# Static Call Graph for image zzzzh\zzzzh.axf

#<CALLGRAPH># ARM Linker, 6070001: Last Updated: Sat Nov 22 15:18:36 2025

### Maximum Stack Usage = 304 bytes + Unknown(Cycles, Untraceable Function Pointers)

### Call chain for Maximum Stack Depth:

Task_shoot_test ⇒ Shoot_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

### Mutually Recursive functions

- ADC_IRQHandler ⇒ ADC_IRQHandler
- BusFault_Handler ⇒ BusFault_Handler
- HardFault_Handler ⇒ HardFault_Handler
- MemManage_Handler ⇒ MemManage_Handler
- NMI_Handler ⇒ NMI_Handler
- UsageFault_Handler ⇒ UsageFault_Handler

  ### 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 4 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 startup_stm32f407xx.o(.text) 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 startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - 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 startup_stm32f407xx.o(.text) 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 stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler) 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)
  - 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 startup_stm32f407xx.o(.text) 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 stm32f4xx_it.o(.text.TIM7_IRQHandler) 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_cmd from cmd.o(.text.Task_cmd) referenced 2 times from init.o(.text.Task_Init)
  - Task_gimbal_test from gimbal_test.o(.text.Task_gimbal_test) 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)
  - Task_shoot_test from shoot_test.o(.text.Task_shoot_test) 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.HAL_UART_Receive_DMA)
  - UART_DMAReceiveCplt from stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
  - UART_DMARxHalfCplt from stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)
  - USART1_IRQHandler from stm32f4xx_it.o(.text.USART1_IRQHandler) 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 entry.o(.ARM.Collect$$$$00000000) referenced from startup_stm32f407xx.o(.text)
  - main from main.o(.text.main) referenced from entry9a.o(.ARM.Collect$$$$0000000B)
  - 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)

  ### Global Symbols

  __main (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(.text)

  _main_stk (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

  _main_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
  [Calls]

  - >> __scatterload

  __main_after_scatterload (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
  [Called By]

  - >> __scatterload

  _main_clock (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))

  _main_cpp_init (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))

  _main_init (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))

  __rt_final_cpp (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))

  __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))

  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)

  CAN1_TX_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)

  CAN2_TX_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_Stream2_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_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)

  EXTI3_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)

  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)

  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)

  __aeabi_uldivmod (Thumb, 98 bytes, Stack size 40 bytes, uldiv.o(.text))
  [Stack]

  - Max Depth = 40
  - Call Chain = __aeabi_uldivmod
  [Calls]
  - >> __aeabi_llsr
  - >> __aeabi_llsl
  [Called By]
  - >> HAL_RCC_GetSysClockFreq
  - >> UART_SetConfig

  __aeabi_memcpy (Thumb, 36 bytes, Stack size 0 bytes, memcpya.o(.text))
  [Called By]

  - >> xQueueReceiveFromISR
  - >> xQueueReceive
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  - >> BSP_CAN_Transmit
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  __aeabi_memcpy4 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)

  __aeabi_memcpy8 (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text))
  [Called By]

  - >> Shoot_UpdateFeedback

  __aeabi_memset (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
  [Called By]

  - >> _memset$wrapper
  - >> __aeabi_memclr

  __aeabi_memset4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text))
  [Called By]

  - >> xTaskCreateStatic
  - >> xTaskCreate

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

  __aeabi_memclr (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)
  [Calls]

  - >> __aeabi_memset

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

  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register

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

  - >> BSP_CAN_Init
  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register

  _memset$wrapper (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED)
  [Calls]

  - >> __aeabi_memset

  __aeabi_ddiv (Thumb, 222 bytes, Stack size 32 bytes, ddiv.o(.text))
  [Stack]

  - Max Depth = 40
  - Call Chain = __aeabi_ddiv ⇒ _double_round
  [Calls]
  - >> _double_round
  [Called By]
  - >> Task_shoot_test
  - >> Task_rc
  - >> Task_gimbal_test
  - >> Task_cmd
  - >> Task_atti_esti
  - >> __hardfp_atan
  - >> __hardfp_atan2

  __aeabi_dcmplt (Thumb, 54 bytes, Stack size 12 bytes, dcmplt.o(.text))
  [Stack]

  - Max Depth = 12
  - Call Chain = __aeabi_dcmplt
  [Called By]
  - >> DEVICE_LIGHTBRIDGE2_ParseRaw

  __aeabi_dcmpgt (Thumb, 54 bytes, Stack size 12 bytes, dcmpgt.o(.text))
  [Stack]

  - Max Depth = 12
  - Call Chain = __aeabi_dcmpgt
  [Called By]
  - >> DEVICE_LIGHTBRIDGE2_ParseRaw

  __aeabi_ul2f (Thumb, 28 bytes, Stack size 8 bytes, ffltul.o(.text))
  [Stack]

  - Max Depth = 12
  - Call Chain = __aeabi_ul2f ⇒ _float_epilogue
  [Calls]
  - >> _float_epilogue
  [Called By]
  - >> Gimbal_Control
  - >> Shoot_Control

  __aeabi_ui2d (Thumb, 26 bytes, Stack size 16 bytes, dfltui.o(.text))
  [Stack]

  - Max Depth = 56
  - Call Chain = __aeabi_ui2d ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> _double_epilogue
  [Called By]
  - >> Task_shoot_test
  - >> Task_rc
  - >> Task_gimbal_test
  - >> Task_cmd
  - >> Task_atti_esti

  __aeabi_d2uiz (Thumb, 50 bytes, Stack size 8 bytes, dfixui.o(.text))
  [Stack]

  - Max Depth = 8
  - Call Chain = __aeabi_d2uiz
  [Calls]
  - >> __aeabi_llsr
  [Called By]
  - >> Task_shoot_test
  - >> Task_rc
  - >> Task_gimbal_test
  - >> Task_cmd
  - >> Task_atti_esti

  __aeabi_f2d (Thumb, 38 bytes, Stack size 0 bytes, f2d.o(.text))
  [Called By]

  - >> AHRS_Init
  - >> DEVICE_LIGHTBRIDGE2_ParseRaw

  __aeabi_d2f (Thumb, 56 bytes, Stack size 8 bytes, d2f.o(.text))
  [Stack]

  - Max Depth = 8
  - Call Chain = __aeabi_d2f
  [Calls]
  - >> _float_round
  [Called By]
  - >> AHRS_Init

  __aeabi_llsl (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text))
  [Called By]

  - >> __aeabi_dadd
  - >> _double_epilogue
  - >> __aeabi_uldivmod

  _ll_shift_l (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)

  __aeabi_llsr (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))
  [Called By]

  - >> __aeabi_d2uiz
  - >> _double_epilogue
  - >> __aeabi_uldivmod

  _ll_ushift_r (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)

  __I$use$fp (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)

  _float_round (Thumb, 18 bytes, Stack size 0 bytes, fepilogue.o(.text))
  [Called By]

  - >> __aeabi_d2f

  _float_epilogue (Thumb, 92 bytes, Stack size 4 bytes, fepilogue.o(.text))
  [Stack]

  - Max Depth = 4
  - Call Chain = _float_epilogue
  [Called By]
  - >> __aeabi_ul2f

  _double_round (Thumb, 30 bytes, Stack size 8 bytes, depilogue.o(.text))
  [Stack]

  - Max Depth = 8
  - Call Chain = _double_round
  [Called By]
  - >> __aeabi_ddiv
  - >> __aeabi_dadd
  - >> _double_epilogue

  _double_epilogue (Thumb, 156 bytes, Stack size 32 bytes, depilogue.o(.text))
  [Stack]

  - Max Depth = 40
  - Call Chain = _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_llsr
  - >> __aeabi_llsl
  - >> _double_round
  [Called By]
  - >> __aeabi_ui2d
  - >> __aeabi_dmul
  - >> __aeabi_dadd

  __aeabi_dadd (Thumb, 322 bytes, Stack size 48 bytes, dadd.o(.text))
  [Stack]

  - Max Depth = 88
  - Call Chain = __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_lasr
  - >> __aeabi_llsl
  - >> _double_epilogue
  - >> _double_round
  [Called By]
  - >> __kernel_poly
  - >> __mathlib_dbl_infnan2
  - >> __mathlib_dbl_infnan
  - >> __hardfp_atan
  - >> __aeabi_dsub
  - >> __aeabi_drsub

  __aeabi_dsub (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text))
  [Stack]

  - Max Depth = 88
  - Call Chain = __aeabi_dsub ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_dadd
  [Called By]
  - >> __hardfp_atan
  - >> __hardfp_atan2

  __aeabi_drsub (Thumb, 6 bytes, Stack size 0 bytes, dadd.o(.text))
  [Stack]

  - Max Depth = 88
  - Call Chain = __aeabi_drsub ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_dadd
  [Called By]
  - >> __hardfp_atan
  - >> __hardfp_atan2

  __ARM_fcmp4 (Thumb, 54 bytes, Stack size 0 bytes, fcmp4.o(.text))
  [Called By]

  - >> __hardfp_fmaxf

  _fcmp4 (Thumb, 0 bytes, Stack size 0 bytes, fcmp4.o(.text), UNUSED)

  __scatterload (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
  [Calls]

  - >> __main_after_scatterload
  [Called By]
  - >> _main_scatterload

  __scatterload_rt2 (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)

  __aeabi_lasr (Thumb, 36 bytes, Stack size 0 bytes, llsshr.o(.text))
  [Called By]

  - >> __aeabi_dadd

  _ll_sshift_r (Thumb, 0 bytes, Stack size 0 bytes, llsshr.o(.text), UNUSED)

  __aeabi_dmul (Thumb, 228 bytes, Stack size 48 bytes, dmul.o(.text))
  [Stack]

  - Max Depth = 88
  - Call Chain = __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> _double_epilogue
  [Called By]
  - >> __kernel_poly
  - >> __mathlib_dbl_underflow
  - >> __hardfp_atan

  __decompress (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)

  __decompress1 (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)

  AHRS_GetEulr (Thumb, 218 bytes, Stack size 64 bytes, ahrs.o(.text.AHRS_GetEulr))
  [Stack]

  - Max Depth = 96
  - Call Chain = AHRS_GetEulr ⇒ __hardfp_asinf ⇒ sqrtf
  [Calls]
  - >> __hardfp__fabsf
  - >> __hardfp_atan2f
  - >> __hardfp_asinf
  [Called By]
  - >> Task_atti_esti

  AHRS_Init (Thumb, 340 bytes, Stack size 24 bytes, ahrs.o(.text.AHRS_Init))
  [Stack]

  - Max Depth = 240
  - Call Chain = AHRS_Init ⇒ __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_f2d
  - >> __aeabi_d2f
  - >> __hardfp_atan2
  [Called By]
  - >> Task_atti_esti

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

  - >> Gimbal_Control

  AHRS_Update (Thumb, 1108 bytes, Stack size 120 bytes, ahrs.o(.text.AHRS_Update))
  [Stack]

  - Max Depth = 200
  - Call Chain = AHRS_Update ⇒ AHRS_UpdateIMU
  [Calls]
  - >> AHRS_UpdateIMU
  - >> InvSqrt
  [Called By]
  - >> Task_atti_esti

  AbsClip (Thumb, 42 bytes, Stack size 0 bytes, user_math.o(.text.AbsClip))
  [Called By]

  - >> PID_Calc

  BMI088_AcclStartDmaRecv (Thumb, 52 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_AcclStartDmaRecv))
  [Stack]

  - Max Depth = 120
  - Call Chain = BMI088_AcclStartDmaRecv ⇒ BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> BSP_SPI_Transmit
  - >> BSP_SPI_Receive
  - >> BSP_GPIO_WritePin
  [Called By]
  - >> Task_atti_esti

  BMI088_AcclWaitDmaCplt (Thumb, 12 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_AcclWaitDmaCplt))
  [Stack]

  - Max Depth = 80
  - Call Chain = BMI088_AcclWaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_atti_esti

  BMI088_GetUpdateFreq (Thumb, 12 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_GetUpdateFreq))
  [Called By]

  - >> Task_atti_esti

  BMI088_GyroStartDmaRecv (Thumb, 54 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_GyroStartDmaRecv))
  [Stack]

  - Max Depth = 120
  - Call Chain = BMI088_GyroStartDmaRecv ⇒ BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> BSP_SPI_Transmit
  - >> BSP_SPI_Receive
  - >> BSP_GPIO_WritePin
  [Called By]
  - >> Task_atti_esti

  BMI088_GyroWaitDmaCplt (Thumb, 12 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_GyroWaitDmaCplt))
  [Stack]

  - Max Depth = 80
  - Call Chain = BMI088_GyroWaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_atti_esti

  BMI088_Init (Thumb, 814 bytes, Stack size 24 bytes, bmi088.o(.text.BMI088_Init))
  [Stack]

