# Static Call Graph for image shoot\shoot.axf

#<CALLGRAPH># ARM Linker, 6160001: Last Updated: Thu Oct 9 20:55:15 2025

### Maximum Stack Usage = 312 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

### Call chain for Maximum Stack Depth:

Task_shoot_ctrl ⇒ Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

### Functions with no stack information

- __user_initial_stackheap

### 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
- UART_EndTxTransfer ⇒ UART_EndTxTransfer
- UART_EndRxTransfer ⇒ UART_EndRxTransfer

  ### Function Pointers

  - ADC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - BSP_CAN_DefaultIdParser from can_1.o(.text.BSP_CAN_DefaultIdParser) referenced 2 times from can_1.o(.text.BSP_CAN_Init)
  - BSP_CAN_RxFifo0Callback from can_1.o(.text.BSP_CAN_RxFifo0Callback) referenced 2 times from can_1.o(.text.BSP_CAN_Init)
  - BSP_CAN_RxFifo1Callback from can_1.o(.text.BSP_CAN_RxFifo1Callback) referenced 2 times from can_1.o(.text.BSP_CAN_Init)
  - BSP_CAN_TxCompleteCallback from can_1.o(.text.BSP_CAN_TxCompleteCallback) referenced 2 times from can_1.o(.text.BSP_CAN_Init)
  - BusFault_Handler from stm32f4xx_it.o(.text.BusFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_RX0_IRQHandler from stm32f4xx_it.o(.text.CAN1_RX0_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_RX1_IRQHandler from stm32f4xx_it.o(.text.CAN1_RX1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_SCE_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_TX_IRQHandler from stm32f4xx_it.o(.text.CAN1_TX_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_RX0_IRQHandler from stm32f4xx_it.o(.text.CAN2_RX0_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_RX1_IRQHandler from stm32f4xx_it.o(.text.CAN2_RX1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_SCE_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_TX_IRQHandler from stm32f4xx_it.o(.text.CAN2_TX_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - DCMI_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DEVICE_AT9S_RxCpltCallback from at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback) referenced 2 times from at9s_pro.o(.text.DEVICE_AT9S_Init)
  - 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 startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream6_IRQHandler from stm32f4xx_it.o(.text.DMA2_Stream6_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - DMA2_Stream7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - 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 startup_stm32f407xx.o(.text) 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 startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - EXTI9_5_IRQHandler from startup_stm32f407xx.o(.text) 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)
  - SVC_Handler from port.o(.text.SVC_Handler) referenced from startup_stm32f407xx.o(RESET)
  - StartDefaultTask from freertos.o(.text.StartDefaultTask) referenced 2 times from freertos.o(.text.MX_FREERTOS_Init)
  - SysTick_Handler from stm32f4xx_it.o(.text.SysTick_Handler) referenced from startup_stm32f407xx.o(RESET)
  - SystemInit from system_stm32f4xx.o(.text.SystemInit) referenced from startup_stm32f407xx.o(.text)
  - TAMP_STAMP_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_BRK_TIM9_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_CC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_TRG_COM_TIM11_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_UP_TIM10_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM6_DAC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM7_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_BRK_TIM12_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_CC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_TRG_COM_TIM14_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_UP_TIM13_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - Task_Init from init.o(.text.Task_Init) referenced 2 times from freertos.o(.text.MX_FREERTOS_Init)
  - Task_rc from rc.o(.text.Task_rc) referenced 2 times from init.o(.text.Task_Init)
  - Task_shoot_ctrl from shoot_ctrl.o(.text.Task_shoot_ctrl) 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_DMAError from stm32f4xx_hal_uart.o(.text.UART_DMAError) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
  - UART_DMAReceiveCplt from stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
  - UART_DMARxHalfCplt from stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt) referenced 2 times from stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)
  - USART1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - USART2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - USART3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - USART6_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - UsageFault_Handler from stm32f4xx_it.o(.text.UsageFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  - WWDG_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - __main from __main.o(!!!main) referenced from startup_stm32f407xx.o(.text)
  - prvIdleTask from tasks.o(.text.prvIdleTask) referenced 2 times from tasks.o(.text.vTaskStartScheduler)
  - prvTaskExitError from port.o(.text.prvTaskExitError) referenced 2 times from port.o(.text.pxPortInitialiseStack)
  - prvTimerTask from timers.o(.text.prvTimerTask) referenced 2 times from timers.o(.text.xTimerCreateTimerTask)

  ### Global Symbols

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

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

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

  - >> __main

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

  - >> __rt_entry

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

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

  __scatterload_copy (Thumb, 26 bytes, Stack size unknown bytes, __scatter_copy.o(!!handler_copy), UNUSED)
  [Calls]

  - >> __scatterload_copy
  [Called By]
  - >> __scatterload_copy

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

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

  - >> __rt_entry_li

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

  - >> _fp_init

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  - >> __rt_exit_ls

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

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

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

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

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

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

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

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

  - >> __main
  - >> __scatterload_rt2

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

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

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

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

  - >> __rt_lib_init

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

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

  - Max Depth = 192 + Unknown Stack Size
  - Call Chain = __rt_entry_main ⇒ main ⇒ MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> main
  - >> exit

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

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

  - >> exit

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

  - >> __rt_lib_shutdown

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

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

  - >> _sys_exit

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

  - startup_stm32f407xx.o(RESET)

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

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

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

  DMA1_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_Stream1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA2_Stream2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  DMA2_Stream3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

  EXTI0_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)

  EXTI4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  EXTI9_5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

  USART6_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - >> __user_setup_stackheap

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

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

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

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

  - >> prvCopyDataToQueue
  - >> prvCopyDataFromQueue
  - >> BSP_CAN_Transmit
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

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

  - >> __aeabi_memcpy4

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

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

  - >> __rt_memcpy

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

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

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

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

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

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

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

  - >> SystemClock_Config
  - >> MOTOR_RM_CreateCANManager
  - >> BSP_CAN_Init

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

  - >> MOTOR_RM_Register
  - >> Shoot_Init

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

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

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

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

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

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

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

  - >> __aeabi_errno_addr

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

  - Max Depth = 8
  - Call Chain = __set_errno
  [Calls]
  - >> __aeabi_errno_addr
  [Called By]
  - >> __hardfp_tanf

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

  - >> __set_errno
  - >> __read_errno

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

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

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

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

  - >> __user_setup_stackheap

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

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

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

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

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

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

  - >> __rt_exit_exit

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

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

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

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

  - >> PID_Calc

  BSP_CAN_GetHandle (Thumb, 38 bytes, Stack size 0 bytes, can_1.o(.text.BSP_CAN_GetHandle))
  [Called By]

  - >> BSP_CAN_Transmit
  - >> BSP_CAN_TxCompleteCallback
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  BSP_CAN_GetMessage (Thumb, 128 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_GetMessage))
  [Stack]

  - Max Depth = 184
  - Call Chain = BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_CAN_FindQueue
  - >> osMutexRelease
  - >> osMutexAcquire
  - >> osMessageQueueGet
  [Called By]
  - >> MOTOR_RM_Update

  BSP_CAN_Init (Thumb, 308 bytes, Stack size 72 bytes, can_1.o(.text.BSP_CAN_Init))
  [Stack]

  - Max Depth = 240 + Unknown Stack Size
  - Call Chain = BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> HAL_CAN_Start
  - >> HAL_CAN_ConfigFilter
  - >> HAL_CAN_ActivateNotification
  - >> BSP_CAN_RegisterCallback
  - >> BSP_CAN_TxQueueInit
  - >> osMutexNew
  - >> __aeabi_memclr4
  [Called By]
  - >> Shoot_Init

