	.file	"extr_q_math.c_vectoangles.c"
	.intel_syntax noprefix
	.text
	.p2align 4
	.globl	vectoangles
	.type	vectoangles, @function
vectoangles:
.LFB0:
	.cfi_startproc
	endbr64
	push	r12
	.cfi_def_cfa_offset 16
	.cfi_offset 12, -16
	push	rbp
	.cfi_def_cfa_offset 24
	.cfi_offset 6, -24
	mov	rbp, rsi
	push	rbx
	.cfi_def_cfa_offset 32
	.cfi_offset 3, -32
	mov	rbx, rdi
	sub	rsp, 16
	.cfi_def_cfa_offset 48
	mov	r8d, DWORD PTR 4[rdi]
	mov	edi, DWORD PTR [rdi]
	test	r8d, r8d
	jne	.L2
	test	edi, edi
	je	.L15
.L3:
	pxor	xmm0, xmm0
	cvtsi2ss	xmm0, edi
	mov	edi, r8d
	call	atan2@PLT
	pxor	xmm0, xmm0
	pxor	xmm1, xmm1
	mov	edi, DWORD PTR [rbx]
	imul	eax, eax, 180
	mov	r8d, DWORD PTR 4[rbx]
	cdq
	idiv	DWORD PTR M_PI[rip]
	cvtsi2ss	xmm0, eax
	comiss	xmm1, xmm0
	jbe	.L12
	addss	xmm0, DWORD PTR .LC1[rip]
.L12:
	cvttss2si	r12d, xmm0
	jmp	.L7
	.p2align 4,,10
	.p2align 3
.L2:
	test	edi, edi
	jne	.L3
	test	r8d, r8d
	jle	.L10
	mov	r12d, 90
	pxor	xmm1, xmm1
.L7:
	imul	r8d, r8d
	movss	DWORD PTR 12[rsp], xmm1
	imul	edi, edi
	add	edi, r8d
	call	sqrt@PLT
	mov	edi, DWORD PTR 8[rbx]
	call	atan2@PLT
	pxor	xmm0, xmm0
	movss	xmm1, DWORD PTR 12[rsp]
	imul	eax, eax, 180
	cdq
	idiv	DWORD PTR M_PI[rip]
	cvtsi2ss	xmm0, eax
	comiss	xmm1, xmm0
	jbe	.L13
	addss	xmm0, DWORD PTR .LC1[rip]
.L13:
	xorps	xmm0, XMMWORD PTR .LC2[rip]
	cvttss2si	eax, xmm0
.L4:
	mov	rdx, QWORD PTR PITCH[rip]
	mov	DWORD PTR 0[rbp+rdx*4], eax
	mov	rax, QWORD PTR YAW[rip]
	mov	DWORD PTR 0[rbp+rax*4], r12d
	mov	rax, QWORD PTR ROLL[rip]
	mov	DWORD PTR 0[rbp+rax*4], 0
	add	rsp, 16
	.cfi_remember_state
	.cfi_def_cfa_offset 32
	pop	rbx
	.cfi_def_cfa_offset 24
	pop	rbp
	.cfi_def_cfa_offset 16
	pop	r12
	.cfi_def_cfa_offset 8
	ret
	.p2align 4,,10
	.p2align 3
.L15:
	.cfi_restore_state
	mov	eax, DWORD PTR 8[rbx]
	xor	r12d, r12d
	mov	edx, -270
	test	eax, eax
	mov	eax, -90
	cmovle	eax, edx
	jmp	.L4
	.p2align 4,,10
	.p2align 3
.L10:
	mov	r12d, 270
	pxor	xmm1, xmm1
	jmp	.L7
	.cfi_endproc
.LFE0:
	.size	vectoangles, .-vectoangles
	.comm	YAW,8,8
	.comm	ROLL,8,8
	.comm	PITCH,8,8
	.comm	M_PI,4,4
	.section	.rodata.cst4,"aM",@progbits,4
	.align 4
.LC1:
	.long	1135869952
	.section	.rodata.cst16,"aM",@progbits,16
	.align 16
.LC2:
	.long	2147483648
	.long	0
	.long	0
	.long	0
	.ident	"GCC: (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0"
	.section	.note.GNU-stack,"",@progbits
	.section	.note.gnu.property,"a"
	.align 8