  - Max Depth = 136
  - Call Chain = BMI088_Init ⇒ BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> osThreadGetId
  - >> BSP_SPI_Transmit
  - >> BSP_SPI_RegisterCallback
  - >> BSP_SPI_Receive
  - >> BSP_TIME_Delay
  - >> BSP_GPIO_WritePin
  - >> BSP_GPIO_RegisterCallback
  - >> BSP_GPIO_EnableIRQ
  - >> BSP_GPIO_DisableIRQ
  [Called By]
  - >> Task_atti_esti

  BMI088_ParseAccl (Thumb, 140 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_ParseAccl))
  [Called By]

  - >> Task_atti_esti

  BMI088_ParseGyro (Thumb, 120 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_ParseGyro))
  [Called By]

  - >> Task_atti_esti

  BMI088_WaitNew (Thumb, 12 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_WaitNew))
  [Stack]

  - Max Depth = 80
  - Call Chain = BMI088_WaitNew ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_atti_esti

  BSP_CAN_GetMessage (Thumb, 138 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_GetMessage))
  [Stack]

  - Max Depth = 168
  - Call Chain = BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osMutexRelease
  - >> osMutexAcquire
  - >> osMessageQueueGet
  [Called By]
  - >> MOTOR_RM_Update
  - >> MOTOR_DM_Update

  BSP_CAN_Init (Thumb, 262 bytes, Stack size 64 bytes, can_1.o(.text.BSP_CAN_Init))
  [Stack]

  - Max Depth = 216
  - Call Chain = BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> HAL_CAN_Start
  - >> HAL_CAN_ConfigFilter
  - >> HAL_CAN_ActivateNotification
  - >> osMutexNew
  - >> __aeabi_memclr8
  [Called By]
  - >> Gimbal_Init
  - >> Shoot_Init

  BSP_CAN_RegisterId (Thumb, 184 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_RegisterId))
  [Stack]

  - Max Depth = 168
  - Call Chain = BSP_CAN_RegisterId ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_Malloc
  - >> BSP_Free
  - >> osMutexRelease
  - >> osMutexAcquire
  - >> osMessageQueueNew
  [Called By]
  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register

  BSP_CAN_Transmit (Thumb, 336 bytes, Stack size 64 bytes, can_1.o(.text.BSP_CAN_Transmit))
  [Stack]

  - Max Depth = 72
  - Call Chain = BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> HAL_CAN_GetTxMailboxesFreeLevel
  - >> HAL_CAN_AddTxMessage
  - >> __aeabi_memcpy
  [Called By]
  - >> BSP_CAN_TransmitStdDataFrame

  BSP_CAN_TransmitStdDataFrame (Thumb, 32 bytes, Stack size 16 bytes, can_1.o(.text.BSP_CAN_TransmitStdDataFrame))
  [Stack]

  - Max Depth = 88
  - Call Chain = BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> BSP_CAN_Transmit
  [Called By]
  - >> MOTOR_RM_Ctrl
  - >> MOTOR_DM_MITCtrl
  - >> MOTOR_DM_Enable

  BSP_Free (Thumb, 4 bytes, Stack size 0 bytes, mm.o(.text.BSP_Free))
  [Stack]

  - Max Depth = 80
  - Call Chain = BSP_Free ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vPortFree
  [Called By]
  - >> BSP_CAN_RegisterId
  - >> Config_ShootInit
  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register
  - >> Shoot_Init

  BSP_GPIO_DisableIRQ (Thumb, 40 bytes, Stack size 8 bytes, gpio_1.o(.text.BSP_GPIO_DisableIRQ))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_GPIO_DisableIRQ
  [Calls]
  - >> HAL_NVIC_DisableIRQ
  [Called By]
  - >> BMI088_Init

  BSP_GPIO_EnableIRQ (Thumb, 40 bytes, Stack size 8 bytes, gpio_1.o(.text.BSP_GPIO_EnableIRQ))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_GPIO_EnableIRQ
  [Calls]
  - >> HAL_NVIC_EnableIRQ
  [Called By]
  - >> BMI088_Init

  BSP_GPIO_ReadPin (Thumb, 42 bytes, Stack size 8 bytes, gpio_1.o(.text.BSP_GPIO_ReadPin))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_GPIO_ReadPin
  [Calls]
  - >> HAL_GPIO_ReadPin
  [Called By]
  - >> BMI088_RxCpltCallback

  BSP_GPIO_RegisterCallback (Thumb, 178 bytes, Stack size 0 bytes, gpio_1.o(.text.BSP_GPIO_RegisterCallback))
  [Called By]

  - >> BMI088_Init

  BSP_GPIO_WritePin (Thumb, 46 bytes, Stack size 8 bytes, gpio_1.o(.text.BSP_GPIO_WritePin))
  [Stack]

  - Max Depth = 8
  - Call Chain = BSP_GPIO_WritePin
  [Calls]
  - >> HAL_GPIO_WritePin
  [Called By]
  - >> BMI088_Init
  - >> BMI088_GyroStartDmaRecv
  - >> BMI088_AcclStartDmaRecv
  - >> BMI088_RxCpltCallback

  BSP_Malloc (Thumb, 4 bytes, Stack size 0 bytes, mm.o(.text.BSP_Malloc))
  [Stack]

  - Max Depth = 80
  - Call Chain = BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> pvPortMalloc
  [Called By]
  - >> BSP_CAN_RegisterId
  - >> Config_ShootInit
  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register
  - >> Shoot_Init

  BSP_SPI_Receive (Thumb, 46 bytes, Stack size 8 bytes, spi_1.o(.text.BSP_SPI_Receive))
  [Stack]

  - Max Depth = 112
  - Call Chain = BSP_SPI_Receive ⇒ HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_SPI_Receive_DMA
  - >> HAL_SPI_Receive
  [Called By]
  - >> BMI088_Init
  - >> BMI088_GyroStartDmaRecv
  - >> BMI088_AcclStartDmaRecv

  BSP_SPI_RegisterCallback (Thumb, 32 bytes, Stack size 0 bytes, spi_1.o(.text.BSP_SPI_RegisterCallback))
  [Called By]

  - >> BMI088_Init

  BSP_SPI_Transmit (Thumb, 46 bytes, Stack size 8 bytes, spi_1.o(.text.BSP_SPI_Transmit))
  [Stack]

  - Max Depth = 80
  - Call Chain = BSP_SPI_Transmit ⇒ HAL_SPI_Transmit ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_SPI_Transmit_DMA
  - >> HAL_SPI_Transmit
  [Called By]
  - >> BMI088_Init
  - >> BMI088_GyroStartDmaRecv
  - >> BMI088_AcclStartDmaRecv

  BSP_TIME_Delay (Thumb, 88 bytes, Stack size 16 bytes, time.o(.text.BSP_TIME_Delay_ms))
  [Stack]

  - Max Depth = 112
  - Call Chain = BSP_TIME_Delay ⇒ osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> HAL_Delay
  - >> osKernelGetTickFreq
  - >> osKernelGetState
  - >> osDelay
  [Called By]
  - >> BMI088_Init

  BSP_TIME_Delay_ms (Thumb, 88 bytes, Stack size 16 bytes, time.o(.text.BSP_TIME_Delay_ms), UNUSED)

  BSP_TIME_Get (Thumb, 78 bytes, Stack size 24 bytes, time.o(.text.BSP_TIME_Get_us))
  [Stack]

  - Max Depth = 24
  - Call Chain = BSP_TIME_Get
  [Calls]
  - >> xTaskGetTickCount
  - >> osKernelGetTickFreq
  [Called By]
  - >> MOTOR_RM_Update
  - >> MOTOR_DM_Update

  BSP_TIME_Get_us (Thumb, 78 bytes, Stack size 24 bytes, time.o(.text.BSP_TIME_Get_us))
  [Stack]

  - Max Depth = 24
  - Call Chain = BSP_TIME_Get_us
  [Called By]
  - >> Gimbal_Control
  - >> Shoot_Control

  BSP_UART_GetHandle (Thumb, 32 bytes, Stack size 0 bytes, uart.o(.text.BSP_UART_GetHandle))
  [Called By]

  - >> DEVICE_LIGHTBRIDGE2_StartDmaRecv

  BSP_UART_IRQHandler (Thumb, 82 bytes, Stack size 4 bytes, uart.o(.text.BSP_UART_IRQHandler))
  [Stack]

  - Max Depth = 4
  - Call Chain = BSP_UART_IRQHandler
  [Called By]
  - >> USART6_IRQHandler
  - >> USART1_IRQHandler

  BusFault_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.BusFault_Handler))
  [Calls]

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

  CAN1_RX0_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = CAN1_RX0_IRQHandler ⇒ HAL_CAN_IRQHandler
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN1_RX1_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = CAN1_RX1_IRQHandler ⇒ HAL_CAN_IRQHandler
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN2_RX0_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = CAN2_RX0_IRQHandler ⇒ HAL_CAN_IRQHandler
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  CAN2_RX1_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = CAN2_RX1_IRQHandler ⇒ HAL_CAN_IRQHandler
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  COMP_LIGHTBRIDGE2_CMD_ParseRc (Thumb, 82 bytes, Stack size 0 bytes, lightbridge2_cmd.o(.text.COMP_LIGHTBRIDGE2_CMD_ParseRc))
  [Called By]

  - >> Task_rc

  CircleAdd (Thumb, 58 bytes, Stack size 0 bytes, user_math.o(.text.CircleAdd))
  [Called By]

  - >> Gimbal_Control
  - >> Shoot_RunningFSM

  CircleError (Thumb, 60 bytes, Stack size 0 bytes, user_math.o(.text.CircleError))
  [Called By]

  - >> PID_Calc
  - >> Gimbal_Control
  - >> Shoot_RunningFSM

  Clip (Thumb, 38 bytes, Stack size 0 bytes, user_math.o(.text.Clip))
  [Called By]

  - >> Gimbal_Control

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

  - >> Task_shoot_test
  - >> Task_gimbal_test

  Config_ShootInit (Thumb, 142 bytes, Stack size 16 bytes, config.o(.text.Config_ShootInit))
  [Stack]

  - Max Depth = 96
  - Call Chain = Config_ShootInit ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_Malloc
  - >> BSP_Free
  [Called By]
  - >> Task_shoot_test

  DEVICE_LIGHTBRIDGE2_ParseRaw (Thumb, 1272 bytes, Stack size 96 bytes, lightbridge2.o(.text.DEVICE_LIGHTBRIDGE2_ParseRaw))
  [Stack]

  - Max Depth = 108
  - Call Chain = DEVICE_LIGHTBRIDGE2_ParseRaw ⇒ __aeabi_dcmplt
  [Calls]
  - >> __aeabi_f2d
  - >> __aeabi_dcmplt
  - >> __aeabi_dcmpgt
  - >> __hardfp_fabs
  [Called By]
  - >> Task_rc

  DEVICE_LIGHTBRIDGE2_StartDmaRecv (Thumb, 28 bytes, Stack size 8 bytes, lightbridge2.o(.text.DEVICE_LIGHTBRIDGE2_StartDmaRecv))
  [Stack]

  - Max Depth = 40
  - Call Chain = DEVICE_LIGHTBRIDGE2_StartDmaRecv ⇒ HAL_UART_Receive_DMA ⇒ HAL_DMA_Start_IT
  [Calls]
  - >> HAL_UART_Receive_DMA
  - >> BSP_UART_GetHandle
  [Called By]
  - >> Task_rc

  DEVICE_LIGHTBRIDGE2_WaitDmaCplt (Thumb, 22 bytes, Stack size 8 bytes, lightbridge2.o(.text.DEVICE_LIGHTBRIDGE2_WaitDmaCplt))
  [Stack]

  - Max Depth = 88
  - Call Chain = DEVICE_LIGHTBRIDGE2_WaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_rc

  DMA1_Stream1_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA1_Stream1_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = DMA1_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream1_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream1_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = DMA2_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream2_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream2_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = DMA2_Stream2_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream3_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream3_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = DMA2_Stream3_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream5_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream5_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = DMA2_Stream5_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  DMA2_Stream6_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = DMA2_Stream6_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  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, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI0_IRQHandler))
  [Stack]

  - Max Depth = 8
  - 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)

  EXTI4_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI4_IRQHandler))
  [Stack]

  - Max Depth = 8
  - 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, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.EXTI9_5_IRQHandler))
  [Stack]

  - Max Depth = 8
  - 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]

  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init
  - >> MX_USART1_UART_Init
  - >> MX_TIM7_Init
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init
  - >> MX_SPI1_Init
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init
  - >> HAL_UART_MspInit
  - >> HAL_SPI_MspInit

  Gimbal_Control (Thumb, 792 bytes, Stack size 80 bytes, gimbal.o(.text.Gimbal_Control))
  [Stack]

  - Max Depth = 152
  - Call Chain = Gimbal_Control ⇒ PID_Calc ⇒ __hardfp_fmaxf
  [Calls]
  - >> AHRS_ResetEulr
  - >> Clip
  - >> CircleAdd
  - >> PID_Reset
  - >> PID_Calc
  - >> CircleError
  - >> LowPassFilter2p_Reset
  - >> BSP_TIME_Get_us
  - >> __aeabi_ul2f
  [Called By]
  - >> Task_gimbal_test