  BSP_CAN_ParseId (Thumb, 20 bytes, Stack size 8 bytes, can_1.o(.text.BSP_CAN_ParseId))
  [Stack]

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

  BSP_CAN_RegisterCallback (Thumb, 68 bytes, Stack size 0 bytes, can_1.o(.text.BSP_CAN_RegisterCallback))
  [Called By]

  - >> BSP_CAN_Init

  BSP_CAN_RegisterId (Thumb, 30 bytes, Stack size 8 bytes, can_1.o(.text.BSP_CAN_RegisterId))
  [Stack]

  - Max Depth = 200
  - Call Chain = BSP_CAN_RegisterId ⇒ BSP_CAN_CreateIdQueue ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_CAN_CreateIdQueue
  [Called By]
  - >> MOTOR_RM_Register

  BSP_CAN_Transmit (Thumb, 226 bytes, Stack size 64 bytes, can_1.o(.text.BSP_CAN_Transmit))
  [Stack]

  - Max Depth = 96
  - Call Chain = BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> HAL_CAN_GetTxMailboxesFreeLevel
  - >> HAL_CAN_AddTxMessage
  - >> BSP_CAN_GetHandle
  - >> BSP_CAN_TxQueuePush
  - >> __aeabi_memcpy
  [Called By]
  - >> BSP_CAN_TransmitStdDataFrame

  BSP_CAN_TransmitStdDataFrame (Thumb, 40 bytes, Stack size 16 bytes, can_1.o(.text.BSP_CAN_TransmitStdDataFrame))
  [Stack]

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

  BSP_Free (Thumb, 8 bytes, Stack size 8 bytes, mm.o(.text.BSP_Free))
  [Stack]

  - Max Depth = 104
  - Call Chain = BSP_Free ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vPortFree
  [Called By]
  - >> MOTOR_RM_Register
  - >> BSP_CAN_CreateIdQueue

  BSP_Malloc (Thumb, 8 bytes, Stack size 8 bytes, mm.o(.text.BSP_Malloc))
  [Stack]

  - Max Depth = 120
  - Call Chain = BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> pvPortMalloc
  [Called By]
  - >> MOTOR_RM_Register
  - >> MOTOR_RM_CreateCANManager
  - >> BSP_CAN_CreateIdQueue
  - >> Config_ShootInit
  - >> Shoot_Init

  BSP_TIME_Get (Thumb, 80 bytes, Stack size 24 bytes, time.o(.text.BSP_TIME_Get_us))
  [Stack]

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

  BSP_TIME_Get_us (Thumb, 80 bytes, Stack size 24 bytes, time.o(.text.BSP_TIME_Get_us))
  [Stack]

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

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

  - >> DEVICE_AT9S_StartDmaRecv

  BSP_UART_RegisterCallback (Thumb, 50 bytes, Stack size 0 bytes, uart.o(.text.BSP_UART_RegisterCallback))
  [Called By]

  - >> DEVICE_AT9S_Init

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

  - Max Depth = 56
  - Call Chain = CAN1_RX0_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

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

  - Max Depth = 56
  - Call Chain = CAN1_RX1_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

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

  - Max Depth = 56
  - Call Chain = CAN1_TX_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

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

  - Max Depth = 56
  - Call Chain = CAN2_RX0_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

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

  - Max Depth = 56
  - Call Chain = CAN2_RX1_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

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

  - Max Depth = 56
  - Call Chain = CAN2_TX_IRQHandler ⇒ HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback
  [Calls]
  - >> HAL_CAN_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  COMP_AT9S_CMD_ParseRc (Thumb, 540 bytes, Stack size 8 bytes, at9s_pro_cmd.o(.text.COMP_AT9S_CMD_ParseRc))
  [Stack]

  - Max Depth = 8
  - Call Chain = COMP_AT9S_CMD_ParseRc
  [Called By]
  - >> Task_rc

  Chassis_UpdateFeedback (Thumb, 388 bytes, Stack size 64 bytes, shoot_control.o(.text.Chassis_UpdateFeedback))
  [Stack]

  - Max Depth = 312
  - Call Chain = Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> LowPassFilter2p_Apply
  - >> MOTOR_RM_Update
  - >> MOTOR_RM_GetMotor
  [Called By]
  - >> Task_shoot_ctrl

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

  - >> Shoot_CaluTargetAngle

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

  - >> Shoot_CaluTargetAngle
  - >> PID_Calc

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

  - >> Task_shoot_ctrl

  Config_ShootInit (Thumb, 180 bytes, Stack size 32 bytes, config.o(.text.Config_ShootInit))
  [Stack]

  - Max Depth = 152
  - Call Chain = Config_ShootInit ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_Malloc
  [Called By]
  - >> Task_shoot_ctrl

  DEVICE_AT9S_Init (Thumb, 70 bytes, Stack size 16 bytes, at9s_pro.o(.text.DEVICE_AT9S_Init))
  [Stack]

  - Max Depth = 24
  - Call Chain = DEVICE_AT9S_Init ⇒ osThreadGetId
  [Calls]
  - >> osThreadGetId
  - >> BSP_UART_RegisterCallback
  [Called By]
  - >> Task_rc

  DEVICE_AT9S_ParseRaw (Thumb, 632 bytes, Stack size 44 bytes, at9s_pro.o(.text.DEVICE_AT9S_ParseRaw))
  [Stack]

  - Max Depth = 44
  - Call Chain = DEVICE_AT9S_ParseRaw
  [Called By]
  - >> Task_rc

  DEVICE_AT9S_StartDmaRecv (Thumb, 28 bytes, Stack size 8 bytes, at9s_pro.o(.text.DEVICE_AT9S_StartDmaRecv))
  [Stack]

  - Max Depth = 64
  - Call Chain = DEVICE_AT9S_StartDmaRecv ⇒ HAL_UART_Receive_DMA ⇒ UART_Start_Receive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_UART_Receive_DMA
  - >> BSP_UART_GetHandle
  [Called By]
  - >> Task_rc

  DEVICE_AT9S_WaitDmaCplt (Thumb, 22 bytes, Stack size 8 bytes, at9s_pro.o(.text.DEVICE_AT9S_WaitDmaCplt))
  [Stack]

  - Max Depth = 112
  - Call Chain = DEVICE_AT9S_WaitDmaCplt ⇒ osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> osThreadFlagsWait
  [Called By]
  - >> Task_rc

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

  - Max Depth = 32
  - Call Chain = DMA1_Stream1_IRQHandler ⇒ HAL_DMA_IRQHandler
  [Calls]
  - >> HAL_DMA_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

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

  - Max Depth = 32
  - 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)

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

  - >> HAL_UART_MspInit
  - >> SystemClock_Config
  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init

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

  - >> BSP_CAN_Init

  HAL_CAN_AddTxMessage (Thumb, 146 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, 222 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, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_ErrorCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_ErrorCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_GetRxFifoFillLevel (Thumb, 32 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, 292 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, 40 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, 570 bytes, Stack size 40 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_IRQHandler))
  [Stack]

