From ff056d4ecc0dc7d05c2feca803f4ea35324659b3 Mon Sep 17 00:00:00 2001
From: Pei Mu <ds1231h@126.com>
Date: Wed, 7 Jun 2023 13:46:01 +0100
Subject: [PATCH] considering time consumption, we use a simple version of
 mulfix

Addresses #653.
---
 ...4f911572e0d79684beb60960146404aecbbc92.txt | 46 +++++++++++++++++++
 .../newton/llvm-ir/c-files/MadgwickAHRSfix.c  | 16 +++----
 2 files changed, 54 insertions(+), 8 deletions(-)
 create mode 100644 analysis/statistics/904f911572e0d79684beb60960146404aecbbc92.txt

diff --git a/analysis/statistics/904f911572e0d79684beb60960146404aecbbc92.txt b/analysis/statistics/904f911572e0d79684beb60960146404aecbbc92.txt
new file mode 100644
index 000000000..e13ee6327
--- /dev/null
+++ b/analysis/statistics/904f911572e0d79684beb60960146404aecbbc92.txt
@@ -0,0 +1,46 @@
+
+changeset: 1500:904f911572e0d79684beb60960146404aecbbc92
+char kNewtonVersion[] = "0.3-alpha-1500 (904f911572e0d79684beb60960146404aecbbc92) (build 06-07-2023-12:34-pei@pei-G5-5500-Linux-5.19.0-43-generic-x86_64)";
+\n./src/noisy/noisy-linux-EN -O0 applications/noisy/helloWorld.n -s
+\n./src/newton/newton-linux-EN -v 0 -eP applications/newton/invariants/ViolinWithTemperatureDependence-pigroups.nt
+
+Informational Report:
+---------------------
+Invariant "ViolinWithTemperatureDependenceForPiGroups" has 2 unique kernels, each with 2 column(s)...
+
+	Kernel 0 is a valid kernel:
+
+		   1   1
+		-0.5  -0
+		   1   0
+		 0.5   0
+		   0  -1
+		  -0  -1
+
+
+		The ordering of parameters is:	P1 P0 P3 P2 P4 P5 
+
+			Pi group 0, Pi 0 is:	P0^(-0.5)  P1^( 1)  P2^(0.5)  P3^( 1)  P4^( 0)  P5^(-0)  
+
+			Pi group 0, Pi 1 is:	P0^(-0)  P1^( 1)  P2^( 0)  P3^( 0)  P4^(-1)  P5^(-1)  
+
+
+	Kernel 1 is a valid kernel:
+
+		   1   0
+		-0.5   1
+		   1  -2
+		 0.5  -1
+		  -0  -2
+		   0  -2
+
+
+		The ordering of parameters is:	P1 P0 P3 P2 P4 P5 
+
+			Pi group 1, Pi 0 is:	P0^(-0.5)  P1^( 1)  P2^(0.5)  P3^( 1)  P4^(-0)  P5^( 0)  
+
+			Pi group 1, Pi 1 is:	P0^( 1)  P1^( 0)  P2^(-1)  P3^(-2)  P4^(-2)  P5^(-2)  
+
+
+
+
diff --git a/applications/newton/llvm-ir/c-files/MadgwickAHRSfix.c b/applications/newton/llvm-ir/c-files/MadgwickAHRSfix.c
index 4ccbe312c..a3bac90ee 100644
--- a/applications/newton/llvm-ir/c-files/MadgwickAHRSfix.c
+++ b/applications/newton/llvm-ir/c-files/MadgwickAHRSfix.c
@@ -51,14 +51,14 @@ volatile bmx055xAcceleration	beta = (uint8_t)(betaDef*FRAC_BASE);	//0.1f				// 2
 int32_t
 mulfix(int32_t x, int32_t y)
 {
-    int32_t result;
-    int64_t temp;
-    temp = (int64_t)x * (int64_t)y;
-    temp += K;
-    result = round(temp/FRAC_BASE);
-    return result;
+//    int32_t result;
+//    int64_t temp;
+//    temp = (int64_t)x * (int64_t)y;
+//    temp += K;
+//    result = round(temp/FRAC_BASE);
+//    return result;
 //    return ((int64_t)(x*y)) > 0 ? ((int64_t)(x*y))>>FRAC_Q : (((int64_t)(x*y))>>FRAC_Q)+1;
-//    return ((int64_t)x*y)/FRAC_BASE;
+    return ((int64_t)x*y)/FRAC_BASE;
 }
 
 /*
@@ -74,7 +74,7 @@ sqrt_rsqrt(int32_t x, int recip) {
         i = 0x5f3759df - (i>>1);
         fp_y = *(float*)&i;
         fp_y = fp_y * (1.5f - (halfx * fp_y * fp_y));
-        return round(fp_y*FRAC_BASE);
+        return fp_y*FRAC_BASE;
     } else {
         int32_t res = (int32_t)sqrtf(x)<<(FRAC_Q/2);
         if (FRAC_Q%2)