * (q[1] * q[2] + q[0] * q[3]);
  R23 = 2.0f * (q[2] * q[3] + q[0] * q[1]);
  R33 = q0s - q1s - q2s + q3s;
  rpy[1] = (180.0f / 3.14159265358979323846f) * asinf(-R13);
  rpy[2] = (180.0f / 3.14159265358979323846f) * atan2f(R12, R11);
  rpy[0] = (180.0f / 3.14159265358979323846f) * atan2f(R23, R33);
}
```