  - Max Depth = 48
  - Call Chain = HAL_CAN_IRQHandler ⇒ HAL_CAN_WakeUpFromRxMsgCallback
  [Calls]
  - >> HAL_CAN_WakeUpFromRxMsgCallback
  - >> HAL_CAN_TxMailbox2CompleteCallback
  - >> HAL_CAN_TxMailbox2AbortCallback
  - >> HAL_CAN_TxMailbox1CompleteCallback
  - >> HAL_CAN_TxMailbox1AbortCallback
  - >> HAL_CAN_TxMailbox0CompleteCallback
  - >> HAL_CAN_TxMailbox0AbortCallback
  - >> HAL_CAN_SleepCallback
  - >> HAL_CAN_RxFifo1MsgPendingCallback
  - >> HAL_CAN_RxFifo1FullCallback
  - >> HAL_CAN_RxFifo0MsgPendingCallback
  - >> HAL_CAN_RxFifo0FullCallback
  - >> HAL_CAN_ErrorCallback
  [Called By]
  - >> CAN2_TX_IRQHandler
  - >> CAN2_RX1_IRQHandler
  - >> CAN2_RX0_IRQHandler
  - >> CAN1_TX_IRQHandler
  - >> CAN1_RX1_IRQHandler
  - >> CAN1_RX0_IRQHandler

  HAL_CAN_Init (Thumb, 244 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(.text.HAL_CAN_Init))
  [Stack]

  - Max Depth = 104
  - Call Chain = HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GetTick
  - >> HAL_CAN_MspInit
  [Called By]
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init

  HAL_CAN_MspInit (Thumb, 318 bytes, Stack size 40 bytes, can.o(.text.HAL_CAN_MspInit))
  [Stack]

  - Max Depth = 88
  - 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, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_RxFifo0FullCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_RxFifo0FullCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo0MsgPendingCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_RxFifo0MsgPendingCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_RxFifo0MsgPendingCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo1FullCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_RxFifo1FullCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_RxFifo1FullCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_RxFifo1MsgPendingCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_RxFifo1MsgPendingCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_RxFifo1MsgPendingCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_SleepCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_SleepCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_SleepCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_Start (Thumb, 90 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, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_TxMailbox0AbortCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_TxMailbox0AbortCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox0CompleteCallback (Thumb, 34 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_TxMailbox0CompleteCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_TxMailbox0CompleteCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox1AbortCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_TxMailbox1AbortCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_TxMailbox1AbortCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox1CompleteCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_TxMailbox1CompleteCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_TxMailbox1CompleteCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox2AbortCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_TxMailbox2AbortCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_TxMailbox2AbortCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_TxMailbox2CompleteCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_TxMailbox2CompleteCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_TxMailbox2CompleteCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_CAN_WakeUpFromRxMsgCallback (Thumb, 36 bytes, Stack size 8 bytes, can_1.o(.text.HAL_CAN_WakeUpFromRxMsgCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_CAN_WakeUpFromRxMsgCallback
  [Calls]
  - >> CAN_Get
  [Called By]
  - >> HAL_CAN_IRQHandler

  HAL_DMA_IRQHandler (Thumb, 396 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
  - >> DMA1_Stream1_IRQHandler

  HAL_DMA_Init (Thumb, 206 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Init))
  [Stack]

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

  HAL_DMA_Start_IT (Thumb, 98 bytes, Stack size 16 bytes, stm32f4xx_hal_dma.o(.text.HAL_DMA_Start_IT))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> DMA_SetConfig
  [Called By]
  - >> UART_Start_Receive_DMA

  HAL_GPIO_Init (Thumb, 410 bytes, Stack size 48 bytes, stm32f4xx_hal_gpio.o(.text.HAL_GPIO_Init))
  [Stack]

  - Max Depth = 48
  - Call Chain = HAL_GPIO_Init
  [Called By]
  - >> HAL_UART_MspInit
  - >> HAL_CAN_MspInit

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

  - >> HAL_CAN_Start
  - >> HAL_DMA_Init
  - >> HAL_CAN_Init
  - >> HAL_RCC_OscConfig
  - >> HAL_RCC_ClockConfig
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

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

  - >> SysTick_Handler

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

  - Max Depth = 48
  - Call Chain = HAL_Init ⇒ HAL_InitTick ⇒ HAL_SYSTICK_Config ⇒ SysTick_Config
  [Calls]
  - >> HAL_NVIC_SetPriorityGrouping
  - >> HAL_InitTick
  - >> HAL_MspInit
  [Called By]
  - >> main

  HAL_InitTick (Thumb, 80 bytes, Stack size 16 bytes, stm32f4xx_hal.o(.text.HAL_InitTick))
  [Stack]

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

  HAL_MspInit (Thumb, 70 bytes, Stack size 16 bytes, stm32f4xx_hal_msp.o(.text.HAL_MspInit))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_MspInit ⇒ HAL_NVIC_SetPriority
  [Calls]
  - >> HAL_NVIC_SetPriority
  [Called By]
  - >> HAL_Init

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

  - Max Depth = 8
  - Call Chain = HAL_NVIC_EnableIRQ
  [Calls]
  - >> __NVIC_EnableIRQ
  [Called By]
  - >> HAL_CAN_MspInit
  - >> MX_DMA_Init

  HAL_NVIC_SetPriority (Thumb, 30 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.HAL_NVIC_SetPriority))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_NVIC_SetPriority
  [Calls]
  - >> __NVIC_SetPriority
  - >> __NVIC_GetPriorityGrouping
  - >> NVIC_EncodePriority
  [Called By]
  - >> HAL_InitTick
  - >> HAL_MspInit
  - >> HAL_CAN_MspInit
  - >> MX_DMA_Init

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

  - Max Depth = 8
  - Call Chain = HAL_NVIC_SetPriorityGrouping
  [Calls]
  - >> __NVIC_SetPriorityGrouping
  [Called By]
  - >> HAL_Init

  HAL_RCC_ClockConfig (Thumb, 352 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_ClockConfig))
  [Stack]

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

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

  - >> HAL_RCC_GetPCLK2Freq
  - >> HAL_RCC_GetPCLK1Freq

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

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

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

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

  HAL_RCC_GetSysClockFreq (Thumb, 104 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_GetSysClockFreq))
  [Stack]

  - Max Depth = 56
  - Call Chain = HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
  [Calls]
  - >> __aeabi_uldivmod
  [Called By]
  - >> HAL_RCC_ClockConfig

  HAL_RCC_OscConfig (Thumb, 840 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(.text.HAL_RCC_OscConfig))
  [Stack]

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

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

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

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

  - >> UART_DMARxHalfCplt
  - >> UART_DMAReceiveCplt

  HAL_UART_ErrorCallback (Thumb, 38 bytes, Stack size 8 bytes, uart.o(.text.HAL_UART_ErrorCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_UART_ErrorCallback
  [Calls]
  - >> UART_Get
  [Called By]
  - >> UART_DMAError

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

  - Max Depth = 96
  - Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> UART_SetConfig
  - >> HAL_UART_MspInit
  [Called By]
  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init

  HAL_UART_MspInit (Thumb, 348 bytes, Stack size 40 bytes, usart.o(.text.HAL_UART_MspInit))
  [Stack]

  - Max Depth = 88
  - Call Chain = HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_DMA_Init
  - >> HAL_GPIO_Init
  - >> Error_Handler
  [Called By]
  - >> HAL_UART_Init

  HAL_UART_Receive_DMA (Thumb, 44 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.HAL_UART_Receive_DMA))
  [Stack]

  - Max Depth = 56
  - Call Chain = HAL_UART_Receive_DMA ⇒ UART_Start_Receive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> UART_Start_Receive_DMA
  [Called By]
  - >> DEVICE_AT9S_StartDmaRecv

  HAL_UART_RxCpltCallback (Thumb, 38 bytes, Stack size 8 bytes, uart.o(.text.HAL_UART_RxCpltCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_UART_RxCpltCallback
  [Calls]
  - >> UART_Get
  [Called By]
  - >> UART_DMAReceiveCplt

