# Static Call Graph for image hero\hero.axf

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Wed Nov 12 19:02:26 2025

### Maximum Stack Usage = 436 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

### Call chain for Maximum Stack Depth:

Task_ctrl_chassis ⇒ Chassis_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd

### Functions with no stack information

- __user_initial_stackheap

### Mutually Recursive functions

- ADC_IRQHandler ⇒ ADC_IRQHandler

  ### Function Pointers

  - ADC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - BMI088_AcclIntCallback from bmi088.o(.text.BMI088_AcclIntCallback) referenced 2 times from bmi088.o(.text.BMI088_Init)
  - BMI088_GyroIntCallback from bmi088.o(.text.BMI088_GyroIntCallback) referenced 2 times from bmi088.o(.text.BMI088_Init)
  - BMI088_RxCpltCallback from bmi088.o(.text.BMI088_RxCpltCallback) referenced 2 times from bmi088.o(.text.BMI088_Init)
  - BSP_CAN_DefaultIdParser from can_1.o(.text.BSP_CAN_DefaultIdParser) referenced 2 times from can_1.o(.text.BSP_CAN_Init)
  - BSP_CAN_RxFifo0Callback from can_1.o(.text.BSP_CAN_RxFifo0Callback) referenced 2 times from can_1.o(.text.BSP_CAN_Init)
  - BSP_CAN_RxFifo1Callback from can_1.o(.text.BSP_CAN_RxFifo1Callback) referenced 2 times from can_1.o(.text.BSP_CAN_Init)
  - BSP_CAN_TxCompleteCallback from can_1.o(.text.BSP_CAN_TxCompleteCallback) referenced 2 times from can_1.o(.text.BSP_CAN_Init)
  - BusFault_Handler from stm32f4xx_it.o(.text.BusFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_RX0_IRQHandler from stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_RX1_IRQHandler from stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_SCE_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_TX_IRQHandler from stm32f4xx_it.o(.text.CAN1_TX_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_RX0_IRQHandler from stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_RX1_IRQHandler from stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_SCE_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_TX_IRQHandler from stm32f4xx_it.o(.text.CAN2_TX_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - Cmd_NUC_BuildChassisCommandFromInput from cmd.o(.text.Cmd_NUC_BuildChassisCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_NUC_BuildGimbalCommandFromInput from cmd.o(.text.Cmd_NUC_BuildGimbalCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_NUC_BuildShootCommandFromInput from cmd.o(.text.Cmd_NUC_BuildShootCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_PC_BuildChassisCommandFromInput from cmd.o(.text.Cmd_PC_BuildChassisCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_PC_BuildGimbalCommandFromInput from cmd.o(.text.Cmd_PC_BuildGimbalCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_PC_BuildShootCommandFromInput from cmd.o(.text.Cmd_PC_BuildShootCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_PC_HandleBehaviorACCELERATE from cmd.o(.text.Cmd_PC_HandleBehaviorACCELERATE) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorAUTOAIM from cmd.o(.text.Cmd_PC_HandleBehaviorAUTOAIM) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorBACK from cmd.o(.text.Cmd_PC_HandleBehaviorBACK) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorBUFF from cmd.o(.text.Cmd_PC_HandleBehaviorBUFF) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorDECELEBRATE from cmd.o(.text.Cmd_PC_HandleBehaviorDECELEBRATE) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorFIRE from cmd.o(.text.Cmd_PC_HandleBehaviorFIRE) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorFIRE_MODE from cmd.o(.text.Cmd_PC_HandleBehaviorFIRE_MODE) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorFOLLOWGIMBAL35 from cmd.o(.text.Cmd_PC_HandleBehaviorFOLLOWGIMBAL35) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorFORE from cmd.o(.text.Cmd_PC_HandleBehaviorFORE) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorLEFT from cmd.o(.text.Cmd_PC_HandleBehaviorLEFT) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorOPENCOVER from cmd.o(.text.Cmd_PC_HandleBehaviorOPENCOVER) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorREVTRIG from cmd.o(.text.Cmd_PC_HandleBehaviorREVTRIG) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorRIGHT from cmd.o(.text.Cmd_PC_HandleBehaviorRIGHT) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_PC_HandleBehaviorROTOR from cmd.o(.text.Cmd_PC_HandleBehaviorROTOR) referenced 2 times from cmd.o(.data.behaviorHandlerFuncTable)
  - Cmd_RC_BuildChassisCommandFromInput from cmd.o(.text.Cmd_RC_BuildChassisCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_RC_BuildGimbalCommandFromInput from cmd.o(.text.Cmd_RC_BuildGimbalCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_RC_BuildShootCommandFromInput from cmd.o(.text.Cmd_RC_BuildShootCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_REF_BuildChassisCommandFromInput from cmd.o(.text.Cmd_REF_BuildChassisCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_REF_BuildGimbalCommandFromInput from cmd.o(.text.Cmd_REF_BuildGimbalCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - Cmd_REF_BuildShootCommandFromInput from cmd.o(.text.Cmd_REF_BuildShootCommandFromInput) referenced 2 times from cmd.o(.data.sourceHandlers)
  - DCMI_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream0_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream1_IRQHandler from stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream2_IRQHandler from stm32f4xx_it.o(.text.DMA1_Stream2_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream6_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream0_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream1_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream2_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream3_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream6_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DR16_RxCpltCallback from dr16.o(.text.DR16_RxCpltCallback) referenced 2 times from dr16.o(.text.DR16_Init)
  - DebugMon_Handler from stm32f4xx_it.o(.text.DebugMon_Handler) referenced from startup_stm32f407xx.o(RESET)
  - ETH_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - ETH_WKUP_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - EXTI0_IRQHandler from stm32f4xx_it.o(.text.EXTI0_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - EXTI15_10_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - EXTI1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - EXTI2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - EXTI3_IRQHandler from stm32f4xx_it.o(.text.EXTI3_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - EXTI4_IRQHandler from stm32f4xx_it.o(.text.EXTI4_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - EXTI9_5_IRQHandler from stm32f4xx_it.o(.text.EXTI9_5_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - FLASH_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - FMC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - FPU_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - HASH_RNG_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - HardFault_Handler from stm32f4xx_it.o(.text.HardFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  - I2C1_ER_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - I2C1_EV_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - I2C2_ER_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - I2C2_EV_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - I2C3_ER_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - I2C3_EV_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - MemManage_Handler from stm32f4xx_it.o(.text.MemManage_Handler) referenced from startup_stm32f407xx.o(RESET)
  - NMI_Handler from stm32f4xx_it.o(.text.NMI_Handler) referenced from startup_stm32f407xx.o(RESET)
  - OTG_FS_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - OTG_FS_WKUP_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - OTG_HS_EP1_IN_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - OTG_HS_EP1_OUT_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - OTG_HS_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - OTG_HS_WKUP_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - PVD_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - PendSV_Handler from port.o(.text.PendSV_Handler) referenced from startup_stm32f407xx.o(RESET)
  - RCC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - RTC_Alarm_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - RTC_WKUP_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - Reset_Handler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SDIO_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SPI1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SPI2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SPI3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SPI_DMAError from stm32f4xx_hal_spi.o(.text.SPI_DMAError) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
  - SPI_DMAError from stm32f4xx_hal_spi.o(.text.SPI_DMAError) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
  - SPI_DMAError from stm32f4xx_hal_spi.o(.text.SPI_DMAError) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
  - SPI_DMAHalfReceiveCplt from stm32f4xx_hal_spi.o(.text.SPI_DMAHalfReceiveCplt) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
  - SPI_DMAHalfReceiveCplt from stm32f4xx_hal_spi.o(.text.SPI_DMAHalfReceiveCplt) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
  - SPI_DMAHalfTransmitCplt from stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitCplt) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
  - SPI_DMAHalfTransmitReceiveCplt from stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitReceiveCplt) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
  - SPI_DMAReceiveCplt from stm32f4xx_hal_spi.o(.text.SPI_DMAReceiveCplt) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
  - SPI_DMAReceiveCplt from stm32f4xx_hal_spi.o(.text.SPI_DMAReceiveCplt) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
  - SPI_DMATransmitCplt from stm32f4xx_hal_spi.o(.text.SPI_DMATransmitCplt) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
  - SPI_DMATransmitReceiveCplt from stm32f4xx_hal_spi.o(.text.SPI_DMATransmitReceiveCplt) referenced 2 times from stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)
  - SVC_Handler from port.o(.text.SVC_Handler) referenced from startup_stm32f407xx.o(RESET)
  - StartDefaultTask from freertos.o(.text.StartDefaultTask) referenced 2 times from freertos.o(.text.MX_FREERTOS_Init)
  - SysTick_Handler from stm32f4xx_it.o(.text.SysTick_Handler) referenced from startup_stm32f407xx.o(RESET)
  - SystemInit from system_stm32f4xx.o(.text.SystemInit) referenced from startup_stm32f407xx.o(.text)
  - TAMP_STAMP_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_BRK_TIM9_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_CC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_TRG_COM_TIM11_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_UP_TIM10_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM6_DAC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_BRK_TIM12_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_CC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_TRG_COM_TIM14_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_UP_TIM13_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - Task_Init from init.o(.text.Task_Init) referenced 2 times from freertos.o(.text.MX_FREERTOS_Init)
  - Task_atti_esti from atti_esti.o(.text.Task_atti_esti) referenced 2 times from init.o(.text.Task_Init)
  - Task_blink from blink.o(.text.Task_blink) referenced 2 times from init.o(.text.Task_Init)
  - Task_cmd from cmd_1.o(.text.Task_cmd) referenced 2 times from init.o(.text.Task_Init)
  - Task_ctrl_chassis from ctrl_chassis.o(.text.Task_ctrl_chassis) referenced 2 times from init.o(.text.Task_Init)
  - Task_ctrl_gimbal from ctrl_gimbal.o(.text.Task_ctrl_gimbal) referenced 2 times from init.o(.text.Task_Init)
  - Task_ctrl_shoot from ctrl_shoot.o(.text.Task_ctrl_shoot) referenced 2 times from init.o(.text.Task_Init)
  - Task_rc from rc.o(.text.Task_rc) referenced 2 times from init.o(.text.Task_Init)
  - UART4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - UART5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - UART_DMAAbortOnError from stm32f4xx_hal_uart.o(.text.UART_DMAAbortOnError) referenced 2 times from stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)
  - UART_DMAError from stm32f4xx_hal_uart.o(.text.UART_DMAError) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
  - UART_DMAReceiveCplt from stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
  - UART_DMARxHalfCplt from stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
  - USART1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - USART2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - USART3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - USART6_IRQHandler from stm32f4xx_it.o(.text.USART6_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - UsageFault_Handler from stm32f4xx_it.o(.text.UsageFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  - WWDG_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - __main from __main.o(!!!main) referenced from startup_stm32f407xx.o(.text)
  - prvIdleTask from tasks.o(.text.prvIdleTask) referenced 2 times from tasks.o(.text.vTaskStartScheduler)
  - prvTaskExitError from port.o(.text.prvTaskExitError) referenced 2 times from port.o(.text.pxPortInitialiseStack)
  - prvTimerTask from timers.o(.text.prvTimerTask) referenced 2 times from timers.o(.text.xTimerCreateTimerTask)
  - start_gyro_calibration from atti_esti.o(.text.start_gyro_calibration) referenced 2 times from atti_esti.o(.text.Task_atti_esti)

  ### Global Symbols

  __main (Thumb, 8 bytes, Stack size 0 bytes, __main.o(!!!main))
  [Calls]

  - >> __rt_entry
  - >> __scatterload
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(.text)

  __scatterload (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter))
  [Called By]

  - >> __main

  __scatterload_rt2 (Thumb, 44 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)
  [Calls]

  - >> __rt_entry

  __scatterload_rt2_thumb_only (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)

  __scatterload_null (Thumb, 0 bytes, Stack size unknown bytes, __scatter.o(!!!scatter), UNUSED)

  __decompress (Thumb, 90 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED)

  __decompress1 (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(!!dczerorl2), UNUSED)

  __scatterload_zeroinit (Thumb, 28 bytes, Stack size unknown bytes, __scatter_zi.o(!!handler_zi), UNUSED)

  __rt_lib_init (Thumb, 0 bytes, Stack size unknown bytes, libinit.o(.ARM.Collect$$libinit$$00000000))
  [Called By]

  - >> __rt_entry_li

  __rt_lib_init_fp_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000001))
  [Calls]

  - >> _fp_init

  __rt_lib_init_heap_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000A))

  __rt_lib_init_preinit_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000004))

  __rt_lib_init_rand_2 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000D))
  [Stack]

  - Max Depth = 8 + Unknown Stack Size
  - Call Chain = __rt_lib_init_rand_2 ⇒ _rand_init ⇒ srand
  [Calls]
  - >> _rand_init

  __rt_lib_init_user_alloc_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000C))

  __rt_lib_init_alloca_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002E))

  __rt_lib_init_argv_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000002C))

  __rt_lib_init_atexit_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001B))

  __rt_lib_init_clock_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000021))

  __rt_lib_init_cpp_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000032))

  __rt_lib_init_exceptions_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000030))

  __rt_lib_init_fp_trap_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001F))

  __rt_lib_init_getenv_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000023))

  __rt_lib_init_lc_collate_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000011))

  __rt_lib_init_lc_ctype_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000013))

  __rt_lib_init_lc_monetary_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000015))

  __rt_lib_init_lc_numeric_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000017))

  __rt_lib_init_lc_time_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000019))

  __rt_lib_init_rand_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000000E))

  __rt_lib_init_return (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000033))

  __rt_lib_init_signal_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$0000001D))

  __rt_lib_init_stdio_1 (Thumb, 0 bytes, Stack size unknown bytes, libinit2.o(.ARM.Collect$$libinit$$00000025))

  __rt_lib_shutdown (Thumb, 0 bytes, Stack size unknown bytes, libshutdown.o(.ARM.Collect$$libshutdown$$00000000))
  [Called By]

  - >> __rt_exit_ls

  __rt_lib_shutdown_cpp_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000002))

  __rt_lib_shutdown_fp_trap_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000007))

  __rt_lib_shutdown_heap_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F))

  __rt_lib_shutdown_return (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000010))

  __rt_lib_shutdown_signal_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A))

  __rt_lib_shutdown_stdio_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$00000004))

  __rt_lib_shutdown_user_alloc_1 (Thumb, 0 bytes, Stack size unknown bytes, libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C))

  __rt_entry (Thumb, 0 bytes, Stack size unknown bytes, __rtentry.o(.ARM.Collect$$rtentry$$00000000))
  [Called By]

  - >> __main
  - >> __scatterload_rt2

  __rt_entry_presh_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000002))

  __rt_entry_sh (Thumb, 0 bytes, Stack size unknown bytes, __rtentry4.o(.ARM.Collect$$rtentry$$00000004))
  [Stack]

  - Max Depth = 8 + Unknown Stack Size
  - Call Chain = __rt_entry_sh ⇒ __user_setup_stackheap
  [Calls]
  - >> __user_setup_stackheap

  __rt_entry_li (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000A))
  [Calls]

  - >> __rt_lib_init

  __rt_entry_postsh_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$00000009))

  __rt_entry_main (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000D))
  [Stack]

  - Max Depth = 308 + Unknown Stack Size
  - Call Chain = __rt_entry_main ⇒ main ⇒ osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> main
  - >> exit

  __rt_entry_postli_1 (Thumb, 0 bytes, Stack size unknown bytes, __rtentry2.o(.ARM.Collect$$rtentry$$0000000C))

  __rt_exit (Thumb, 0 bytes, Stack size unknown bytes, rtexit.o(.ARM.Collect$$rtexit$$00000000))
  [Called By]

  - >> exit

  __rt_exit_ls (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000003))
  [Calls]

  - >> __rt_lib_shutdown

  __rt_exit_prels_1 (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000002))

  __rt_exit_exit (Thumb, 0 bytes, Stack size unknown bytes, rtexit2.o(.ARM.Collect$$rtexit$$00000004))
  [Calls]

  - >> _sys_exit

  rand (Thumb, 48 bytes, Stack size 0 bytes, rand.o(.emb_text))
  [Called By]

  - >> Chassis_SetMode

  Reset_Handler (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  ADC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Calls]

  - >> ADC_IRQHandler
  [Called By]
  - >> ADC_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN1_SCE_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  CAN2_SCE_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DCMI_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA1_Stream0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA1_Stream3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA1_Stream4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA1_Stream5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA1_Stream6_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA1_Stream7_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA2_Stream0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA2_Stream4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA2_Stream5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA2_Stream7_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  ETH_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  ETH_WKUP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  EXTI15_10_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  EXTI1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  EXTI2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  FLASH_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  FMC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  FPU_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  HASH_RNG_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  I2C1_ER_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  I2C1_EV_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  I2C2_ER_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  I2C2_EV_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  I2C3_ER_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  I2C3_EV_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  OTG_FS_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  OTG_FS_WKUP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  OTG_HS_EP1_IN_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  OTG_HS_EP1_OUT_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  OTG_HS_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  OTG_HS_WKUP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  PVD_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  RCC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  RTC_Alarm_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  RTC_WKUP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  SDIO_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  SPI1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  SPI2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  SPI3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TAMP_STAMP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM1_BRK_TIM9_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM1_CC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM1_TRG_COM_TIM11_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM1_UP_TIM10_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM6_DAC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM7_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM8_BRK_TIM12_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM8_CC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM8_TRG_COM_TIM14_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  TIM8_UP_TIM13_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  UART4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  UART5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  USART1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  USART2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  USART3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  WWDG_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  __user_initial_stackheap (Thumb, 0 bytes, Stack size unknown bytes, startup_stm32f407xx.o(.text))
  [Called By]

  - >> __user_setup_stackheap

  __aeabi_uldivmod (Thumb, 0 bytes, Stack size 48 bytes, lludivv7m.o(.text))
  [Stack]

  - Max Depth = 48
  - Call Chain = __aeabi_uldivmod
  [Called By]
  - >> HAL_RCC_GetSysClockFreq
  - >> UART_SetConfig

  _ll_udiv (Thumb, 240 bytes, Stack size 48 bytes, lludivv7m.o(.text), UNUSED)

  srand (Thumb, 42 bytes, Stack size 8 bytes, rand.o(.text))
  [Stack]

  - Max Depth = 8
  - Call Chain = srand
  [Called By]
  - >> Chassis_SetMode
  - >> _rand_init

  _rand_init (Thumb, 4 bytes, Stack size 0 bytes, rand.o(.text))
  [Stack]

  - Max Depth = 8
  - Call Chain = _rand_init ⇒ srand
  [Calls]
  - >> srand
  [Called By]
  - >> __rt_lib_init_rand_2

  __aeabi_memcpy (Thumb, 0 bytes, Stack size 0 bytes, rt_memcpy_v6.o(.text))
  [Called By]

  - >> prvCopyDataToQueue
  - >> prvCopyDataFromQueue
  - >> BSP_CAN_Transmit
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback
  - >> Cmd_RC_Get
  - >> Cmd_PC_BuildShootCommandFromInput

  __rt_memcpy (Thumb, 138 bytes, Stack size 0 bytes, rt_memcpy_v6.o(.text), UNUSED)
  [Calls]

  - >> __aeabi_memcpy4

  _memcpy_lastbytes (Thumb, 0 bytes, Stack size unknown bytes, rt_memcpy_v6.o(.text), UNUSED)

  __aeabi_memcpy4 (Thumb, 0 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED)
  [Called By]

  - >> __rt_memcpy

  __aeabi_memcpy8 (Thumb, 0 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text))
  [Stack]

  - Max Depth = 8
  - Call Chain = __aeabi_memcpy8
  [Called By]
  - >> Shoot_UpdateFeedback
  - >> copy_dr16

  __rt_memcpy_w (Thumb, 100 bytes, Stack size 8 bytes, rt_memcpy_w.o(.text), UNUSED)

  _memcpy_lastbytes_aligned (Thumb, 0 bytes, Stack size unknown bytes, rt_memcpy_w.o(.text), UNUSED)

  __aeabi_memset4 (Thumb, 16 bytes, Stack size 0 bytes, aeabi_memset4.o(.text))
  [Stack]

  - Max Depth = 4
  - Call Chain = __aeabi_memset4 ⇒ _memset_w
  [Calls]
  - >> _memset_w
  [Called By]
  - >> prvInitialiseNewTask

  __aeabi_memset8 (Thumb, 0 bytes, Stack size 0 bytes, aeabi_memset4.o(.text), UNUSED)

  __aeabi_memclr4 (Thumb, 0 bytes, Stack size unknown bytes, rt_memclr_w.o(.text))
  [Called By]

  - >> SystemClock_Config
  - >> DR16_ParseData
  - >> DR16_Offline
  - >> MOTOR_RM_CreateCANManager
  - >> MOTOR_DM_CreateCANManager
  - >> BSP_CAN_Init

  __aeabi_memclr8 (Thumb, 0 bytes, Stack size unknown bytes, rt_memclr_w.o(.text))
  [Called By]

  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register

  __rt_memclr_w (Thumb, 0 bytes, Stack size unknown bytes, rt_memclr_w.o(.text), UNUSED)

  _memset_w (Thumb, 74 bytes, Stack size 4 bytes, rt_memclr_w.o(.text))
  [Stack]

  - Max Depth = 4
  - Call Chain = _memset_w
  [Called By]
  - >> __aeabi_memset4

  __use_two_region_memory (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)

  __rt_heap_escrow$2region (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)

  __rt_heap_expand$2region (Thumb, 2 bytes, Stack size 0 bytes, heapauxi.o(.text), UNUSED)

  __read_errno (Thumb, 10 bytes, Stack size 8 bytes, _rserrno.o(.text), UNUSED)
  [Calls]

  - >> __aeabi_errno_addr

  __set_errno (Thumb, 12 bytes, Stack size 8 bytes, _rserrno.o(.text))
  [Stack]

  - Max Depth = 8
  - Call Chain = __set_errno
  [Calls]
  - >> __aeabi_errno_addr
  [Called By]
  - >> __hardfp_tanf
  - >> __hardfp_sinf
  - >> __hardfp_cosf
  - >> __hardfp_atan2f
  - >> __hardfp_atan2
  - >> __hardfp_asinf
  - >> sqrtf

  __aeabi_errno_addr (Thumb, 8 bytes, Stack size 0 bytes, rt_errno_addr_intlibspace.o(.text))
  [Called By]

  - >> __set_errno
  - >> __read_errno

  __errno$intlibspace (Thumb, 0 bytes, Stack size 0 bytes, rt_errno_addr_intlibspace.o(.text), UNUSED)

  __rt_errno_addr$intlibspace (Thumb, 0 bytes, Stack size 0 bytes, rt_errno_addr_intlibspace.o(.text), UNUSED)

  __user_libspace (Thumb, 8 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)

  __user_perproc_libspace (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text))
  [Called By]

  - >> __user_setup_stackheap

  __user_perthread_libspace (Thumb, 0 bytes, Stack size 0 bytes, libspace.o(.text), UNUSED)

  __user_setup_stackheap (Thumb, 74 bytes, Stack size 8 bytes, sys_stackheap_outer.o(.text))
  [Stack]

  - Max Depth = 8 + Unknown Stack Size
  - Call Chain = __user_setup_stackheap
  [Calls]
  - >> __user_initial_stackheap
  - >> __user_perproc_libspace
  [Called By]
  - >> __rt_entry_sh

  exit (Thumb, 18 bytes, Stack size 8 bytes, exit.o(.text))
  [Stack]

  - Max Depth = 8 + Unknown Stack Size
  - Call Chain = exit
  [Calls]
  - >> __rt_exit
  [Called By]
  - >> __rt_entry_main

  _sys_exit (Thumb, 8 bytes, Stack size 0 bytes, sys_exit.o(.text))
  [Called By]