	.long	 1f - 0f
	.long	 4f - 1f
	.long	 5
0:
	.string	 "GNU"
1:
	.align 8
	.long	 0xc0000002
	.long	 3f - 2f
2:
	.long	 0x3
3:
	.align 8
4:

	.arch armv5t
	.eabi_attribute 20, 1
	.eabi_attribute 21, 1
	.eabi_attribute 23, 3
	.eabi_attribute 24, 1
	.eabi_attribute 25, 1
	.eabi_attribute 26, 2
	.eabi_attribute 30, 2
	.eabi_attribute 34, 0
	.eabi_attribute 18, 4
	.file	"extr_q_math.c_vectoangles.c"
	.text
	.global	__aeabi_i2f
	.global	__aeabi_idiv
	.global	__aeabi_fcmplt
	.global	__aeabi_f2iz
	.global	__aeabi_fadd
	.align	2
	.global	vectoangles
	.syntax unified
	.arm
	.fpu softvfp
	.type	vectoangles, %function
vectoangles:
	@ args = 0, pretend = 0, frame = 0
	@ frame_needed = 0, uses_anonymous_args = 0
	push	{r4, r5, r6, r7, r8, lr}
	ldr	r5, [r0, #4]
	mov	r4, r0
	cmp	r5, #0
	mov	r6, r1
	ldr	r0, [r0]
	bne	.L2
	cmp	r0, #0
	beq	.L14
.L3:
	bl	__aeabi_i2f
	mov	r1, r0
	mov	r0, r5
	bl	atan2
	ldr	r8, .L15
	add	r0, r0, r0, lsl #1
	rsb	r0, r0, r0, lsl #4
	ldr	r1, [r8]
	lsl	r0, r0, #2
	bl	__aeabi_idiv
	bl	__aeabi_i2f
	mov	r1, #0
	mov	r5, r0
	bl	__aeabi_fcmplt
	cmp	r0, #0
	mov	r0, r5
	beq	.L12
	ldr	r1, .L15+4
	bl	__aeabi_fadd
.L12:
	bl	__aeabi_f2iz
	mov	r7, r0
	ldm	r4, {r0, r5}
	b	.L7
.L2:
	cmp	r0, #0
	bne	.L3
	cmp	r5, #0
	ldr	r7, .L15+8
	movgt	r7, #90
	ldr	r8, .L15
.L7:
	mov	r3, r5
	mul	r3, r5, r3
	mov	r5, r3
	mov	r3, r0
	mla	r3, r0, r3, r5
	mov	r0, r3
	bl	sqrt
	mov	r1, r0
	ldr	r0, [r4, #8]
	bl	atan2
	add	r0, r0, r0, lsl #1
	rsb	r0, r0, r0, lsl #4
	ldr	r1, [r8]
	lsl	r0, r0, #2
	bl	__aeabi_idiv
	bl	__aeabi_i2f
	mov	r1, #0
	mov	r4, r0
	bl	__aeabi_fcmplt
	cmp	r0, #0
	bne	.L8
	add	r0, r4, #-2147483648
	bl	__aeabi_f2iz
.L4:
	mov	r2, #0
	ldr	ip, .L15+12
	ldr	r1, .L15+16
	ldr	r3, .L15+20
	ldr	ip, [ip]
	ldr	r1, [r1]
	ldr	r3, [r3]
	str	r0, [r6, ip, lsl #2]
	str	r7, [r6, r1, lsl #2]
	str	r2, [r6, r3, lsl #2]
	pop	{r4, r5, r6, r7, r8, pc}
.L8:
	mov	r0, r4
	ldr	r1, .L15+4
	bl	__aeabi_fadd
	add	r0, r0, #-2147483648
	bl	__aeabi_f2iz
	b	.L4
.L14:
	ldr	r2, [r4, #8]
	ldr	r3, .L15+24
	cmp	r2, #0
	mov	r7, r0
	mvngt	r0, #89
	movle	r0, r3
	b	.L4
.L16:
	.align	2
.L15:
	.word	M_PI
	.word	1135869952
	.word	270
	.word	PITCH
	.word	YAW
	.word	ROLL
	.word	-270
	.size	vectoangles, .-vectoangles
	.comm	YAW,4,4
	.comm	ROLL,4,4
	.comm	PITCH,4,4
	.comm	M_PI,4,4
	.ident	"GCC: (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0"
	.section	.note.GNU-stack,"",%progbits