  Gimbal_Init (Thumb, 374 bytes, Stack size 16 bytes, gimbal.o(.text.Gimbal_Init))
  [Stack]

  - Max Depth = 232
  - Call Chain = Gimbal_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> PID_Init
  - >> LowPassFilter2p_Init
  - >> BSP_CAN_Init
  - >> MOTOR_RM_Register
  - >> MOTOR_DM_Register
  - >> MOTOR_DM_Enable
  [Called By]
  - >> Task_gimbal_test

  Gimbal_Output (Thumb, 126 bytes, Stack size 8 bytes, gimbal.o(.text.Gimbal_Output))
  [Stack]

  - Max Depth = 128
  - Call Chain = Gimbal_Output ⇒ MOTOR_DM_MITCtrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> MOTOR_RM_SetOutput
  - >> MOTOR_RM_Ctrl
  - >> MOTOR_DM_MITCtrl
  [Called By]
  - >> Task_gimbal_test

  Gimbal_UpdateFeedback (Thumb, 192 bytes, Stack size 8 bytes, gimbal.o(.text.Gimbal_UpdateFeedback))
  [Stack]

  - Max Depth = 224
  - Call Chain = Gimbal_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> MOTOR_RM_Update
  - >> MOTOR_RM_GetMotor
  - >> MOTOR_DM_Update
  - >> MOTOR_DM_GetMotor
  [Called By]
  - >> Task_gimbal_test

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

  - >> Task_gimbal_test

  HAL_CAN_ActivateNotification (Thumb, 40 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ActivateNotification))
  [Called By]

  - >> BSP_CAN_Init

  HAL_CAN_AddTxMessage (Thumb, 144 bytes, Stack size 8 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_AddTxMessage))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_AddTxMessage
  [Called By]
  - >> BSP_CAN_Transmit
  - >> BSP_CAN_TxCompleteCallback

  HAL_CAN_ConfigFilter (Thumb, 224 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_ConfigFilter))
  [Stack]

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

  HAL_CAN_ErrorCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_ErrorCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_GetRxFifoFillLevel (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxFifoFillLevel))
  [Called By]

  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  HAL_CAN_GetRxMessage (Thumb, 308 bytes, Stack size 8 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_GetRxMessage))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_GetRxMessage
  [Called By]
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  HAL_CAN_GetTxMailboxesFreeLevel (Thumb, 42 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_GetTxMailboxesFreeLevel))
  [Called By]

  - >> BSP_CAN_Transmit
  - >> BSP_CAN_TxCompleteCallback

  HAL_CAN_IRQHandler (Thumb, 602 bytes, Stack size 40 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = HAL_CAN_IRQHandler
  [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_RX1_IRQHandler
  - >> CAN2_RX0_IRQHandler
  - >> CAN1_RX1_IRQHandler
  - >> CAN1_RX0_IRQHandler

  HAL_CAN_Init (Thumb, 258 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init))
  [Stack]

  - Max Depth = 92
  - Call Chain = HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_CAN_MspInit
  - >> HAL_GetTick
  [Called By]
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init

  HAL_CAN_MspInit (Thumb, 356 bytes, Stack size 32 bytes, can.o(.text.HAL_CAN_MspInit))
  [Stack]

  - Max Depth = 76
  - Call Chain = HAL_CAN_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  - >> HAL_GPIO_Init
  [Called By]
  - >> HAL_CAN_Init

  HAL_CAN_RxFifo0FullCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo0FullCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo1FullCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo1FullCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_SleepCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_SleepCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_Start (Thumb, 92 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Start))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_CAN_Start
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> BSP_CAN_Init

  HAL_CAN_TxMailbox0AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox0CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox1AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox1CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox2AbortCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox2CompleteCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 58 bytes, Stack size 0 bytes, can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback))
  [Called By]

  - >> HAL_CAN_IRQHandler

  HAL_DMA_Abort (Thumb, 132 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_DMA_Abort
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> HAL_UART_IRQHandler

  HAL_DMA_Abort_IT (Thumb, 36 bytes, Stack size 0 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Abort_IT))
  [Called By]

  - >> HAL_UART_IRQHandler

  HAL_DMA_IRQHandler (Thumb, 412 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_DMA_IRQHandler
  [Called By]
  - >> DMA2_Stream6_IRQHandler
  - >> DMA2_Stream5_IRQHandler
  - >> DMA2_Stream3_IRQHandler
  - >> DMA2_Stream2_IRQHandler
  - >> DMA2_Stream1_IRQHandler
  - >> DMA1_Stream1_IRQHandler

  HAL_DMA_Init (Thumb, 356 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_DMA_Init
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> HAL_UART_MspInit
  - >> HAL_SPI_MspInit

  HAL_DMA_Start_IT (Thumb, 164 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_DMA_Start_IT
  [Called By]
  - >> HAL_SPI_Transmit_DMA
  - >> HAL_SPI_TransmitReceive_DMA
  - >> HAL_SPI_Receive_DMA
  - >> HAL_UART_Receive_DMA

  HAL_Delay (Thumb, 44 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_Delay))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_Delay
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> BSP_TIME_Delay

  HAL_GPIO_EXTI_Callback (Thumb, 418 bytes, Stack size 8 bytes, gpio_1.o(.text.HAL_GPIO_EXTI_Callback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_GPIO_EXTI_Callback
  [Called By]
  - >> HAL_GPIO_EXTI_IRQHandler

  HAL_GPIO_EXTI_IRQHandler (Thumb, 22 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_EXTI_IRQHandler))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_GPIO_EXTI_IRQHandler ⇒ HAL_GPIO_EXTI_Callback
  [Calls]
  - >> HAL_GPIO_EXTI_Callback
  [Called By]
  - >> EXTI9_5_IRQHandler
  - >> EXTI4_IRQHandler
  - >> EXTI0_IRQHandler

  HAL_GPIO_Init (Thumb, 446 bytes, Stack size 44 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init))
  [Stack]

  - Max Depth = 44
  - Call Chain = HAL_GPIO_Init
  [Called By]
  - >> HAL_CAN_MspInit
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init
  - >> MX_GPIO_Init
  - >> HAL_UART_MspInit
  - >> HAL_SPI_MspInit

  HAL_GPIO_ReadPin (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_ReadPin))
  [Called By]

  - >> BSP_GPIO_ReadPin

  HAL_GPIO_WritePin (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(.text.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_CAN_Init
  - >> HAL_RCC_OscConfig
  - >> HAL_RCC_ClockConfig
  - >> HAL_DMA_Init
  - >> HAL_DMA_Abort
  - >> HAL_CAN_Start
  - >> HAL_SPI_TransmitReceive
  - >> HAL_SPI_Transmit
  - >> HAL_SPI_Receive
  - >> SPI_WaitFlagStateUntilTimeout
  - >> SPI_DMATransmitReceiveCplt
  - >> SPI_DMATransmitCplt
  - >> SPI_DMAReceiveCplt
  - >> HAL_Delay
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  HAL_IncTick (Thumb, 18 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 = 32
  - Call Chain = HAL_Init ⇒ HAL_InitTick ⇒ HAL_NVIC_SetPriority
  [Calls]
  - >> HAL_MspInit
  - >> HAL_InitTick
  - >> HAL_NVIC_SetPriorityGrouping
  [Called By]
  - >> main

  HAL_InitTick (Thumb, 68 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_InitTick ⇒ HAL_NVIC_SetPriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_SYSTICK_Config
  [Called By]
  - >> HAL_RCC_ClockConfig
  - >> HAL_Init

  HAL_MspInit (Thumb, 66 bytes, Stack size 8 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_MspInit ⇒ HAL_NVIC_SetPriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  [Called By]
  - >> HAL_Init

  HAL_NVIC_DisableIRQ (Thumb, 40 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_DisableIRQ))
  [Called By]

  - >> BSP_GPIO_DisableIRQ

  HAL_NVIC_EnableIRQ (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_EnableIRQ))
  [Called By]

  - >> HAL_CAN_MspInit
  - >> MX_GPIO_Init
  - >> MX_DMA_Init
  - >> HAL_UART_MspInit
  - >> HAL_TIM_Base_MspInit
  - >> BSP_GPIO_EnableIRQ

  HAL_NVIC_SetPriority (Thumb, 100 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_NVIC_SetPriority
  [Called By]
  - >> HAL_CAN_MspInit
  - >> MX_GPIO_Init
  - >> MX_DMA_Init
  - >> HAL_MspInit
  - >> HAL_UART_MspInit
  - >> HAL_TIM_Base_MspInit
  - >> HAL_InitTick

  HAL_NVIC_SetPriorityGrouping (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriorityGrouping))
  [Called By]

  - >> HAL_Init

  HAL_RCC_ClockConfig (Thumb, 356 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig))
  [Stack]

  - Max Depth = 72
  - Call Chain = HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
  [Calls]
  - >> HAL_RCC_GetSysClockFreq
  - >> HAL_InitTick
  - >> HAL_GetTick
  [Called By]
  - >> SystemClock_Config

  HAL_RCC_GetPCLK1Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK1Freq))
  [Called By]

  - >> UART_SetConfig

  HAL_RCC_GetPCLK2Freq (Thumb, 38 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetPCLK2Freq))
  [Called By]

  - >> UART_SetConfig

  HAL_RCC_GetSysClockFreq (Thumb, 108 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq))
  [Stack]

  - Max Depth = 48
  - Call Chain = HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
  [Calls]
  - >> __aeabi_uldivmod
  [Called By]
  - >> HAL_RCC_ClockConfig

  HAL_RCC_OscConfig (Thumb, 982 bytes, Stack size 40 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig))
  [Stack]

  - Max Depth = 40
  - Call Chain = HAL_RCC_OscConfig
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> SystemClock_Config

  HAL_SPI_ErrorCallback (Thumb, 32 bytes, Stack size 0 bytes, spi_1.o(.text.HAL_SPI_ErrorCallback))
  [Called By]

  - >> SPI_DMATransmitReceiveCplt
  - >> SPI_DMATransmitCplt
  - >> SPI_DMAReceiveCplt
  - >> SPI_DMAError

  HAL_SPI_Init (Thumb, 200 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Init))
  [Stack]

  - Max Depth = 116
  - Call Chain = HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_SPI_MspInit
  [Called By]
  - >> MX_SPI1_Init

  HAL_SPI_MspInit (Thumb, 302 bytes, Stack size 56 bytes, spi.o(.text.HAL_SPI_MspInit))
  [Stack]

  - Max Depth = 100
  - Call Chain = HAL_SPI_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_Init
  - >> Error_Handler
  - >> HAL_DMA_Init
  [Called By]
  - >> HAL_SPI_Init

  HAL_SPI_Receive (Thumb, 546 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive))
  [Stack]

  - Max Depth = 104
  - Call Chain = HAL_SPI_Receive ⇒ HAL_SPI_TransmitReceive ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> HAL_SPI_TransmitReceive
  - >> SPI_EndRxTransaction
  [Called By]
  - >> BSP_SPI_Receive

  HAL_SPI_Receive_DMA (Thumb, 244 bytes, Stack size 8 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Receive_DMA))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_SPI_Receive_DMA ⇒ HAL_SPI_TransmitReceive_DMA ⇒ HAL_DMA_Start_IT
  [Calls]
  - >> HAL_DMA_Start_IT
  - >> HAL_SPI_TransmitReceive_DMA
  [Called By]
  - >> BSP_SPI_Receive

  HAL_SPI_RxCpltCallback (Thumb, 32 bytes, Stack size 0 bytes, spi_1.o(.text.HAL_SPI_RxCpltCallback))
  [Called By]

  - >> SPI_DMAReceiveCplt

  HAL_SPI_RxHalfCpltCallback (Thumb, 32 bytes, Stack size 0 bytes, spi_1.o(.text.HAL_SPI_RxHalfCpltCallback))
  [Called By]

  - >> SPI_DMAHalfReceiveCplt

  HAL_SPI_Transmit (Thumb, 692 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit))
  [Stack]

  - Max Depth = 72
  - Call Chain = HAL_SPI_Transmit ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_WaitFlagStateUntilTimeout
  [Called By]
  - >> BSP_SPI_Transmit

  HAL_SPI_TransmitReceive (Thumb, 892 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive))
  [Stack]

  - Max Depth = 72
  - Call Chain = HAL_SPI_TransmitReceive ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_WaitFlagStateUntilTimeout
  [Called By]
  - >> HAL_SPI_Receive

  HAL_SPI_TransmitReceive_DMA (Thumb, 290 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_SPI_TransmitReceive_DMA ⇒ HAL_DMA_Start_IT
  [Calls]
  - >> HAL_DMA_Start_IT
  [Called By]
  - >> HAL_SPI_Receive_DMA