  HAL_UART_RxHalfCpltCallback (Thumb, 38 bytes, Stack size 8 bytes, uart.o(.text.HAL_UART_RxHalfCpltCallback))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_UART_RxHalfCpltCallback
  [Calls]
  - >> UART_Get
  [Called By]
  - >> UART_DMARxHalfCplt

  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)

  LowPassFilter2p_Apply (Thumb, 124 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Apply))
  [Stack]

  - Max Depth = 40
  - Call Chain = LowPassFilter2p_Apply
  [Calls]
  - >> __ARM_isinff
  [Called By]
  - >> LowPassFilter2p_Reset
  - >> Shoot_RunningFSM
  - >> Chassis_UpdateFeedback
  - >> PID_Calc

  LowPassFilter2p_Init (Thumb, 164 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]
  - >> Shoot_Init
  - >> PID_Init

  LowPassFilter2p_Reset (Thumb, 92 bytes, Stack size 24 bytes, filter.o(.text.LowPassFilter2p_Reset))
  [Stack]

  - Max Depth = 64
  - Call Chain = LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply
  [Calls]
  - >> LowPassFilter2p_Apply
  - >> __ARM_isfinitef
  [Called By]
  - >> Shoot_ResetCalu
  - >> PID_Reset

  MOTOR_RM_Ctrl (Thumb, 216 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_Ctrl))
  [Stack]

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

  MOTOR_RM_GetMotor (Thumb, 80 bytes, Stack size 24 bytes, motor_rm.o(.text.MOTOR_RM_GetMotor))
  [Stack]

  - Max Depth = 24
  - Call Chain = MOTOR_RM_GetMotor
  [Calls]
  - >> MOTOR_RM_GetCANManager
  [Called By]
  - >> MOTOR_RM_SetOutput
  - >> Chassis_UpdateFeedback

  MOTOR_RM_Register (Thumb, 166 bytes, Stack size 16 bytes, motor_rm.o(.text.MOTOR_RM_Register))
  [Stack]

  - Max Depth = 216 + Unknown Stack Size
  - Call Chain = MOTOR_RM_Register ⇒ BSP_CAN_RegisterId ⇒ BSP_CAN_CreateIdQueue ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> MOTOR_RM_GetCANManager
  - >> MOTOR_RM_CreateCANManager
  - >> BSP_Malloc
  - >> BSP_Free
  - >> BSP_CAN_RegisterId
  - >> __aeabi_memclr8
  [Called By]
  - >> Shoot_Init

  MOTOR_RM_Relax (Thumb, 16 bytes, Stack size 8 bytes, motor_rm.o(.text.MOTOR_RM_Relax))
  [Stack]

  - Max Depth = 64
  - Call Chain = MOTOR_RM_Relax ⇒ MOTOR_RM_SetOutput ⇒ MOTOR_RM_GetMotor
  [Calls]
  - >> MOTOR_RM_SetOutput
  [Called By]
  - >> Shoot_RunningFSM

  MOTOR_RM_SetOutput (Thumb, 158 bytes, Stack size 32 bytes, motor_rm.o(.text.MOTOR_RM_SetOutput))
  [Stack]

  - Max Depth = 56
  - Call Chain = MOTOR_RM_SetOutput ⇒ MOTOR_RM_GetMotor
  [Calls]
  - >> MOTOR_RM_GetMotor
  - >> MOTOR_RM_GetLogicalIndex
  - >> MOTOR_RM_GetLSB
  - >> MOTOR_RM_GetCANManager
  [Called By]
  - >> MOTOR_RM_Relax
  - >> Shoot_RunningFSM

  MOTOR_RM_Update (Thumb, 198 bytes, Stack size 64 bytes, motor_rm.o(.text.MOTOR_RM_Update))
  [Stack]

  - Max Depth = 248
  - Call Chain = MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> Motor_RM_Decode
  - >> MOTOR_RM_GetCANManager
  - >> BSP_TIME_Get
  - >> BSP_CAN_GetMessage
  [Called By]
  - >> Chassis_UpdateFeedback

  MX_CAN1_Init (Thumb, 60 bytes, Stack size 8 bytes, can.o(.text.MX_CAN1_Init))
  [Stack]

  - Max Depth = 112
  - 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, 60 bytes, Stack size 8 bytes, can.o(.text.MX_CAN2_Init))
  [Stack]

  - Max Depth = 112
  - 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, 90 bytes, Stack size 16 bytes, dma.o(.text.MX_DMA_Init))
  [Stack]

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

  MX_FREERTOS_Init (Thumb, 58 bytes, Stack size 8 bytes, freertos.o(.text.MX_FREERTOS_Init))
  [Stack]

  - Max Depth = 192
  - Call Chain = MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osThreadNew
  [Called By]
  - >> main

  MX_GPIO_Init (Thumb, 116 bytes, Stack size 4 bytes, gpio.o(.text.MX_GPIO_Init))
  [Stack]

  - Max Depth = 4
  - Call Chain = MX_GPIO_Init
  [Called By]
  - >> main

  MX_USART3_UART_Init (Thumb, 60 bytes, Stack size 8 bytes, usart.o(.text.MX_USART3_UART_Init))
  [Stack]

  - Max Depth = 104
  - Call Chain = MX_USART3_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_UART_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_USART6_UART_Init (Thumb, 56 bytes, Stack size 8 bytes, usart.o(.text.MX_USART6_UART_Init))
  [Stack]

  - Max Depth = 104
  - Call Chain = MX_USART6_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_UART_Init
  - >> Error_Handler
  [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, 368 bytes, Stack size 56 bytes, pid.o(.text.PID_Calc))
  [Stack]

  - Max Depth = 96
  - Call Chain = PID_Calc ⇒ LowPassFilter2p_Apply
  [Calls]
  - >> __ARM_isfinitef
  - >> LowPassFilter2p_Apply
  - >> CircleError
  - >> AbsClip
  [Called By]
  - >> Shoot_RunningFSM

  PID_Init (Thumb, 144 bytes, Stack size 32 bytes, pid.o(.text.PID_Init))
  [Stack]

  - Max Depth = 104
  - Call Chain = PID_Init ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply
  [Calls]
  - >> __ARM_isfinitef
  - >> LowPassFilter2p_Init
  - >> PID_Reset
  [Called By]
  - >> Shoot_Init

  PID_Reset (Thumb, 44 bytes, Stack size 8 bytes, pid.o(.text.PID_Reset))
  [Stack]

  - Max Depth = 72
  - Call Chain = PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply
  [Calls]
  - >> LowPassFilter2p_Reset
  [Called By]
  - >> Shoot_ResetCalu
  - >> PID_Init

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

  - >> Shoot_RunningFSM
  - >> Shoot_ResetIntegral

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

  Shoot_CaluTargetAngle (Thumb, 164 bytes, Stack size 32 bytes, shoot_control.o(.text.Shoot_CaluTargetAngle))
  [Stack]

  - Max Depth = 32
  - Call Chain = Shoot_CaluTargetAngle
  [Calls]
  - >> CircleError
  - >> CircleAdd
  [Called By]
  - >> Shoot_RunningFSM

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

  - Max Depth = 232
  - Call Chain = Shoot_Control ⇒ Shoot_JamDetectionFSM ⇒ Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> BSP_TIME_Get_us
  - >> __aeabi_ul2f
  - >> Shoot_JamDetectionFSM
  [Called By]
  - >> Task_shoot_ctrl

  Shoot_Init (Thumb, 550 bytes, Stack size 48 bytes, shoot_control.o(.text.Shoot_Init))
  [Stack]