  - >> __rt_exit_exit

  __I$use$semihosting (Thumb, 0 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)

  __use_no_semihosting_swi (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi.o(.text), UNUSED)

  __semihosting_library_function (Thumb, 0 bytes, Stack size unknown bytes, indicate_semi.o(.text), UNUSED)

  AHRS_GetEulr (Thumb, 348 bytes, Stack size 48 bytes, ahrs.o(.text.AHRS_GetEulr))
  [Stack]

  - Max Depth = 88
  - Call Chain = AHRS_GetEulr ⇒ __hardfp_atan2f ⇒ __set_errno
  [Calls]
  - >> copysignf
  - >> __hardfp_atan2f
  - >> __hardfp_asinf
  [Called By]
  - >> Task_atti_esti

  AHRS_Init (Thumb, 644 bytes, Stack size 56 bytes, ahrs.o(.text.AHRS_Init))
  [Stack]

  - Max Depth = 224
  - Call Chain = AHRS_Init ⇒ __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __hardfp_atan2
  - >> __aeabi_f2d
  - >> __aeabi_d2f
  [Called By]
  - >> Task_atti_esti

  AHRS_ResetEulr (Thumb, 18 bytes, Stack size 4 bytes, ahrs.o(.text.AHRS_ResetEulr))
  [Stack]

  - Max Depth = 4
  - Call Chain = AHRS_ResetEulr
  [Called By]
  - >> Gimbal_SetMode

  AHRS_Update (Thumb, 3098 bytes, Stack size 224 bytes, ahrs.o(.text.AHRS_Update))
  [Stack]

  - Max Depth = 376
  - Call Chain = AHRS_Update ⇒ AHRS_UpdateIMU ⇒ InvSqrt
  [Calls]
  - >> InvSqrt
  - >> AHRS_UpdateIMU
  [Called By]
  - >> Task_atti_esti

  AbsClip (Thumb, 106 bytes, Stack size 16 bytes, user_math.o(.text.AbsClip))
  [Stack]

  - Max Depth = 16
  - Call Chain = AbsClip
  [Called By]
  - >> PID_Calc

  BMI088_AcclStartDmaRecv (Thumb, 30 bytes, Stack size 16 bytes, bmi088.o(.text.BMI088_AcclStartDmaRecv))
  [Stack]

  - Max Depth = 248
  - Call Chain = BMI088_AcclStartDmaRecv ⇒ BMI_Read ⇒ BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> BMI_Read
  [Called By]
  - >> Task_atti_esti

  BMI088_AcclWaitDmaCplt (Thumb, 16 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_AcclWaitDmaCplt))
  [Stack]

  - Max Depth = 136
  - Call Chain = BMI088_AcclWaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_atti_esti

  BMI088_GetUpdateFreq (Thumb, 16 bytes, Stack size 4 bytes, bmi088.o(.text.BMI088_GetUpdateFreq))
  [Stack]

  - Max Depth = 4
  - Call Chain = BMI088_GetUpdateFreq
  [Called By]
  - >> Task_atti_esti

  BMI088_GyroStartDmaRecv (Thumb, 26 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_GyroStartDmaRecv))
  [Stack]

  - Max Depth = 240
  - Call Chain = BMI088_GyroStartDmaRecv ⇒ BMI_Read ⇒ BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> BMI_Read
  [Called By]
  - >> Task_atti_esti

  BMI088_GyroWaitDmaCplt (Thumb, 16 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_GyroWaitDmaCplt))
  [Stack]

  - Max Depth = 136
  - Call Chain = BMI088_GyroWaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_atti_esti

  BMI088_Init (Thumb, 392 bytes, Stack size 48 bytes, bmi088.o(.text.BMI088_Init))
  [Stack]

  - Max Depth = 280
  - Call Chain = BMI088_Init ⇒ BMI_ReadSingle ⇒ BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> osThreadGetId
  - >> BMI_WriteSingle
  - >> BMI_ReadSingle
  - >> BSP_TIME_Delay
  - >> BSP_SPI_RegisterCallback
  - >> BSP_GPIO_RegisterCallback
  - >> BSP_GPIO_EnableIRQ
  - >> BSP_GPIO_DisableIRQ
  [Called By]
  - >> Task_atti_esti

  BMI088_ParseAccl (Thumb, 244 bytes, Stack size 16 bytes, bmi088.o(.text.BMI088_ParseAccl))
  [Stack]

  - Max Depth = 16
  - Call Chain = BMI088_ParseAccl
  [Called By]
  - >> Task_atti_esti

  BMI088_ParseGyro (Thumb, 280 bytes, Stack size 16 bytes, bmi088.o(.text.BMI088_ParseGyro))
  [Stack]

  - Max Depth = 16
  - Call Chain = BMI088_ParseGyro
  [Called By]
  - >> Task_atti_esti

  BMI088_WaitNew (Thumb, 16 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_WaitNew))
  [Stack]

  - Max Depth = 136
  - Call Chain = BMI088_WaitNew ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_atti_esti

  BSP_CAN_GetHandle (Thumb, 78 bytes, Stack size 12 bytes, can_1.o(.text.BSP_CAN_GetHandle))
  [Stack]

  - Max Depth = 12
  - Call Chain = BSP_CAN_GetHandle
  [Called By]
  - >> BSP_CAN_Transmit
  - >> BSP_CAN_TxCompleteCallback
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  BSP_CAN_GetMessage (Thumb, 158 bytes, Stack size 32 bytes, can_1.o(.text.BSP_CAN_GetMessage))
  [Stack]

  - Max Depth = 252
  - Call Chain = BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> BSP_CAN_FindQueue
  - >> osMutexRelease
  - >> osMutexAcquire
  - >> osMessageQueueGet
  [Called By]
  - >> MOTOR_RM_Update
  - >> MOTOR_DM_Update

  BSP_CAN_Init (Thumb, 372 bytes, Stack size 96 bytes, can_1.o(.text.BSP_CAN_Init))
  [Stack]

  - Max Depth = 340 + Unknown Stack Size
  - Call Chain = BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> HAL_CAN_Start
  - >> HAL_CAN_ConfigFilter
  - >> HAL_CAN_ActivateNotification
  - >> BSP_CAN_RegisterCallback
  - >> BSP_CAN_TxQueueInit
  - >> osMutexNew
  - >> __aeabi_memclr4
  [Called By]
  - >> Shoot_Init
  - >> Gimbal_Init
  - >> Chassis_Init

  BSP_CAN_ParseId (Thumb, 66 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_ParseId))
  [Stack]

  - Max Depth = 32
  - Call Chain = BSP_CAN_ParseId ⇒ BSP_CAN_DefaultIdParser
  [Calls]
  - >> BSP_CAN_DefaultIdParser
  [Called By]
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  BSP_CAN_RegisterCallback (Thumb, 130 bytes, Stack size 8 bytes, can_1.o(.text.BSP_CAN_RegisterCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_CAN_RegisterCallback
  [Called By]
  - >> BSP_CAN_Init

  BSP_CAN_RegisterId (Thumb, 66 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_RegisterId))
  [Stack]

  - Max Depth = 276
  - Call Chain = BSP_CAN_RegisterId ⇒ BSP_CAN_CreateIdQueue ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> BSP_CAN_CreateIdQueue
  [Called By]
  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register

  BSP_CAN_Transmit (Thumb, 374 bytes, Stack size 80 bytes, can_1.o(.text.BSP_CAN_Transmit))
  [Stack]

  - Max Depth = 120
  - Call Chain = BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> HAL_CAN_GetTxMailboxesFreeLevel
  - >> HAL_CAN_AddTxMessage
  - >> BSP_CAN_GetHandle
  - >> BSP_CAN_TxQueuePush
  - >> __aeabi_memcpy
  [Called By]
  - >> BSP_CAN_TransmitStdDataFrame

  BSP_CAN_TransmitStdDataFrame (Thumb, 62 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_TransmitStdDataFrame))
  [Stack]

  - Max Depth = 144
  - Call Chain = BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> BSP_CAN_Transmit
  [Called By]
  - >> MOTOR_RM_Ctrl
  - >> MOTOR_DM_Enable
  - >> MOTOR_DM_SendMITCmd

  BSP_Free (Thumb, 16 bytes, Stack size 16 bytes, mm.o(.text.BSP_Free))
  [Stack]

  - Max Depth = 116
  - Call Chain = BSP_Free ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> vPortFree
  [Called By]
  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register
  - >> BSP_CAN_CreateIdQueue

  BSP_GPIO_DisableIRQ (Thumb, 88 bytes, Stack size 16 bytes, gpio_1.o(.text.BSP_GPIO_DisableIRQ))
  [Stack]

  - Max Depth = 36
  - Call Chain = BSP_GPIO_DisableIRQ ⇒ HAL_NVIC_DisableIRQ ⇒ __NVIC_DisableIRQ
  [Calls]
  - >> HAL_NVIC_DisableIRQ
  [Called By]
  - >> BMI088_Init

  BSP_GPIO_EnableIRQ (Thumb, 88 bytes, Stack size 16 bytes, gpio_1.o(.text.BSP_GPIO_EnableIRQ))
  [Stack]

  - Max Depth = 36
  - Call Chain = BSP_GPIO_EnableIRQ ⇒ HAL_NVIC_EnableIRQ ⇒ __NVIC_EnableIRQ
  [Calls]
  - >> HAL_NVIC_EnableIRQ
  [Called By]
  - >> BMI088_Init
  - >> Task_atti_esti

  BSP_GPIO_ReadPin (Thumb, 74 bytes, Stack size 16 bytes, gpio_1.o(.text.BSP_GPIO_ReadPin))
  [Stack]

  - Max Depth = 24
  - Call Chain = BSP_GPIO_ReadPin ⇒ HAL_GPIO_ReadPin
  [Calls]
  - >> HAL_GPIO_ReadPin
  [Called By]
  - >> BMI088_RxCpltCallback

  BSP_GPIO_RegisterCallback (Thumb, 144 bytes, Stack size 12 bytes, gpio_1.o(.text.BSP_GPIO_RegisterCallback))
  [Stack]

  - Max Depth = 12
  - Call Chain = BSP_GPIO_RegisterCallback
  [Called By]
  - >> BMI088_Init
  - >> Task_atti_esti

  BSP_GPIO_WritePin (Thumb, 80 bytes, Stack size 16 bytes, gpio_1.o(.text.BSP_GPIO_WritePin))
  [Stack]

  - Max Depth = 24
  - Call Chain = BSP_GPIO_WritePin ⇒ HAL_GPIO_WritePin
  [Calls]
  - >> HAL_GPIO_WritePin
  [Called By]
  - >> BMI_WriteSingle
  - >> BMI_ReadSingle
  - >> BMI_Read
  - >> BMI088_RxCpltCallback

  BSP_Malloc (Thumb, 16 bytes, Stack size 16 bytes, mm.o(.text.BSP_Malloc))
  [Stack]

  - Max Depth = 132
  - Call Chain = BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> pvPortMalloc
  [Called By]
  - >> MOTOR_RM_Register
  - >> MOTOR_RM_CreateCANManager
  - >> MOTOR_DM_Register
  - >> MOTOR_DM_CreateCANManager
  - >> BSP_CAN_CreateIdQueue

  BSP_PWM_SetComp (Thumb, 318 bytes, Stack size 24 bytes, pwm.o(.text.BSP_PWM_SetComp))
  [Stack]

  - Max Depth = 24
  - Call Chain = BSP_PWM_SetComp
  [Called By]
  - >> Task_blink
  - >> Task_atti_esti

  BSP_PWM_Start (Thumb, 68 bytes, Stack size 16 bytes, pwm.o(.text.BSP_PWM_Start))
  [Stack]

  - Max Depth = 88
  - Call Chain = BSP_PWM_Start ⇒ HAL_TIM_PWM_Start ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> HAL_TIM_PWM_Start
  [Called By]
  - >> Task_blink
  - >> Task_atti_esti

  BSP_PWM_Stop (Thumb, 68 bytes, Stack size 16 bytes, pwm.o(.text.BSP_PWM_Stop))
  [Stack]

  - Max Depth = 64
  - Call Chain = BSP_PWM_Stop ⇒ HAL_TIM_PWM_Stop ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> HAL_TIM_PWM_Stop
  [Called By]
  - >> Task_blink

  BSP_SPI_GetHandle (Thumb, 38 bytes, Stack size 8 bytes, spi_1.o(.text.BSP_SPI_GetHandle))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_SPI_GetHandle
  [Called By]
  - >> BSP_SPI_Transmit
  - >> BSP_SPI_Receive

  BSP_SPI_Receive (Thumb, 128 bytes, Stack size 24 bytes, spi_1.o(.text.BSP_SPI_Receive))
  [Stack]

  - Max Depth = 200
  - Call Chain = BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_SPI_Receive_DMA
  - >> HAL_SPI_Receive
  - >> BSP_SPI_GetHandle
  [Called By]
  - >> BMI_ReadSingle
  - >> BMI_Read

  BSP_SPI_RegisterCallback (Thumb, 68 bytes, Stack size 8 bytes, spi_1.o(.text.BSP_SPI_RegisterCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_SPI_RegisterCallback
  [Called By]
  - >> BMI088_Init

  BSP_SPI_Transmit (Thumb, 128 bytes, Stack size 24 bytes, spi_1.o(.text.BSP_SPI_Transmit))
  [Stack]

  - Max Depth = 144
  - Call Chain = BSP_SPI_Transmit ⇒ HAL_SPI_Transmit ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_SPI_Transmit_DMA
  - >> HAL_SPI_Transmit
  - >> BSP_SPI_GetHandle
  [Called By]
  - >> BMI_WriteSingle
  - >> BMI_ReadSingle
  - >> BMI_Read

  BSP_TIME_Delay (Thumb, 142 bytes, Stack size 32 bytes, time.o(.text.BSP_TIME_Delay_ms))
  [Stack]

  - Max Depth = 148
  - Call Chain = BSP_TIME_Delay ⇒ osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> HAL_Delay
  - >> osKernelGetTickFreq
  - >> osKernelGetState
  - >> osDelay
  [Called By]
  - >> BMI088_Init
  - >> BMI_WriteSingle
  - >> BMI_ReadSingle

  BSP_TIME_Delay_ms (Thumb, 142 bytes, Stack size 32 bytes, time.o(.text.BSP_TIME_Delay_ms), UNUSED)

  BSP_TIME_Get (Thumb, 170 bytes, Stack size 48 bytes, time.o(.text.BSP_TIME_Get_us))
  [Stack]

  - Max Depth = 52
  - Call Chain = BSP_TIME_Get ⇒ xTaskGetTickCount
  [Calls]
  - >> xTaskGetTickCount
  - >> osKernelGetTickFreq
  [Called By]
  - >> MOTOR_RM_Update
  - >> MOTOR_DM_Update

  BSP_TIME_Get_us (Thumb, 170 bytes, Stack size 48 bytes, time.o(.text.BSP_TIME_Get_us))
  [Stack]

  - Max Depth = 48
  - Call Chain = BSP_TIME_Get_us
  [Called By]
  - >> Shoot_Control
  - >> Gimbal_Control
  - >> DR16_ParseData
  - >> Cmd_GenerateCommand

  BSP_UART_GetHandle (Thumb, 62 bytes, Stack size 12 bytes, uart.o(.text.BSP_UART_GetHandle))
  [Stack]

  - Max Depth = 12
  - Call Chain = BSP_UART_GetHandle
  [Called By]
  - >> DR16_StartDmaRecv

  BSP_UART_IRQHandler (Thumb, 108 bytes, Stack size 16 bytes, uart.o(.text.BSP_UART_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = BSP_UART_IRQHandler ⇒ UART_Get
  [Calls]
  - >> UART_Get
  [Called By]
  - >> USART6_IRQHandler

  BSP_UART_RegisterCallback (Thumb, 100 bytes, Stack size 8 bytes, uart.o(.text.BSP_UART_RegisterCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_UART_RegisterCallback
  [Called By]
  - >> DR16_Init

  BusFault_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.BusFault_Handler))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  CAN1_RX0_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler))
  [Stack]

  - Max Depth = 80
  - Call Chain = CAN1_RX0_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN1_RX1_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler))
  [Stack]

  - Max Depth = 80
  - Call Chain = CAN1_RX1_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN1_TX_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.CAN1_TX_IRQHandler))
  [Stack]

  - Max Depth = 80
  - Call Chain = CAN1_TX_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN2_RX0_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler))
  [Stack]

  - Max Depth = 80
  - Call Chain = CAN2_RX0_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN2_RX1_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler))
  [Stack]

  - Max Depth = 80
  - Call Chain = CAN2_RX1_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN2_TX_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.CAN2_TX_IRQHandler))
  [Stack]

  - Max Depth = 80
  - Call Chain = CAN2_TX_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  Chassis_Control (Thumb, 908 bytes, Stack size 80 bytes, chassis.o(.text.Chassis_Control))
  [Stack]

  - Max Depth = 208
  - Call Chain = Chassis_Control ⇒ Chassis_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
  [Calls]
  - >> __ARM_isfinitef
  - >> __ARM_isfinite
  - >> Chassis_SetMode
  - >> Chassis_CalcWz
  - >> Mixer_Apply
  - >> Clip
  - >> PID_Calc
  - >> LowPassFilter2p_Apply
  - >> __hardfp_sinf
  - >> __hardfp_cosf
  - >> __aeabi_ul2f
  - >> __aeabi_f2d
  [Called By]
  - >> Task_ctrl_chassis

  Chassis_Init (Thumb, 516 bytes, Stack size 48 bytes, chassis.o(.text.Chassis_Init))
  [Stack]

  - Max Depth = 388 + Unknown Stack Size
  - Call Chain = Chassis_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> Mixer_Init
  - >> PID_Init
  - >> LowPassFilter2p_Init
  - >> MOTOR_RM_Register
  - >> BSP_CAN_Init
  [Called By]
  - >> Task_ctrl_chassis

  Chassis_Output (Thumb, 164 bytes, Stack size 32 bytes, chassis.o(.text.Chassis_Output))
  [Stack]

  - Max Depth = 240
  - Call Chain = Chassis_Output ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> MOTOR_RM_SetOutput
  - >> MOTOR_RM_Ctrl
  [Called By]
  - >> Task_ctrl_chassis

  Chassis_UpdateFeedback (Thumb, 184 bytes, Stack size 32 bytes, chassis.o(.text.Chassis_UpdateFeedback))
  [Stack]

  - Max Depth = 356
  - Call Chain = Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> MOTOR_RM_Update
  - >> MOTOR_RM_GetMotor
  [Called By]
  - >> Task_ctrl_chassis

  CircleAdd (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))
  [Stack]

  - Max Depth = 16
  - Call Chain = CircleAdd
  [Called By]
  - >> Shoot_CaluTargetAngle
  - >> Gimbal_Control

  CircleError (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))
  [Stack]

  - Max Depth = 20
  - Call Chain = CircleError
  [Called By]
  - >> Shoot_CaluTargetAngle
  - >> Gimbal_Control
  - >> PID_Calc

  Clip (Thumb, 76 bytes, Stack size 12 bytes, user_math.o(.text.Clip))
  [Stack]

  - Max Depth = 12
  - Call Chain = Clip
  [Called By]
  - >> Chassis_Control

  Cmd_Arbiter (Thumb, 76 bytes, Stack size 24 bytes, cmd.o(.text.Cmd_Arbiter))
  [Stack]

  - Max Depth = 60
  - Call Chain = Cmd_Arbiter ⇒ Cmd_GetHighestPrioritySource ⇒ Cmd_isREFOnline
  [Calls]
  - >> Cmd_GetHighestPrioritySource
  [Called By]
  - >> Cmd_GenerateCommand

  Cmd_GenerateCommand (Thumb, 268 bytes, Stack size 32 bytes, cmd.o(.text.Cmd_GenerateCommand))
  [Stack]

  - Max Depth = 92
  - Call Chain = Cmd_GenerateCommand ⇒ Cmd_Arbiter ⇒ Cmd_GetHighestPrioritySource ⇒ Cmd_isREFOnline
  [Calls]
  - >> BSP_TIME_Get_us
  - >> __aeabi_ul2f
  - >> Cmd_REF_Get
  - >> Cmd_RC_Get
  - >> Cmd_PC_Get
  - >> Cmd_OFFLINE
  - >> Cmd_NUC_Get
  - >> Cmd_Arbiter
  [Called By]
  - >> Task_cmd

  Cmd_GetHighestPrioritySource (Thumb, 162 bytes, Stack size 32 bytes, cmd.o(.text.Cmd_GetHighestPrioritySource))
  [Stack]

  - Max Depth = 36
  - Call Chain = Cmd_GetHighestPrioritySource ⇒ Cmd_isREFOnline
  [Calls]
  - >> Cmd_isREFOnline
  - >> Cmd_isRCOnline
  - >> Cmd_isPCOnline
  - >> Cmd_isNUCOnline
  [Called By]
  - >> Cmd_Arbiter

  Cmd_Init (Thumb, 48 bytes, Stack size 12 bytes, cmd.o(.text.Cmd_Init))
  [Stack]

  - Max Depth = 12
  - Call Chain = Cmd_Init
  [Called By]
  - >> Task_cmd

  Cmd_NUC_BuildChassisCommandFromInput (Thumb, 34 bytes, Stack size 8 bytes, cmd.o(.text.Cmd_NUC_BuildChassisCommandFromInput))
  [Stack]

  - Max Depth = 8
  - Call Chain = Cmd_NUC_BuildChassisCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_NUC_BuildGimbalCommandFromInput (Thumb, 34 bytes, Stack size 8 bytes, cmd.o(.text.Cmd_NUC_BuildGimbalCommandFromInput))
  [Stack]

  - Max Depth = 8
  - Call Chain = Cmd_NUC_BuildGimbalCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_NUC_BuildShootCommandFromInput (Thumb, 34 bytes, Stack size 8 bytes, cmd.o(.text.Cmd_NUC_BuildShootCommandFromInput))
  [Stack]

  - Max Depth = 8
  - Call Chain = Cmd_NUC_BuildShootCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_NUC_Get (Thumb, 14 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_NUC_Get))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_NUC_Get
  [Called By]
  - >> Cmd_GenerateCommand

  Cmd_OFFLINE (Thumb, 48 bytes, Stack size 8 bytes, cmd.o(.text.Cmd_OFFLINE))
  [Stack]

  - Max Depth = 8
  - Call Chain = Cmd_OFFLINE
  [Called By]
  - >> Cmd_GenerateCommand

  Cmd_PC_Get (Thumb, 56 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_Get))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_Get
  [Called By]
  - >> Cmd_GenerateCommand

  Cmd_RC_BuildChassisCommandFromInput (Thumb, 132 bytes, Stack size 12 bytes, cmd.o(.text.Cmd_RC_BuildChassisCommandFromInput))
  [Stack]

  - Max Depth = 12
  - Call Chain = Cmd_RC_BuildChassisCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_RC_BuildGimbalCommandFromInput (Thumb, 206 bytes, Stack size 12 bytes, cmd.o(.text.Cmd_RC_BuildGimbalCommandFromInput))
  [Stack]

  - Max Depth = 12
  - Call Chain = Cmd_RC_BuildGimbalCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_RC_BuildShootCommandFromInput (Thumb, 146 bytes, Stack size 12 bytes, cmd.o(.text.Cmd_RC_BuildShootCommandFromInput))
  [Stack]

  - Max Depth = 12
  - Call Chain = Cmd_RC_BuildShootCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_RC_Get (Thumb, 66 bytes, Stack size 16 bytes, cmd.o(.text.Cmd_RC_Get))
  [Stack]

  - Max Depth = 40
  - Call Chain = Cmd_RC_Get ⇒ copy_dr16 ⇒ __aeabi_memcpy8
  [Calls]
  - >> __aeabi_memcpy
  - >> copy_dr16
  [Called By]
  - >> Cmd_GenerateCommand