  HAL_SPI_Transmit_DMA (Thumb, 214 bytes, Stack size 8 bytes, stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_SPI_Transmit_DMA ⇒ HAL_DMA_Start_IT
  [Calls]
  - >> HAL_DMA_Start_IT
  [Called By]
  - >> BSP_SPI_Transmit

  HAL_SPI_TxCpltCallback (Thumb, 32 bytes, Stack size 0 bytes, spi_1.o(.text.HAL_SPI_TxCpltCallback))
  [Called By]

  - >> SPI_DMATransmitCplt

  HAL_SPI_TxHalfCpltCallback (Thumb, 32 bytes, Stack size 0 bytes, spi_1.o(.text.HAL_SPI_TxHalfCpltCallback))
  [Called By]

  - >> SPI_DMAHalfTransmitCplt

  HAL_SPI_TxRxCpltCallback (Thumb, 32 bytes, Stack size 0 bytes, spi_1.o(.text.HAL_SPI_TxRxCpltCallback))
  [Called By]

  - >> SPI_DMATransmitReceiveCplt

  HAL_SPI_TxRxHalfCpltCallback (Thumb, 32 bytes, Stack size 0 bytes, spi_1.o(.text.HAL_SPI_TxRxHalfCpltCallback))
  [Called By]

  - >> SPI_DMAHalfTransmitReceiveCplt

  HAL_SYSTICK_Config (Thumb, 44 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.HAL_SYSTICK_Config))
  [Called By]

  - >> HAL_InitTick

  HAL_TIMEx_BreakCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_BreakCallback))
  [Called By]

  - >> HAL_TIM_IRQHandler

  HAL_TIMEx_CommutCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_CommutCallback))
  [Called By]

  - >> HAL_TIM_IRQHandler

  HAL_TIMEx_MasterConfigSynchronization (Thumb, 186 bytes, Stack size 8 bytes, stm32f4xx_hal_tim_ex.o(.text.HAL_TIMEx_MasterConfigSynchronization))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_TIMEx_MasterConfigSynchronization
  [Called By]
  - >> MX_TIM7_Init
  - >> MX_TIM4_Init

  HAL_TIM_Base_Init (Thumb, 382 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_Base_Init))
  [Stack]

  - Max Depth = 40
  - Call Chain = HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
  [Calls]
  - >> HAL_TIM_Base_MspInit
  [Called By]
  - >> MX_TIM7_Init
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init

  HAL_TIM_Base_MspInit (Thumb, 146 bytes, Stack size 24 bytes, tim.o(.text.HAL_TIM_Base_MspInit))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  [Called By]
  - >> HAL_TIM_Base_Init

  HAL_TIM_ConfigClockSource (Thumb, 414 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_ConfigClockSource))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_TIM_ConfigClockSource
  [Called By]
  - >> MX_TIM4_Init

  HAL_TIM_IC_CaptureCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IC_CaptureCallback))
  [Called By]

  - >> HAL_TIM_IRQHandler

  HAL_TIM_IRQHandler (Thumb, 282 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_IRQHandler))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_TIM_IRQHandler
  [Calls]
  - >> HAL_TIM_TriggerCallback
  - >> HAL_TIM_PeriodElapsedCallback
  - >> HAL_TIM_PWM_PulseFinishedCallback
  - >> HAL_TIM_OC_DelayElapsedCallback
  - >> HAL_TIM_IC_CaptureCallback
  - >> HAL_TIMEx_CommutCallback
  - >> HAL_TIMEx_BreakCallback
  [Called By]
  - >> TIM7_IRQHandler

  HAL_TIM_OC_DelayElapsedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_OC_DelayElapsedCallback))
  [Called By]

  - >> HAL_TIM_IRQHandler

  HAL_TIM_PWM_ConfigChannel (Thumb, 554 bytes, Stack size 24 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_ConfigChannel))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_TIM_PWM_ConfigChannel
  [Called By]
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init

  HAL_TIM_PWM_Init (Thumb, 382 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_Init))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_TIM_PWM_Init
  [Calls]
  - >> HAL_TIM_PWM_MspInit
  [Called By]
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init

  HAL_TIM_PWM_MspInit (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_MspInit))
  [Called By]

  - >> HAL_TIM_PWM_Init

  HAL_TIM_PWM_PulseFinishedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PWM_PulseFinishedCallback))
  [Called By]

  - >> HAL_TIM_IRQHandler

  HAL_TIM_PeriodElapsedCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_PeriodElapsedCallback))
  [Called By]

  - >> HAL_TIM_IRQHandler

  HAL_TIM_TriggerCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(.text.HAL_TIM_TriggerCallback))
  [Called By]

  - >> HAL_TIM_IRQHandler

  HAL_UARTEx_RxEventCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.HAL_UARTEx_RxEventCallback))
  [Called By]

  - >> HAL_UART_IRQHandler
  - >> UART_Receive_IT
  - >> UART_DMARxHalfCplt
  - >> UART_DMAReceiveCplt

  HAL_UART_ErrorCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_ErrorCallback))
  [Called By]

  - >> HAL_UART_IRQHandler
  - >> UART_DMAError
  - >> UART_DMAAbortOnError

  HAL_UART_IRQHandler (Thumb, 790 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = HAL_UART_IRQHandler ⇒ HAL_DMA_Abort
  [Calls]
  - >> HAL_DMA_Abort_IT
  - >> HAL_DMA_Abort
  - >> HAL_UARTEx_RxEventCallback
  - >> UART_Receive_IT
  - >> HAL_UART_TxCpltCallback
  - >> HAL_UART_ErrorCallback
  [Called By]
  - >> USART6_IRQHandler
  - >> USART1_IRQHandler

  HAL_UART_Init (Thumb, 96 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Init))
  [Stack]

  - Max Depth = 116
  - Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_UART_MspInit
  - >> UART_SetConfig
  [Called By]
  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init
  - >> MX_USART1_UART_Init

  HAL_UART_MspInit (Thumb, 640 bytes, Stack size 64 bytes, usart.o(.text.HAL_UART_MspInit))
  [Stack]

  - Max Depth = 108
  - Call Chain = HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  - >> HAL_GPIO_Init
  - >> Error_Handler
  - >> HAL_DMA_Init
  [Called By]
  - >> HAL_UART_Init

  HAL_UART_Receive_DMA (Thumb, 200 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_UART_Receive_DMA ⇒ HAL_DMA_Start_IT
  [Calls]
  - >> HAL_DMA_Start_IT
  [Called By]
  - >> DEVICE_LIGHTBRIDGE2_StartDmaRecv

  HAL_UART_RxCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_RxCpltCallback))
  [Called By]

  - >> UART_Receive_IT
  - >> UART_DMAReceiveCplt

  HAL_UART_RxHalfCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_RxHalfCpltCallback))
  [Called By]

  - >> UART_DMARxHalfCplt

  HAL_UART_TxCpltCallback (Thumb, 62 bytes, Stack size 0 bytes, uart.o(.text.HAL_UART_TxCpltCallback))
  [Called By]

  - >> HAL_UART_IRQHandler

  HardFault_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.HardFault_Handler))
  [Calls]

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

  InvSqrt (Thumb, 62 bytes, Stack size 0 bytes, user_math.o(.text.InvSqrt))
  [Called By]

  - >> AHRS_Update
  - >> AHRS_UpdateIMU

  LowPassFilter2p_Apply (Thumb, 96 bytes, Stack size 0 bytes, filter.o(.text.LowPassFilter2p_Apply))
  [Called By]

  - >> PID_Calc
  - >> Shoot_UpdateFeedback
  - >> Shoot_RunningFSM

  LowPassFilter2p_Init (Thumb, 168 bytes, Stack size 8 bytes, filter.o(.text.LowPassFilter2p_Init))
  [Stack]

  - Max Depth = 44
  - Call Chain = LowPassFilter2p_Init ⇒ __hardfp_tanf ⇒ __mathlib_rredf2
  [Calls]
  - >> __hardfp_tanf
  [Called By]
  - >> PID_Init
  - >> Gimbal_Init
  - >> Shoot_Init

  LowPassFilter2p_Reset (Thumb, 120 bytes, Stack size 0 bytes, filter.o(.text.LowPassFilter2p_Reset))
  [Called By]

  - >> PID_Reset
  - >> PID_Init
  - >> Gimbal_Control
  - >> Shoot_ResetCalu

  MOTOR_DM_Enable (Thumb, 150 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_Enable))
  [Stack]

  - Max Depth = 120
  - Call Chain = MOTOR_DM_Enable ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> BSP_CAN_TransmitStdDataFrame
  [Called By]
  - >> Gimbal_Init

  MOTOR_DM_GetMotor (Thumb, 82 bytes, Stack size 16 bytes, motor_dm.o(.text.MOTOR_DM_GetMotor))
  [Stack]

  - Max Depth = 16
  - Call Chain = MOTOR_DM_GetMotor
  [Called By]
  - >> Gimbal_UpdateFeedback

  MOTOR_DM_MITCtrl (Thumb, 360 bytes, Stack size 32 bytes, motor_dm.o(.text.MOTOR_DM_MITCtrl))
  [Stack]

  - Max Depth = 120
  - Call Chain = MOTOR_DM_MITCtrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> BSP_CAN_TransmitStdDataFrame
  [Called By]
  - >> Gimbal_Output

  MOTOR_DM_Register (Thumb, 216 bytes, Stack size 24 bytes, motor_dm.o(.text.MOTOR_DM_Register))
  [Stack]

  - Max Depth = 192
  - Call Chain = MOTOR_DM_Register ⇒ BSP_CAN_RegisterId ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_Malloc
  - >> BSP_Free
  - >> BSP_CAN_RegisterId
  - >> __aeabi_memclr8
  - >> __aeabi_memclr4
  [Called By]
  - >> Gimbal_Init

  MOTOR_DM_Update (Thumb, 432 bytes, Stack size 48 bytes, motor_dm.o(.text.MOTOR_DM_Update))
  [Stack]

  - Max Depth = 216
  - Call Chain = MOTOR_DM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_TIME_Get
  - >> BSP_CAN_GetMessage
  [Called By]
  - >> Gimbal_UpdateFeedback

  MOTOR_RM_Ctrl (Thumb, 272 bytes, Stack size 24 bytes, motor_rm.o(.text.MOTOR_RM_Ctrl))
  [Stack]

  - Max Depth = 112
  - Call Chain = MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> BSP_CAN_TransmitStdDataFrame
  [Called By]
  - >> Gimbal_Output
  - >> Shoot_RunningFSM

  MOTOR_RM_GetMotor (Thumb, 76 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_GetMotor))
  [Stack]

  - Max Depth = 8
  - Call Chain = MOTOR_RM_GetMotor
  [Called By]
  - >> Gimbal_UpdateFeedback
  - >> Shoot_UpdateFeedback

  MOTOR_RM_Register (Thumb, 220 bytes, Stack size 24 bytes, motor_rm.o(.text.MOTOR_RM_Register))
  [Stack]

  - Max Depth = 192
  - Call Chain = MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_Malloc
  - >> BSP_Free
  - >> BSP_CAN_RegisterId
  - >> __aeabi_memclr8
  - >> __aeabi_memclr4
  [Called By]
  - >> Gimbal_Init
  - >> Shoot_Init

  MOTOR_RM_Relax (Thumb, 188 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_Relax))
  [Stack]

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

  MOTOR_RM_SetOutput (Thumb, 216 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_SetOutput))
  [Stack]

  - Max Depth = 8
  - Call Chain = MOTOR_RM_SetOutput
  [Called By]
  - >> Gimbal_Output
  - >> Shoot_RunningFSM

  MOTOR_RM_Update (Thumb, 528 bytes, Stack size 48 bytes, motor_rm.o(.text.MOTOR_RM_Update))
  [Stack]

  - Max Depth = 216
  - Call Chain = MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_TIME_Get
  - >> BSP_CAN_GetMessage
  [Called By]
  - >> Gimbal_UpdateFeedback
  - >> Shoot_UpdateFeedback

  MX_CAN1_Init (Thumb, 64 bytes, Stack size 8 bytes, can.o(.text.MX_CAN1_Init))
  [Stack]

  - Max Depth = 100
  - Call Chain = MX_CAN1_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_CAN_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_CAN2_Init (Thumb, 64 bytes, Stack size 8 bytes, can.o(.text.MX_CAN2_Init))
  [Stack]

  - Max Depth = 100
  - Call Chain = MX_CAN2_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_CAN_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_DMA_Init (Thumb, 156 bytes, Stack size 16 bytes, dma.o(.text.MX_DMA_Init))
  [Stack]

  - Max Depth = 24
  - Call Chain = MX_DMA_Init ⇒ HAL_NVIC_SetPriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  [Called By]
  - >> main

  MX_FREERTOS_Init (Thumb, 60 bytes, Stack size 8 bytes, freertos.o(.text.MX_FREERTOS_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osThreadNew
  [Called By]
  - >> main

  MX_GPIO_Init (Thumb, 356 bytes, Stack size 56 bytes, gpio.o(.text.MX_GPIO_Init))
  [Stack]