  - Max Depth = 288 + Unknown Stack Size
  - Call Chain = Shoot_Init ⇒ BSP_CAN_Init ⇒ osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> LowPassFilter2p_Init
  - >> MOTOR_RM_Register
  - >> BSP_Malloc
  - >> BSP_CAN_Init
  - >> __aeabi_memclr8
  - >> PID_Init
  [Called By]
  - >> Task_shoot_ctrl

  Shoot_JamDetectionFSM (Thumb, 284 bytes, Stack size 8 bytes, shoot_control.o(.text.Shoot_JamDetectionFSM))
  [Stack]

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

  Shoot_ResetCalu (Thumb, 164 bytes, Stack size 32 bytes, shoot_control.o(.text.Shoot_ResetCalu))
  [Stack]

  - Max Depth = 104
  - Call Chain = Shoot_ResetCalu ⇒ PID_Reset ⇒ LowPassFilter2p_Reset ⇒ LowPassFilter2p_Apply
  [Calls]
  - >> LowPassFilter2p_Reset
  - >> PID_Reset
  [Called By]
  - >> Shoot_RunningFSM

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

  - Max Depth = 16
  - Call Chain = Shoot_ResetIntegral
  [Calls]
  - >> PID_ResetIntegral
  [Called By]
  - >> Shoot_RunningFSM

  Shoot_ResetOutput (Thumb, 80 bytes, Stack size 8 bytes, shoot_control.o(.text.Shoot_ResetOutput))
  [Stack]

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

  Shoot_RunningFSM (Thumb, 1232 bytes, Stack size 56 bytes, shoot_control.o(.text.Shoot_RunningFSM))
  [Stack]

  - Max Depth = 200
  - Call Chain = Shoot_RunningFSM ⇒ MOTOR_RM_Ctrl ⇒ BSP_CAN_TransmitStdDataFrame ⇒ BSP_CAN_Transmit ⇒ BSP_CAN_TxQueuePush
  [Calls]
  - >> LowPassFilter2p_Apply
  - >> MOTOR_RM_SetOutput
  - >> MOTOR_RM_Relax
  - >> MOTOR_RM_Ctrl
  - >> Shoot_ResetOutput
  - >> Shoot_ResetIntegral
  - >> Shoot_ResetCalu
  - >> Shoot_CaluTargetAngle
  - >> ScaleSumTo1
  - >> PID_ResetIntegral
  - >> PID_Calc
  [Called By]
  - >> Shoot_JamDetectionFSM

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

  - >> Task_shoot_ctrl

  StartDefaultTask (Thumb, 12 bytes, Stack size 8 bytes, freertos.o(.text.StartDefaultTask))
  [Stack]

  - Max Depth = 136
  - Call Chain = StartDefaultTask ⇒ osThreadTerminate ⇒ vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osThreadTerminate
  - >> osThreadGetId
  [Address Reference Count : 1]
  - freertos.o(.text.MX_FREERTOS_Init)

  SysTick_Handler (Thumb, 20 bytes, Stack size 8 bytes, stm32f4xx_it.o(.text.SysTick_Handler))
  [Stack]

  - Max Depth = 56
  - Call Chain = SysTick_Handler ⇒ xPortSysTickHandler ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xPortSysTickHandler
  - >> HAL_IncTick
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  SystemClock_Config (Thumb, 164 bytes, Stack size 88 bytes, main.o(.text.SystemClock_Config))
  [Stack]

  - Max Depth = 168 + Unknown Stack Size
  - Call Chain = SystemClock_Config ⇒ HAL_RCC_ClockConfig ⇒ HAL_RCC_GetSysClockFreq ⇒ __aeabi_uldivmod
  [Calls]
  - >> HAL_RCC_OscConfig
  - >> HAL_RCC_ClockConfig
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

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

  - startup_stm32f407xx.o(.text)

  Task_Init (Thumb, 100 bytes, Stack size 8 bytes, init.o(.text.Task_Init))
  [Stack]

  - Max Depth = 192
  - Call Chain = Task_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osThreadTerminate
  - >> osThreadNew
  - >> osThreadGetId
  - >> osMessageQueueNew
  - >> osKernelUnlock
  - >> osKernelLock
  [Address Reference Count : 1]
  - freertos.o(.text.MX_FREERTOS_Init)

  Task_rc (Thumb, 152 bytes, Stack size 0 bytes, rc.o(.text.Task_rc))
  [Stack]

  - Max Depth = 152
  - Call Chain = Task_rc ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> COMP_AT9S_CMD_ParseRc
  - >> DEVICE_AT9S_WaitDmaCplt
  - >> DEVICE_AT9S_StartDmaRecv
  - >> DEVICE_AT9S_ParseRaw
  - >> DEVICE_AT9S_Init
  - >> osMessageQueuePut
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  Task_shoot_ctrl (Thumb, 260 bytes, Stack size 0 bytes, shoot_ctrl.o(.text.Task_shoot_ctrl))
  [Stack]

  - Max Depth = 312 + Unknown Stack Size
  - Call Chain = Task_shoot_ctrl ⇒ Chassis_UpdateFeedback ⇒ MOTOR_RM_Update ⇒ BSP_CAN_GetMessage ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osMessageQueueGet
  - >> osKernelGetTickFreq
  - >> osKernelGetTickCount
  - >> osDelayUntil
  - >> osDelay
  - >> __aeabi_ui2d
  - >> __aeabi_d2uiz
  - >> __aeabi_ddiv
  - >> Config_ShootInit
  - >> Config_GetRobotParam
  - >> Shoot_SetMode
  - >> Shoot_Init
  - >> Shoot_Control
  - >> Chassis_UpdateFeedback
  [Address Reference Count : 1]
  - init.o(.text.Task_Init)

  UART_Start_Receive_DMA (Thumb, 170 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA))
  [Stack]

  - Max Depth = 48
  - Call Chain = UART_Start_Receive_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_DMA_Start_IT
  [Called By]
  - >> HAL_UART_Receive_DMA

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

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

  main (Thumb, 46 bytes, Stack size 0 bytes, main.o(.text.main))
  [Stack]

  - Max Depth = 192 + Unknown Stack Size
  - Call Chain = main ⇒ MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osKernelStart
  - >> osKernelInitialize
  - >> SystemClock_Config
  - >> MX_USART6_UART_Init
  - >> MX_USART3_UART_Init
  - >> MX_GPIO_Init
  - >> MX_FREERTOS_Init
  - >> MX_DMA_Init
  - >> MX_CAN2_Init
  - >> MX_CAN1_Init
  - >> HAL_Init
  [Called By]
  - >> __rt_entry_main

  osDelay (Thumb, 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]
  - >> Task_shoot_ctrl
  - >> Task_rc

  osDelayUntil (Thumb, 52 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osDelayUntil))
  [Stack]

  - Max Depth = 112
  - Call Chain = osDelayUntil ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetTickCount
  - >> vTaskDelayUntil
  [Called By]
  - >> Task_shoot_ctrl
  - >> Task_rc

  osKernelGetTickCount (Thumb, 20 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osKernelGetTickCount))
  [Stack]

  - Max Depth = 16
  - Call Chain = osKernelGetTickCount ⇒ xTaskGetTickCountFromISR
  [Calls]
  - >> xTaskGetTickCountFromISR
  - >> xTaskGetTickCount
  [Called By]
  - >> Task_shoot_ctrl
  - >> Task_rc

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

  - >> BSP_TIME_Get
  - >> Task_shoot_ctrl
  - >> Task_rc

  osKernelInitialize (Thumb, 40 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]
  - >> vTaskSuspendAll
  - >> xTaskGetSchedulerState
  [Called By]
  - >> Task_Init

