explicit quantize

Addresses #653.

analysis/statistics/6e42134f2a8790e917eacbe5c1c30ed271dcb5a0.txt

@@ -0,0 +1,46 @@
+
+changeset: 1503:6e42134f2a8790e917eacbe5c1c30ed271dcb5a0
+char kNewtonVersion[] = "0.3-alpha-1503 (6e42134f2a8790e917eacbe5c1c30ed271dcb5a0) (build 06-07-2023-20:[email protected]_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)  
+
+
+
+

applications/newton/llvm-ir/c-files/MadgwickAHRSfix.c

@@ -73,7 +73,7 @@ sqrt_rsqrt(int32_t x, int recip) {
         i = 0x5f3759df - (i>>1);
         fp_y = *(float*)&i;
         int32_t int_y = fp_y*FRAC_BASE;
-        int_y = mulfix(int_y, (1.5f*FRAC_BASE - (mulfix(mulfix(int_halfx, int_y), int_y))));
+        int_y = mulfix(int_y, ((int32_t)(1.5f*FRAC_BASE) - (mulfix(mulfix(int_halfx, int_y), int_y))));
         return int_y;
 //        fp_y = fp_y * (1.5f - (halfx * fp_y * fp_y));
 //        return fp_y*FRAC_BASE;