  - Max Depth = 100
  - Call Chain = MX_GPIO_Init ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  - >> HAL_GPIO_WritePin
  - >> HAL_GPIO_Init
  [Called By]
  - >> main

  MX_SPI1_Init (Thumb, 76 bytes, Stack size 8 bytes, spi.o(.text.MX_SPI1_Init))
  [Stack]

  - Max Depth = 124
  - Call Chain = MX_SPI1_Init ⇒ HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> Error_Handler
  - >> HAL_SPI_Init
  [Called By]
  - >> main

  MX_TIM10_Init (Thumb, 262 bytes, Stack size 72 bytes, tim.o(.text.MX_TIM10_Init))
  [Stack]

  - Max Depth = 116
  - Call Chain = MX_TIM10_Init ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_Init
  - >> Error_Handler
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIM_Base_Init
  [Called By]
  - >> main

  MX_TIM4_Init (Thumb, 328 bytes, Stack size 96 bytes, tim.o(.text.MX_TIM4_Init))
  [Stack]

  - Max Depth = 140
  - Call Chain = MX_TIM4_Init ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_Init
  - >> Error_Handler
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIM_ConfigClockSource
  - >> HAL_TIM_Base_Init
  - >> HAL_TIMEx_MasterConfigSynchronization
  [Called By]
  - >> main

  MX_TIM7_Init (Thumb, 84 bytes, Stack size 16 bytes, tim.o(.text.MX_TIM7_Init))
  [Stack]

  - Max Depth = 56
  - Call Chain = MX_TIM7_Init ⇒ HAL_TIM_Base_Init ⇒ HAL_TIM_Base_MspInit ⇒ HAL_NVIC_SetPriority
  [Calls]
  - >> Error_Handler
  - >> HAL_TIM_Base_Init
  - >> HAL_TIMEx_MasterConfigSynchronization
  [Called By]
  - >> main

  MX_USART1_UART_Init (Thumb, 60 bytes, Stack size 8 bytes, usart.o(.text.MX_USART1_UART_Init))
  [Stack]

  - Max Depth = 124
  - Call Chain = MX_USART1_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> Error_Handler
  - >> HAL_UART_Init
  [Called By]
  - >> main

  MX_USART3_UART_Init (Thumb, 70 bytes, Stack size 8 bytes, usart.o(.text.MX_USART3_UART_Init))
  [Stack]

  - Max Depth = 124
  - Call Chain = MX_USART3_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> Error_Handler
  - >> HAL_UART_Init
  [Called By]
  - >> main

  MX_USART6_UART_Init (Thumb, 60 bytes, Stack size 8 bytes, usart.o(.text.MX_USART6_UART_Init))
  [Stack]

  - Max Depth = 124
  - Call Chain = MX_USART6_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> Error_Handler
  - >> HAL_UART_Init
  [Called By]
  - >> main

  MemManage_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.MemManage_Handler))
  [Calls]

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

  NMI_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.NMI_Handler))
  [Calls]

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

  PID_Calc (Thumb, 364 bytes, Stack size 56 bytes, pid.o(.text.PID_Calc))
  [Stack]

  - Max Depth = 72
  - Call Chain = PID_Calc ⇒ __hardfp_fmaxf
  [Calls]
  - >> CircleError
  - >> AbsClip
  - >> LowPassFilter2p_Apply
  - >> __hardfp_fmaxf
  - >> __hardfp__fabsf
  [Called By]
  - >> Gimbal_Control
  - >> Shoot_RunningFSM

  PID_Init (Thumb, 148 bytes, Stack size 16 bytes, pid.o(.text.PID_Init))
  [Stack]

  - Max Depth = 60
  - Call Chain = PID_Init ⇒ LowPassFilter2p_Init ⇒ __hardfp_tanf ⇒ __mathlib_rredf2
  [Calls]
  - >> LowPassFilter2p_Reset
  - >> LowPassFilter2p_Init
  [Called By]
  - >> Gimbal_Init
  - >> Shoot_Init

  PID_Reset (Thumb, 40 bytes, Stack size 8 bytes, pid.o(.text.PID_Reset))
  [Stack]

  - Max Depth = 8
  - Call Chain = PID_Reset
  [Calls]
  - >> LowPassFilter2p_Reset
  [Called By]
  - >> Gimbal_Control
  - >> Shoot_ResetCalu

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

  - >> Shoot_RunningFSM

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

  - Max Depth = 8
  - 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, 54 bytes, Stack size 0 bytes, user_math.o(.text.ScaleSumTo1))
  [Called By]

  - >> Shoot_RunningFSM

  Shoot_Control (Thumb, 108 bytes, Stack size 24 bytes, shoot_control.o(.text.Shoot_Control))
  [Stack]

  - Max Depth = 216
  - Call Chain = Shoot_Control ⇒ Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> BSP_TIME_Get_us
  - >> __aeabi_ul2f
  - >> Shoot_JamDetectionFSM
  [Called By]
  - >> Task_shoot_test

  Shoot_Init (Thumb, 620 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init))
  [Stack]

  - Max Depth = 264
  - Call Chain = Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> PID_Init
  - >> LowPassFilter2p_Init
  - >> BSP_Malloc
  - >> BSP_Free
  - >> BSP_CAN_Init
  - >> MOTOR_RM_Register
  [Called By]
  - >> Task_shoot_test

  Shoot_JamDetectionFSM (Thumb, 308 bytes, Stack size 16 bytes, shoot_control.o(.text.Shoot_JamDetectionFSM))
  [Stack]

  - Max Depth = 192
  - Call Chain = Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> Shoot_RunningFSM
  [Called By]
  - >> Shoot_Control

  Shoot_ResetCalu (Thumb, 152 bytes, Stack size 32 bytes, shoot_control.o(.text.Shoot_ResetCalu))
  [Stack]

  - Max Depth = 40
  - Call Chain = Shoot_ResetCalu ⇒ PID_Reset
  [Calls]
  - >> PID_Reset
  - >> LowPassFilter2p_Reset
  [Called By]
  - >> Shoot_RunningFSM

  Shoot_RunningFSM (Thumb, 1512 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_RunningFSM))
  [Stack]

  - Max Depth = 176
  - Call Chain = Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> ScaleSumTo1
  - >> CircleAdd
  - >> PID_ResetIntegral
  - >> PID_Calc
  - >> CircleError
  - >> LowPassFilter2p_Apply
  - >> MOTOR_RM_SetOutput
  - >> MOTOR_RM_Relax
  - >> MOTOR_RM_Ctrl
  - >> Shoot_ResetCalu
  [Called By]
  - >> Shoot_JamDetectionFSM

  Shoot_SetMode (Thumb, 18 bytes, Stack size 0 bytes, shoot_control.o(.text.Shoot_SetMode))
  [Called By]

  - >> Task_shoot_test

  Shoot_UpdateFeedback (Thumb, 488 bytes, Stack size 64 bytes, shoot_control.o(.text.Shoot_UpdateFeedback))
  [Stack]

  - Max Depth = 280
  - Call Chain = Shoot_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> LowPassFilter2p_Apply
  - >> MOTOR_RM_Update
  - >> MOTOR_RM_GetMotor
  - >> __aeabi_memcpy8
  [Called By]
  - >> Task_shoot_test

  StartDefaultTask (Thumb, 14 bytes, Stack size 8 bytes, freertos.o(.text.StartDefaultTask))
  [Stack]

  - Max Depth = 120
  - Call Chain = StartDefaultTask ⇒ osThreadTerminate ⇒ vTaskDelete ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [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 = 48
  - Call Chain = SysTick_Handler ⇒ xPortSysTickHandler ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xPortSysTickHandler
  - >> HAL_IncTick
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  SystemClock_Config (Thumb, 162 bytes, Stack size 88 bytes, main.o(.text.SystemClock_Config))
  [Stack]

  - Max Depth = 160
  - Call Chain = SystemClock_Config ⇒ HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
  [Calls]
  - >> HAL_RCC_OscConfig
  - >> HAL_RCC_ClockConfig
  [Called By]
  - >> main

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

  - startup_stm32f407xx.o(.text)

  TIM7_IRQHandler (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.TIM7_IRQHandler))
  [Stack]

  - Max Depth = 16
  - Call Chain = TIM7_IRQHandler ⇒ HAL_TIM_IRQHandler
  [Calls]
  - >> HAL_TIM_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  Task_Init (Thumb, 210 bytes, Stack size 8 bytes, init.o(.text.Task_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = Task_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osThreadTerminate
  - >> osThreadNew
  - >> osThreadGetId
  - >> osMessageQueueNew
  - >> osKernelUnlock
  - >> osKernelLock
  [Address Reference Count : 1]
  - freertos.o(.text.MX_FREERTOS_Init)

  Task_atti_esti (Thumb, 256 bytes, Stack size 48 bytes, atti_esti.o(.text.Task_atti_esti))
  [Stack]

  - Max Depth = 288
  - Call Chain = Task_atti_esti ⇒ AHRS_Init ⇒ __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> AHRS_Update
  - >> AHRS_Init
  - >> AHRS_GetEulr
  - >> __aeabi_ui2d
  - >> __aeabi_ddiv
  - >> osMessageQueueReset
  - >> osMessageQueuePut
  - >> osKernelUnlock
  - >> osKernelLock
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> BMI088_WaitNew
  - >> BMI088_ParseGyro
  - >> BMI088_ParseAccl
  - >> BMI088_Init
  - >> BMI088_GyroWaitDmaCplt
  - >> BMI088_GyroStartDmaRecv
  - >> BMI088_GetUpdateFreq
  - >> BMI088_AcclWaitDmaCplt
  - >> BMI088_AcclStartDmaRecv
  - >> __aeabi_d2uiz
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_cmd (Thumb, 268 bytes, Stack size 64 bytes, cmd.o(.text.Task_cmd))
  [Stack]

  - Max Depth = 200
  - Call Chain = Task_cmd ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> __aeabi_ui2d
  - >> __aeabi_ddiv
  - >> osMessageQueuePut
  - >> osMessageQueueGet
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_d2uiz
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_gimbal_test (Thumb, 164 bytes, Stack size 32 bytes, gimbal_test.o(.text.Task_gimbal_test))
  [Stack]

  - Max Depth = 264
  - Call Chain = Task_gimbal_test ⇒ Gimbal_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> __aeabi_ui2d
  - >> __aeabi_ddiv
  - >> osMessageQueueGet
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> Config_GetRobotParam
  - >> __aeabi_d2uiz
  - >> Gimbal_UpdateIMU
  - >> Gimbal_UpdateFeedback
  - >> Gimbal_Output
  - >> Gimbal_Init
  - >> Gimbal_Control
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_rc (Thumb, 144 bytes, Stack size 32 bytes, rc.o(.text.Task_rc))
  [Stack]

  - Max Depth = 168
  - Call Chain = Task_rc ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> COMP_LIGHTBRIDGE2_CMD_ParseRc
  - >> __aeabi_ui2d
  - >> __aeabi_ddiv
  - >> osMessageQueuePut
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> DEVICE_LIGHTBRIDGE2_WaitDmaCplt
  - >> DEVICE_LIGHTBRIDGE2_StartDmaRecv
  - >> DEVICE_LIGHTBRIDGE2_ParseRaw
  - >> __aeabi_d2uiz
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_shoot_test (Thumb, 148 bytes, Stack size 24 bytes, shoot_test.o(.text.Task_shoot_test))
  [Stack]

  - Max Depth = 304
  - Call Chain = Task_shoot_test ⇒ Shoot_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> __aeabi_ui2d
  - >> __aeabi_ddiv
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> Config_ShootInit
  - >> Config_GetRobotParam
  - >> __aeabi_d2uiz
  - >> Shoot_UpdateFeedback
  - >> Shoot_SetMode
  - >> Shoot_Init
  - >> Shoot_Control
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  USART1_IRQHandler (Thumb, 26 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.USART1_IRQHandler))
  [Stack]

  - Max Depth = 48
  - Call Chain = USART1_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ HAL_DMA_Abort
  [Calls]
  - >> HAL_UART_IRQHandler
  - >> BSP_UART_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  USART6_IRQHandler (Thumb, 26 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.USART6_IRQHandler))
  [Stack]

  - Max Depth = 48
  - Call Chain = USART6_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ HAL_DMA_Abort
  [Calls]
  - >> HAL_UART_IRQHandler
  - >> BSP_UART_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  UsageFault_Handler (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(.text.UsageFault_Handler))
  [Calls]

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

  eTaskGetState (Thumb, 150 bytes, Stack size 24 bytes, tasks.o(.text.eTaskGetState))
  [Stack]

  - Max Depth = 24
  - Call Chain = eTaskGetState
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> osThreadTerminate