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

  - Max Depth = 168
  - Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> SVC_Setup
  - >> vTaskStartScheduler
  [Called By]
  - >> main

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

  - Max Depth = 88
  - Call Chain = osKernelUnlock ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> xTaskGetSchedulerState
  [Called By]
  - >> Task_Init

  osMessageQueueGet (Thumb, 134 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osMessageQueueGet))
  [Stack]

  - Max Depth = 152
  - Call Chain = osMessageQueueGet ⇒ xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueReceiveFromISR
  - >> xQueueReceive
  [Called By]
  - >> BSP_CAN_GetMessage
  - >> Task_shoot_ctrl

  osMessageQueueNew (Thumb, 160 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueueNew))
  [Stack]

  - Max Depth = 160
  - Call Chain = osMessageQueueNew ⇒ xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGenericCreateStatic
  - >> xQueueGenericCreate
  - >> vQueueAddToRegistry
  [Called By]
  - >> Task_Init
  - >> BSP_CAN_CreateIdQueue

  osMessageQueuePut (Thumb, 142 bytes, Stack size 24 bytes, cmsis_os2.o(.text.osMessageQueuePut))
  [Stack]

  - Max Depth = 152
  - Call Chain = osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  [Called By]
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback
  - >> Task_rc

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

  - Max Depth = 160
  - Call Chain = osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueTakeMutexRecursive
  - >> xQueueSemaphoreTake
  [Called By]
  - >> BSP_CAN_GetMessage
  - >> BSP_CAN_CreateIdQueue

  osMutexNew (Thumb, 150 bytes, Stack size 16 bytes, cmsis_os2.o(.text.osMutexNew))
  [Stack]

  - Max Depth = 168
  - Call Chain = osMutexNew ⇒ xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex
  - >> vQueueAddToRegistry
  [Called By]
  - >> BSP_CAN_Init

  osMutexRelease (Thumb, 62 bytes, Stack size 8 bytes, cmsis_os2.o(.text.osMutexRelease))
  [Stack]

  - Max Depth = 152
  - Call Chain = osMutexRelease ⇒ xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGiveMutexRecursive
  - >> xQueueGenericSend
  [Called By]
  - >> BSP_CAN_GetMessage
  - >> BSP_CAN_CreateIdQueue

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

  - Max Depth = 56
  - Call Chain = osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR
  [Calls]
  - >> xTaskGenericNotifyFromISR
  - >> xTaskGenericNotify
  [Called By]
  - >> DEVICE_AT9S_RxCpltCallback

  osThreadFlagsWait (Thumb, 186 bytes, Stack size 48 bytes, cmsis_os2.o(.text.osThreadFlagsWait))
  [Stack]

  - Max Depth = 104
  - Call Chain = osThreadFlagsWait ⇒ xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> xTaskGetTickCount
  - >> xTaskNotifyWait
  [Called By]
  - >> DEVICE_AT9S_WaitDmaCplt

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

  - Max Depth = 8
  - Call Chain = osThreadGetId
  [Calls]
  - >> xTaskGetCurrentTaskHandle
  [Called By]
  - >> Task_Init
  - >> StartDefaultTask
  - >> DEVICE_AT9S_Init

  osThreadNew (Thumb, 180 bytes, Stack size 32 bytes, cmsis_os2.o(.text.osThreadNew))
  [Stack]

  - Max Depth = 184
  - Call Chain = osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ 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 = 128
  - Call Chain = osThreadTerminate ⇒ vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vTaskDelete
  - >> eTaskGetState
  [Called By]
  - >> Task_Init
  - >> StartDefaultTask

  pvPortMalloc (Thumb, 330 bytes, Stack size 32 bytes, heap_4.o(.text.pvPortMalloc))
  [Stack]

  - Max Depth = 112
  - Call Chain = pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvInsertBlockIntoFreeList
  - >> prvHeapInit
  [Called By]
  - >> BSP_Malloc
  - >> xTaskCreate
  - >> xQueueGenericCreate

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

  - >> xQueueSemaphoreTake

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

  - >> prvInitialiseNewTask

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

  - >> xTaskResumeAll
  - >> prvSwitchTimerLists
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer
  - >> xTaskIncrementTick
  - >> vTaskDelete
  - >> prvCheckTasksWaitingTermination
  - >> prvAddCurrentTaskToDelayedList
  - >> xTaskGenericNotifyFromISR
  - >> xTaskGenericNotify
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityInherit
  - >> xTaskPriorityDisinherit
  - >> vTaskPriorityDisinheritAfterTimeout

  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]

  - >> prvCheckForValidListAndQueue
  - >> prvInitialiseTaskLists
  - >> xQueueGenericReset

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

  - >> prvInitialiseNewTask

  vListInsert (Thumb, 58 bytes, Stack size 8 bytes, list.o(.text.vListInsert))
  [Stack]

  - Max Depth = 8
  - Call Chain = vListInsert
  [Called By]
  - >> prvSwitchTimerLists
  - >> prvInsertTimerInActiveList
  - >> prvAddCurrentTaskToDelayedList
  - >> vTaskPlaceOnEventList

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

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

  vPortEnterCritical (Thumb, 70 bytes, Stack size 0 bytes, port.o(.text.vPortEnterCritical))
  [Called By]

  - >> prvUnlockQueue
  - >> prvIsQueueFull
  - >> prvIsQueueEmpty
  - >> xTaskResumeAll
  - >> prvCheckForValidListAndQueue
  - >> vTaskDelete
  - >> eTaskGetState
  - >> prvCheckTasksWaitingTermination
  - >> prvAddNewTaskToReadyList
  - >> xTaskNotifyWait
  - >> xTaskGenericNotify
  - >> xTaskCheckForTimeOut
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> vQueueWaitForMessageRestricted

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

  - >> prvUnlockQueue
  - >> prvIsQueueFull
  - >> prvIsQueueEmpty
  - >> xTaskResumeAll
  - >> prvCheckForValidListAndQueue
  - >> vTaskDelete
  - >> eTaskGetState
  - >> prvCheckTasksWaitingTermination
  - >> prvAddNewTaskToReadyList
  - >> xTaskNotifyWait
  - >> xTaskGenericNotify
  - >> xTaskCheckForTimeOut
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> vQueueWaitForMessageRestricted

  vPortFree (Thumb, 138 bytes, Stack size 16 bytes, heap_4.o(.text.vPortFree))
  [Stack]

  - Max Depth = 96
  - Call Chain = vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvInsertBlockIntoFreeList
  [Called By]
  - >> BSP_Free
  - >> prvProcessReceivedCommands
  - >> xTaskCreate
  - >> prvDeleteTCB

  vPortSetupTimerInterrupt (Thumb, 52 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]

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

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

  - >> osMutexNew
  - >> osMessageQueueNew
  - >> prvCheckForValidListAndQueue

  vQueueWaitForMessageRestricted (Thumb, 68 bytes, Stack size 16 bytes, queue.o(.text.vQueueWaitForMessageRestricted))
  [Stack]

  - Max Depth = 64
  - Call Chain = vQueueWaitForMessageRestricted ⇒ vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> prvUnlockQueue
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vTaskPlaceOnEventListRestricted
  [Called By]
  - >> prvProcessTimerOrBlockTask

  vTaskDelay (Thumb, 84 bytes, Stack size 8 bytes, tasks.o(.text.vTaskDelay))
  [Stack]

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

  vTaskDelayUntil (Thumb, 168 bytes, Stack size 16 bytes, tasks.o(.text.vTaskDelayUntil))
  [Stack]