  Cmd_REF_BuildChassisCommandFromInput (Thumb, 34 bytes, Stack size 8 bytes, cmd.o(.text.Cmd_REF_BuildChassisCommandFromInput))
  [Stack]

  - Max Depth = 8
  - Call Chain = Cmd_REF_BuildChassisCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_REF_BuildGimbalCommandFromInput (Thumb, 34 bytes, Stack size 8 bytes, cmd.o(.text.Cmd_REF_BuildGimbalCommandFromInput))
  [Stack]

  - Max Depth = 8
  - Call Chain = Cmd_REF_BuildGimbalCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_REF_BuildShootCommandFromInput (Thumb, 34 bytes, Stack size 8 bytes, cmd.o(.text.Cmd_REF_BuildShootCommandFromInput))
  [Stack]

  - Max Depth = 8
  - Call Chain = Cmd_REF_BuildShootCommandFromInput
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_REF_Get (Thumb, 14 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_REF_Get))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_REF_Get
  [Called By]
  - >> Cmd_GenerateCommand

  Config_GetRobotParam (Thumb, 10 bytes, Stack size 0 bytes, config.o(.text.Config_GetRobotParam))
  [Called By]

  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd

  DMA1_Stream1_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = DMA1_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA1_Stream2_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA1_Stream2_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = DMA1_Stream2_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream1_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = DMA2_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream2_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = DMA2_Stream2_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream3_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = DMA2_Stream3_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream6_IRQHandler (Thumb, 16 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = DMA2_Stream6_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DR16_Init (Thumb, 116 bytes, Stack size 24 bytes, dr16.o(.text.DR16_Init))
  [Stack]

  - Max Depth = 44
  - Call Chain = DR16_Init ⇒ osThreadGetId ⇒ xTaskGetCurrentTaskHandle
  [Calls]
  - >> osThreadGetId
  - >> BSP_UART_RegisterCallback
  [Called By]
  - >> Task_rc

  DR16_Offline (Thumb, 54 bytes, Stack size 24 bytes, dr16.o(.text.DR16_Offline))
  [Stack]

  - Max Depth = 24 + Unknown Stack Size
  - Call Chain = DR16_Offline
  [Calls]
  - >> __aeabi_memclr4
  [Called By]
  - >> Task_rc

  DR16_ParseData (Thumb, 440 bytes, Stack size 32 bytes, dr16.o(.text.DR16_ParseData))
  [Stack]

  - Max Depth = 80 + Unknown Stack Size
  - Call Chain = DR16_ParseData ⇒ BSP_TIME_Get_us
  [Calls]
  - >> DR16_DataCorrupted
  - >> BSP_TIME_Get_us
  - >> __aeabi_memclr4
  [Called By]
  - >> Task_rc

  DR16_StartDmaRecv (Thumb, 50 bytes, Stack size 16 bytes, dr16.o(.text.DR16_StartDmaRecv))
  [Stack]

  - Max Depth = 144
  - Call Chain = DR16_StartDmaRecv ⇒ HAL_UART_Receive_DMA ⇒ UART_Start_Receive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_UART_Receive_DMA
  - >> BSP_UART_GetHandle
  [Called By]
  - >> Task_rc

  DR16_WaitDmaCplt (Thumb, 28 bytes, Stack size 16 bytes, dr16.o(.text.DR16_WaitDmaCplt))
  [Stack]

  - Max Depth = 144
  - Call Chain = DR16_WaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_rc

  DebugMon_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DebugMon_Handler))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  EXTI0_IRQHandler (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.EXTI0_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = EXTI0_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
  [Calls]
  - >> HAL_GPIO_EXTI_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  EXTI3_IRQHandler (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.EXTI3_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = EXTI3_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
  [Calls]
  - >> HAL_GPIO_EXTI_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  EXTI4_IRQHandler (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.EXTI4_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = EXTI4_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
  [Calls]
  - >> HAL_GPIO_EXTI_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  EXTI9_5_IRQHandler (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.EXTI9_5_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = EXTI9_5_IRQHandler ⇒ HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
  [Calls]
  - >> HAL_GPIO_EXTI_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  Error_Handler (Thumb, 6 bytes, Stack size 0 bytes, main.o(.text.Error_Handler))
  [Called By]

  - >> HAL_UART_MspInit
  - >> HAL_SPI_MspInit
  - >> HAL_I2C_MspInit
  - >> SystemClock_Config
  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init
  - >> MX_SPI1_Init
  - >> MX_I2C3_Init
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init

  Gimbal_Control (Thumb, 968 bytes, Stack size 80 bytes, gimbal.o(.text.Gimbal_Control))
  [Stack]

  - Max Depth = 288
  - Call Chain = Gimbal_Control ⇒ Gimbal_SetMode ⇒ MOTOR_DM_Enable ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> Gimbal_SetMode
  - >> CircleAdd
  - >> PID_Calc
  - >> CircleError
  - >> LowPassFilter2p_Apply
  - >> BSP_TIME_Get_us
  - >> __aeabi_ul2f
  [Called By]
  - >> Task_ctrl_gimbal

  Gimbal_Init (Thumb, 282 bytes, Stack size 32 bytes, gimbal.o(.text.Gimbal_Init))
  [Stack]

  - Max Depth = 372 + Unknown Stack Size
  - Call Chain = Gimbal_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> PID_Init
  - >> LowPassFilter2p_Init
  - >> MOTOR_DM_Register
  - >> MOTOR_DM_Enable
  - >> BSP_CAN_Init
  [Called By]
  - >> Task_ctrl_gimbal

  Gimbal_Output (Thumb, 110 bytes, Stack size 56 bytes, gimbal.o(.text.Gimbal_Output))
  [Stack]

  - Max Depth = 288
  - Call Chain = Gimbal_Output ⇒ MOTOR_DM_MITCtrl ⇒ MOTOR_DM_SendMITCmd ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> MOTOR_DM_MITCtrl
  [Called By]
  - >> Task_ctrl_gimbal

  Gimbal_UpdateFeedback (Thumb, 168 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_UpdateFeedback))
  [Stack]

  - Max Depth = 348
  - Call Chain = Gimbal_UpdateFeedback ⇒ MOTOR_DM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> MOTOR_DM_Update
  - >> MOTOR_DM_GetMotor
  [Called By]
  - >> Task_ctrl_gimbal

  Gimbal_UpdateIMU (Thumb, 80 bytes, Stack size 12 bytes, gimbal.o(.text.Gimbal_UpdateIMU))
  [Stack]

  - Max Depth = 12
  - Call Chain = Gimbal_UpdateIMU
  [Called By]
  - >> Task_ctrl_gimbal

  HAL_CAN_ActivateNotification (Thumb, 82 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_CAN_ActivateNotification
  [Called By]
  - >> BSP_CAN_Init

  HAL_CAN_AddTxMessage (Thumb, 342 bytes, Stack size 32 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_CAN_AddTxMessage
  [Called By]
  - >> BSP_CAN_Transmit
  - >> BSP_CAN_TxCompleteCallback

  HAL_CAN_ConfigFilter (Thumb, 414 bytes, Stack size 24 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_ConfigFilter
  [Called By]
  - >> BSP_CAN_Init

  HAL_CAN_ErrorCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_ErrorCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_ErrorCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_GetRxFifoFillLevel (Thumb, 82 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_CAN_GetRxFifoFillLevel
  [Called By]
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  HAL_CAN_GetRxMessage (Thumb, 530 bytes, Stack size 24 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_GetRxMessage
  [Called By]
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  HAL_CAN_GetTxMailboxesFreeLevel (Thumb, 112 bytes, Stack size 12 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel))
  [Stack]

  - Max Depth = 12
  - Call Chain = HAL_CAN_GetTxMailboxesFreeLevel
  [Called By]
  - >> BSP_CAN_Transmit
  - >> BSP_CAN_TxCompleteCallback

  HAL_CAN_IRQHandler (Thumb, 1010 bytes, Stack size 48 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler))
  [Stack]

  - Max Depth = 72
  - Call Chain = HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
  [Calls]
  - >> HAL_CAN_WakeUpFromRxMsgCallback
  - >> HAL_CAN_TxMailbox2CompleteCallback
  - >> HAL_CAN_TxMailbox2AbortCallback
  - >> HAL_CAN_TxMailbox1CompleteCallback
  - >> HAL_CAN_TxMailbox1AbortCallback
  - >> HAL_CAN_TxMailbox0CompleteCallback
  - >> HAL_CAN_TxMailbox0AbortCallback
  - >> HAL_CAN_SleepCallback
  - >> HAL_CAN_RxFifo1MsgPendingCallback
  - >> HAL_CAN_RxFifo1FullCallback
  - >> HAL_CAN_RxFifo0MsgPendingCallback
  - >> HAL_CAN_RxFifo0FullCallback
  - >> HAL_CAN_ErrorCallback
  [Called By]
  - >> CAN2_TX_IRQHandler
  - >> CAN2_RX1_IRQHandler
  - >> CAN2_RX0_IRQHandler
  - >> CAN1_TX_IRQHandler
  - >> CAN1_RX1_IRQHandler
  - >> CAN1_RX0_IRQHandler

  HAL_CAN_Init (Thumb, 478 bytes, Stack size 24 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init))
  [Stack]

  - Max Depth = 184
  - Call Chain = HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_GetTick
  - >> HAL_CAN_MspInit
  [Called By]
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init

  HAL_CAN_MspInit (Thumb, 464 bytes, Stack size 96 bytes, can.o(.text.HAL_CAN_MspInit))
  [Stack]

  - Max Depth = 160
  - Call Chain = HAL_CAN_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  - >> HAL_GPIO_Init
  [Called By]
  - >> HAL_CAN_Init

  HAL_CAN_RxFifo0FullCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo0FullCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_RxFifo0FullCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_RxFifo0MsgPendingCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo1FullCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo1FullCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_RxFifo1FullCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_RxFifo1MsgPendingCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_SleepCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_SleepCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_SleepCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_Start (Thumb, 138 bytes, Stack size 24 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Start))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_Start
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> BSP_CAN_Init

  HAL_CAN_TxMailbox0AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_TxMailbox0AbortCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox0CompleteCallback (Thumb, 76 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_TxMailbox0CompleteCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox1AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_TxMailbox1AbortCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox1CompleteCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_TxMailbox1CompleteCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox2AbortCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_TxMailbox2AbortCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox2CompleteCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_TxMailbox2CompleteCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 80 bytes, Stack size 16 bytes, can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_CAN_WakeUpFromRxMsgCallback ⇒ CAN_Get
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_DMA_Abort (Thumb, 236 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_DMA_Abort
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> HAL_UART_IRQHandler

  HAL_DMA_Abort_IT (Thumb, 68 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_DMA_Abort_IT
  [Called By]
  - >> HAL_UART_IRQHandler

  HAL_DMA_IRQHandler (Thumb, 798 bytes, Stack size 32 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_DMA_IRQHandler
  [Called By]
  - >> DMA2_Stream6_IRQHandler
  - >> DMA2_Stream3_IRQHandler
  - >> DMA2_Stream2_IRQHandler
  - >> DMA2_Stream1_IRQHandler
  - >> DMA1_Stream2_IRQHandler
  - >> DMA1_Stream1_IRQHandler

  HAL_DMA_Init (Thumb, 366 bytes, Stack size 32 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init))
  [Stack]

  - Max Depth = 56
  - Call Chain = HAL_DMA_Init ⇒ DMA_CheckFifoParam
  [Calls]
  - >> DMA_CheckFifoParam
  - >> DMA_CalcBaseAndBitshift
  - >> HAL_GetTick
  [Called By]
  - >> HAL_UART_MspInit
  - >> HAL_SPI_MspInit
  - >> HAL_I2C_MspInit

  HAL_DMA_Start_IT (Thumb, 194 bytes, Stack size 40 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT))
  [Stack]

  - Max Depth = 56
  - Call Chain = HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> DMA_SetConfig
  [Called By]
  - >> UART_Start_Receive_DMA
  - >> HAL_SPI_Transmit_DMA
  - >> HAL_SPI_TransmitReceive_DMA
  - >> HAL_SPI_Receive_DMA

  HAL_Delay (Thumb, 66 bytes, Stack size 24 bytes, stm32f4xx_hal.o(.text.HAL_Delay))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_Delay
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> BSP_TIME_Delay

  HAL_GPIO_EXTI_Callback (Thumb, 102 bytes, Stack size 16 bytes, gpio_1.o(.text.HAL_GPIO_EXTI_Callback))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_GPIO_EXTI_Callback
  [Called By]
  - >> HAL_GPIO_EXTI_IRQHandler

  HAL_GPIO_EXTI_IRQHandler (Thumb, 56 bytes, Stack size 16 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
  [Calls]
  - >> HAL_GPIO_EXTI_Callback
  [Called By]
  - >> EXTI9_5_IRQHandler
  - >> EXTI4_IRQHandler
  - >> EXTI3_IRQHandler
  - >> EXTI0_IRQHandler

  HAL_GPIO_Init (Thumb, 950 bytes, Stack size 56 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init))
  [Stack]

  - Max Depth = 56
  - Call Chain = HAL_GPIO_Init
  [Called By]
  - >> HAL_UART_MspInit
  - >> HAL_TIM_MspPostInit
  - >> HAL_SPI_MspInit
  - >> HAL_I2C_MspInit
  - >> HAL_CAN_MspInit
  - >> MX_GPIO_Init

  HAL_GPIO_ReadPin (Thumb, 46 bytes, Stack size 8 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_GPIO_ReadPin
  [Called By]
  - >> BSP_GPIO_ReadPin

  HAL_GPIO_WritePin (Thumb, 46 bytes, Stack size 8 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_WritePin))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_GPIO_WritePin
  [Called By]
  - >> MX_GPIO_Init
  - >> BSP_GPIO_WritePin

  HAL_GetTick (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_hal.o(.text.HAL_GetTick))
  [Called By]

  - >> HAL_Delay
  - >> HAL_DMA_Abort
  - >> HAL_CAN_Start
  - >> HAL_DMA_Init
  - >> HAL_CAN_Init
  - >> HAL_RCC_OscConfig
  - >> HAL_RCC_ClockConfig
  - >> HAL_SPI_TransmitReceive
  - >> HAL_SPI_Transmit
  - >> HAL_SPI_Receive
  - >> SPI_WaitFlagStateUntilTimeout
  - >> SPI_DMATransmitReceiveCplt
  - >> SPI_DMATransmitCplt
  - >> SPI_DMAReceiveCplt
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  HAL_I2C_Init (Thumb, 676 bytes, Stack size 64 bytes, stm32f4xx_hal_i2c.o(.text.HAL_I2C_Init))
  [Stack]

  - Max Depth = 192
  - Call Chain = HAL_I2C_Init ⇒ HAL_I2C_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
  [Calls]
  - >> HAL_RCC_GetPCLK1Freq
  - >> HAL_I2C_MspInit
  [Called By]
  - >> MX_I2C3_Init

  HAL_I2C_MspInit (Thumb, 314 bytes, Stack size 72 bytes, i2c.o(.text.HAL_I2C_MspInit))
  [Stack]

  - Max Depth = 128
  - Call Chain = HAL_I2C_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
  [Calls]
  - >> HAL_DMA_Init
  - >> HAL_GPIO_Init
  - >> Error_Handler
  [Called By]
  - >> HAL_I2C_Init

  HAL_IncTick (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_hal.o(.text.HAL_IncTick))
  [Called By]

  - >> SysTick_Handler

  HAL_Init (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal.o(.text.HAL_Init))
  [Stack]

  - Max Depth = 88
  - Call Chain = HAL_Init ⇒ HAL_InitTick ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_NVIC_SetPriorityGrouping
  - >> HAL_InitTick
  - >> HAL_MspInit
  [Called By]
  - >> main

  HAL_InitTick (Thumb, 112 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick))
  [Stack]

  - Max Depth = 80
  - Call Chain = HAL_InitTick ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_SYSTICK_Config
  - >> HAL_NVIC_SetPriority
  [Called By]
  - >> HAL_RCC_ClockConfig
  - >> HAL_Init

  HAL_MspInit (Thumb, 88 bytes, Stack size 16 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit))
  [Stack]

  - Max Depth = 80
  - Call Chain = HAL_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  [Called By]
  - >> HAL_Init

  HAL_NVIC_DisableIRQ (Thumb, 20 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ))
  [Stack]

  - Max Depth = 20
  - Call Chain = HAL_NVIC_DisableIRQ ⇒ __NVIC_DisableIRQ
  [Calls]
  - >> __NVIC_DisableIRQ
  [Called By]
  - >> BSP_GPIO_DisableIRQ

  HAL_NVIC_EnableIRQ (Thumb, 20 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ))
  [Stack]

  - Max Depth = 20
  - Call Chain = HAL_NVIC_EnableIRQ ⇒ __NVIC_EnableIRQ
  [Calls]
  - >> __NVIC_EnableIRQ
  [Called By]
  - >> HAL_UART_MspInit
  - >> HAL_CAN_MspInit
  - >> MX_GPIO_Init
  - >> MX_DMA_Init
  - >> BSP_GPIO_EnableIRQ

  HAL_NVIC_SetPriority (Thumb, 50 bytes, Stack size 32 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority))
  [Stack]

  - Max Depth = 64
  - Call Chain = HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> __NVIC_SetPriority
  - >> __NVIC_GetPriorityGrouping
  - >> NVIC_EncodePriority
  [Called By]
  - >> HAL_InitTick
  - >> HAL_MspInit
  - >> HAL_UART_MspInit
  - >> HAL_CAN_MspInit
  - >> MX_GPIO_Init
  - >> MX_DMA_Init

  HAL_NVIC_SetPriorityGrouping (Thumb, 16 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping))
  [Stack]

  - Max Depth = 28
  - Call Chain = HAL_NVIC_SetPriorityGrouping ⇒ __NVIC_SetPriorityGrouping
  [Calls]
  - >> __NVIC_SetPriorityGrouping
  [Called By]
  - >> HAL_Init

  HAL_RCC_ClockConfig (Thumb, 610 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig))
  [Stack]

  - Max Depth = 104
  - Call Chain = HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
  [Calls]
  - >> HAL_RCC_GetSysClockFreq
  - >> HAL_InitTick
  - >> HAL_GetTick
  [Called By]
  - >> SystemClock_Config

  HAL_RCC_GetHCLKFreq (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetHCLKFreq))
  [Called By]

  - >> HAL_RCC_GetPCLK2Freq
  - >> HAL_RCC_GetPCLK1Freq

  HAL_RCC_GetPCLK1Freq (Thumb, 34 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_RCC_GetPCLK1Freq
  [Calls]
  - >> HAL_RCC_GetHCLKFreq
  [Called By]
  - >> HAL_I2C_Init
  - >> UART_SetConfig

  HAL_RCC_GetPCLK2Freq (Thumb, 34 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_RCC_GetPCLK2Freq
  [Calls]
  - >> HAL_RCC_GetHCLKFreq
  [Called By]
  - >> UART_SetConfig

  HAL_RCC_GetSysClockFreq (Thumb, 230 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq))
  [Stack]

  - Max Depth = 80
  - Call Chain = HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
  [Calls]
  - >> __aeabi_uldivmod
  [Called By]
  - >> HAL_RCC_ClockConfig

  HAL_RCC_OscConfig (Thumb, 1726 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_RCC_OscConfig
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> SystemClock_Config

  HAL_SPI_ErrorCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_ErrorCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_SPI_ErrorCallback ⇒ SPI_Get
  [Calls]
  - >> SPI_Get
  [Called By]
  - >> SPI_DMATransmitReceiveCplt
  - >> SPI_DMATransmitCplt
  - >> SPI_DMAReceiveCplt
  - >> SPI_DMAError

  HAL_SPI_Init (Thumb, 256 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Init))
  [Stack]

  - Max Depth = 152
  - Call Chain = HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
  [Calls]
  - >> HAL_SPI_MspInit
  [Called By]
  - >> MX_SPI1_Init

  HAL_SPI_MspInit (Thumb, 396 bytes, Stack size 72 bytes, spi.o(.text.HAL_SPI_MspInit))
  [Stack]

  - Max Depth = 128
  - Call Chain = HAL_SPI_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
  [Calls]
  - >> HAL_DMA_Init
  - >> HAL_GPIO_Init
  - >> Error_Handler
  [Called By]
  - >> HAL_SPI_Init

  HAL_SPI_Receive (Thumb, 590 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive))
  [Stack]

  - Max Depth = 176
  - Call Chain = HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> HAL_SPI_TransmitReceive
  - >> SPI_EndRxTransaction
  [Called By]
  - >> BSP_SPI_Receive

  HAL_SPI_Receive_DMA (Thumb, 408 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA))
  [Stack]

  - Max Depth = 120
  - Call Chain = HAL_SPI_Receive_DMA ⇒ HAL_SPI_TransmitReceive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_DMA_Start_IT
  - >> HAL_SPI_TransmitReceive_DMA
  [Called By]
  - >> BSP_SPI_Receive

  HAL_SPI_RxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_RxCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_SPI_RxCpltCallback ⇒ SPI_Get
  [Calls]
  - >> SPI_Get
  [Called By]
  - >> SPI_DMAReceiveCplt

  HAL_SPI_RxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_RxHalfCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_SPI_RxHalfCpltCallback ⇒ SPI_Get
  [Calls]
  - >> SPI_Get
  [Called By]
  - >> SPI_DMAHalfReceiveCplt

  HAL_SPI_Transmit (Thumb, 674 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit))
  [Stack]

  - Max Depth = 120
  - Call Chain = HAL_SPI_Transmit ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_EndRxTxTransaction
  [Called By]
  - >> BSP_SPI_Transmit

  HAL_SPI_TransmitReceive (Thumb, 930 bytes, Stack size 56 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive))
  [Stack]

  - Max Depth = 136
  - Call Chain = HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_EndRxTxTransaction
  [Called By]
  - >> HAL_SPI_Receive

  HAL_SPI_TransmitReceive_DMA (Thumb, 532 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA))
  [Stack]

  - Max Depth = 96
  - Call Chain = HAL_SPI_TransmitReceive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_DMA_Start_IT
  [Called By]
  - >> HAL_SPI_Receive_DMA

  HAL_SPI_Transmit_DMA (Thumb, 364 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA))
  [Stack]

  - Max Depth = 80
  - Call Chain = HAL_SPI_Transmit_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_DMA_Start_IT
  [Called By]
  - >> BSP_SPI_Transmit

  HAL_SPI_TxCpltCallback (Thumb, 72 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_SPI_TxCpltCallback ⇒ SPI_Get
  [Calls]
  - >> SPI_Get
  [Called By]
  - >> SPI_DMATransmitCplt

  HAL_SPI_TxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxHalfCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_SPI_TxHalfCpltCallback ⇒ SPI_Get
  [Calls]
  - >> SPI_Get
  [Called By]
  - >> SPI_DMAHalfTransmitCplt

  HAL_SPI_TxRxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxRxCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_SPI_TxRxCpltCallback ⇒ SPI_Get
  [Calls]
  - >> SPI_Get
  [Called By]
  - >> SPI_DMATransmitReceiveCplt

  HAL_SPI_TxRxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_SPI_TxRxHalfCpltCallback ⇒ SPI_Get
  [Calls]
  - >> SPI_Get
  [Called By]
  - >> SPI_DMAHalfTransmitReceiveCplt

  HAL_SYSTICK_Config (Thumb, 16 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config))
  [Stack]

  - Max Depth = 40
  - Call Chain = HAL_SYSTICK_Config ⇒ SysTick_Config ⇒ __NVIC_SetPriority
  [Calls]
  - >> SysTick_Config
  [Called By]
  - >> HAL_InitTick

  HAL_TIMEx_MasterConfigSynchronization (Thumb, 290 bytes, Stack size 20 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization))
  [Stack]

  - Max Depth = 20
  - Call Chain = HAL_TIMEx_MasterConfigSynchronization
  [Called By]
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init