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

  - Max Depth = 176
  - Call Chain = main ⇒ MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osKernelStart
  - >> osKernelInitialize
  - >> SystemClock_Config
  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init
  - >> MX_USART1_UART_Init
  - >> MX_TIM7_Init
  - >> MX_TIM4_Init
  - >> MX_TIM10_Init
  - >> MX_SPI1_Init
  - >> MX_GPIO_Init
  - >> MX_FREERTOS_Init
  - >> MX_DMA_Init
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init
  - >> HAL_Init
  [Address Reference Count : 1]
  - entry9a.o(.ARM.Collect$$$$0000000B)

  osDelay (Thumb, 32 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osDelay))
  [Stack]

  - Max Depth = 96
  - Call Chain = osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vTaskDelay
  [Called By]
  - >> BSP_TIME_Delay
  - >> Task_shoot_test
  - >> Task_rc
  - >> Task_gimbal_test
  - >> Task_cmd
  - >> Task_atti_esti

  osDelayUntil (Thumb, 54 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osDelayUntil))
  [Stack]

  - Max Depth = 104
  - Call Chain = osDelayUntil ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetTickCount
  - >> vTaskDelayUntil
  [Called By]
  - >> Task_shoot_test
  - >> Task_rc
  - >> Task_gimbal_test
  - >> Task_cmd
  - >> Task_atti_esti

  osKernelGetState (Thumb, 42 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelGetState))
  [Stack]

  - Max Depth = 8
  - Call Chain = osKernelGetState
  [Calls]
  - >> xTaskGetSchedulerState
  [Called By]
  - >> BSP_TIME_Delay

  osKernelGetTickCount (Thumb, 16 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelGetTickCount))
  [Stack]

  - Max Depth = 8
  - Call Chain = osKernelGetTickCount ⇒ xTaskGetTickCountFromISR
  [Calls]
  - >> xTaskGetTickCountFromISR
  - >> xTaskGetTickCount
  [Called By]
  - >> Task_shoot_test
  - >> Task_rc
  - >> Task_gimbal_test
  - >> Task_cmd
  - >> 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_shoot_test
  - >> Task_rc
  - >> Task_gimbal_test
  - >> Task_cmd
  - >> Task_atti_esti

  osKernelInitialize (Thumb, 42 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osKernelInitialize))
  [Called By]

  - >> main

  osKernelLock (Thumb, 44 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelLock))
  [Stack]

  - Max Depth = 8
  - Call Chain = osKernelLock
  [Calls]
  - >> xTaskGetSchedulerState
  - >> vTaskSuspendAll
  [Called By]
  - >> Task_Init
  - >> Task_atti_esti

  osKernelStart (Thumb, 64 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelStart))
  [Stack]

  - Max Depth = 144
  - Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvAddNewTaskToReadyList
  [Calls]
  - >> vTaskStartScheduler
  [Called By]
  - >> main

  osKernelUnlock (Thumb, 68 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelUnlock))
  [Stack]

  - Max Depth = 72
  - Call Chain = osKernelUnlock ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xTaskResumeAll
  [Called By]
  - >> Task_Init
  - >> Task_atti_esti

  osMessageQueueGet (Thumb, 128 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osMessageQueueGet))
  [Stack]

  - Max Depth = 136
  - Call Chain = osMessageQueueGet ⇒ xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueReceiveFromISR
  - >> xQueueReceive
  [Called By]
  - >> BSP_CAN_GetMessage
  - >> Task_gimbal_test
  - >> Task_cmd

  osMessageQueueNew (Thumb, 126 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueueNew))
  [Stack]

  - Max Depth = 128
  - Call Chain = osMessageQueueNew ⇒ xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGenericCreateStatic
  - >> xQueueGenericCreate
  - >> vQueueAddToRegistry
  [Called By]
  - >> Task_Init
  - >> BSP_CAN_RegisterId

  osMessageQueuePut (Thumb, 138 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueuePut))
  [Stack]

  - Max Depth = 136
  - Call Chain = osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  [Called By]
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback
  - >> Task_rc
  - >> Task_cmd
  - >> Task_atti_esti

  osMessageQueueReset (Thumb, 42 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osMessageQueueReset))
  [Stack]

  - Max Depth = 40
  - Call Chain = osMessageQueueReset ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> xQueueGenericReset
  [Called By]
  - >> Task_atti_esti

  osMutexAcquire (Thumb, 82 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osMutexAcquire))
  [Stack]

  - Max Depth = 144
  - Call Chain = osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueTakeMutexRecursive
  - >> xQueueSemaphoreTake
  [Called By]
  - >> BSP_CAN_RegisterId
  - >> BSP_CAN_GetMessage

  osMutexNew (Thumb, 126 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osMutexNew))
  [Stack]

  - Max Depth = 152
  - Call Chain = osMutexNew ⇒ xQueueCreateMutexStatic ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex
  - >> vQueueAddToRegistry
  [Called By]
  - >> BSP_CAN_Init

  osMutexRelease (Thumb, 80 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osMutexRelease))
  [Stack]

  - Max Depth = 136
  - Call Chain = osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGiveMutexRecursive
  - >> xQueueGenericSend
  [Called By]
  - >> BSP_CAN_RegisterId
  - >> BSP_CAN_GetMessage

  osThreadFlagsSet (Thumb, 122 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osThreadFlagsSet))
  [Stack]

  - Max Depth = 56
  - Call Chain = osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR
  [Calls]
  - >> xTaskGenericNotifyFromISR
  - >> xTaskGenericNotify
  [Called By]
  - >> BMI088_RxCpltCallback
  - >> BMI088_GyroIntCallback
  - >> BMI088_AcclIntCallback

  osThreadFlagsWait (Thumb, 330 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osThreadFlagsWait))
  [Stack]

  - Max Depth = 80
  - Call Chain = osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ vListInsert
  [Calls]
  - >> xTaskNotifyWait
  - >> xTaskGetTickCount
  [Called By]
  - >> DEVICE_LIGHTBRIDGE2_WaitDmaCplt
  - >> BMI088_WaitNew
  - >> BMI088_GyroWaitDmaCplt
  - >> BMI088_AcclWaitDmaCplt

  osThreadGetId (Thumb, 4 bytes, Stack size 0 bytes, cmsis_os2.o(.text.osThreadGetId))
  [Calls]

  - >> xTaskGetCurrentTaskHandle
  [Called By]
  - >> Task_Init
  - >> StartDefaultTask
  - >> BMI088_Init

  osThreadNew (Thumb, 160 bytes, Stack size 40 bytes, cmsis_os2.o(.text.osThreadNew))
  [Stack]

  - Max Depth = 160
  - Call Chain = osThreadNew ⇒ xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskCreateStatic
  - >> xTaskCreate
  [Called By]
  - >> Task_Init
  - >> MX_FREERTOS_Init

  osThreadTerminate (Thumb, 52 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osThreadTerminate))
  [Stack]

  - Max Depth = 112
  - Call Chain = osThreadTerminate ⇒ vTaskDelete ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vTaskDelete
  - >> eTaskGetState
  [Called By]
  - >> Task_Init
  - >> StartDefaultTask

  pvPortMalloc (Thumb, 414 bytes, Stack size 16 bytes, heap_4.o(.text.pvPortMalloc))
  [Stack]

  - Max Depth = 80
  - Call Chain = pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  [Called By]
  - >> xQueueGenericCreate
  - >> xQueueCreateMutex
  - >> xTaskCreate
  - >> BSP_Malloc

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

  - >> xQueueSemaphoreTake

  pxPortInitialiseStack (Thumb, 36 bytes, Stack size 0 bytes, port.o(.text.pxPortInitialiseStack))
  [Called By]

  - >> xTaskCreateStatic
  - >> xTaskCreate

  uxListRemove (Thumb, 34 bytes, Stack size 0 bytes, list.o(.text.uxListRemove))
  [Called By]

  - >> xTaskNotifyWait
  - >> xTaskGenericNotifyFromISR
  - >> xTaskGenericNotify
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityInherit
  - >> xTaskPriorityDisinherit
  - >> vTaskPriorityDisinheritAfterTimeout
  - >> vTaskPlaceOnEventListRestricted
  - >> vTaskPlaceOnEventList
  - >> xTaskResumeAll
  - >> prvTimerTask
  - >> prvSampleTimeNow
  - >> xTaskIncrementTick
  - >> vTaskDelete
  - >> vTaskDelayUntil
  - >> vTaskDelay
  - >> prvIdleTask

  vApplicationGetIdleTaskMemory (Thumb, 26 bytes, Stack size 0 bytes, cmsis_os2.o(.text.vApplicationGetIdleTaskMemory))
  [Called By]

  - >> vTaskStartScheduler

  vApplicationGetTimerTaskMemory (Thumb, 28 bytes, Stack size 0 bytes, cmsis_os2.o(.text.vApplicationGetTimerTaskMemory))
  [Called By]

  - >> xTimerCreateTimerTask

  vListInitialise (Thumb, 22 bytes, Stack size 0 bytes, list.o(.text.vListInitialise))
  [Called By]

  - >> xQueueGenericReset
  - >> xQueueGenericCreateStatic
  - >> xQueueGenericCreate
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex
  - >> xTimerCreateTimerTask
  - >> prvAddNewTaskToReadyList

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

  - >> xTaskCreateStatic
  - >> xTaskCreate

  vListInsert (Thumb, 60 bytes, Stack size 8 bytes, list.o(.text.vListInsert))
  [Stack]

  - Max Depth = 8
  - Call Chain = vListInsert
  [Called By]
  - >> xTaskNotifyWait
  - >> vTaskPlaceOnEventListRestricted
  - >> vTaskPlaceOnEventList
  - >> prvTimerTask
  - >> prvSampleTimeNow
  - >> vTaskDelayUntil
  - >> vTaskDelay

  vListInsertEnd (Thumb, 24 bytes, Stack size 0 bytes, list.o(.text.vListInsertEnd))
  [Called By]

  - >> xTaskNotifyWait
  - >> xTaskGenericNotifyFromISR
  - >> xTaskGenericNotify
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityInherit
  - >> xTaskPriorityDisinherit
  - >> vTaskPriorityDisinheritAfterTimeout
  - >> vTaskPlaceOnEventListRestricted
  - >> vTaskPlaceOnEventList
  - >> xTaskResumeAll
  - >> xTaskIncrementTick
  - >> vTaskDelete
  - >> prvAddNewTaskToReadyList

  vPortEnterCritical (Thumb, 74 bytes, Stack size 0 bytes, port.o(.text.vPortEnterCritical))
  [Called By]

  - >> xTaskNotifyWait
  - >> xTaskGenericNotify
  - >> xTaskCheckForTimeOut
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> xQueueGenericCreateStatic
  - >> xQueueGenericCreate
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex
  - >> vQueueWaitForMessageRestricted
  - >> prvUnlockQueue
  - >> xTaskResumeAll
  - >> xTimerCreateTimerTask
  - >> vTaskDelete
  - >> eTaskGetState
  - >> prvIdleTask
  - >> prvAddNewTaskToReadyList

  vPortExitCritical (Thumb, 46 bytes, Stack size 0 bytes, port.o(.text.vPortExitCritical))
  [Called By]

  - >> xTaskNotifyWait
  - >> xTaskGenericNotify
  - >> xTaskCheckForTimeOut
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> xQueueGenericCreateStatic
  - >> xQueueGenericCreate
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex
  - >> vQueueWaitForMessageRestricted
  - >> prvUnlockQueue
  - >> xTaskResumeAll
  - >> xTimerCreateTimerTask
  - >> vTaskDelete
  - >> eTaskGetState
  - >> prvIdleTask
  - >> prvAddNewTaskToReadyList

  vPortFree (Thumb, 190 bytes, Stack size 16 bytes, heap_4.o(.text.vPortFree))
  [Stack]

  - Max Depth = 80
  - Call Chain = vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  [Called By]
  - >> prvTimerTask
  - >> xTaskCreate
  - >> vTaskDelete
  - >> prvIdleTask
  - >> BSP_Free

  vPortSetupTimerInterrupt (Thumb, 30 bytes, Stack size 0 bytes, port.o(.text.vPortSetupTimerInterrupt))
  [Called By]

  - >> xPortStartScheduler

  vPortValidateInterruptPriority (Thumb, 98 bytes, Stack size 0 bytes, port.o(.text.vPortValidateInterruptPriority))
  [Called By]

  - >> xTaskGenericNotifyFromISR
  - >> xQueueReceiveFromISR
  - >> xQueueGenericSendFromISR
  - >> xTaskGetTickCountFromISR

  vQueueAddToRegistry (Thumb, 116 bytes, Stack size 0 bytes, queue.o(.text.vQueueAddToRegistry))
  [Called By]

  - >> xTimerCreateTimerTask
  - >> osMutexNew
  - >> osMessageQueueNew

  vQueueWaitForMessageRestricted (Thumb, 70 bytes, Stack size 16 bytes, queue.o(.text.vQueueWaitForMessageRestricted))
  [Stack]

  - Max Depth = 56
  - Call Chain = vQueueWaitForMessageRestricted ⇒ prvUnlockQueue ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> vTaskPlaceOnEventListRestricted
  - >> prvUnlockQueue
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> prvTimerTask

  vTaskDelay (Thumb, 148 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelay))
  [Stack]