  - Max Depth = 96
  - Call Chain = vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvAddCurrentTaskToDelayedList
  [Called By]
  - >> osDelayUntil

  vTaskDelete (Thumb, 194 bytes, Stack size 16 bytes, tasks.o(.text.vTaskDelete))
  [Stack]

  - Max Depth = 120
  - Call Chain = vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvResetNextTaskUnblockTime
  - >> prvDeleteTCB
  [Called By]
  - >> osThreadTerminate

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

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

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

  - >> prvUnlockQueue

  vTaskPlaceOnEventList (Thumb, 50 bytes, Stack size 8 bytes, tasks.o(.text.vTaskPlaceOnEventList))
  [Stack]

  - Max Depth = 40
  - Call Chain = vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vListInsert
  - >> prvAddCurrentTaskToDelayedList
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

  vTaskPlaceOnEventListRestricted (Thumb, 62 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPlaceOnEventListRestricted))
  [Stack]

  - Max Depth = 48
  - Call Chain = vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vListInsertEnd
  - >> prvAddCurrentTaskToDelayedList
  [Called By]
  - >> vQueueWaitForMessageRestricted

  vTaskPriorityDisinheritAfterTimeout (Thumb, 164 bytes, Stack size 16 bytes, tasks.o(.text.vTaskPriorityDisinheritAfterTimeout))
  [Stack]

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

  vTaskStartScheduler (Thumb, 156 bytes, Stack size 32 bytes, tasks.o(.text.vTaskStartScheduler))
  [Stack]

  - Max Depth = 160
  - Call Chain = vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> xTimerCreateTimerTask
  - >> xTaskCreateStatic
  - >> xPortStartScheduler
  - >> vApplicationGetIdleTaskMemory
  [Called By]
  - >> osKernelStart

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

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

  vTaskSwitchContext (Thumb, 154 bytes, Stack size 0 bytes, tasks.o(.text.vTaskSwitchContext))
  [Called By]

  - >> PendSV_Handler
  - >> xPortStartScheduler

  xPortStartScheduler (Thumb, 274 bytes, Stack size 16 bytes, port.o(.text.xPortStartScheduler))
  [Stack]

  - Max Depth = 20
  - Call Chain = xPortStartScheduler ⇒ prvTaskExitError
  [Calls]
  - >> vPortSetupTimerInterrupt
  - >> vPortEnableVFP
  - >> prvTaskExitError
  - >> prvPortStartFirstTask
  - >> vTaskSwitchContext
  [Called By]
  - >> vTaskStartScheduler

  xPortSysTickHandler (Thumb, 46 bytes, Stack size 8 bytes, port.o(.text.xPortSysTickHandler))
  [Stack]

  - Max Depth = 48
  - Call Chain = xPortSysTickHandler ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskIncrementTick
  [Called By]
  - >> SysTick_Handler

  xQueueCreateMutex (Thumb, 22 bytes, Stack size 8 bytes, queue.o(.text.xQueueCreateMutex))
  [Stack]

  - Max Depth = 144
  - Call Chain = xQueueCreateMutex ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvInitialiseMutex
  - >> xQueueGenericCreate
  [Called By]
  - >> osMutexNew

  xQueueCreateMutexStatic (Thumb, 34 bytes, Stack size 16 bytes, queue.o(.text.xQueueCreateMutexStatic))
  [Stack]

  - Max Depth = 152
  - Call Chain = xQueueCreateMutexStatic ⇒ prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvInitialiseMutex
  - >> xQueueGenericCreateStatic
  [Called By]
  - >> osMutexNew

  xQueueGenericCreate (Thumb, 70 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreate))
  [Stack]

  - Max Depth = 136
  - Call Chain = xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvInitialiseNewQueue
  - >> pvPortMalloc
  [Called By]
  - >> osMessageQueueNew
  - >> xQueueCreateMutex

  xQueueGenericCreateStatic (Thumb, 150 bytes, Stack size 24 bytes, queue.o(.text.xQueueGenericCreateStatic))
  [Stack]

  - Max Depth = 72
  - Call Chain = xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> prvInitialiseNewQueue
  [Called By]
  - >> osMessageQueueNew
  - >> prvCheckForValidListAndQueue
  - >> xQueueCreateMutexStatic

  xQueueGenericReset (Thumb, 126 bytes, Stack size 16 bytes, queue.o(.text.xQueueGenericReset))
  [Stack]

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

  xQueueGenericSend (Thumb, 418 bytes, Stack size 48 bytes, queue.o(.text.xQueueGenericSend))
  [Stack]

  - Max Depth = 128
  - Call Chain = xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvUnlockQueue
  - >> prvIsQueueFull
  - >> prvCopyDataToQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  [Called By]
  - >> prvInitialiseMutex
  - >> osMutexRelease
  - >> osMessageQueuePut
  - >> xTimerGenericCommand
  - >> xQueueGiveMutexRecursive

  xQueueGenericSendFromISR (Thumb, 206 bytes, Stack size 32 bytes, queue.o(.text.xQueueGenericSendFromISR))
  [Stack]

  - Max Depth = 64
  - Call Chain = xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit
  [Calls]
  - >> prvCopyDataToQueue
  - >> xTaskRemoveFromEventList
  - >> vPortValidateInterruptPriority
  [Called By]
  - >> osMessageQueuePut
  - >> xTimerGenericCommand

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

  - Max Depth = 144
  - Call Chain = xQueueGiveMutexRecursive ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetCurrentTaskHandle
  - >> xQueueGenericSend
  [Called By]
  - >> osMutexRelease

  xQueueReceive (Thumb, 388 bytes, Stack size 56 bytes, queue.o(.text.xQueueReceive))
  [Stack]

  - Max Depth = 136
  - Call Chain = xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvUnlockQueue
  - >> prvIsQueueEmpty
  - >> prvCopyDataFromQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  [Called By]
  - >> osMessageQueueGet
  - >> prvProcessReceivedCommands

  xQueueReceiveFromISR (Thumb, 170 bytes, Stack size 32 bytes, queue.o(.text.xQueueReceiveFromISR))
  [Stack]

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

  xQueueSemaphoreTake (Thumb, 454 bytes, Stack size 56 bytes, queue.o(.text.xQueueSemaphoreTake))
  [Stack]

  - Max Depth = 136
  - Call Chain = xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvUnlockQueue
  - >> prvIsQueueEmpty
  - >> prvGetDisinheritPriorityAfterTimeout
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityInherit
  - >> xTaskCheckForTimeOut
  - >> vTaskPriorityDisinheritAfterTimeout
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> pvTaskIncrementMutexHeldCount
  [Called By]
  - >> osMutexAcquire
  - >> xQueueTakeMutexRecursive

  xQueueTakeMutexRecursive (Thumb, 60 bytes, Stack size 16 bytes, queue.o(.text.xQueueTakeMutexRecursive))
  [Stack]

  - Max Depth = 152
  - 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
  - >> vTaskInternalSetTimeOutState
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

  xTaskCreate (Thumb, 102 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreate))
  [Stack]

  - Max Depth = 152
  - Call Chain = xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vPortFree
  - >> pvPortMalloc
  - >> prvInitialiseNewTask
  - >> prvAddNewTaskToReadyList
  [Called By]
  - >> osThreadNew

  xTaskCreateStatic (Thumb, 118 bytes, Stack size 40 bytes, tasks.o(.text.xTaskCreateStatic))
  [Stack]