  HAL_TIM_Base_Init (Thumb, 156 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init))
  [Stack]

  - Max Depth = 28
  - Call Chain = HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit
  [Calls]
  - >> HAL_TIM_Base_MspInit
  - >> TIM_Base_SetConfig
  [Called By]
  - >> MX_TIM5_Init
  - >> MX_TIM10_Init

  HAL_TIM_Base_MspInit (Thumb, 118 bytes, Stack size 12 bytes, tim.o(.text.HAL_TIM_Base_MspInit))
  [Stack]

  - Max Depth = 12
  - Call Chain = HAL_TIM_Base_MspInit
  [Called By]
  - >> HAL_TIM_Base_Init

  HAL_TIM_ConfigClockSource (Thumb, 388 bytes, Stack size 32 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource))
  [Stack]

  - Max Depth = 52
  - Call Chain = HAL_TIM_ConfigClockSource ⇒ TIM_ETR_SetConfig
  [Calls]
  - >> TIM_ETR_SetConfig
  - >> TIM_TI2_ConfigInputStage
  - >> TIM_TI1_ConfigInputStage
  - >> TIM_ITRx_SetConfig
  [Called By]
  - >> MX_TIM5_Init

  HAL_TIM_MspPostInit (Thumb, 284 bytes, Stack size 48 bytes, tim.o(.text.HAL_TIM_MspPostInit))
  [Stack]

  - Max Depth = 104
  - Call Chain = HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_Init
  [Called By]
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init

  HAL_TIM_PWM_ConfigChannel (Thumb, 322 bytes, Stack size 32 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel))
  [Stack]

  - Max Depth = 52
  - Call Chain = HAL_TIM_PWM_ConfigChannel ⇒ TIM_OC2_SetConfig
  [Calls]
  - >> TIM_OC2_SetConfig
  - >> TIM_OC4_SetConfig
  - >> TIM_OC3_SetConfig
  - >> TIM_OC1_SetConfig
  [Called By]
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init

  HAL_TIM_PWM_Init (Thumb, 156 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init))
  [Stack]

  - Max Depth = 28
  - Call Chain = HAL_TIM_PWM_Init ⇒ TIM_Base_SetConfig
  [Calls]
  - >> HAL_TIM_PWM_MspInit
  - >> TIM_Base_SetConfig
  [Called By]
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init

  HAL_TIM_PWM_MspInit (Thumb, 62 bytes, Stack size 8 bytes, tim.o(.text.HAL_TIM_PWM_MspInit))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_TIM_PWM_MspInit
  [Called By]
  - >> HAL_TIM_PWM_Init

  HAL_TIM_PWM_Start (Thumb, 458 bytes, Stack size 56 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Start))
  [Stack]

  - Max Depth = 72
  - Call Chain = HAL_TIM_PWM_Start ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> TIM_CCxChannelCmd
  [Called By]
  - >> BSP_PWM_Start

  HAL_TIM_PWM_Stop (Thumb, 262 bytes, Stack size 32 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Stop))
  [Stack]

  - Max Depth = 48
  - Call Chain = HAL_TIM_PWM_Stop ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> TIM_CCxChannelCmd
  [Called By]
  - >> BSP_PWM_Stop

  HAL_UARTEx_RxEventCallback (Thumb, 12 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_UARTEx_RxEventCallback
  [Called By]
  - >> HAL_UART_IRQHandler
  - >> UART_Receive_IT
  - >> UART_DMARxHalfCplt
  - >> UART_DMAReceiveCplt

  HAL_UART_ErrorCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_ErrorCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_UART_ErrorCallback ⇒ UART_Get
  [Calls]
  - >> UART_Get
  [Called By]
  - >> HAL_UART_IRQHandler
  - >> UART_DMAError
  - >> UART_DMAAbortOnError

  HAL_UART_IRQHandler (Thumb, 1116 bytes, Stack size 80 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler))
  [Stack]

  - Max Depth = 136
  - Call Chain = HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
  [Calls]
  - >> HAL_DMA_Abort_IT
  - >> HAL_DMA_Abort
  - >> HAL_UARTEx_RxEventCallback
  - >> UART_Transmit_IT
  - >> UART_Receive_IT
  - >> UART_EndTransmit_IT
  - >> UART_EndRxTransfer
  - >> HAL_UART_ErrorCallback
  [Called By]
  - >> USART6_IRQHandler

  HAL_UART_Init (Thumb, 158 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init))
  [Stack]

  - Max Depth = 152
  - Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_UART_MspInit
  - >> UART_SetConfig
  [Called By]
  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init

  HAL_UART_MspInit (Thumb, 544 bytes, Stack size 72 bytes, usart.o(.text.HAL_UART_MspInit))
  [Stack]

  - Max Depth = 136
  - Call Chain = HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_DMA_Init
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  - >> HAL_GPIO_Init
  - >> Error_Handler
  [Called By]
  - >> HAL_UART_Init

  HAL_UART_Receive_DMA (Thumb, 86 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA))
  [Stack]

  - Max Depth = 128
  - Call Chain = HAL_UART_Receive_DMA ⇒ UART_Start_Receive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> UART_Start_Receive_DMA
  [Called By]
  - >> DR16_StartDmaRecv

  HAL_UART_RxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_RxCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_UART_RxCpltCallback ⇒ UART_Get
  [Calls]
  - >> UART_Get
  [Called By]
  - >> UART_Receive_IT
  - >> UART_DMAReceiveCplt

  HAL_UART_RxHalfCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_RxHalfCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_UART_RxHalfCpltCallback ⇒ UART_Get
  [Calls]
  - >> UART_Get
  [Called By]
  - >> UART_DMARxHalfCplt

  HAL_UART_TxCpltCallback (Thumb, 84 bytes, Stack size 16 bytes, uart.o(.text.HAL_UART_TxCpltCallback))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_UART_TxCpltCallback ⇒ UART_Get
  [Calls]
  - >> UART_Get
  [Called By]
  - >> UART_EndTransmit_IT

  HardFault_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.HardFault_Handler))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  InvSqrt (Thumb, 118 bytes, Stack size 16 bytes, user_math.o(.text.InvSqrt))
  [Stack]

  - Max Depth = 16
  - Call Chain = InvSqrt
  [Called By]
  - >> AHRS_Update
  - >> AHRS_UpdateIMU

  LowPassFilter2p_Apply (Thumb, 184 bytes, Stack size 32 bytes, filter.o(.text.LowPassFilter2p_Apply))
  [Stack]

  - Max Depth = 48
  - Call Chain = LowPassFilter2p_Apply ⇒ __ARM_isinf
  [Calls]
  - >> __ARM_isinff
  - >> __ARM_isinf
  - >> __aeabi_f2d
  [Called By]
  - >> Chassis_Control
  - >> Shoot_UpdateFeedback
  - >> Shoot_RunningFSM
  - >> Gimbal_Control
  - >> PID_Calc
  - >> LowPassFilter2p_Reset

  LowPassFilter2p_Init (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = LowPassFilter2p_Init ⇒ __hardfp_tanf ⇒ __mathlib_rredf2
  [Calls]
  - >> __hardfp_tanf
  - >> __hardfp_cosf
  [Called By]
  - >> Shoot_Init
  - >> Gimbal_Init
  - >> PID_Init
  - >> Chassis_Init

  LowPassFilter2p_Reset (Thumb, 146 bytes, Stack size 24 bytes, filter.o(.text.LowPassFilter2p_Reset))
  [Stack]

  - Max Depth = 72
  - Call Chain = LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
  [Calls]
  - >> LowPassFilter2p_Apply
  - >> __ARM_isfinitef
  - >> __ARM_isfinite
  - >> __aeabi_f2d
  [Called By]
  - >> Chassis_SetMode
  - >> Shoot_ResetCalu
  - >> Gimbal_SetMode
  - >> PID_Reset

  MOTOR_DM_Enable (Thumb, 122 bytes, Stack size 40 bytes, motor_dm.o(.text.MOTOR_DM_Enable))
  [Stack]

  - Max Depth = 184
  - Call Chain = MOTOR_DM_Enable ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> MOTOR_DM_GetMotor
  - >> BSP_CAN_TransmitStdDataFrame
  [Called By]
  - >> Gimbal_Init
  - >> Gimbal_SetMode

  MOTOR_DM_GetMotor (Thumb, 134 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_GetMotor))
  [Stack]

  - Max Depth = 40
  - Call Chain = MOTOR_DM_GetMotor ⇒ MOTOR_DM_GetCANManager
  [Calls]
  - >> MOTOR_DM_GetCANManager
  [Called By]
  - >> Gimbal_UpdateFeedback
  - >> MOTOR_DM_MITCtrl
  - >> MOTOR_DM_Enable

  MOTOR_DM_MITCtrl (Thumb, 72 bytes, Stack size 24 bytes, motor_dm.o(.text.MOTOR_DM_MITCtrl))
  [Stack]

  - Max Depth = 232
  - Call Chain = MOTOR_DM_MITCtrl ⇒ MOTOR_DM_SendMITCmd ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> MOTOR_DM_GetMotor
  - >> MOTOR_DM_SendMITCmd
  [Called By]
  - >> Gimbal_Output

  MOTOR_DM_Register (Thumb, 300 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_Register))
  [Stack]

  - Max Depth = 308 + Unknown Stack Size
  - Call Chain = MOTOR_DM_Register ⇒ BSP_CAN_RegisterId ⇒ BSP_CAN_CreateIdQueue ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> MOTOR_DM_GetCANManager
  - >> MOTOR_DM_CreateCANManager
  - >> BSP_Malloc
  - >> BSP_Free
  - >> BSP_CAN_RegisterId
  - >> __aeabi_memclr8
  [Called By]
  - >> Gimbal_Init

  MOTOR_DM_Update (Thumb, 268 bytes, Stack size 72 bytes, motor_dm.o(.text.MOTOR_DM_Update))
  [Stack]

  - Max Depth = 324
  - Call Chain = MOTOR_DM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> MOTOR_DM_ParseFeedbackFrame
  - >> MOTOR_DM_GetCANManager
  - >> BSP_TIME_Get
  - >> BSP_CAN_GetMessage
  [Called By]
  - >> Gimbal_UpdateFeedback

  MOTOR_RM_Ctrl (Thumb, 368 bytes, Stack size 64 bytes, motor_rm.o(.text.MOTOR_RM_Ctrl))
  [Stack]

  - Max Depth = 208
  - Call Chain = MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> MOTOR_RM_GetCANManager
  - >> BSP_CAN_TransmitStdDataFrame
  [Called By]
  - >> Shoot_RunningFSM
  - >> Chassis_Output

  MOTOR_RM_GetMotor (Thumb, 120 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_GetMotor))
  [Stack]

  - Max Depth = 40
  - Call Chain = MOTOR_RM_GetMotor ⇒ MOTOR_RM_GetCANManager
  [Calls]
  - >> MOTOR_RM_GetCANManager
  [Called By]
  - >> Shoot_UpdateFeedback
  - >> MOTOR_RM_SetOutput
  - >> Chassis_UpdateFeedback

  MOTOR_RM_Register (Thumb, 288 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_Register))
  [Stack]

  - Max Depth = 308 + Unknown Stack Size
  - Call Chain = MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ BSP_CAN_CreateIdQueue ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> MOTOR_RM_GetCANManager
  - >> MOTOR_RM_CreateCANManager
  - >> BSP_Malloc
  - >> BSP_Free
  - >> BSP_CAN_RegisterId
  - >> __aeabi_memclr8
  [Called By]
  - >> Shoot_Init
  - >> Chassis_Init

  MOTOR_RM_Relax (Thumb, 24 bytes, Stack size 16 bytes, motor_rm.o(.text.MOTOR_RM_Relax))
  [Stack]

  - Max Depth = 104
  - Call Chain = MOTOR_RM_Relax ⇒ MOTOR_RM_SetOutput ⇒ MOTOR_RM_GetMotor ⇒ MOTOR_RM_GetCANManager
  [Calls]
  - >> MOTOR_RM_SetOutput
  [Called By]
  - >> Shoot_RunningFSM

  MOTOR_RM_SetOutput (Thumb, 282 bytes, Stack size 48 bytes, motor_rm.o(.text.MOTOR_RM_SetOutput))
  [Stack]

  - Max Depth = 88
  - Call Chain = MOTOR_RM_SetOutput ⇒ MOTOR_RM_GetMotor ⇒ MOTOR_RM_GetCANManager
  [Calls]
  - >> MOTOR_RM_GetMotor
  - >> MOTOR_RM_GetLogicalIndex
  - >> MOTOR_RM_GetLSB
  - >> MOTOR_RM_GetCANManager
  [Called By]
  - >> Shoot_RunningFSM
  - >> MOTOR_RM_Relax
  - >> Chassis_Output

  MOTOR_RM_Update (Thumb, 258 bytes, Stack size 72 bytes, motor_rm.o(.text.MOTOR_RM_Update))
  [Stack]

  - Max Depth = 324
  - Call Chain = MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> Motor_RM_Decode
  - >> MOTOR_RM_GetCANManager
  - >> BSP_TIME_Get
  - >> BSP_CAN_GetMessage
  [Called By]
  - >> Shoot_UpdateFeedback
  - >> Chassis_UpdateFeedback

  MX_CAN1_Init (Thumb, 78 bytes, Stack size 16 bytes, can.o(.text.MX_CAN1_Init))
  [Stack]

  - Max Depth = 200
  - Call Chain = MX_CAN1_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_CAN_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_CAN2_Init (Thumb, 78 bytes, Stack size 16 bytes, can.o(.text.MX_CAN2_Init))
  [Stack]

  - Max Depth = 200
  - Call Chain = MX_CAN2_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_CAN_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_DMA_Init (Thumb, 188 bytes, Stack size 48 bytes, dma.o(.text.MX_DMA_Init))
  [Stack]

  - Max Depth = 112
  - Call Chain = MX_DMA_Init ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  [Called By]
  - >> main

  MX_FREERTOS_Init (Thumb, 64 bytes, Stack size 16 bytes, freertos.o(.text.MX_FREERTOS_Init))
  [Stack]

  - Max Depth = 268
  - Call Chain = MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> osThreadNew
  [Called By]
  - >> main

  MX_GPIO_Init (Thumb, 520 bytes, Stack size 112 bytes, gpio.o(.text.MX_GPIO_Init))
  [Stack]

  - Max Depth = 176
  - Call Chain = MX_GPIO_Init ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  - >> HAL_GPIO_WritePin
  - >> HAL_GPIO_Init
  [Called By]
  - >> main

  MX_I2C3_Init (Thumb, 72 bytes, Stack size 16 bytes, i2c.o(.text.MX_I2C3_Init))
  [Stack]

  - Max Depth = 208
  - Call Chain = MX_I2C3_Init ⇒ HAL_I2C_Init ⇒ HAL_I2C_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
  [Calls]
  - >> HAL_I2C_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_SPI1_Init (Thumb, 82 bytes, Stack size 16 bytes, spi.o(.text.MX_SPI1_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_SPI1_Init ⇒ HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_DMA_Init ⇒ DMA_CheckFifoParam
  [Calls]
  - >> HAL_SPI_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_TIM10_Init (Thumb, 142 bytes, Stack size 40 bytes, tim.o(.text.MX_TIM10_Init))
  [Stack]

  - Max Depth = 144
  - Call Chain = MX_TIM10_Init ⇒ HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIM_MspPostInit
  - >> HAL_TIM_Base_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_TIM4_Init (Thumb, 156 bytes, Stack size 48 bytes, tim.o(.text.MX_TIM4_Init))
  [Stack]

  - Max Depth = 152
  - Call Chain = MX_TIM4_Init ⇒ HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIM_MspPostInit
  - >> HAL_TIMEx_MasterConfigSynchronization
  - >> Error_Handler
  [Called By]
  - >> main

  MX_TIM5_Init (Thumb, 266 bytes, Stack size 64 bytes, tim.o(.text.MX_TIM5_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_TIM5_Init ⇒ HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIM_MspPostInit
  - >> HAL_TIM_ConfigClockSource
  - >> HAL_TIM_Base_Init
  - >> HAL_TIMEx_MasterConfigSynchronization
  - >> Error_Handler
  [Called By]
  - >> main

  MX_USART3_UART_Init (Thumb, 68 bytes, Stack size 16 bytes, usart.o(.text.MX_USART3_UART_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_USART3_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_UART_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_USART6_UART_Init (Thumb, 64 bytes, Stack size 16 bytes, usart.o(.text.MX_USART6_UART_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_USART6_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_NVIC_SetPriority ⇒ NVIC_EncodePriority
  [Calls]
  - >> HAL_UART_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MemManage_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.MemManage_Handler))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  Mixer_Apply (Thumb, 674 bytes, Stack size 60 bytes, mixer.o(.text.Mixer_Apply))
  [Stack]

  - Max Depth = 60
  - Call Chain = Mixer_Apply
  [Called By]
  - >> Chassis_Control

  Mixer_Init (Thumb, 46 bytes, Stack size 12 bytes, mixer.o(.text.Mixer_Init))
  [Stack]

  - Max Depth = 12
  - Call Chain = Mixer_Init
  [Called By]
  - >> Chassis_Init

  NMI_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.NMI_Handler))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  PID_Calc (Thumb, 752 bytes, Stack size 72 bytes, pid.o(.text.PID_Calc))
  [Stack]

  - Max Depth = 120
  - Call Chain = PID_Calc ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
  [Calls]
  - >> CircleError
  - >> AbsClip
  - >> __ARM_isfinitef
  - >> __ARM_isfinite
  - >> LowPassFilter2p_Apply
  - >> __aeabi_f2d
  [Called By]
  - >> Chassis_Control
  - >> Shoot_RunningFSM
  - >> Gimbal_Control
  - >> Task_atti_esti

  PID_Init (Thumb, 406 bytes, Stack size 32 bytes, pid.o(.text.PID_Init))
  [Stack]

  - Max Depth = 128
  - Call Chain = PID_Init ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
  [Calls]
  - >> PID_Reset
  - >> __ARM_isfinitef
  - >> __ARM_isfinite
  - >> LowPassFilter2p_Init
  - >> __aeabi_f2d
  [Called By]
  - >> Shoot_Init
  - >> Gimbal_Init
  - >> Task_atti_esti
  - >> Chassis_Init

  PID_Reset (Thumb, 72 bytes, Stack size 24 bytes, pid.o(.text.PID_Reset))
  [Stack]

  - Max Depth = 96
  - Call Chain = PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
  [Calls]
  - >> LowPassFilter2p_Reset
  [Called By]
  - >> Chassis_SetMode
  - >> Shoot_ResetCalu
  - >> Gimbal_SetMode
  - >> PID_Init

  PID_ResetIntegral (Thumb, 38 bytes, Stack size 8 bytes, pid.o(.text.PID_ResetIntegral))
  [Stack]

  - Max Depth = 8
  - Call Chain = PID_ResetIntegral
  [Called By]
  - >> Shoot_RunningFSM
  - >> Shoot_ResetIntegral

  PendSV_Handler (Thumb, 100 bytes, Stack size 0 bytes, port.o(.text.PendSV_Handler))
  [Stack]

  - Max Depth = 12
  - Call Chain = PendSV_Handler ⇒ vTaskSwitchContext
  [Calls]
  - >> vTaskSwitchContext
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  SVC_Handler (Thumb, 36 bytes, Stack size 0 bytes, port.o(.text.SVC_Handler))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  ScaleSumTo1 (Thumb, 104 bytes, Stack size 16 bytes, user_math.o(.text.ScaleSumTo1))
  [Stack]

  - Max Depth = 16
  - Call Chain = ScaleSumTo1
  [Called By]
  - >> Shoot_RunningFSM

  Shoot_CaluTargetAngle (Thumb, 204 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_CaluTargetAngle))
  [Stack]

  - Max Depth = 52
  - Call Chain = Shoot_CaluTargetAngle ⇒ CircleError
  [Calls]
  - >> CircleAdd
  - >> CircleError
  [Called By]
  - >> Shoot_RunningFSM

  Shoot_Control (Thumb, 152 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_Control))
  [Stack]

  - Max Depth = 352
  - Call Chain = Shoot_Control ⇒ Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> Shoot_JamDetectionFSM
  - >> BSP_TIME_Get_us
  - >> __aeabi_ul2f
  [Called By]
  - >> Task_ctrl_shoot

  Shoot_Init (Thumb, 428 bytes, Stack size 48 bytes, shoot.o(.text.Shoot_Init))
  [Stack]

  - Max Depth = 388 + Unknown Stack Size
  - Call Chain = Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> PID_Init
  - >> LowPassFilter2p_Init
  - >> MOTOR_RM_Register
  - >> BSP_CAN_Init
  [Called By]
  - >> Task_ctrl_shoot

  Shoot_JamDetectionFSM (Thumb, 432 bytes, Stack size 24 bytes, shoot.o(.text.Shoot_JamDetectionFSM))
  [Stack]

  - Max Depth = 320
  - Call Chain = Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> Shoot_RunningFSM
  [Called By]
  - >> Shoot_Control

  Shoot_ResetCalu (Thumb, 216 bytes, Stack size 32 bytes, shoot.o(.text.Shoot_ResetCalu))
  [Stack]

  - Max Depth = 128
  - Call Chain = Shoot_ResetCalu ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
  [Calls]
  - >> PID_Reset
  - >> LowPassFilter2p_Reset
  [Called By]
  - >> Shoot_RunningFSM

  Shoot_ResetIntegral (Thumb, 134 bytes, Stack size 24 bytes, shoot.o(.text.Shoot_ResetIntegral))
  [Stack]

  - Max Depth = 32
  - Call Chain = Shoot_ResetIntegral ⇒ PID_ResetIntegral
  [Calls]
  - >> PID_ResetIntegral
  [Called By]
  - >> Shoot_RunningFSM

  Shoot_ResetOutput (Thumb, 140 bytes, Stack size 16 bytes, shoot.o(.text.Shoot_ResetOutput))
  [Stack]

  - Max Depth = 16
  - Call Chain = Shoot_ResetOutput
  [Called By]
  - >> Shoot_RunningFSM

  Shoot_RunningFSM (Thumb, 1600 bytes, Stack size 88 bytes, shoot.o(.text.Shoot_RunningFSM))
  [Stack]

  - Max Depth = 296
  - Call Chain = Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> Shoot_ResetOutput
  - >> Shoot_ResetIntegral
  - >> Shoot_ResetCalu
  - >> Shoot_CaluTargetAngle
  - >> ScaleSumTo1
  - >> PID_ResetIntegral
  - >> PID_Calc
  - >> LowPassFilter2p_Apply
  - >> MOTOR_RM_SetOutput
  - >> MOTOR_RM_Relax
  - >> MOTOR_RM_Ctrl
  [Called By]
  - >> Shoot_JamDetectionFSM

  Shoot_SetMode (Thumb, 54 bytes, Stack size 12 bytes, shoot.o(.text.Shoot_SetMode))
  [Stack]

  - Max Depth = 12
  - Call Chain = Shoot_SetMode
  [Called By]
  - >> Task_ctrl_shoot

  Shoot_UpdateFeedback (Thumb, 688 bytes, Stack size 40 bytes, shoot.o(.text.Shoot_UpdateFeedback))
  [Stack]

  - Max Depth = 364
  - Call Chain = Shoot_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> LowPassFilter2p_Apply
  - >> MOTOR_RM_Update
  - >> MOTOR_RM_GetMotor
  - >> __aeabi_memcpy8
  [Called By]
  - >> Task_ctrl_shoot

  StartDefaultTask (Thumb, 18 bytes, Stack size 16 bytes, freertos.o(.text.StartDefaultTask))
  [Stack]

  - Max Depth = 188
  - Call Chain = StartDefaultTask ⇒ osThreadTerminate ⇒ vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> osThreadTerminate
  - >> osThreadGetId
  [Address Reference Count : 1]
  - freertos.o(.text.MX_FREERTOS_Init)