  - Max Depth = 88
  - Call Chain = vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsert
  - >> uxListRemove
  - >> xTaskResumeAll
  [Called By]
  - >> osDelay

  vTaskDelayUntil (Thumb, 228 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelayUntil))
  [Stack]

  - Max Depth = 88
  - Call Chain = vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsert
  - >> uxListRemove
  - >> xTaskResumeAll
  [Called By]
  - >> osDelayUntil

  vTaskDelete (Thumb, 232 bytes, Stack size 24 bytes, tasks.o(.text.vTaskDelete))
  [Stack]

  - Max Depth = 104
  - Call Chain = vTaskDelete ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortFree
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> osThreadTerminate

  vTaskInternalSetTimeOutState (Thumb, 18 bytes, Stack size 0 bytes, tasks.o(.text.vTaskInternalSetTimeOutState))
  [Called By]

  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

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

  - >> prvUnlockQueue

  vTaskPlaceOnEventList (Thumb, 138 bytes, Stack size 24 bytes, tasks.o(.text.vTaskPlaceOnEventList))
  [Stack]

  - Max Depth = 32
  - Call Chain = vTaskPlaceOnEventList ⇒ vListInsert
  [Calls]
  - >> vListInsertEnd
  - >> vListInsert
  - >> uxListRemove
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

  vTaskPlaceOnEventListRestricted (Thumb, 156 bytes, Stack size 24 bytes, tasks.o(.text.vTaskPlaceOnEventListRestricted))
  [Stack]

  - Max Depth = 32
  - Call Chain = vTaskPlaceOnEventListRestricted ⇒ vListInsert
  [Calls]
  - >> vListInsertEnd
  - >> vListInsert
  - >> uxListRemove
  [Called By]
  - >> vQueueWaitForMessageRestricted

  vTaskPriorityDisinheritAfterTimeout (Thumb, 166 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPriorityDisinheritAfterTimeout))
  [Stack]

  - Max Depth = 16
  - Call Chain = vTaskPriorityDisinheritAfterTimeout
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xQueueSemaphoreTake

  vTaskStartScheduler (Thumb, 140 bytes, Stack size 32 bytes, tasks.o(.text.vTaskStartScheduler))
  [Stack]

  - Max Depth = 136
  - Call Chain = vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvAddNewTaskToReadyList
  [Calls]
  - >> xTimerCreateTimerTask
  - >> xTaskCreateStatic
  - >> xPortStartScheduler
  - >> vApplicationGetIdleTaskMemory
  [Called By]
  - >> osKernelStart

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

  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vPortFree
  - >> pvPortMalloc
  - >> prvTimerTask
  - >> osKernelLock

  vTaskSwitchContext (Thumb, 138 bytes, Stack size 8 bytes, tasks.o(.text.vTaskSwitchContext))
  [Stack]

  - Max Depth = 8
  - Call Chain = vTaskSwitchContext
  [Called By]
  - >> xPortStartScheduler
  - >> PendSV_Handler

  xPortStartScheduler (Thumb, 290 bytes, Stack size 32 bytes, port.o(.text.xPortStartScheduler))
  [Stack]

  - Max Depth = 40
  - Call Chain = xPortStartScheduler ⇒ vTaskSwitchContext
  [Calls]
  - >> vTaskSwitchContext
  - >> vPortSetupTimerInterrupt
  - >> vPortEnableVFP
  - >> prvPortStartFirstTask
  [Called By]
  - >> vTaskStartScheduler

  xPortSysTickHandler (Thumb, 48 bytes, Stack size 8 bytes, port.o(.text.xPortSysTickHandler))
  [Stack]

  - Max Depth = 40
  - Call Chain = xPortSysTickHandler ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskIncrementTick
  [Called By]
  - >> SysTick_Handler

  xQueueCreateMutex (Thumb, 112 bytes, Stack size 16 bytes, queue.o(.text.xQueueCreateMutex))
  [Stack]

  - Max Depth = 128
  - Call Chain = xQueueCreateMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGenericSend
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  - >> pvPortMalloc
  [Called By]
  - >> osMutexNew

  xQueueCreateMutexStatic (Thumb, 162 bytes, Stack size 24 bytes, queue.o(.text.xQueueCreateMutexStatic))
  [Stack]

  - Max Depth = 136
  - Call Chain = xQueueCreateMutexStatic ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGenericSend
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  [Called By]
  - >> osMutexNew

  xQueueGenericCreate (Thumb, 138 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreate))
  [Stack]

  - Max Depth = 104
  - Call Chain = xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  - >> pvPortMalloc
  [Called By]
  - >> osMessageQueueNew

  xQueueGenericCreateStatic (Thumb, 222 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreateStatic))
  [Stack]

  - Max Depth = 24
  - Call Chain = xQueueGenericCreateStatic
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  [Called By]
  - >> xTimerCreateTimerTask
  - >> osMessageQueueNew

  xQueueGenericReset (Thumb, 134 bytes, Stack size 16 bytes, queue.o(.text.xQueueGenericReset))
  [Stack]

  - Max Depth = 32
  - Call Chain = xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  [Called By]
  - >> osMessageQueueReset

  xQueueGenericSend (Thumb, 524 bytes, Stack size 48 bytes, queue.o(.text.xQueueGenericSend))
  [Stack]

  - Max Depth = 112
  - Call Chain = xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityDisinherit
  - >> xTaskCheckForTimeOut
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> prvUnlockQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> __aeabi_memcpy
  [Called By]
  - >> xQueueGiveMutexRecursive
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex
  - >> prvTimerTask
  - >> prvSampleTimeNow
  - >> osMutexRelease
  - >> osMessageQueuePut

  xQueueGenericSendFromISR (Thumb, 330 bytes, Stack size 32 bytes, queue.o(.text.xQueueGenericSendFromISR))
  [Stack]

  - Max Depth = 48
  - Call Chain = xQueueGenericSendFromISR ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityDisinherit
  - >> vPortValidateInterruptPriority
  - >> __aeabi_memcpy
  [Called By]
  - >> osMessageQueuePut

  xQueueGiveMutexRecursive (Thumb, 66 bytes, Stack size 16 bytes, queue.o(.text.xQueueGiveMutexRecursive))
  [Stack]

  - Max Depth = 128
  - Call Chain = xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetCurrentTaskHandle
  - >> xQueueGenericSend
  [Called By]
  - >> osMutexRelease

  xQueueReceive (Thumb, 410 bytes, Stack size 56 bytes, queue.o(.text.xQueueReceive))
  [Stack]

  - Max Depth = 120
  - Call Chain = xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> prvUnlockQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> __aeabi_memcpy
  [Called By]
  - >> prvTimerTask
  - >> osMessageQueueGet

  xQueueReceiveFromISR (Thumb, 184 bytes, Stack size 32 bytes, queue.o(.text.xQueueReceiveFromISR))
  [Stack]

  - Max Depth = 48
  - Call Chain = xQueueReceiveFromISR ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vPortValidateInterruptPriority
  - >> __aeabi_memcpy
  [Called By]
  - >> osMessageQueueGet

  xQueueSemaphoreTake (Thumb, 450 bytes, Stack size 56 bytes, queue.o(.text.xQueueSemaphoreTake))
  [Stack]

  - Max Depth = 120
  - Call Chain = xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityInherit
  - >> xTaskCheckForTimeOut
  - >> vTaskPriorityDisinheritAfterTimeout
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> pvTaskIncrementMutexHeldCount
  - >> prvUnlockQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueTakeMutexRecursive
  - >> osMutexAcquire

  xQueueTakeMutexRecursive (Thumb, 64 bytes, Stack size 16 bytes, queue.o(.text.xQueueTakeMutexRecursive))
  [Stack]

  - Max Depth = 136
  - Call Chain = xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetCurrentTaskHandle
  - >> xQueueSemaphoreTake
  [Called By]
  - >> osMutexAcquire

  xTaskCheckForTimeOut (Thumb, 136 bytes, Stack size 16 bytes, tasks.o(.text.xTaskCheckForTimeOut))
  [Stack]

  - Max Depth = 16
  - Call Chain = xTaskCheckForTimeOut
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

  xTaskCreate (Thumb, 220 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreate))
  [Stack]

  - Max Depth = 120
  - Call Chain = xTaskCreate ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInitialiseItem
  - >> vPortFree
  - >> pvPortMalloc
  - >> pxPortInitialiseStack
  - >> prvAddNewTaskToReadyList
  - >> __aeabi_memset4
  [Called By]
  - >> osThreadNew

  xTaskCreateStatic (Thumb, 242 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreateStatic))
  [Stack]

  - Max Depth = 64
  - Call Chain = xTaskCreateStatic ⇒ prvAddNewTaskToReadyList
  [Calls]
  - >> vListInitialiseItem
  - >> pxPortInitialiseStack
  - >> prvAddNewTaskToReadyList
  - >> __aeabi_memset4
  [Called By]
  - >> osThreadNew
  - >> xTimerCreateTimerTask
  - >> vTaskStartScheduler

  xTaskGenericNotify (Thumb, 256 bytes, Stack size 24 bytes, tasks.o(.text.xTaskGenericNotify))
  [Stack]

  - Max Depth = 24
  - Call Chain = xTaskGenericNotify
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> osThreadFlagsSet

  xTaskGenericNotifyFromISR (Thumb, 304 bytes, Stack size 24 bytes, tasks.o(.text.xTaskGenericNotifyFromISR))
  [Stack]

  - Max Depth = 24
  - Call Chain = xTaskGenericNotifyFromISR
  [Calls]
  - >> vPortValidateInterruptPriority
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> osThreadFlagsSet

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

  - >> osThreadGetId
  - >> xQueueTakeMutexRecursive
  - >> xQueueGiveMutexRecursive

  xTaskGetSchedulerState (Thumb, 30 bytes, Stack size 0 bytes, tasks.o(.text.xTaskGetSchedulerState))
  [Called By]

  - >> SysTick_Handler
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> prvTimerTask
  - >> prvSampleTimeNow
  - >> osKernelUnlock
  - >> osKernelLock
  - >> osKernelGetState

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

  - >> prvSampleTimeNow
  - >> BSP_TIME_Get
  - >> osThreadFlagsWait
  - >> osKernelGetTickCount
  - >> osDelayUntil

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

  - Max Depth = 8
  - Call Chain = xTaskGetTickCountFromISR
  [Calls]
  - >> vPortValidateInterruptPriority
  [Called By]
  - >> osKernelGetTickCount

  xTaskIncrementTick (Thumb, 288 bytes, Stack size 32 bytes, tasks.o(.text.xTaskIncrementTick))
  [Stack]

  - Max Depth = 32
  - Call Chain = xTaskIncrementTick
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xPortSysTickHandler
  - >> xTaskResumeAll

  xTaskNotifyWait (Thumb, 238 bytes, Stack size 32 bytes, tasks.o(.text.xTaskNotifyWait))
  [Stack]

  - Max Depth = 40
  - Call Chain = xTaskNotifyWait ⇒ vListInsert
  [Calls]
  - >> vListInsertEnd
  - >> vListInsert
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> osThreadFlagsWait

  xTaskPriorityDisinherit (Thumb, 150 bytes, Stack size 16 bytes, tasks.o(.text.xTaskPriorityDisinherit))
  [Stack]

  - Max Depth = 16
  - Call Chain = xTaskPriorityDisinherit
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend

  xTaskPriorityInherit (Thumb, 148 bytes, Stack size 24 bytes, tasks.o(.text.xTaskPriorityInherit))
  [Stack]

  - Max Depth = 24
  - Call Chain = xTaskPriorityInherit
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xQueueSemaphoreTake

  xTaskRemoveFromEventList (Thumb, 130 bytes, Stack size 16 bytes, tasks.o(.text.xTaskRemoveFromEventList))
  [Stack]

  - Max Depth = 16
  - Call Chain = xTaskRemoveFromEventList
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceiveFromISR
  - >> xQueueReceive
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> prvUnlockQueue

  xTaskResumeAll (Thumb, 244 bytes, Stack size 32 bytes, tasks.o(.text.xTaskResumeAll))
  [Stack]

  - Max Depth = 64
  - Call Chain = xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskIncrementTick
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vPortFree
  - >> pvPortMalloc
  - >> prvTimerTask
  - >> vTaskDelayUntil
  - >> vTaskDelay
  - >> osKernelUnlock

  xTimerCreateTimerTask (Thumb, 184 bytes, Stack size 40 bytes, timers.o(.text.xTimerCreateTimerTask))
  [Stack]

  - Max Depth = 104
  - Call Chain = xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvAddNewTaskToReadyList
  [Calls]
  - >> xQueueGenericCreateStatic
  - >> vQueueAddToRegistry
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  - >> vApplicationGetTimerTaskMemory
  - >> xTaskCreateStatic
  [Called By]
  - >> vTaskStartScheduler