  SysTick_Handler (Thumb, 24 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.SysTick_Handler))
  [Stack]

  - Max Depth = 68
  - Call Chain = SysTick_Handler ⇒ xPortSysTickHandler ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xPortSysTickHandler
  - >> HAL_IncTick
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  SystemClock_Config (Thumb, 188 bytes, Stack size 88 bytes, main.o(.text.SystemClock_Config))
  [Stack]

  - Max Depth = 192 + Unknown Stack Size
  - Call Chain = SystemClock_Config ⇒ HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
  [Calls]
  - >> HAL_RCC_OscConfig
  - >> HAL_RCC_ClockConfig
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  SystemInit (Thumb, 18 bytes, Stack size 0 bytes, system_stm32f4xx.o(.text.SystemInit))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(.text)

  TIM_Base_SetConfig (Thumb, 420 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(.text.TIM_Base_SetConfig))
  [Stack]

  - Max Depth = 12
  - Call Chain = TIM_Base_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_Base_Init

  TIM_CCxChannelCmd (Thumb, 54 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.TIM_CCxChannelCmd))
  [Stack]

  - Max Depth = 16
  - Call Chain = TIM_CCxChannelCmd
  [Called By]
  - >> HAL_TIM_PWM_Stop
  - >> HAL_TIM_PWM_Start

  TIM_ETR_SetConfig (Thumb, 52 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_ETR_SetConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_ETR_SetConfig
  [Called By]
  - >> HAL_TIM_ConfigClockSource

  TIM_OC2_SetConfig (Thumb, 244 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC2_SetConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_OC2_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_ConfigChannel

  Task_Init (Thumb, 358 bytes, Stack size 40 bytes, init.o(.text.Task_Init))
  [Stack]

  - Max Depth = 292
  - Call Chain = Task_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> osThreadTerminate
  - >> osThreadNew
  - >> osThreadGetId
  - >> osMessageQueueNew
  - >> osKernelUnlock
  - >> osKernelLock
  [Address Reference Count : 1]
  - freertos.o(.text.MX_FREERTOS_Init)

  Task_atti_esti (Thumb, 668 bytes, Stack size 56 bytes, atti_esti.o(.text.Task_atti_esti))
  [Stack]

  - Max Depth = 432
  - Call Chain = Task_atti_esti ⇒ AHRS_Update ⇒ AHRS_UpdateIMU ⇒ InvSqrt
  [Calls]
  - >> PID_Init
  - >> PID_Calc
  - >> AHRS_Update
  - >> AHRS_Init
  - >> AHRS_GetEulr
  - >> BMI088_WaitNew
  - >> BMI088_ParseGyro
  - >> BMI088_ParseAccl
  - >> BMI088_Init
  - >> BMI088_GyroWaitDmaCplt
  - >> BMI088_GyroStartDmaRecv
  - >> BMI088_GetUpdateFreq
  - >> BMI088_AcclWaitDmaCplt
  - >> BMI088_AcclStartDmaRecv
  - >> BSP_PWM_Start
  - >> BSP_PWM_SetComp
  - >> BSP_GPIO_RegisterCallback
  - >> BSP_GPIO_EnableIRQ
  - >> osMessageQueueReset
  - >> osMessageQueuePut
  - >> osKernelUnlock
  - >> osKernelLock
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_blink (Thumb, 176 bytes, Stack size 32 bytes, blink.o(.text.Task_blink))
  [Stack]

  - Max Depth = 180
  - Call Chain = Task_blink ⇒ osDelayUntil ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> BSP_PWM_Stop
  - >> BSP_PWM_Start
  - >> BSP_PWM_SetComp
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __hardfp_sinf
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_cmd (Thumb, 296 bytes, Stack size 48 bytes, cmd_1.o(.text.Task_cmd))
  [Stack]

  - Max Depth = 244
  - Call Chain = Task_cmd ⇒ osMessageQueuePut ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> Config_GetRobotParam
  - >> osMessageQueueReset
  - >> osMessageQueuePut
  - >> osMessageQueueGet
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  - >> Cmd_Init
  - >> Cmd_GenerateCommand
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_ctrl_chassis (Thumb, 220 bytes, Stack size 48 bytes, ctrl_chassis.o(.text.Task_ctrl_chassis))
  [Stack]

  - Max Depth = 436 + Unknown Stack Size
  - Call Chain = Task_ctrl_chassis ⇒ Chassis_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> Chassis_Control
  - >> Config_GetRobotParam
  - >> osMessageQueueGet
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  - >> Chassis_UpdateFeedback
  - >> Chassis_Output
  - >> Chassis_Init
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_ctrl_gimbal (Thumb, 244 bytes, Stack size 40 bytes, ctrl_gimbal.o(.text.Task_ctrl_gimbal))
  [Stack]

  - Max Depth = 412 + Unknown Stack Size
  - Call Chain = Task_ctrl_gimbal ⇒ Gimbal_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> Gimbal_UpdateIMU
  - >> Gimbal_UpdateFeedback
  - >> Gimbal_Output
  - >> Gimbal_Init
  - >> Gimbal_Control
  - >> Config_GetRobotParam
  - >> osMessageQueuePut
  - >> osMessageQueueGet
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_ctrl_shoot (Thumb, 172 bytes, Stack size 32 bytes, ctrl_shoot.o(.text.Task_ctrl_shoot))
  [Stack]

  - Max Depth = 420 + Unknown Stack Size
  - Call Chain = Task_ctrl_shoot ⇒ Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> Shoot_UpdateFeedback
  - >> Shoot_SetMode
  - >> Shoot_Init
  - >> Shoot_Control
  - >> Config_GetRobotParam
  - >> osMessageQueueGet
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_rc (Thumb, 176 bytes, Stack size 24 bytes, rc.o(.text.Task_rc))
  [Stack]

  - Max Depth = 220 + Unknown Stack Size
  - Call Chain = Task_rc ⇒ osMessageQueuePut ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> DR16_WaitDmaCplt
  - >> DR16_StartDmaRecv
  - >> DR16_ParseData
  - >> DR16_Offline
  - >> DR16_Init
  - >> osMessageQueuePut
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  UART_Start_Receive_DMA (Thumb, 304 bytes, Stack size 48 bytes, stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA))
  [Stack]

  - Max Depth = 104
  - Call Chain = UART_Start_Receive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_DMA_Start_IT
  [Called By]
  - >> HAL_UART_Receive_DMA

  USART6_IRQHandler (Thumb, 28 bytes, Stack size 16 bytes, stm32f4xx_it.o(.text.USART6_IRQHandler))
  [Stack]

  - Max Depth = 152
  - Call Chain = USART6_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
  [Calls]
  - >> HAL_UART_IRQHandler
  - >> BSP_UART_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  UsageFault_Handler (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.UsageFault_Handler))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  eTaskGetState (Thumb, 246 bytes, Stack size 40 bytes, tasks.o(.text.eTaskGetState))
  [Stack]

  - Max Depth = 48
  - Call Chain = eTaskGetState ⇒ vPortExitCritical
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> osThreadTerminate

  main (Thumb, 76 bytes, Stack size 16 bytes, main.o(.text.main))
  [Stack]

  - Max Depth = 308 + Unknown Stack Size
  - Call Chain = main ⇒ osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> osKernelStart
  - >> osKernelInitialize
  - >> SystemClock_Config
  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init
  - >> MX_SPI1_Init
  - >> MX_I2C3_Init
  - >> MX_GPIO_Init
  - >> MX_FREERTOS_Init
  - >> MX_DMA_Init
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init
  - >> HAL_Init
  [Called By]
  - >> __rt_entry_main

  osDelay (Thumb, 52 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osDelay))
  [Stack]

  - Max Depth = 116
  - Call Chain = osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> vTaskDelay
  [Called By]
  - >> BSP_TIME_Delay
  - >> Task_rc
  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd
  - >> Task_blink
  - >> Task_atti_esti

  osDelayUntil (Thumb, 88 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osDelayUntil))
  [Stack]

  - Max Depth = 148
  - Call Chain = osDelayUntil ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetTickCount
  - >> vTaskDelayUntil
  [Called By]
  - >> Task_rc
  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd
  - >> Task_blink
  - >> Task_atti_esti

  osKernelGetState (Thumb, 82 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osKernelGetState))
  [Stack]

  - Max Depth = 20
  - Call Chain = osKernelGetState ⇒ xTaskGetSchedulerState
  [Calls]
  - >> xTaskGetSchedulerState
  [Called By]
  - >> BSP_TIME_Delay

  osKernelGetTickCount (Thumb, 38 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osKernelGetTickCount))
  [Stack]

  - Max Depth = 48
  - Call Chain = osKernelGetTickCount ⇒ xTaskGetTickCountFromISR ⇒ vPortValidateInterruptPriority
  [Calls]
  - >> xTaskGetTickCountFromISR
  - >> xTaskGetTickCount
  [Called By]
  - >> Task_rc
  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd
  - >> Task_blink
  - >> Task_atti_esti

  osKernelGetTickFreq (Thumb, 6 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelGetTickFreq))
  [Called By]

  - >> BSP_TIME_Get
  - >> BSP_TIME_Delay
  - >> Task_rc
  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd
  - >> Task_blink
  - >> Task_atti_esti

  osKernelInitialize (Thumb, 70 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelInitialize))
  [Stack]

  - Max Depth = 8
  - Call Chain = osKernelInitialize
  [Called By]
  - >> main

  osKernelLock (Thumb, 86 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osKernelLock))
  [Stack]

  - Max Depth = 28
  - Call Chain = osKernelLock ⇒ xTaskGetSchedulerState
  [Calls]
  - >> xTaskGetSchedulerState
  - >> vTaskSuspendAll
  [Called By]
  - >> Task_Init
  - >> Task_atti_esti

  osKernelStart (Thumb, 82 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osKernelStart))
  [Stack]

  - Max Depth = 292
  - Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> vTaskStartScheduler
  - >> SVC_Setup
  [Called By]
  - >> main

  osKernelUnlock (Thumb, 110 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osKernelUnlock))
  [Stack]

  - Max Depth = 92
  - Call Chain = osKernelUnlock ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xTaskResumeAll
  [Called By]
  - >> Task_Init
  - >> Task_atti_esti

  osMessageQueueGet (Thumb, 192 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osMessageQueueGet))
  [Stack]

  - Max Depth = 172
  - Call Chain = osMessageQueueGet ⇒ xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xQueueReceiveFromISR
  - >> xQueueReceive
  [Called By]
  - >> BSP_CAN_GetMessage
  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd

  osMessageQueueNew (Thumb, 254 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osMessageQueueNew))
  [Stack]

  - Max Depth = 196
  - Call Chain = osMessageQueueNew ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGenericCreateStatic
  - >> xQueueGenericCreate
  - >> vQueueAddToRegistry
  [Called By]
  - >> Task_Init
  - >> BSP_CAN_CreateIdQueue

  osMessageQueuePut (Thumb, 196 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osMessageQueuePut))
  [Stack]

  - Max Depth = 196
  - Call Chain = osMessageQueuePut ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  [Called By]
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback
  - >> Task_rc
  - >> Task_ctrl_gimbal
  - >> Task_cmd
  - >> Task_atti_esti

  osMessageQueueReset (Thumb, 64 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueueReset))
  [Stack]

  - Max Depth = 84
  - Call Chain = osMessageQueueReset ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGenericReset
  [Called By]
  - >> Task_cmd
  - >> Task_atti_esti

  osMutexAcquire (Thumb, 158 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osMutexAcquire))
  [Stack]

  - Max Depth = 204
  - Call Chain = osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xQueueTakeMutexRecursive
  - >> xQueueSemaphoreTake
  [Called By]
  - >> BSP_CAN_GetMessage
  - >> BSP_CAN_CreateIdQueue

  osMutexNew (Thumb, 296 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osMutexNew))
  [Stack]

  - Max Depth = 244
  - Call Chain = osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex
  - >> vQueueAddToRegistry
  [Called By]
  - >> BSP_CAN_Init

  osMutexRelease (Thumb, 126 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osMutexRelease))
  [Stack]

  - Max Depth = 220
  - Call Chain = osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGiveMutexRecursive
  - >> xQueueGenericSend
  [Called By]
  - >> BSP_CAN_GetMessage
  - >> BSP_CAN_CreateIdQueue

  osThreadFlagsSet (Thumb, 164 bytes, Stack size 48 bytes, cmsis_os2.o(.text.osThreadFlagsSet))
  [Stack]

  - Max Depth = 136
  - Call Chain = osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR ⇒ vPortValidateInterruptPriority
  [Calls]
  - >> xTaskGenericNotifyFromISR
  - >> xTaskGenericNotify
  [Called By]
  - >> DR16_RxCpltCallback
  - >> BMI088_RxCpltCallback
  - >> BMI088_GyroIntCallback
  - >> BMI088_AcclIntCallback

  osThreadFlagsWait (Thumb, 282 bytes, Stack size 56 bytes, cmsis_os2.o(.text.osThreadFlagsWait))
  [Stack]

  - Max Depth = 128
  - Call Chain = osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> xTaskGetTickCount
  - >> xTaskNotifyWait
  [Called By]
  - >> DR16_WaitDmaCplt
  - >> BMI088_WaitNew
  - >> BMI088_GyroWaitDmaCplt
  - >> BMI088_AcclWaitDmaCplt

  osThreadGetId (Thumb, 16 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osThreadGetId))
  [Stack]

  - Max Depth = 20
  - Call Chain = osThreadGetId ⇒ xTaskGetCurrentTaskHandle
  [Calls]
  - >> xTaskGetCurrentTaskHandle
  [Called By]
  - >> Task_Init
  - >> StartDefaultTask
  - >> DR16_Init
  - >> BMI088_Init

  osThreadNew (Thumb, 346 bytes, Stack size 72 bytes, cmsis_os2.o(.text.osThreadNew))
  [Stack]

  - Max Depth = 252
  - Call Chain = osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskCreateStatic
  - >> xTaskCreate
  [Called By]
  - >> Task_Init
  - >> MX_FREERTOS_Init

  osThreadTerminate (Thumb, 94 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osThreadTerminate))
  [Stack]

  - Max Depth = 172
  - Call Chain = osThreadTerminate ⇒ vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> vTaskDelete
  - >> eTaskGetState
  [Called By]
  - >> Task_Init
  - >> StartDefaultTask

  pvPortMalloc (Thumb, 492 bytes, Stack size 48 bytes, heap_4.o(.text.pvPortMalloc))
  [Stack]

  - Max Depth = 116
  - Call Chain = pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvInsertBlockIntoFreeList
  - >> prvHeapInit
  [Called By]
  - >> xTaskCreate
  - >> xQueueGenericCreate
  - >> BSP_Malloc

  pvTaskIncrementMutexHeldCount (Thumb, 44 bytes, Stack size 0 bytes, tasks.o(.text.pvTaskIncrementMutexHeldCount))
  [Called By]

  - >> xQueueSemaphoreTake

  pxPortInitialiseStack (Thumb, 94 bytes, Stack size 12 bytes, port.o(.text.pxPortInitialiseStack))
  [Stack]

  - Max Depth = 12
  - Call Chain = pxPortInitialiseStack
  [Called By]
  - >> prvInitialiseNewTask

  uxListRemove (Thumb, 72 bytes, Stack size 8 bytes, list.o(.text.uxListRemove))
  [Stack]

  - Max Depth = 8
  - Call Chain = uxListRemove
  [Called By]
  - >> prvSwitchTimerLists
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer
  - >> xTaskIncrementTick
  - >> vTaskDelete
  - >> prvCheckTasksWaitingTermination
  - >> prvAddCurrentTaskToDelayedList
  - >> xTaskGenericNotifyFromISR
  - >> xTaskGenericNotify
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityInherit
  - >> xTaskPriorityDisinherit
  - >> vTaskPriorityDisinheritAfterTimeout
  - >> xTaskResumeAll

  vApplicationGetIdleTaskMemory (Thumb, 42 bytes, Stack size 12 bytes, cmsis_os2.o(.text.vApplicationGetIdleTaskMemory))
  [Stack]

  - Max Depth = 12
  - Call Chain = vApplicationGetIdleTaskMemory
  [Called By]
  - >> vTaskStartScheduler

  vApplicationGetTimerTaskMemory (Thumb, 44 bytes, Stack size 12 bytes, cmsis_os2.o(.text.vApplicationGetTimerTaskMemory))
  [Stack]

  - Max Depth = 12
  - Call Chain = vApplicationGetTimerTaskMemory
  [Called By]
  - >> xTimerCreateTimerTask

  vListInitialise (Thumb, 46 bytes, Stack size 4 bytes, list.o(.text.vListInitialise))
  [Stack]

  - Max Depth = 4
  - Call Chain = vListInitialise
  [Called By]
  - >> prvCheckForValidListAndQueue
  - >> prvInitialiseTaskLists
  - >> xQueueGenericReset

  vListInitialiseItem (Thumb, 14 bytes, Stack size 4 bytes, list.o(.text.vListInitialiseItem))
  [Stack]

  - Max Depth = 4
  - Call Chain = vListInitialiseItem
  [Called By]
  - >> prvInitialiseNewTask

  vListInsert (Thumb, 106 bytes, Stack size 16 bytes, list.o(.text.vListInsert))
  [Stack]

  - Max Depth = 16
  - Call Chain = vListInsert
  [Called By]
  - >> prvSwitchTimerLists
  - >> prvInsertTimerInActiveList
  - >> prvAddCurrentTaskToDelayedList
  - >> vTaskPlaceOnEventList

  vListInsertEnd (Thumb, 58 bytes, Stack size 12 bytes, list.o(.text.vListInsertEnd))
  [Stack]

  - Max Depth = 12
  - Call Chain = vListInsertEnd
  [Called By]
  - >> xTaskIncrementTick
  - >> vTaskDelete
  - >> prvAddNewTaskToReadyList
  - >> prvAddCurrentTaskToDelayedList
  - >> xTaskGenericNotifyFromISR
  - >> xTaskGenericNotify
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityInherit
  - >> xTaskPriorityDisinherit
  - >> vTaskPriorityDisinheritAfterTimeout
  - >> vTaskPlaceOnEventListRestricted
  - >> xTaskResumeAll

  vPortEnterCritical (Thumb, 86 bytes, Stack size 8 bytes, port.o(.text.vPortEnterCritical))
  [Stack]

  - Max Depth = 8
  - Call Chain = vPortEnterCritical
  [Called By]
  - >> prvCheckForValidListAndQueue
  - >> vTaskDelete
  - >> eTaskGetState
  - >> prvCheckTasksWaitingTermination
  - >> prvAddNewTaskToReadyList
  - >> xTaskNotifyWait
  - >> xTaskGenericNotify
  - >> xTaskCheckForTimeOut
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> vQueueWaitForMessageRestricted
  - >> prvUnlockQueue
  - >> prvIsQueueFull
  - >> prvIsQueueEmpty
  - >> xTaskResumeAll

  vPortExitCritical (Thumb, 74 bytes, Stack size 8 bytes, port.o(.text.vPortExitCritical))
  [Stack]

  - Max Depth = 8
  - Call Chain = vPortExitCritical
  [Called By]
  - >> prvCheckForValidListAndQueue
  - >> vTaskDelete
  - >> eTaskGetState
  - >> prvCheckTasksWaitingTermination
  - >> prvAddNewTaskToReadyList
  - >> xTaskNotifyWait
  - >> xTaskGenericNotify
  - >> xTaskCheckForTimeOut
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> vQueueWaitForMessageRestricted
  - >> prvUnlockQueue
  - >> prvIsQueueFull
  - >> prvIsQueueEmpty
  - >> xTaskResumeAll

  vPortFree (Thumb, 206 bytes, Stack size 32 bytes, heap_4.o(.text.vPortFree))
  [Stack]

  - Max Depth = 100
  - Call Chain = vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvInsertBlockIntoFreeList
  [Called By]
  - >> prvProcessReceivedCommands
  - >> xTaskCreate
  - >> prvDeleteTCB
  - >> BSP_Free

  vPortSetupTimerInterrupt (Thumb, 68 bytes, Stack size 0 bytes, port.o(.text.vPortSetupTimerInterrupt))
  [Called By]

  - >> xPortStartScheduler

  vPortValidateInterruptPriority (Thumb, 132 bytes, Stack size 16 bytes, port.o(.text.vPortValidateInterruptPriority))
  [Stack]

  - Max Depth = 16
  - Call Chain = vPortValidateInterruptPriority
  [Called By]
  - >> xTaskGetTickCountFromISR
  - >> xTaskGenericNotifyFromISR
  - >> xQueueReceiveFromISR
  - >> xQueueGenericSendFromISR

  vQueueAddToRegistry (Thumb, 82 bytes, Stack size 12 bytes, queue.o(.text.vQueueAddToRegistry))
  [Stack]

  - Max Depth = 12
  - Call Chain = vQueueAddToRegistry
  [Called By]
  - >> prvCheckForValidListAndQueue
  - >> osMutexNew
  - >> osMessageQueueNew

  vQueueWaitForMessageRestricted (Thumb, 100 bytes, Stack size 24 bytes, queue.o(.text.vQueueWaitForMessageRestricted))
  [Stack]

  - Max Depth = 88
  - Call Chain = vQueueWaitForMessageRestricted ⇒ vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vTaskPlaceOnEventListRestricted
  - >> prvUnlockQueue
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> prvProcessTimerOrBlockTask

  vTaskDelay (Thumb, 110 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelay))
  [Stack]

  - Max Depth = 92
  - Call Chain = vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  [Called By]
  - >> osDelay

  vTaskDelayUntil (Thumb, 276 bytes, Stack size 48 bytes, tasks.o(.text.vTaskDelayUntil))
  [Stack]

  - Max Depth = 116
  - Call Chain = vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  [Called By]
  - >> osDelayUntil

  vTaskDelete (Thumb, 270 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelete))
  [Stack]

  - Max Depth = 140
  - Call Chain = vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> prvResetNextTaskUnblockTime
  - >> prvDeleteTCB
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> osThreadTerminate

  vTaskInternalSetTimeOutState (Thumb, 36 bytes, Stack size 4 bytes, tasks.o(.text.vTaskInternalSetTimeOutState))
  [Stack]

  - Max Depth = 4
  - Call Chain = vTaskInternalSetTimeOutState
  [Called By]
  - >> xTaskCheckForTimeOut
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

  vTaskMissedYield (Thumb, 14 bytes, Stack size 0 bytes, tasks.o(.text.vTaskMissedYield))
  [Called By]

  - >> prvUnlockQueue

  vTaskPlaceOnEventList (Thumb, 66 bytes, Stack size 24 bytes, tasks.o(.text.vTaskPlaceOnEventList))
  [Stack]

  - Max Depth = 64
  - Call Chain = vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> vListInsert
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

  vTaskPlaceOnEventListRestricted (Thumb, 82 bytes, Stack size 24 bytes, tasks.o(.text.vTaskPlaceOnEventListRestricted))
  [Stack]

  - Max Depth = 64
  - Call Chain = vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> vListInsertEnd
  [Called By]
  - >> vQueueWaitForMessageRestricted

  vTaskPriorityDisinheritAfterTimeout (Thumb, 308 bytes, Stack size 40 bytes, tasks.o(.text.vTaskPriorityDisinheritAfterTimeout))
  [Stack]

  - Max Depth = 52
  - Call Chain = vTaskPriorityDisinheritAfterTimeout ⇒ vListInsertEnd
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xQueueSemaphoreTake

  vTaskStartScheduler (Thumb, 224 bytes, Stack size 48 bytes, tasks.o(.text.vTaskStartScheduler))
  [Stack]

  - Max Depth = 276
  - Call Chain = vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> xTimerCreateTimerTask
  - >> xTaskCreateStatic
  - >> xPortStartScheduler
  - >> vApplicationGetIdleTaskMemory
  [Called By]
  - >> osKernelStart

  vTaskSuspendAll (Thumb, 16 bytes, Stack size 0 bytes, tasks.o(.text.vTaskSuspendAll))
  [Called By]

  - >> prvProcessTimerOrBlockTask
  - >> vTaskDelayUntil
  - >> vTaskDelay
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vPortFree
  - >> pvPortMalloc
  - >> osKernelLock

  vTaskSwitchContext (Thumb, 198 bytes, Stack size 12 bytes, tasks.o(.text.vTaskSwitchContext))
  [Stack]

  - Max Depth = 12
  - Call Chain = vTaskSwitchContext
  [Called By]
  - >> xPortStartScheduler
  - >> PendSV_Handler

  xPortStartScheduler (Thumb, 342 bytes, Stack size 40 bytes, port.o(.text.xPortStartScheduler))
  [Stack]

  - Max Depth = 52
  - Call Chain = xPortStartScheduler ⇒ vTaskSwitchContext
  [Calls]
  - >> vTaskSwitchContext
  - >> vPortSetupTimerInterrupt
  - >> vPortEnableVFP
  - >> prvTaskExitError
  - >> prvPortStartFirstTask
  [Called By]
  - >> vTaskStartScheduler

  xPortSysTickHandler (Thumb, 60 bytes, Stack size 16 bytes, port.o(.text.xPortSysTickHandler))
  [Stack]

  - Max Depth = 60
  - Call Chain = xPortSysTickHandler ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskIncrementTick
  [Called By]
  - >> SysTick_Handler

  xQueueCreateMutex (Thumb, 38 bytes, Stack size 24 bytes, queue.o(.text.xQueueCreateMutex))
  [Stack]

  - Max Depth = 196
  - Call Chain = xQueueCreateMutex ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGenericCreate
  - >> prvInitialiseMutex
  [Called By]
  - >> osMutexNew

  xQueueCreateMutexStatic (Thumb, 50 bytes, Stack size 32 bytes, queue.o(.text.xQueueCreateMutexStatic))
  [Stack]

  - Max Depth = 204
  - Call Chain = xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGenericCreateStatic
  - >> prvInitialiseMutex
  [Called By]
  - >> osMutexNew

  xQueueGenericCreate (Thumb, 116 bytes, Stack size 40 bytes, queue.o(.text.xQueueGenericCreate))
  [Stack]

  - Max Depth = 156
  - Call Chain = xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> prvInitialiseNewQueue
  - >> pvPortMalloc
  [Called By]
  - >> xQueueCreateMutex
  - >> osMessageQueueNew

  xQueueGenericCreateStatic (Thumb, 270 bytes, Stack size 72 bytes, queue.o(.text.xQueueGenericCreateStatic))
  [Stack]

  - Max Depth = 156
  - Call Chain = xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> prvInitialiseNewQueue
  [Called By]
  - >> prvCheckForValidListAndQueue
  - >> xQueueCreateMutexStatic
  - >> osMessageQueueNew

  xQueueGenericReset (Thumb, 186 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericReset))
  [Stack]

  - Max Depth = 60
  - Call Chain = xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  [Called By]
  - >> prvInitialiseNewQueue
  - >> osMessageQueueReset

  xQueueGenericSend (Thumb, 556 bytes, Stack size 80 bytes, queue.o(.text.xQueueGenericSend))
  [Stack]

  - Max Depth = 156
  - Call Chain = xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> prvUnlockQueue
  - >> prvIsQueueFull
  - >> prvCopyDataToQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueGiveMutexRecursive
  - >> prvInitialiseMutex
  - >> osMutexRelease
  - >> osMessageQueuePut
  - >> xTimerGenericCommand

  xQueueGenericSendFromISR (Thumb, 332 bytes, Stack size 80 bytes, queue.o(.text.xQueueGenericSendFromISR))
  [Stack]

  - Max Depth = 156
  - Call Chain = xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vPortValidateInterruptPriority
  - >> prvCopyDataToQueue
  [Called By]
  - >> osMessageQueuePut
  - >> xTimerGenericCommand

  xQueueGiveMutexRecursive (Thumb, 108 bytes, Stack size 32 bytes, queue.o(.text.xQueueGiveMutexRecursive))
  [Stack]

  - Max Depth = 188
  - Call Chain = xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetCurrentTaskHandle
  - >> xQueueGenericSend
  [Called By]
  - >> osMutexRelease

  xQueueReceive (Thumb, 476 bytes, Stack size 64 bytes, queue.o(.text.xQueueReceive))
  [Stack]

  - Max Depth = 132
  - Call Chain = xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> prvUnlockQueue
  - >> prvIsQueueEmpty
  - >> prvCopyDataFromQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> prvProcessReceivedCommands
  - >> osMessageQueueGet

  xQueueReceiveFromISR (Thumb, 264 bytes, Stack size 64 bytes, queue.o(.text.xQueueReceiveFromISR))
  [Stack]

  - Max Depth = 100
  - Call Chain = xQueueReceiveFromISR ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vPortValidateInterruptPriority
  - >> prvCopyDataFromQueue
  [Called By]
  - >> osMessageQueueGet

  xQueueSemaphoreTake (Thumb, 556 bytes, Stack size 72 bytes, queue.o(.text.xQueueSemaphoreTake))
  [Stack]

  - Max Depth = 140
  - Call Chain = xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityInherit
  - >> xTaskCheckForTimeOut
  - >> vTaskPriorityDisinheritAfterTimeout
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> pvTaskIncrementMutexHeldCount
  - >> prvUnlockQueue
  - >> prvIsQueueEmpty
  - >> prvGetDisinheritPriorityAfterTimeout
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueTakeMutexRecursive
  - >> osMutexAcquire

  xQueueTakeMutexRecursive (Thumb, 110 bytes, Stack size 32 bytes, queue.o(.text.xQueueTakeMutexRecursive))
  [Stack]

  - Max Depth = 172
  - Call Chain = xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetCurrentTaskHandle
  - >> xQueueSemaphoreTake
  [Called By]
  - >> osMutexAcquire

  xTaskCheckForTimeOut (Thumb, 204 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCheckForTimeOut))
  [Stack]

  - Max Depth = 48
  - Call Chain = xTaskCheckForTimeOut ⇒ vPortExitCritical
  [Calls]
  - >> vTaskInternalSetTimeOutState
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

  xTaskCreate (Thumb, 158 bytes, Stack size 64 bytes, tasks.o(.text.xTaskCreate))
  [Stack]

  - Max Depth = 180
  - Call Chain = xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> prvInitialiseNewTask
  - >> prvAddNewTaskToReadyList
  - >> vPortFree
  - >> pvPortMalloc
  [Called By]
  - >> osThreadNew

  xTaskCreateStatic (Thumb, 206 bytes, Stack size 72 bytes, tasks.o(.text.xTaskCreateStatic))
  [Stack]

  - Max Depth = 124
  - Call Chain = xTaskCreateStatic ⇒ prvInitialiseNewTask ⇒ pxPortInitialiseStack
  [Calls]
  - >> prvInitialiseNewTask
  - >> prvAddNewTaskToReadyList
  [Called By]
  - >> osThreadNew
  - >> xTimerCreateTimerTask
  - >> vTaskStartScheduler

  xTaskGenericNotify (Thumb, 376 bytes, Stack size 56 bytes, tasks.o(.text.xTaskGenericNotify))
  [Stack]

  - Max Depth = 68
  - Call Chain = xTaskGenericNotify ⇒ vListInsertEnd
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> osThreadFlagsSet

  xTaskGenericNotifyFromISR (Thumb, 452 bytes, Stack size 72 bytes, tasks.o(.text.xTaskGenericNotifyFromISR))
  [Stack]

  - Max Depth = 88
  - Call Chain = xTaskGenericNotifyFromISR ⇒ vPortValidateInterruptPriority
  [Calls]
  - >> vPortValidateInterruptPriority
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> osThreadFlagsSet

  xTaskGetCurrentTaskHandle (Thumb, 20 bytes, Stack size 4 bytes, tasks.o(.text.xTaskGetCurrentTaskHandle))
  [Stack]

  - Max Depth = 4
  - Call Chain = xTaskGetCurrentTaskHandle
  [Called By]
  - >> osThreadGetId
  - >> xQueueTakeMutexRecursive
  - >> xQueueGiveMutexRecursive

  xTaskGetSchedulerState (Thumb, 56 bytes, Stack size 4 bytes, tasks.o(.text.xTaskGetSchedulerState))
  [Stack]

  - Max Depth = 4
  - Call Chain = xTaskGetSchedulerState
  [Called By]
  - >> SysTick_Handler
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> osKernelUnlock
  - >> osKernelLock
  - >> osKernelGetState
  - >> xTimerGenericCommand

  xTaskGetTickCount (Thumb, 20 bytes, Stack size 4 bytes, tasks.o(.text.xTaskGetTickCount))
  [Stack]

  - Max Depth = 4
  - Call Chain = xTaskGetTickCount
  [Called By]
  - >> prvSampleTimeNow
  - >> BSP_TIME_Get
  - >> osThreadFlagsWait
  - >> osKernelGetTickCount
  - >> osDelayUntil

  xTaskGetTickCountFromISR (Thumb, 30 bytes, Stack size 16 bytes, tasks.o(.text.xTaskGetTickCountFromISR))
  [Stack]

  - Max Depth = 32
  - Call Chain = xTaskGetTickCountFromISR ⇒ vPortValidateInterruptPriority
  [Calls]
  - >> vPortValidateInterruptPriority
  [Called By]
  - >> osKernelGetTickCount

  xTaskIncrementTick (Thumb, 452 bytes, Stack size 32 bytes, tasks.o(.text.xTaskIncrementTick))
  [Stack]

  - Max Depth = 44
  - Call Chain = xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> prvResetNextTaskUnblockTime
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xPortSysTickHandler
  - >> xTaskResumeAll

  xTaskNotifyWait (Thumb, 214 bytes, Stack size 32 bytes, tasks.o(.text.xTaskNotifyWait))
  [Stack]

  - Max Depth = 72
  - Call Chain = xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> osThreadFlagsWait

  xTaskPriorityDisinherit (Thumb, 236 bytes, Stack size 32 bytes, tasks.o(.text.xTaskPriorityDisinherit))
  [Stack]

  - Max Depth = 44
  - Call Chain = xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> prvCopyDataToQueue

  xTaskPriorityInherit (Thumb, 270 bytes, Stack size 24 bytes, tasks.o(.text.xTaskPriorityInherit))
  [Stack]

  - Max Depth = 36
  - Call Chain = xTaskPriorityInherit ⇒ vListInsertEnd
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xQueueSemaphoreTake

  xTaskRemoveFromEventList (Thumb, 206 bytes, Stack size 24 bytes, tasks.o(.text.xTaskRemoveFromEventList))
  [Stack]

  - Max Depth = 36
  - Call Chain = xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceiveFromISR
  - >> xQueueReceive
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> prvUnlockQueue

  xTaskResumeAll (Thumb, 390 bytes, Stack size 24 bytes, tasks.o(.text.xTaskResumeAll))
  [Stack]

  - Max Depth = 68
  - Call Chain = xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> xTaskIncrementTick
  - >> prvResetNextTaskUnblockTime
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> prvProcessTimerOrBlockTask
  - >> vTaskDelayUntil
  - >> vTaskDelay
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vPortFree
  - >> pvPortMalloc
  - >> osKernelUnlock

  xTimerCreateTimerTask (Thumb, 148 bytes, Stack size 48 bytes, timers.o(.text.xTimerCreateTimerTask))
  [Stack]

  - Max Depth = 228
  - Call Chain = xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> prvCheckForValidListAndQueue
  - >> xTaskCreateStatic
  - >> vApplicationGetTimerTaskMemory
  [Called By]
  - >> vTaskStartScheduler

  xTimerGenericCommand (Thumb, 176 bytes, Stack size 48 bytes, timers.o(.text.xTimerGenericCommand))
  [Stack]

  - Max Depth = 204
  - Call Chain = xTimerGenericCommand ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  [Called By]
  - >> prvSwitchTimerLists
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer

  __ARM_fpclassify (Thumb, 48 bytes, Stack size 8 bytes, fpclassify.o(i.__ARM_fpclassify))
  [Stack]

  - Max Depth = 8
  - Call Chain = __ARM_fpclassify
  [Called By]
  - >> __hardfp_atan

  __ARM_fpclassifyf (Thumb, 38 bytes, Stack size 0 bytes, fpclassifyf.o(i.__ARM_fpclassifyf))
  [Called By]

  - >> __hardfp_tanf
  - >> __hardfp_sinf
  - >> __hardfp_atan2f
  - >> __hardfp_asinf

  __hardfp_asinf (Thumb, 258 bytes, Stack size 16 bytes, asinf.o(i.__hardfp_asinf))
  [Stack]

  - Max Depth = 40
  - Call Chain = __hardfp_asinf ⇒ sqrtf ⇒ __set_errno
  [Calls]
  - >> __set_errno
  - >> sqrtf
  - >> __mathlib_flt_underflow
  - >> __mathlib_flt_invalid
  - >> __mathlib_flt_infnan
  - >> __ARM_fpclassifyf
  [Called By]
  - >> AHRS_GetEulr

  __hardfp_atan (Thumb, 622 bytes, Stack size 48 bytes, atan.o(i.__hardfp_atan))
  [Stack]

  - Max Depth = 104
  - Call Chain = __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __aeabi_dsub
  - >> __aeabi_drsub
  - >> __aeabi_dadd
  - >> __aeabi_dneg
  - >> __aeabi_ddiv
  - >> __kernel_poly
  - >> __ARM_fpclassify
  - >> __aeabi_dmul
  - >> fabs
  - >> __mathlib_dbl_underflow
  - >> __mathlib_dbl_infnan
  [Called By]
  - >> atan

  __hardfp_atan2 (Thumb, 448 bytes, Stack size 56 bytes, atan2.o(i.__hardfp_atan2))
  [Stack]

  - Max Depth = 168
  - Call Chain = __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __aeabi_cdcmpeq
  - >> __aeabi_dsub
  - >> __aeabi_drsub
  - >> __aeabi_dneg
  - >> __set_errno
  - >> __aeabi_ddiv
  - >> fabs
  - >> __mathlib_dbl_infnan2
  - >> atan
  [Called By]
  - >> AHRS_Init

  __hardfp_atan2f (Thumb, 594 bytes, Stack size 32 bytes, atan2f.o(i.__hardfp_atan2f))
  [Stack]

  - Max Depth = 40
  - Call Chain = __hardfp_atan2f ⇒ __set_errno
  [Calls]
  - >> __set_errno
  - >> __mathlib_flt_underflow
  - >> __mathlib_flt_infnan2
  - >> __ARM_fpclassifyf
  [Called By]
  - >> AHRS_GetEulr

  __hardfp_cosf (Thumb, 280 bytes, Stack size 8 bytes, cosf.o(i.__hardfp_cosf))
  [Stack]

  - Max Depth = 28
  - Call Chain = __hardfp_cosf ⇒ __mathlib_rredf2
  [Calls]
  - >> __set_errno
  - >> __mathlib_rredf2
  - >> __mathlib_flt_invalid
  - >> __mathlib_flt_infnan
  [Called By]
  - >> Chassis_Control
  - >> LowPassFilter2p_Init

  __hardfp_sinf (Thumb, 344 bytes, Stack size 16 bytes, sinf.o(i.__hardfp_sinf))
  [Stack]

  - Max Depth = 36
  - Call Chain = __hardfp_sinf ⇒ __mathlib_rredf2
  [Calls]
  - >> __set_errno
  - >> __mathlib_rredf2
  - >> __mathlib_flt_underflow
  - >> __mathlib_flt_invalid
  - >> __mathlib_flt_infnan
  - >> __ARM_fpclassifyf
  [Called By]
  - >> Chassis_Control
  - >> Chassis_CalcWz
  - >> Task_blink

  __hardfp_tanf (Thumb, 322 bytes, Stack size 16 bytes, tanf.o(i.__hardfp_tanf))
  [Stack]

  - Max Depth = 36
  - Call Chain = __hardfp_tanf ⇒ __mathlib_rredf2
  [Calls]
  - >> __set_errno
  - >> __mathlib_rredf2
  - >> __mathlib_flt_underflow
  - >> __mathlib_flt_invalid
  - >> __mathlib_flt_infnan
  - >> __ARM_fpclassifyf
  [Called By]
  - >> LowPassFilter2p_Init

  __kernel_poly (Thumb, 248 bytes, Stack size 24 bytes, poly.o(i.__kernel_poly))
  [Stack]

  - Max Depth = 56
  - Call Chain = __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __aeabi_dadd
  - >> __aeabi_dmul
  [Called By]
  - >> __hardfp_atan

  __mathlib_dbl_infnan (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan))
  [Stack]

  - Max Depth = 24
  - Call Chain = __mathlib_dbl_infnan ⇒ __aeabi_dadd
  [Calls]
  - >> __aeabi_dadd
  [Called By]
  - >> __hardfp_atan

  __mathlib_dbl_infnan2 (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan2))
  [Stack]

  - Max Depth = 24
  - Call Chain = __mathlib_dbl_infnan2 ⇒ __aeabi_dadd
  [Calls]
  - >> __aeabi_dadd
  [Called By]
  - >> __hardfp_atan2

  __mathlib_dbl_underflow (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_underflow))
  [Stack]

  - Max Depth = 40
  - Call Chain = __mathlib_dbl_underflow ⇒ __aeabi_dmul
  [Calls]
  - >> __aeabi_dmul
  [Called By]
  - >> __hardfp_atan

  __mathlib_flt_infnan (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan))
  [Called By]

  - >> __hardfp_tanf
  - >> __hardfp_sinf
  - >> __hardfp_cosf
  - >> __hardfp_asinf

  __mathlib_flt_infnan2 (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan2))
  [Called By]

  - >> __hardfp_atan2f

  __mathlib_flt_invalid (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_invalid))
  [Called By]

  - >> __hardfp_tanf
  - >> __hardfp_sinf
  - >> __hardfp_cosf
  - >> __hardfp_asinf

  __mathlib_flt_underflow (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_underflow))
  [Called By]

  - >> __hardfp_tanf
  - >> __hardfp_sinf
  - >> __hardfp_atan2f
  - >> __hardfp_asinf

  __mathlib_rredf2 (Thumb, 316 bytes, Stack size 20 bytes, rredf.o(i.__mathlib_rredf2))
  [Stack]

  - Max Depth = 20
  - Call Chain = __mathlib_rredf2
  [Called By]
  - >> __hardfp_tanf
  - >> __hardfp_sinf
  - >> __hardfp_cosf

  atan (Thumb, 16 bytes, Stack size 8 bytes, atan.o(i.atan))
  [Stack]

  - Max Depth = 112
  - Call Chain = atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __hardfp_atan
  [Called By]
  - >> __hardfp_atan2

  fabs (Thumb, 24 bytes, Stack size 8 bytes, fabs.o(i.fabs))
  [Stack]

  - Max Depth = 8
  - Call Chain = fabs
  [Called By]
  - >> __hardfp_atan2
  - >> __hardfp_atan

  sqrtf (Thumb, 62 bytes, Stack size 16 bytes, sqrtf.o(i.sqrtf))
  [Stack]

  - Max Depth = 24
  - Call Chain = sqrtf ⇒ __set_errno
  [Calls]
  - >> __set_errno
  [Called By]
  - >> __hardfp_asinf

  __aeabi_dneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic))
  [Called By]

  - >> __hardfp_atan2
  - >> __hardfp_atan

  _dneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  __aeabi_fneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  _fneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  _dabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  _fabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  __aeabi_d2f (Thumb, 0 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_d2f
  [Called By]
  - >> AHRS_Init

  _d2f (Thumb, 98 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f), UNUSED)
  [Calls]

  - >> __fpl_fretinf
  - >> __fpl_dnaninf

  __aeabi_dadd (Thumb, 0 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd))
  [Stack]

  - Max Depth = 16
  - Call Chain = __aeabi_dadd
  [Called By]
  - >> __kernel_poly
  - >> __mathlib_dbl_infnan2
  - >> __mathlib_dbl_infnan
  - >> __hardfp_atan

  _dadd (Thumb, 332 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd), UNUSED)
  [Calls]

  - >> __fpl_dretinf
  - >> __fpl_dnaninf
  - >> _dsub1

  __fpl_dcmp_Inf (Thumb, 24 bytes, Stack size 0 bytes, dcmpi.o(x$fpl$dcmpinf), UNUSED)
  [Called By]

  - >> _dcmpeq

  __aeabi_ddiv (Thumb, 0 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_ddiv
  [Called By]
  - >> __hardfp_atan2
  - >> Task_rc
  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd
  - >> Task_blink
  - >> Task_atti_esti
  - >> __hardfp_atan

  _ddiv (Thumb, 556 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv), UNUSED)
  [Calls]

  - >> __fpl_dretinf
  - >> __fpl_dnaninf

  __aeabi_cdcmpeq (Thumb, 0 bytes, Stack size 32 bytes, deqf.o(x$fpl$deqf))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_cdcmpeq
  [Called By]
  - >> __hardfp_atan2

  _dcmpeq (Thumb, 120 bytes, Stack size 32 bytes, deqf.o(x$fpl$deqf), UNUSED)
  [Calls]

  - >> __fpl_dnaninf
  - >> __fpl_dcmp_Inf

  __aeabi_d2uiz (Thumb, 0 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_d2uiz
  [Called By]
  - >> Task_rc
  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd
  - >> Task_blink
  - >> Task_atti_esti

  _dfixu (Thumb, 90 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu), UNUSED)
  [Calls]

  - >> __fpl_dnaninf

  __aeabi_ui2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu))
  [Called By]

  - >> Task_rc
  - >> Task_ctrl_shoot
  - >> Task_ctrl_gimbal
  - >> Task_ctrl_chassis
  - >> Task_cmd
  - >> Task_blink
  - >> Task_atti_esti

  _dfltu (Thumb, 38 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu), UNUSED)

  __aeabi_dmul (Thumb, 0 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_dmul
  [Called By]
  - >> __kernel_poly
  - >> __mathlib_dbl_underflow
  - >> __hardfp_atan

  _dmul (Thumb, 332 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul), UNUSED)
  [Calls]

  - >> __fpl_dretinf
  - >> __fpl_dnaninf

  __fpl_dnaninf (Thumb, 156 bytes, Stack size 16 bytes, dnaninf.o(x$fpl$dnaninf), UNUSED)
  [Called By]

  - >> _dcmpeq
  - >> _dsub
  - >> _dadd
  - >> _dfixu
  - >> _ddiv
  - >> _d2f
  - >> _dmul

  __fpl_dretinf (Thumb, 12 bytes, Stack size 0 bytes, dretinf.o(x$fpl$dretinf), UNUSED)
  [Called By]

  - >> _dadd
  - >> _f2d
  - >> _ddiv
  - >> _dmul

  __aeabi_drsub (Thumb, 0 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb))
  [Stack]

  - Max Depth = 8
  - Call Chain = __aeabi_drsub
  [Called By]
  - >> __hardfp_atan2
  - >> __hardfp_atan

  _drsb (Thumb, 22 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb), UNUSED)
  [Calls]

  - >> _dsub1
  - >> _dadd1

  __aeabi_dsub (Thumb, 0 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_dsub
  [Called By]
  - >> __hardfp_atan2
  - >> __hardfp_atan

  _dsub (Thumb, 472 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub), UNUSED)
  [Calls]

  - >> __fpl_dnaninf
  - >> _dadd1

  __aeabi_f2d (Thumb, 0 bytes, Stack size 16 bytes, f2d.o(x$fpl$f2d))
  [Stack]

  - Max Depth = 16
  - Call Chain = __aeabi_f2d
  [Called By]
  - >> Chassis_Control
  - >> PID_Init
  - >> PID_Calc
  - >> LowPassFilter2p_Reset
  - >> LowPassFilter2p_Apply
  - >> AHRS_Init