  __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_atan2f
  - >> __hardfp_asinf

  __hardfp__fabsf (Thumb, 14 bytes, Stack size 0 bytes, fabsf.o(i.__hardfp__fabsf))
  [Called By]

  - >> AHRS_GetEulr
  - >> PID_Calc

  __hardfp_asinf (Thumb, 258 bytes, Stack size 16 bytes, asinf.o(i.__hardfp_asinf))
  [Stack]

  - Max Depth = 32
  - Call Chain = __hardfp_asinf ⇒ sqrtf
  [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 = 160
  - Call Chain = __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_ddiv
  - >> __kernel_poly
  - >> __ARM_fpclassify
  - >> __mathlib_dbl_underflow
  - >> __mathlib_dbl_infnan
  - >> __aeabi_dmul
  - >> __aeabi_dadd
  - >> fabs
  - >> __aeabi_dsub
  - >> __aeabi_drsub
  [Called By]
  - >> atan

  __hardfp_atan2 (Thumb, 432 bytes, Stack size 48 bytes, atan2.o(i.__hardfp_atan2))
  [Stack]

  - Max Depth = 216
  - Call Chain = __hardfp_atan2 ⇒ atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_ddiv
  - >> __mathlib_dbl_infnan2
  - >> atan
  - >> fabs
  - >> __aeabi_dsub
  - >> __aeabi_drsub
  [Called By]
  - >> AHRS_Init

  __hardfp_atan2f (Thumb, 502 bytes, Stack size 16 bytes, atan2f.o(i.__hardfp_atan2f))
  [Stack]

  - Max Depth = 16
  - Call Chain = __hardfp_atan2f
  [Calls]
  - >> __mathlib_flt_underflow
  - >> __mathlib_flt_infnan2
  - >> __ARM_fpclassifyf
  [Called By]
  - >> AHRS_GetEulr

  __hardfp_fabs (Thumb, 20 bytes, Stack size 8 bytes, fabs.o(i.__hardfp_fabs))
  [Stack]

  - Max Depth = 8
  - Call Chain = __hardfp_fabs
  [Called By]
  - >> DEVICE_LIGHTBRIDGE2_ParseRaw

  __hardfp_fmaxf (Thumb, 72 bytes, Stack size 16 bytes, fmaxf.o(i.__hardfp_fmaxf))
  [Stack]

  - Max Depth = 16
  - Call Chain = __hardfp_fmaxf
  [Calls]
  - >> __ARM_fcmp4
  [Called By]
  - >> PID_Calc

  __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 = 112
  - Call Chain = __kernel_poly ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_dmul
  - >> __aeabi_dadd
  [Called By]
  - >> __hardfp_atan

  __mathlib_dbl_infnan (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan))
  [Stack]

  - Max Depth = 96
  - Call Chain = __mathlib_dbl_infnan ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
  [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 = 96
  - Call Chain = __mathlib_dbl_infnan2 ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
  [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 = 96
  - Call Chain = __mathlib_dbl_underflow ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
  [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_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_asinf

  __mathlib_flt_underflow (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_underflow))
  [Called By]

  - >> __hardfp_tanf
  - >> __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

  __scatterload_copy (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)

  __scatterload_null (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)

  __scatterload_zeroinit (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)

  __set_errno (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno))
  [Called By]

  - >> sqrtf
  - >> __hardfp_tanf
  - >> __hardfp_asinf

  atan (Thumb, 16 bytes, Stack size 8 bytes, atan.o(i.atan))
  [Stack]

  - Max Depth = 168
  - Call Chain = atan ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul ⇒ _double_epilogue ⇒ _double_round
  [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_atan
  - >> __hardfp_atan2

  sqrtf (Thumb, 62 bytes, Stack size 16 bytes, sqrtf.o(i.sqrtf))
  [Stack]

  - Max Depth = 16
  - Call Chain = sqrtf
  [Calls]
  - >> __set_errno
  [Called By]
  - >> __hardfp_asinf

  ### Local Symbols

  SPI_DMAError (Thumb, 30 bytes, Stack size 0 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAError))
  [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, 6 bytes, Stack size 0 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfReceiveCplt))
  [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, 6 bytes, Stack size 0 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitCplt))
  [Calls]

  - >> HAL_SPI_TxHalfCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)

  SPI_DMAHalfTransmitReceiveCplt (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAHalfTransmitReceiveCplt))
  [Calls]

  - >> HAL_SPI_TxRxHalfCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)

  SPI_DMAReceiveCplt (Thumb, 110 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMAReceiveCplt))
  [Stack]

  - Max Depth = 72
  - 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, 222 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMATransmitCplt))
  [Stack]

  - Max Depth = 64
  - Call Chain = SPI_DMATransmitCplt ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_WaitFlagStateUntilTimeout
  - >> HAL_SPI_TxCpltCallback
  - >> HAL_SPI_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_Transmit_DMA)

  SPI_DMATransmitReceiveCplt (Thumb, 206 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_DMATransmitReceiveCplt))
  [Stack]

  - Max Depth = 56
  - Call Chain = SPI_DMATransmitReceiveCplt ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> SPI_WaitFlagStateUntilTimeout
  - >> HAL_SPI_TxRxCpltCallback
  - >> HAL_SPI_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(.text.HAL_SPI_TransmitReceive_DMA)

  SPI_EndRxTransaction (Thumb, 140 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(.text.SPI_EndRxTransaction))
  [Stack]

  - Max Depth = 56
  - Call Chain = SPI_EndRxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> SPI_WaitFlagStateUntilTimeout
  [Called By]
  - >> HAL_SPI_Receive
  - >> SPI_DMAReceiveCplt

  SPI_WaitFlagStateUntilTimeout (Thumb, 266 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(.text.SPI_WaitFlagStateUntilTimeout))
  [Stack]

  - Max Depth = 32
  - Call Chain = SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> HAL_SPI_TransmitReceive
  - >> HAL_SPI_Transmit
  - >> SPI_EndRxTransaction
  - >> SPI_DMATransmitReceiveCplt
  - >> SPI_DMATransmitCplt

  UART_DMAAbortOnError (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAAbortOnError))
  [Calls]

  - >> HAL_UART_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.HAL_UART_IRQHandler)

  UART_DMAError (Thumb, 170 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAError))
  [Calls]

  - >> HAL_UART_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)

  UART_DMAReceiveCplt (Thumb, 140 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt))
  [Calls]

  - >> HAL_UARTEx_RxEventCallback
  - >> HAL_UART_RxCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)

  UART_DMARxHalfCplt (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt))
  [Calls]

  - >> HAL_UARTEx_RxEventCallback
  - >> HAL_UART_RxHalfCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA)

  UART_Receive_IT (Thumb, 204 bytes, Stack size 4 bytes, stm32f4xx_hal_uart.o(.text.UART_Receive_IT))
  [Stack]

  - Max Depth = 4
  - Call Chain = UART_Receive_IT
  [Calls]
  - >> HAL_UARTEx_RxEventCallback
  - >> HAL_UART_RxCpltCallback
  [Called By]
  - >> HAL_UART_IRQHandler

  UART_SetConfig (Thumb, 226 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(.text.UART_SetConfig))
  [Stack]

  - Max Depth = 56
  - Call Chain = UART_SetConfig ⇒ __aeabi_uldivmod
  [Calls]
  - >> HAL_RCC_GetPCLK2Freq
  - >> HAL_RCC_GetPCLK1Freq
  - >> __aeabi_uldivmod
  [Called By]
  - >> HAL_UART_Init

  prvUnlockQueue (Thumb, 122 bytes, Stack size 24 bytes, queue.o(.text.prvUnlockQueue))
  [Stack]

  - Max Depth = 40
  - Call Chain = prvUnlockQueue ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vTaskMissedYield
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vQueueWaitForMessageRestricted

  prvAddNewTaskToReadyList (Thumb, 672 bytes, Stack size 24 bytes, tasks.o(.text.prvAddNewTaskToReadyList))
  [Stack]

  - Max Depth = 24
  - Call Chain = prvAddNewTaskToReadyList
  [Calls]
  - >> vListInsertEnd
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  [Called By]
  - >> xTaskCreateStatic
  - >> xTaskCreate

  prvIdleTask (Thumb, 138 bytes, Stack size 24 bytes, tasks.o(.text.prvIdleTask))
  [Stack]

  - Max Depth = 104
  - Call Chain = prvIdleTask ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> uxListRemove
  - >> vPortFree
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Address Reference Count : 1]
  - tasks.o(.text.vTaskStartScheduler)

  prvSampleTimeNow (Thumb, 178 bytes, Stack size 56 bytes, timers.o(.text.prvSampleTimeNow))
  [Stack]

  - Max Depth = 168
  - Call Chain = prvSampleTimeNow ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xQueueGenericSend
  - >> vListInsert
  - >> uxListRemove
  - >> xTaskGetTickCount
  [Called By]
  - >> prvTimerTask

  prvTimerTask (Thumb, 570 bytes, Stack size 72 bytes, timers.o(.text.prvTimerTask))
  [Stack]

  - Max Depth = 240
  - Call Chain = prvTimerTask ⇒ prvSampleTimeNow ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vQueueWaitForMessageRestricted
  - >> vListInsert
  - >> uxListRemove
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortFree
  - >> prvSampleTimeNow
  [Address Reference Count : 1]
  - timers.o(.text.xTimerCreateTimerTask)

  prvPortStartFirstTask (Thumb, 34 bytes, Stack size 0 bytes, port.o(.text.prvPortStartFirstTask))
  [Called By]

  - >> xPortStartScheduler

  prvTaskExitError (Thumb, 50 bytes, Stack size 4 bytes, port.o(.text.prvTaskExitError))
  [Stack]

  - Max Depth = 4
  - Call Chain = prvTaskExitError
  [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_DefaultIdParser (Thumb, 2 bytes, Stack size 0 bytes, can_1.o(.text.BSP_CAN_DefaultIdParser))
  [Address Reference Count : 1]

  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_RxFifo0Callback (Thumb, 466 bytes, Stack size 104 bytes, can_1.o(.text.BSP_CAN_RxFifo0Callback))
  [Stack]

  - Max Depth = 240
  - Call Chain = BSP_CAN_RxFifo0Callback ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> HAL_GetTick
  - >> HAL_CAN_GetRxMessage
  - >> HAL_CAN_GetRxFifoFillLevel
  - >> osMessageQueuePut
  - >> __aeabi_memcpy
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_RxFifo1Callback (Thumb, 470 bytes, Stack size 104 bytes, can_1.o(.text.BSP_CAN_RxFifo1Callback))
  [Stack]

  - Max Depth = 240
  - Call Chain = BSP_CAN_RxFifo1Callback ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> HAL_GetTick
  - >> HAL_CAN_GetRxMessage
  - >> HAL_CAN_GetRxFifoFillLevel
  - >> osMessageQueuePut
  - >> __aeabi_memcpy
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_TxCompleteCallback (Thumb, 258 bytes, Stack size 72 bytes, can_1.o(.text.BSP_CAN_TxCompleteCallback))
  [Stack]

  - Max Depth = 80
  - Call Chain = BSP_CAN_TxCompleteCallback ⇒ HAL_CAN_AddTxMessage
  [Calls]
  - >> HAL_CAN_GetTxMailboxesFreeLevel
  - >> HAL_CAN_AddTxMessage
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  AHRS_UpdateIMU (Thumb, 582 bytes, Stack size 80 bytes, ahrs.o(.text.AHRS_UpdateIMU))
  [Stack]

  - Max Depth = 80
  - Call Chain = AHRS_UpdateIMU
  [Calls]
  - >> InvSqrt
  [Called By]
  - >> AHRS_Update

  BMI088_AcclIntCallback (Thumb, 16 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_AcclIntCallback))
  [Stack]

  - Max Depth = 56
  - Call Chain = BMI088_AcclIntCallback ⇒ osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR
  [Calls]
  - >> osThreadFlagsSet
  [Address Reference Count : 1]
  - bmi088.o(.text.BMI088_Init)

  BMI088_GyroIntCallback (Thumb, 16 bytes, Stack size 0 bytes, bmi088.o(.text.BMI088_GyroIntCallback))
  [Stack]

  - Max Depth = 56
  - Call Chain = BMI088_GyroIntCallback ⇒ osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR
  [Calls]
  - >> osThreadFlagsSet
  [Address Reference Count : 1]
  - bmi088.o(.text.BMI088_Init)

  BMI088_RxCpltCallback (Thumb, 74 bytes, Stack size 8 bytes, bmi088.o(.text.BMI088_RxCpltCallback))
  [Stack]

  - Max Depth = 64
  - Call Chain = BMI088_RxCpltCallback ⇒ osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR
  [Calls]
  - >> BSP_GPIO_WritePin
  - >> BSP_GPIO_ReadPin
  - >> osThreadFlagsSet
  [Address Reference Count : 1]
  - bmi088.o(.text.BMI088_Init)

  ### Undefined Global Symbols