  _f2d (Thumb, 86 bytes, Stack size 16 bytes, f2d.o(x$fpl$f2d), UNUSED)
  [Calls]

  - >> __fpl_fnaninf
  - >> __fpl_dretinf

  __aeabi_ul2f (Thumb, 0 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll))
  [Called By]

  - >> Chassis_Control
  - >> Shoot_Control
  - >> Gimbal_Control
  - >> Cmd_GenerateCommand

  _ll_uto_f (Thumb, 6 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED)

  __aeabi_l2f (Thumb, 0 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED)

  _ll_sto_f (Thumb, 90 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED)

  __fpl_fnaninf (Thumb, 140 bytes, Stack size 8 bytes, fnaninf.o(x$fpl$fnaninf), UNUSED)
  [Called By]

  - >> _f2d

  _fp_init (Thumb, 26 bytes, Stack size 0 bytes, fpinit.o(x$fpl$fpinit))
  [Called By]

  - >> __rt_lib_init_fp_1

  __fplib_config_fpu_vfp (Thumb, 0 bytes, Stack size unknown bytes, fpinit.o(x$fpl$fpinit), UNUSED)

  __fplib_config_pureend_doubles (Thumb, 0 bytes, Stack size unknown bytes, fpinit.o(x$fpl$fpinit), UNUSED)

  __fpl_fretinf (Thumb, 10 bytes, Stack size 0 bytes, fretinf.o(x$fpl$fretinf), UNUSED)
  [Called By]

  - >> _d2f

  ### Local Symbols

  DMA_CalcBaseAndBitshift (Thumb, 86 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift))
  [Stack]

  - Max Depth = 8
  - Call Chain = DMA_CalcBaseAndBitshift
  [Called By]
  - >> HAL_DMA_Init

  DMA_CheckFifoParam (Thumb, 240 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam))
  [Stack]

  - Max Depth = 24
  - Call Chain = DMA_CheckFifoParam
  [Called By]
  - >> HAL_DMA_Init

  DMA_SetConfig (Thumb, 80 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.DMA_SetConfig))
  [Stack]

  - Max Depth = 16
  - Call Chain = DMA_SetConfig
  [Called By]
  - >> HAL_DMA_Start_IT

  NVIC_EncodePriority (Thumb, 108 bytes, Stack size 32 bytes, stm32f4xx_hal_cortex.o(.text.NVIC_EncodePriority))
  [Stack]

  - Max Depth = 32
  - Call Chain = NVIC_EncodePriority
  [Called By]
  - >> HAL_NVIC_SetPriority

  SysTick_Config (Thumb, 82 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.SysTick_Config))
  [Stack]

  - Max Depth = 24
  - Call Chain = SysTick_Config ⇒ __NVIC_SetPriority
  [Calls]
  - >> __NVIC_SetPriority
  [Called By]
  - >> HAL_SYSTICK_Config

  __NVIC_DisableIRQ (Thumb, 56 bytes, Stack size 4 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_DisableIRQ))
  [Stack]

  - Max Depth = 4
  - Call Chain = __NVIC_DisableIRQ
  [Called By]
  - >> HAL_NVIC_DisableIRQ

  __NVIC_EnableIRQ (Thumb, 48 bytes, Stack size 4 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_EnableIRQ))
  [Stack]

  - Max Depth = 4
  - Call Chain = __NVIC_EnableIRQ
  [Called By]
  - >> HAL_NVIC_EnableIRQ

  __NVIC_GetPriorityGrouping (Thumb, 16 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping))
  [Called By]

  - >> HAL_NVIC_SetPriority

  __NVIC_SetPriority (Thumb, 66 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority))
  [Stack]

  - Max Depth = 8
  - Call Chain = __NVIC_SetPriority
  [Called By]
  - >> SysTick_Config
  - >> HAL_NVIC_SetPriority

  __NVIC_SetPriorityGrouping (Thumb, 60 bytes, Stack size 12 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriorityGrouping))
  [Stack]

  - Max Depth = 12
  - Call Chain = __NVIC_SetPriorityGrouping
  [Called By]
  - >> HAL_NVIC_SetPriorityGrouping

  SPI_DMAError (Thumb, 52 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAError))
  [Stack]

  - Max Depth = 40
  - Call Chain = SPI_DMAError ⇒ HAL_SPI_ErrorCallback ⇒ SPI_Get
  [Calls]
  - >> HAL_SPI_ErrorCallback
  [Address Reference Count : 3]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)

  SPI_DMAHalfReceiveCplt (Thumb, 22 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfReceiveCplt))
  [Stack]

  - Max Depth = 40
  - Call Chain = SPI_DMAHalfReceiveCplt ⇒ HAL_SPI_RxHalfCpltCallback ⇒ SPI_Get
  [Calls]
  - >> HAL_SPI_RxHalfCpltCallback
  [Address Reference Count : 2]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)

  SPI_DMAHalfTransmitCplt (Thumb, 22 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitCplt))
  [Stack]

  - Max Depth = 40
  - Call Chain = SPI_DMAHalfTransmitCplt ⇒ HAL_SPI_TxHalfCpltCallback ⇒ SPI_Get
  [Calls]
  - >> HAL_SPI_TxHalfCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)

  SPI_DMAHalfTransmitReceiveCplt (Thumb, 22 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitReceiveCplt))
  [Stack]

  - Max Depth = 40
  - Call Chain = SPI_DMAHalfTransmitReceiveCplt ⇒ HAL_SPI_TxRxHalfCpltCallback ⇒ SPI_Get
  [Calls]
  - >> HAL_SPI_TxRxHalfCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)

  SPI_DMAReceiveCplt (Thumb, 162 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAReceiveCplt))
  [Stack]

  - Max Depth = 104
  - Call Chain = SPI_DMAReceiveCplt ⇒ SPI_EndRxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_EndRxTransaction
  - >> HAL_SPI_RxCpltCallback
  - >> HAL_SPI_ErrorCallback
  [Address Reference Count : 2]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA)
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)

  SPI_DMATransmitCplt (Thumb, 166 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMATransmitCplt))
  [Stack]

  - Max Depth = 104
  - Call Chain = SPI_DMATransmitCplt ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_EndRxTxTransaction
  - >> HAL_SPI_TxCpltCallback
  - >> HAL_SPI_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)

  SPI_DMATransmitReceiveCplt (Thumb, 134 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMATransmitReceiveCplt))
  [Stack]

  - Max Depth = 104
  - Call Chain = SPI_DMATransmitReceiveCplt ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_EndRxTxTransaction
  - >> HAL_SPI_TxRxCpltCallback
  - >> HAL_SPI_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)

  SPI_EndRxTransaction (Thumb, 228 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTransaction))
  [Stack]

  - Max Depth = 80
  - Call Chain = SPI_EndRxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> SPI_WaitFlagStateUntilTimeout
  [Called By]
  - >> HAL_SPI_Receive
  - >> SPI_DMAReceiveCplt

  SPI_EndRxTxTransaction (Thumb, 204 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTxTransaction))
  [Stack]

  - Max Depth = 80
  - Call Chain = SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> SPI_WaitFlagStateUntilTimeout
  [Called By]
  - >> HAL_SPI_TransmitReceive
  - >> HAL_SPI_Transmit
  - >> SPI_DMATransmitReceiveCplt
  - >> SPI_DMATransmitCplt

  SPI_WaitFlagStateUntilTimeout (Thumb, 300 bytes, Stack size 48 bytes, stm32f4xx_hal_spi.o(.text.SPI_WaitFlagStateUntilTimeout))
  [Stack]

  - Max Depth = 48
  - Call Chain = SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> SPI_EndRxTxTransaction
  - >> SPI_EndRxTransaction

  TIM_ITRx_SetConfig (Thumb, 42 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(.text.TIM_ITRx_SetConfig))
  [Stack]

  - Max Depth = 12
  - Call Chain = TIM_ITRx_SetConfig
  [Called By]
  - >> HAL_TIM_ConfigClockSource

  TIM_OC1_SetConfig (Thumb, 234 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC1_SetConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_OC1_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_ConfigChannel

  TIM_OC3_SetConfig (Thumb, 242 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC3_SetConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_OC3_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_ConfigChannel

  TIM_OC4_SetConfig (Thumb, 164 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_OC4_SetConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_OC4_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_ConfigChannel

  TIM_TI1_ConfigInputStage (Thumb, 80 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_TI1_ConfigInputStage))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_TI1_ConfigInputStage
  [Called By]
  - >> HAL_TIM_ConfigClockSource

  TIM_TI2_ConfigInputStage (Thumb, 82 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(.text.TIM_TI2_ConfigInputStage))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_TI2_ConfigInputStage
  [Called By]
  - >> HAL_TIM_ConfigClockSource

  UART_DMAAbortOnError (Thumb, 28 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAAbortOnError))
  [Stack]

  - Max Depth = 40
  - Call Chain = UART_DMAAbortOnError ⇒ HAL_UART_ErrorCallback ⇒ UART_Get
  [Calls]
  - >> HAL_UART_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)

  UART_DMAError (Thumb, 124 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAError))
  [Stack]

  - Max Depth = 48
  - Call Chain = UART_DMAError ⇒ HAL_UART_ErrorCallback ⇒ UART_Get
  [Calls]
  - >> UART_EndTxTransfer
  - >> UART_EndRxTransfer
  - >> HAL_UART_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)

  UART_DMAReceiveCplt (Thumb, 244 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt))
  [Stack]

  - Max Depth = 56
  - Call Chain = UART_DMAReceiveCplt ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
  [Calls]
  - >> HAL_UARTEx_RxEventCallback
  - >> HAL_UART_RxCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)

  UART_DMARxHalfCplt (Thumb, 52 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt))
  [Stack]

  - Max Depth = 40
  - Call Chain = UART_DMARxHalfCplt ⇒ HAL_UART_RxHalfCpltCallback ⇒ UART_Get
  [Calls]
  - >> HAL_UARTEx_RxEventCallback
  - >> HAL_UART_RxHalfCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)

  UART_EndRxTransfer (Thumb, 148 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer))
  [Stack]

  - Max Depth = 16
  - Call Chain = UART_EndRxTransfer
  [Called By]
  - >> HAL_UART_IRQHandler
  - >> UART_DMAError

  UART_EndTransmit_IT (Thumb, 38 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTransmit_IT))
  [Stack]

  - Max Depth = 40
  - Call Chain = UART_EndTransmit_IT ⇒ HAL_UART_TxCpltCallback ⇒ UART_Get
  [Calls]
  - >> HAL_UART_TxCpltCallback
  [Called By]
  - >> HAL_UART_IRQHandler

  UART_EndTxTransfer (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer))
  [Stack]

  - Max Depth = 8
  - Call Chain = UART_EndTxTransfer
  [Called By]
  - >> UART_DMAError

  UART_Receive_IT (Thumb, 360 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.UART_Receive_IT))
  [Stack]

  - Max Depth = 56
  - Call Chain = UART_Receive_IT ⇒ HAL_UART_RxCpltCallback ⇒ UART_Get
  [Calls]
  - >> HAL_UARTEx_RxEventCallback
  - >> HAL_UART_RxCpltCallback
  [Called By]
  - >> HAL_UART_IRQHandler

  UART_SetConfig (Thumb, 314 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(.text.UART_SetConfig))
  [Stack]

  - Max Depth = 80
  - Call Chain = UART_SetConfig ⇒ __aeabi_uldivmod
  [Calls]
  - >> HAL_RCC_GetPCLK2Freq
  - >> HAL_RCC_GetPCLK1Freq
  - >> __aeabi_uldivmod
  [Called By]
  - >> HAL_UART_Init

  UART_Transmit_IT (Thumb, 148 bytes, Stack size 12 bytes, stm32f4xx_hal_uart.o(.text.UART_Transmit_IT))
  [Stack]

  - Max Depth = 12
  - Call Chain = UART_Transmit_IT
  [Called By]
  - >> HAL_UART_IRQHandler

  prvCopyDataFromQueue (Thumb, 66 bytes, Stack size 16 bytes, queue.o(.text.prvCopyDataFromQueue))
  [Stack]

  - Max Depth = 16
  - Call Chain = prvCopyDataFromQueue
  [Calls]
  - >> __aeabi_memcpy
  [Called By]
  - >> xQueueReceiveFromISR
  - >> xQueueReceive

  prvCopyDataToQueue (Thumb, 204 bytes, Stack size 32 bytes, queue.o(.text.prvCopyDataToQueue))
  [Stack]

  - Max Depth = 76
  - Call Chain = prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xTaskPriorityDisinherit
  - >> __aeabi_memcpy
  [Called By]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend

  prvGetDisinheritPriorityAfterTimeout (Thumb, 38 bytes, Stack size 8 bytes, queue.o(.text.prvGetDisinheritPriorityAfterTimeout))
  [Stack]

  - Max Depth = 8
  - Call Chain = prvGetDisinheritPriorityAfterTimeout
  [Called By]
  - >> xQueueSemaphoreTake

  prvInitialiseMutex (Thumb, 44 bytes, Stack size 16 bytes, queue.o(.text.prvInitialiseMutex))
  [Stack]

  - Max Depth = 172
  - Call Chain = prvInitialiseMutex ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGenericSend
  [Called By]
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex

  prvInitialiseNewQueue (Thumb, 72 bytes, Stack size 24 bytes, queue.o(.text.prvInitialiseNewQueue))
  [Stack]

  - Max Depth = 84
  - Call Chain = prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGenericReset
  [Called By]
  - >> xQueueGenericCreateStatic
  - >> xQueueGenericCreate

  prvIsQueueEmpty (Thumb, 40 bytes, Stack size 16 bytes, queue.o(.text.prvIsQueueEmpty))
  [Stack]

  - Max Depth = 24
  - Call Chain = prvIsQueueEmpty ⇒ vPortExitCritical
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive

  prvIsQueueFull (Thumb, 46 bytes, Stack size 16 bytes, queue.o(.text.prvIsQueueFull))
  [Stack]

  - Max Depth = 24
  - Call Chain = prvIsQueueFull ⇒ vPortExitCritical
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueGenericSend

  prvUnlockQueue (Thumb, 174 bytes, Stack size 16 bytes, queue.o(.text.prvUnlockQueue))
  [Stack]

  - Max Depth = 52
  - Call Chain = prvUnlockQueue ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vTaskMissedYield
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vQueueWaitForMessageRestricted

  prvAddCurrentTaskToDelayedList (Thumb, 212 bytes, Stack size 24 bytes, tasks.o(.text.prvAddCurrentTaskToDelayedList))
  [Stack]

  - Max Depth = 40
  - Call Chain = prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vListInsertEnd
  - >> vListInsert
  - >> uxListRemove
  [Called By]
  - >> vTaskDelayUntil
  - >> vTaskDelay
  - >> xTaskNotifyWait
  - >> vTaskPlaceOnEventListRestricted
  - >> vTaskPlaceOnEventList

  prvAddNewTaskToReadyList (Thumb, 290 bytes, Stack size 16 bytes, tasks.o(.text.prvAddNewTaskToReadyList))
  [Stack]

  - Max Depth = 44
  - Call Chain = prvAddNewTaskToReadyList ⇒ prvInitialiseTaskLists ⇒ vListInitialise
  [Calls]
  - >> prvInitialiseTaskLists
  - >> vListInsertEnd
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xTaskCreateStatic
  - >> xTaskCreate

  prvCheckTasksWaitingTermination (Thumb, 90 bytes, Stack size 16 bytes, tasks.o(.text.prvCheckTasksWaitingTermination))
  [Stack]

  - Max Depth = 132
  - Call Chain = prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> prvDeleteTCB
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> prvIdleTask

  prvDeleteTCB (Thumb, 94 bytes, Stack size 16 bytes, tasks.o(.text.prvDeleteTCB))
  [Stack]

  - Max Depth = 116
  - Call Chain = prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> vPortFree
  [Called By]
  - >> vTaskDelete
  - >> prvCheckTasksWaitingTermination

  prvIdleTask (Thumb, 56 bytes, Stack size 16 bytes, tasks.o(.text.prvIdleTask))
  [Stack]

  - Max Depth = 148
  - Call Chain = prvIdleTask ⇒ prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> prvCheckTasksWaitingTermination
  [Address Reference Count : 1]
  - tasks.o(.text.vTaskStartScheduler)

  prvInitialiseNewTask (Thumb, 290 bytes, Stack size 40 bytes, tasks.o(.text.prvInitialiseNewTask))
  [Stack]

  - Max Depth = 52
  - Call Chain = prvInitialiseNewTask ⇒ pxPortInitialiseStack
  [Calls]
  - >> pxPortInitialiseStack
  - >> vListInitialiseItem
  - >> __aeabi_memset4
  [Called By]
  - >> xTaskCreateStatic
  - >> xTaskCreate

  prvInitialiseTaskLists (Thumb, 142 bytes, Stack size 24 bytes, tasks.o(.text.prvInitialiseTaskLists))
  [Stack]

  - Max Depth = 28
  - Call Chain = prvInitialiseTaskLists ⇒ vListInitialise
  [Calls]
  - >> vListInitialise
  [Called By]
  - >> prvAddNewTaskToReadyList

  prvResetNextTaskUnblockTime (Thumb, 70 bytes, Stack size 4 bytes, tasks.o(.text.prvResetNextTaskUnblockTime))
  [Stack]

  - Max Depth = 4
  - Call Chain = prvResetNextTaskUnblockTime
  [Called By]
  - >> xTaskIncrementTick
  - >> vTaskDelete
  - >> xTaskResumeAll

  prvCheckForValidListAndQueue (Thumb, 162 bytes, Stack size 24 bytes, timers.o(.text.prvCheckForValidListAndQueue))
  [Stack]

  - Max Depth = 180
  - Call Chain = prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ vListInsertEnd
  [Calls]
  - >> xQueueGenericCreateStatic
  - >> vQueueAddToRegistry
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  [Called By]
  - >> xTimerCreateTimerTask

  prvGetNextExpireTime (Thumb, 64 bytes, Stack size 8 bytes, timers.o(.text.prvGetNextExpireTime))
  [Stack]

  - Max Depth = 8
  - Call Chain = prvGetNextExpireTime
  [Called By]
  - >> prvTimerTask

  prvInsertTimerInActiveList (Thumb, 134 bytes, Stack size 32 bytes, timers.o(.text.prvInsertTimerInActiveList))
  [Stack]

  - Max Depth = 48
  - Call Chain = prvInsertTimerInActiveList ⇒ vListInsert
  [Calls]
  - >> vListInsert
  [Called By]
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer

  prvProcessExpiredTimer (Thumb, 142 bytes, Stack size 32 bytes, timers.o(.text.prvProcessExpiredTimer))
  [Stack]

  - Max Depth = 236
  - Call Chain = prvProcessExpiredTimer ⇒ xTimerGenericCommand ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> prvInsertTimerInActiveList
  - >> uxListRemove
  - >> xTimerGenericCommand
  [Called By]
  - >> prvProcessTimerOrBlockTask

  prvProcessReceivedCommands (Thumb, 402 bytes, Stack size 64 bytes, timers.o(.text.prvProcessReceivedCommands))
  [Stack]

  - Max Depth = 324
  - Call Chain = prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> prvSampleTimeNow
  - >> prvInsertTimerInActiveList
  - >> xQueueReceive
  - >> uxListRemove
  - >> vPortFree
  - >> xTimerGenericCommand
  [Called By]
  - >> prvTimerTask

  prvProcessTimerOrBlockTask (Thumb, 154 bytes, Stack size 24 bytes, timers.o(.text.prvProcessTimerOrBlockTask))
  [Stack]

  - Max Depth = 284
  - Call Chain = prvProcessTimerOrBlockTask ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> prvSampleTimeNow
  - >> prvProcessExpiredTimer
  - >> vQueueWaitForMessageRestricted
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  [Called By]
  - >> prvTimerTask

  prvSampleTimeNow (Thumb, 68 bytes, Stack size 16 bytes, timers.o(.text.prvSampleTimeNow))
  [Stack]

  - Max Depth = 260
  - Call Chain = prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> prvSwitchTimerLists
  - >> xTaskGetTickCount
  [Called By]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands

  prvSwitchTimerLists (Thumb, 212 bytes, Stack size 40 bytes, timers.o(.text.prvSwitchTimerLists))
  [Stack]

  - Max Depth = 244
  - Call Chain = prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> vListInsert
  - >> uxListRemove
  - >> xTimerGenericCommand
  [Called By]
  - >> prvSampleTimeNow

  prvTimerTask (Thumb, 30 bytes, Stack size 24 bytes, timers.o(.text.prvTimerTask))
  [Stack]

  - Max Depth = 348
  - Call Chain = prvTimerTask ⇒ prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands
  - >> prvGetNextExpireTime
  [Address Reference Count : 1]
  - timers.o(.text.xTimerCreateTimerTask)

  SVC_Setup (Thumb, 14 bytes, Stack size 8 bytes, cmsis_os2.o(.text.SVC_Setup))
  [Stack]

  - Max Depth = 16
  - Call Chain = SVC_Setup ⇒ __NVIC_SetPriority
  [Calls]
  - >> __NVIC_SetPriority
  [Called By]
  - >> osKernelStart

  __NVIC_SetPriority (Thumb, 66 bytes, Stack size 8 bytes, cmsis_os2.o(.text.__NVIC_SetPriority))
  [Stack]

  - Max Depth = 8
  - Call Chain = __NVIC_SetPriority
  [Called By]
  - >> SVC_Setup

  prvHeapInit (Thumb, 188 bytes, Stack size 16 bytes, heap_4.o(.text.prvHeapInit))
  [Stack]

  - Max Depth = 16
  - Call Chain = prvHeapInit
  [Called By]
  - >> pvPortMalloc

  prvInsertBlockIntoFreeList (Thumb, 198 bytes, Stack size 12 bytes, heap_4.o(.text.prvInsertBlockIntoFreeList))
  [Stack]

  - Max Depth = 12
  - Call Chain = prvInsertBlockIntoFreeList
  [Called By]
  - >> vPortFree
  - >> pvPortMalloc

  prvPortStartFirstTask (Thumb, 34 bytes, Stack size 0 bytes, port.o(.text.prvPortStartFirstTask))
  [Called By]

  - >> xPortStartScheduler

  prvTaskExitError (Thumb, 76 bytes, Stack size 12 bytes, port.o(.text.prvTaskExitError))
  [Stack]

  - Max Depth = 12
  - Call Chain = prvTaskExitError
  [Called By]
  - >> xPortStartScheduler
  [Address Reference Count : 1]
  - port.o(.text.pxPortInitialiseStack)

  vPortEnableVFP (Thumb, 14 bytes, Stack size 0 bytes, port.o(.text.vPortEnableVFP))
  [Called By]

  - >> xPortStartScheduler

  BSP_CAN_CreateIdQueue (Thumb, 292 bytes, Stack size 32 bytes, can_1.o(.text.BSP_CAN_CreateIdQueue))
  [Stack]

  - Max Depth = 252
  - Call Chain = BSP_CAN_CreateIdQueue ⇒ osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> BSP_Malloc
  - >> BSP_Free
  - >> osMutexRelease
  - >> osMutexAcquire
  - >> osMessageQueueNew
  [Called By]
  - >> BSP_CAN_RegisterId

  BSP_CAN_DefaultIdParser (Thumb, 14 bytes, Stack size 8 bytes, can_1.o(.text.BSP_CAN_DefaultIdParser))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_CAN_DefaultIdParser
  [Called By]
  - >> BSP_CAN_ParseId
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_FindQueue (Thumb, 82 bytes, Stack size 16 bytes, can_1.o(.text.BSP_CAN_FindQueue))
  [Stack]

  - Max Depth = 16
  - Call Chain = BSP_CAN_FindQueue
  [Called By]
  - >> BSP_CAN_GetMessage
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  BSP_CAN_GetFrameType (Thumb, 58 bytes, Stack size 8 bytes, can_1.o(.text.BSP_CAN_GetFrameType))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_CAN_GetFrameType
  [Called By]
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  BSP_CAN_RxFifo0Callback (Thumb, 228 bytes, Stack size 104 bytes, can_1.o(.text.BSP_CAN_RxFifo0Callback))
  [Stack]

  - Max Depth = 300
  - Call Chain = BSP_CAN_RxFifo0Callback ⇒ osMessageQueuePut ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> HAL_GetTick
  - >> HAL_CAN_GetRxMessage
  - >> HAL_CAN_GetRxFifoFillLevel
  - >> BSP_CAN_ParseId
  - >> BSP_CAN_GetHandle
  - >> BSP_CAN_GetFrameType
  - >> BSP_CAN_FindQueue
  - >> osMessageQueuePut
  - >> __aeabi_memcpy
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_RxFifo1Callback (Thumb, 228 bytes, Stack size 104 bytes, can_1.o(.text.BSP_CAN_RxFifo1Callback))
  [Stack]

  - Max Depth = 300
  - Call Chain = BSP_CAN_RxFifo1Callback ⇒ osMessageQueuePut ⇒ xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ vListInsertEnd
  [Calls]
  - >> HAL_GetTick
  - >> HAL_CAN_GetRxMessage
  - >> HAL_CAN_GetRxFifoFillLevel
  - >> BSP_CAN_ParseId
  - >> BSP_CAN_GetHandle
  - >> BSP_CAN_GetFrameType
  - >> BSP_CAN_FindQueue
  - >> osMessageQueuePut
  - >> __aeabi_memcpy
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_TxCompleteCallback (Thumb, 120 bytes, Stack size 56 bytes, can_1.o(.text.BSP_CAN_TxCompleteCallback))
  [Stack]

  - Max Depth = 88
  - Call Chain = BSP_CAN_TxCompleteCallback ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> HAL_CAN_GetTxMailboxesFreeLevel
  - >> HAL_CAN_AddTxMessage
  - >> BSP_CAN_GetHandle
  - >> BSP_CAN_TxQueuePop
  - >> BSP_CAN_TxQueueIsEmpty
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_TxQueueInit (Thumb, 66 bytes, Stack size 4 bytes, can_1.o(.text.BSP_CAN_TxQueueInit))
  [Stack]

  - Max Depth = 4
  - Call Chain = BSP_CAN_TxQueueInit
  [Called By]
  - >> BSP_CAN_Init

  BSP_CAN_TxQueueIsEmpty (Thumb, 86 bytes, Stack size 4 bytes, can_1.o(.text.BSP_CAN_TxQueueIsEmpty))
  [Stack]

  - Max Depth = 4
  - Call Chain = BSP_CAN_TxQueueIsEmpty
  [Called By]
  - >> BSP_CAN_TxCompleteCallback

  BSP_CAN_TxQueuePop (Thumb, 172 bytes, Stack size 32 bytes, can_1.o(.text.BSP_CAN_TxQueuePop))
  [Stack]

  - Max Depth = 32
  - Call Chain = BSP_CAN_TxQueuePop
  [Called By]
  - >> BSP_CAN_TxCompleteCallback

  BSP_CAN_TxQueuePush (Thumb, 172 bytes, Stack size 40 bytes, can_1.o(.text.BSP_CAN_TxQueuePush))
  [Stack]

  - Max Depth = 40
  - Call Chain = BSP_CAN_TxQueuePush
  [Called By]
  - >> BSP_CAN_Transmit

  CAN_Get (Thumb, 86 bytes, Stack size 8 bytes, can_1.o(.text.CAN_Get))
  [Stack]

  - Max Depth = 8
  - Call Chain = CAN_Get
  [Called By]
  - >> HAL_CAN_WakeUpFromRxMsgCallback
  - >> HAL_CAN_TxMailbox2CompleteCallback
  - >> HAL_CAN_TxMailbox2AbortCallback
  - >> HAL_CAN_TxMailbox1CompleteCallback
  - >> HAL_CAN_TxMailbox1AbortCallback
  - >> HAL_CAN_TxMailbox0CompleteCallback
  - >> HAL_CAN_TxMailbox0AbortCallback
  - >> HAL_CAN_SleepCallback
  - >> HAL_CAN_RxFifo1MsgPendingCallback
  - >> HAL_CAN_RxFifo1FullCallback
  - >> HAL_CAN_RxFifo0MsgPendingCallback
  - >> HAL_CAN_RxFifo0FullCallback
  - >> HAL_CAN_ErrorCallback

  SPI_Get (Thumb, 46 bytes, Stack size 8 bytes, spi_1.o(.text.SPI_Get))
  [Stack]

  - Max Depth = 8
  - Call Chain = SPI_Get
  [Called By]
  - >> HAL_SPI_TxRxHalfCpltCallback
  - >> HAL_SPI_TxRxCpltCallback
  - >> HAL_SPI_TxHalfCpltCallback
  - >> HAL_SPI_TxCpltCallback
  - >> HAL_SPI_RxHalfCpltCallback
  - >> HAL_SPI_RxCpltCallback
  - >> HAL_SPI_ErrorCallback

  UART_Get (Thumb, 72 bytes, Stack size 8 bytes, uart.o(.text.UART_Get))
  [Stack]

  - Max Depth = 8
  - Call Chain = UART_Get
  [Called By]
  - >> BSP_UART_IRQHandler
  - >> HAL_UART_TxCpltCallback
  - >> HAL_UART_RxHalfCpltCallback
  - >> HAL_UART_RxCpltCallback
  - >> HAL_UART_ErrorCallback

  BMI088_AcclIntCallback (Thumb, 20 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_AcclIntCallback))
  [Stack]

  - Max Depth = 144
  - Call Chain = BMI088_AcclIntCallback ⇒ osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR ⇒ vPortValidateInterruptPriority
  [Calls]
  - >> osThreadFlagsSet
  [Address Reference Count : 1]
  - bmi088.o(.text.BMI088_Init)

  BMI088_GyroIntCallback (Thumb, 20 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_GyroIntCallback))
  [Stack]

  - Max Depth = 144
  - Call Chain = BMI088_GyroIntCallback ⇒ osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR ⇒ vPortValidateInterruptPriority
  [Calls]
  - >> osThreadFlagsSet
  [Address Reference Count : 1]
  - bmi088.o(.text.BMI088_Init)

  BMI088_RxCpltCallback (Thumb, 76 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_RxCpltCallback))
  [Stack]

  - Max Depth = 144
  - Call Chain = BMI088_RxCpltCallback ⇒ osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR ⇒ vPortValidateInterruptPriority
  [Calls]
  - >> BSP_GPIO_WritePin
  - >> BSP_GPIO_ReadPin
  - >> osThreadFlagsSet
  [Address Reference Count : 1]
  - bmi088.o(.text.BMI088_Init)

  BMI_Read (Thumb, 118 bytes, Stack size 32 bytes, bmi088.o(.text.BMI_Read))
  [Stack]

  - Max Depth = 232
  - Call Chain = BMI_Read ⇒ BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> BSP_SPI_Transmit
  - >> BSP_SPI_Receive
  - >> BSP_GPIO_WritePin
  [Called By]
  - >> BMI088_GyroStartDmaRecv
  - >> BMI088_AcclStartDmaRecv

  BMI_ReadSingle (Thumb, 178 bytes, Stack size 32 bytes, bmi088.o(.text.BMI_ReadSingle))
  [Stack]

  - Max Depth = 232
  - Call Chain = BMI_ReadSingle ⇒ BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> BSP_TIME_Delay
  - >> BSP_SPI_Transmit
  - >> BSP_SPI_Receive
  - >> BSP_GPIO_WritePin
  [Called By]
  - >> BMI088_Init

  BMI_WriteSingle (Thumb, 148 bytes, Stack size 24 bytes, bmi088.o(.text.BMI_WriteSingle))
  [Stack]

  - Max Depth = 172
  - Call Chain = BMI_WriteSingle ⇒ BSP_TIME_Delay ⇒ osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> BSP_TIME_Delay
  - >> BSP_SPI_Transmit
  - >> BSP_GPIO_WritePin
  [Called By]
  - >> BMI088_Init

  MOTOR_DM_CreateCANManager (Thumb, 150 bytes, Stack size 16 bytes, motor_dm.o(.text.MOTOR_DM_CreateCANManager))
  [Stack]

  - Max Depth = 148 + Unknown Stack Size
  - Call Chain = MOTOR_DM_CreateCANManager ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> BSP_Malloc
  - >> __aeabi_memclr4
  [Called By]
  - >> MOTOR_DM_Register

  MOTOR_DM_GetCANManager (Thumb, 48 bytes, Stack size 8 bytes, motor_dm.o(.text.MOTOR_DM_GetCANManager))
  [Stack]

  - Max Depth = 8
  - Call Chain = MOTOR_DM_GetCANManager
  [Called By]
  - >> MOTOR_DM_Update
  - >> MOTOR_DM_Register
  - >> MOTOR_DM_GetMotor

  MOTOR_DM_ParseFeedbackFrame (Thumb, 344 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_ParseFeedbackFrame))
  [Stack]

  - Max Depth = 56
  - Call Chain = MOTOR_DM_ParseFeedbackFrame ⇒ uint_to_float
  [Calls]
  - >> uint_to_float
  [Called By]
  - >> MOTOR_DM_Update

  MOTOR_DM_SendMITCmd (Thumb, 324 bytes, Stack size 64 bytes, motor_dm.o(.text.MOTOR_DM_SendMITCmd))
  [Stack]

  - Max Depth = 208
  - Call Chain = MOTOR_DM_SendMITCmd ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> float_to_uint
  - >> BSP_CAN_TransmitStdDataFrame
  [Called By]
  - >> MOTOR_DM_MITCtrl

  float_to_uint (Thumb, 88 bytes, Stack size 24 bytes, motor_dm.o(.text.float_to_uint))
  [Stack]

  - Max Depth = 24
  - Call Chain = float_to_uint
  [Called By]
  - >> MOTOR_DM_SendMITCmd

  uint_to_float (Thumb, 82 bytes, Stack size 24 bytes, motor_dm.o(.text.uint_to_float))
  [Stack]

  - Max Depth = 24
  - Call Chain = uint_to_float
  [Called By]
  - >> MOTOR_DM_ParseFeedbackFrame

  MOTOR_RM_CreateCANManager (Thumb, 150 bytes, Stack size 16 bytes, motor_rm.o(.text.MOTOR_RM_CreateCANManager))
  [Stack]

  - Max Depth = 148 + Unknown Stack Size
  - Call Chain = MOTOR_RM_CreateCANManager ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ vListInsertEnd
  [Calls]
  - >> BSP_Malloc
  - >> __aeabi_memclr4
  [Called By]
  - >> MOTOR_RM_Register

  MOTOR_RM_GetCANManager (Thumb, 48 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetCANManager))
  [Stack]

  - Max Depth = 8
  - Call Chain = MOTOR_RM_GetCANManager
  [Called By]
  - >> MOTOR_RM_Update
  - >> MOTOR_RM_SetOutput
  - >> MOTOR_RM_Register
  - >> MOTOR_RM_GetMotor
  - >> MOTOR_RM_Ctrl

  MOTOR_RM_GetLSB (Thumb, 82 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetLSB))
  [Stack]

  - Max Depth = 8
  - Call Chain = MOTOR_RM_GetLSB
  [Called By]
  - >> MOTOR_RM_SetOutput
  - >> Motor_RM_Decode

  MOTOR_RM_GetLogicalIndex (Thumb, 128 bytes, Stack size 12 bytes, motor_rm.o(.text.MOTOR_RM_GetLogicalIndex))
  [Stack]

  - Max Depth = 12
  - Call Chain = MOTOR_RM_GetLogicalIndex
  [Called By]
  - >> MOTOR_RM_SetOutput

  MOTOR_RM_GetRatio (Thumb, 80 bytes, Stack size 12 bytes, motor_rm.o(.text.MOTOR_RM_GetRatio))
  [Stack]

  - Max Depth = 12
  - Call Chain = MOTOR_RM_GetRatio
  [Called By]
  - >> Motor_RM_Decode

  Motor_RM_Decode (Thumb, 540 bytes, Stack size 48 bytes, motor_rm.o(.text.Motor_RM_Decode))
  [Stack]

  - Max Depth = 60
  - Call Chain = Motor_RM_Decode ⇒ MOTOR_RM_GetRatio
  [Calls]
  - >> MOTOR_RM_GetRatio
  - >> MOTOR_RM_GetLSB
  [Called By]
  - >> MOTOR_RM_Update

  DR16_DataCorrupted (Thumb, 260 bytes, Stack size 8 bytes, dr16.o(.text.DR16_DataCorrupted))
  [Stack]

  - Max Depth = 8
  - Call Chain = DR16_DataCorrupted
  [Called By]
  - >> DR16_ParseData

  DR16_RxCpltCallback (Thumb, 20 bytes, Stack size 8 bytes, dr16.o(.text.DR16_RxCpltCallback))
  [Stack]

  - Max Depth = 144
  - Call Chain = DR16_RxCpltCallback ⇒ osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR ⇒ vPortValidateInterruptPriority
  [Calls]
  - >> osThreadFlagsSet
  [Address Reference Count : 1]
  - dr16.o(.text.DR16_Init)

  AHRS_UpdateIMU (Thumb, 1480 bytes, Stack size 136 bytes, ahrs.o(.text.AHRS_UpdateIMU))
  [Stack]

  - Max Depth = 152
  - Call Chain = AHRS_UpdateIMU ⇒ InvSqrt
  [Calls]
  - >> InvSqrt
  [Called By]
  - >> AHRS_Update

  copysignf (Thumb, 30 bytes, Stack size 8 bytes, ahrs.o(.text.copysignf))
  [Stack]

  - Max Depth = 8
  - Call Chain = copysignf
  [Called By]
  - >> AHRS_GetEulr

  __ARM_isfinite (Thumb, 30 bytes, Stack size 8 bytes, filter.o(.text.__ARM_isfinite))
  [Stack]

  - Max Depth = 8
  - Call Chain = __ARM_isfinite
  [Called By]
  - >> LowPassFilter2p_Reset

  __ARM_isfinitef (Thumb, 24 bytes, Stack size 4 bytes, filter.o(.text.__ARM_isfinitef))
  [Stack]

  - Max Depth = 4
  - Call Chain = __ARM_isfinitef
  [Called By]
  - >> LowPassFilter2p_Reset

  __ARM_isinf (Thumb, 52 bytes, Stack size 16 bytes, filter.o(.text.__ARM_isinf))
  [Stack]

  - Max Depth = 16
  - Call Chain = __ARM_isinf
  [Called By]
  - >> LowPassFilter2p_Apply

  __ARM_isinff (Thumb, 28 bytes, Stack size 4 bytes, filter.o(.text.__ARM_isinff))
  [Stack]

  - Max Depth = 4
  - Call Chain = __ARM_isinff
  [Called By]
  - >> LowPassFilter2p_Apply

  __ARM_isfinite (Thumb, 30 bytes, Stack size 8 bytes, pid.o(.text.__ARM_isfinite))
  [Stack]

  - Max Depth = 8
  - Call Chain = __ARM_isfinite
  [Called By]
  - >> PID_Init
  - >> PID_Calc

  __ARM_isfinitef (Thumb, 24 bytes, Stack size 4 bytes, pid.o(.text.__ARM_isfinitef))
  [Stack]

  - Max Depth = 4
  - Call Chain = __ARM_isfinitef
  [Called By]
  - >> PID_Init
  - >> PID_Calc

  Gimbal_SetMode (Thumb, 180 bytes, Stack size 24 bytes, gimbal.o(.text.Gimbal_SetMode))
  [Stack]

  - Max Depth = 208
  - Call Chain = Gimbal_SetMode ⇒ MOTOR_DM_Enable ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> PID_Reset
  - >> LowPassFilter2p_Reset
  - >> AHRS_ResetEulr
  - >> MOTOR_DM_Enable
  [Called By]
  - >> Gimbal_Control

  Chassis_CalcWz (Thumb, 116 bytes, Stack size 32 bytes, chassis.o(.text.Chassis_CalcWz))
  [Stack]

  - Max Depth = 68
  - Call Chain = Chassis_CalcWz ⇒ __hardfp_sinf ⇒ __mathlib_rredf2
  [Calls]
  - >> __hardfp_sinf
  [Called By]
  - >> Chassis_Control

  Chassis_SetMode (Thumb, 248 bytes, Stack size 32 bytes, chassis.o(.text.Chassis_SetMode))
  [Stack]

  - Max Depth = 128
  - Call Chain = Chassis_SetMode ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply ⇒ __ARM_isinf
  [Calls]
  - >> PID_Reset
  - >> LowPassFilter2p_Reset
  - >> srand
  - >> rand
  [Called By]
  - >> Chassis_Control

  __ARM_isfinite (Thumb, 30 bytes, Stack size 8 bytes, chassis.o(.text.__ARM_isfinite))
  [Stack]

  - Max Depth = 8
  - Call Chain = __ARM_isfinite
  [Called By]
  - >> Chassis_Control

  __ARM_isfinitef (Thumb, 24 bytes, Stack size 4 bytes, chassis.o(.text.__ARM_isfinitef))
  [Stack]

  - Max Depth = 4
  - Call Chain = __ARM_isfinitef
  [Called By]
  - >> Chassis_Control

  CMD_PC_BehaviorToActive (Thumb, 26 bytes, Stack size 8 bytes, cmd.o(.text.CMD_PC_BehaviorToActive))
  [Stack]

  - Max Depth = 8
  - Call Chain = CMD_PC_BehaviorToActive
  [Called By]
  - >> CMD_PC_IsBehaviorTriggered

  CMD_PC_BehaviorToValue (Thumb, 26 bytes, Stack size 8 bytes, cmd.o(.text.CMD_PC_BehaviorToValue))
  [Stack]

  - Max Depth = 8
  - Call Chain = CMD_PC_BehaviorToValue
  [Called By]
  - >> CMD_PC_IsBehaviorTriggered

  CMD_PC_IsBehaviorTriggered (Thumb, 292 bytes, Stack size 40 bytes, cmd.o(.text.CMD_PC_IsBehaviorTriggered))
  [Stack]

  - Max Depth = 48
  - Call Chain = CMD_PC_IsBehaviorTriggered ⇒ CMD_PC_BehaviorToValue
  [Calls]
  - >> CMD_PC_BehaviorToValue
  - >> CMD_PC_BehaviorToActive
  [Called By]
  - >> Cmd_PC_BuildShootCommandFromInput
  - >> Cmd_PC_BuildGimbalCommandFromInput
  - >> Cmd_PC_BuildChassisCommandFromInput

  CMD_PC_IsMaskMatch (Thumb, 114 bytes, Stack size 8 bytes, cmd.o(.text.CMD_PC_IsMaskMatch))
  [Stack]

  - Max Depth = 8
  - Call Chain = CMD_PC_IsMaskMatch
  [Called By]
  - >> Cmd_PC_BuildShootCommandFromInput
  - >> Cmd_PC_BuildGimbalCommandFromInput
  - >> Cmd_PC_BuildChassisCommandFromInput

  Cmd_PC_BuildChassisCommandFromInput (Thumb, 136 bytes, Stack size 24 bytes, cmd.o(.text.Cmd_PC_BuildChassisCommandFromInput))
  [Stack]

  - Max Depth = 72
  - Call Chain = Cmd_PC_BuildChassisCommandFromInput ⇒ CMD_PC_IsBehaviorTriggered ⇒ CMD_PC_BehaviorToValue
  [Calls]
  - >> CMD_PC_IsMaskMatch
  - >> CMD_PC_IsBehaviorTriggered
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_PC_BuildGimbalCommandFromInput (Thumb, 212 bytes, Stack size 24 bytes, cmd.o(.text.Cmd_PC_BuildGimbalCommandFromInput))
  [Stack]

  - Max Depth = 72
  - Call Chain = Cmd_PC_BuildGimbalCommandFromInput ⇒ CMD_PC_IsBehaviorTriggered ⇒ CMD_PC_BehaviorToValue
  [Calls]
  - >> CMD_PC_IsMaskMatch
  - >> CMD_PC_IsBehaviorTriggered
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_PC_BuildShootCommandFromInput (Thumb, 178 bytes, Stack size 24 bytes, cmd.o(.text.Cmd_PC_BuildShootCommandFromInput))
  [Stack]

  - Max Depth = 72
  - Call Chain = Cmd_PC_BuildShootCommandFromInput ⇒ CMD_PC_IsBehaviorTriggered ⇒ CMD_PC_BehaviorToValue
  [Calls]
  - >> __aeabi_memcpy
  - >> CMD_PC_IsMaskMatch
  - >> CMD_PC_IsBehaviorTriggered
  [Address Reference Count : 1]
  - cmd.o(.data.sourceHandlers)

  Cmd_PC_HandleBehaviorACCELERATE (Thumb, 50 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorACCELERATE))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorACCELERATE
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorAUTOAIM (Thumb, 10 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorAUTOAIM))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorAUTOAIM
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorBACK (Thumb, 30 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorBACK))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorBACK
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorBUFF (Thumb, 10 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorBUFF))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorBUFF
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorDECELEBRATE (Thumb, 50 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorDECELEBRATE))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorDECELEBRATE
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorFIRE (Thumb, 18 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorFIRE))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorFIRE
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorFIRE_MODE (Thumb, 36 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorFIRE_MODE))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorFIRE_MODE
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorFOLLOWGIMBAL35 (Thumb, 18 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorFOLLOWGIMBAL35))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorFOLLOWGIMBAL35
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorFORE (Thumb, 30 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorFORE))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorFORE
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorLEFT (Thumb, 30 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorLEFT))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorLEFT
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorOPENCOVER (Thumb, 10 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorOPENCOVER))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorOPENCOVER
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorREVTRIG (Thumb, 10 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorREVTRIG))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorREVTRIG
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorRIGHT (Thumb, 30 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorRIGHT))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorRIGHT
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_PC_HandleBehaviorROTOR (Thumb, 26 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_PC_HandleBehaviorROTOR))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_PC_HandleBehaviorROTOR
  [Address Reference Count : 1]
  - cmd.o(.data.behaviorHandlerFuncTable)

  Cmd_isNUCOnline (Thumb, 18 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_isNUCOnline))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_isNUCOnline
  [Called By]
  - >> Cmd_GetHighestPrioritySource

  Cmd_isPCOnline (Thumb, 16 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_isPCOnline))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_isPCOnline
  [Called By]
  - >> Cmd_GetHighestPrioritySource

  Cmd_isRCOnline (Thumb, 16 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_isRCOnline))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_isRCOnline
  [Called By]
  - >> Cmd_GetHighestPrioritySource

  Cmd_isREFOnline (Thumb, 18 bytes, Stack size 4 bytes, cmd.o(.text.Cmd_isREFOnline))
  [Stack]

  - Max Depth = 4
  - Call Chain = Cmd_isREFOnline
  [Called By]
  - >> Cmd_GetHighestPrioritySource

  copy_dr16 (Thumb, 26 bytes, Stack size 16 bytes, cmd.o(.text.copy_dr16))
  [Stack]

  - Max Depth = 24
  - Call Chain = copy_dr16 ⇒ __aeabi_memcpy8
  [Calls]
  - >> __aeabi_memcpy8
  [Called By]
  - >> Cmd_RC_Get

  start_gyro_calibration (Thumb, 56 bytes, Stack size 0 bytes, atti_esti.o(.text.start_gyro_calibration))
  [Address Reference Count : 1]

  - atti_esti.o(.text.Task_atti_esti)

  _dadd1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dadd), UNUSED)
  [Called By]

  - >> _dsub
  - >> _drsb

  _dsub1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dsub), UNUSED)
  [Called By]

  - >> _drsb
  - >> _dadd

  ### Undefined Global Symbols