  - Max Depth = 76
  - Call Chain = xTaskCreateStatic ⇒ prvInitialiseNewTask ⇒ __aeabi_memset4 ⇒ _memset_w
  [Calls]
  - >> prvInitialiseNewTask
  - >> prvAddNewTaskToReadyList
  [Called By]
  - >> osThreadNew
  - >> xTimerCreateTimerTask
  - >> vTaskStartScheduler

  xTaskGenericNotify (Thumb, 252 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, 298 bytes, Stack size 24 bytes, tasks.o(.text.xTaskGenericNotifyFromISR))
  [Stack]

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

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

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

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

  - >> SysTick_Handler
  - >> osKernelUnlock
  - >> osKernelLock
  - >> xTimerGenericCommand
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

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

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

  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, 338 bytes, Stack size 40 bytes, tasks.o(.text.xTaskIncrementTick))
  [Stack]

  - Max Depth = 40
  - Call Chain = xTaskIncrementTick
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> prvResetNextTaskUnblockTime
  [Called By]
  - >> xTaskResumeAll
  - >> xPortSysTickHandler

  xTaskNotifyWait (Thumb, 144 bytes, Stack size 24 bytes, tasks.o(.text.xTaskNotifyWait))
  [Stack]

  - Max Depth = 56
  - Call Chain = xTaskNotifyWait ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvAddCurrentTaskToDelayedList
  [Called By]
  - >> osThreadFlagsWait

  xTaskPriorityDisinherit (Thumb, 146 bytes, Stack size 16 bytes, tasks.o(.text.xTaskPriorityDisinherit))
  [Stack]

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

  xTaskPriorityInherit (Thumb, 146 bytes, Stack size 24 bytes, tasks.o(.text.xTaskPriorityInherit))
  [Stack]

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

  xTaskRemoveFromEventList (Thumb, 142 bytes, Stack size 16 bytes, tasks.o(.text.xTaskRemoveFromEventList))
  [Stack]

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

  xTaskResumeAll (Thumb, 276 bytes, Stack size 40 bytes, tasks.o(.text.xTaskResumeAll))
  [Stack]

  - Max Depth = 80
  - Call Chain = xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskIncrementTick
  - >> prvResetNextTaskUnblockTime
  [Called By]
  - >> vPortFree
  - >> pvPortMalloc
  - >> osKernelUnlock
  - >> prvProcessTimerOrBlockTask
  - >> vTaskDelayUntil
  - >> vTaskDelay
  - >> xQueueSemaphoreTake
  - >> xQueueReceive
  - >> xQueueGenericSend

  xTimerCreateTimerTask (Thumb, 108 bytes, Stack size 32 bytes, timers.o(.text.xTimerCreateTimerTask))
  [Stack]

  - Max Depth = 128
  - Call Chain = xTimerCreateTimerTask ⇒ prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> vApplicationGetTimerTaskMemory
  - >> prvCheckForValidListAndQueue
  - >> xTaskCreateStatic
  [Called By]
  - >> vTaskStartScheduler

  xTimerGenericCommand (Thumb, 104 bytes, Stack size 24 bytes, timers.o(.text.xTimerGenericCommand))
  [Stack]

  - Max Depth = 152
  - Call Chain = xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  [Called By]
  - >> prvSwitchTimerLists
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer

  __ARM_fpclassifyf (Thumb, 38 bytes, Stack size 0 bytes, fpclassifyf.o(i.__ARM_fpclassifyf))
  [Called By]

  - >> __hardfp_tanf

  __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]
  - >> __mathlib_rredf2
  - >> __mathlib_flt_underflow
  - >> __mathlib_flt_invalid
  - >> __mathlib_flt_infnan
  - >> __ARM_fpclassifyf
  - >> __set_errno
  [Called By]
  - >> LowPassFilter2p_Init

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

  - >> __hardfp_tanf

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

  - >> __hardfp_tanf

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

  - >> __hardfp_tanf

  __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

  __aeabi_ddiv (Thumb, 0 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_ddiv
  [Called By]
  - >> Task_shoot_ctrl
  - >> Task_rc

  _ddiv (Thumb, 556 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv), UNUSED)
  [Calls]

  - >> __fpl_dretinf
  - >> __fpl_dnaninf

  __aeabi_d2uiz (Thumb, 0 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_d2uiz
  [Called By]
  - >> Task_shoot_ctrl
  - >> Task_rc

  _dfixu (Thumb, 90 bytes, Stack size 32 bytes, dfixu.o(x$fpl$dfixu), UNUSED)
  [Calls]

  - >> __fpl_dnaninf

  __aeabi_ui2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu))
  [Called By]

  - >> Task_shoot_ctrl
  - >> Task_rc

  _dfltu (Thumb, 38 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dfltu), UNUSED)

  __fpl_dnaninf (Thumb, 156 bytes, Stack size 16 bytes, dnaninf.o(x$fpl$dnaninf), UNUSED)
  [Called By]

  - >> _dfixu
  - >> _ddiv

  __fpl_dretinf (Thumb, 12 bytes, Stack size 0 bytes, dretinf.o(x$fpl$dretinf), UNUSED)
  [Called By]

  - >> _ddiv

  __aeabi_ul2f (Thumb, 0 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll))
  [Called By]

  - >> Shoot_Control

  _ll_uto_f (Thumb, 6 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED)

  __aeabi_l2f (Thumb, 0 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED)

  _ll_sto_f (Thumb, 90 bytes, Stack size 0 bytes, ffltll_clz.o(x$fpl$ffltll), UNUSED)

  _fp_init (Thumb, 26 bytes, Stack size 0 bytes, fpinit.o(x$fpl$fpinit))
  [Called By]

  - >> __rt_lib_init_fp_1

  __fplib_config_fpu_vfp (Thumb, 0 bytes, Stack size unknown bytes, fpinit.o(x$fpl$fpinit), UNUSED)

  __fplib_config_pureend_doubles (Thumb, 0 bytes, Stack size unknown bytes, fpinit.o(x$fpl$fpinit), UNUSED)

  ### Local Symbols

  DMA_CalcBaseAndBitshift (Thumb, 52 bytes, Stack size 0 bytes, stm32f4xx_hal_dma.o(.text.DMA_CalcBaseAndBitshift))
  [Called By]

  - >> HAL_DMA_Init

  DMA_CheckFifoParam (Thumb, 80 bytes, Stack size 0 bytes, stm32f4xx_hal_dma.o(.text.DMA_CheckFifoParam))
  [Called By]

  - >> HAL_DMA_Init

  DMA_SetConfig (Thumb, 48 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(.text.DMA_SetConfig))
  [Stack]

  - Max Depth = 8
  - Call Chain = DMA_SetConfig
  [Called By]
  - >> HAL_DMA_Start_IT

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

  - >> HAL_NVIC_SetPriority

  SysTick_Config (Thumb, 46 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(.text.SysTick_Config))
  [Stack]

  - Max Depth = 16
  - Call Chain = SysTick_Config
  [Calls]
  - >> __NVIC_SetPriority
  [Called By]
  - >> HAL_SYSTICK_Config

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

  - >> HAL_NVIC_EnableIRQ

  __NVIC_GetPriorityGrouping (Thumb, 16 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_GetPriorityGrouping))
  [Called By]

  - >> HAL_NVIC_SetPriority

  __NVIC_SetPriority (Thumb, 34 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(.text.__NVIC_SetPriority))
  [Called By]

  - >> SysTick_Config
  - >> HAL_NVIC_SetPriority

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

  - >> HAL_NVIC_SetPriorityGrouping

  UART_DMAError (Thumb, 76 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAError))
  [Stack]

  - Max Depth = 16
  - Call Chain = UART_DMAError ⇒ HAL_UART_ErrorCallback
  [Calls]
  - >> UART_EndTxTransfer
  - >> UART_EndRxTransfer
  - >> HAL_UART_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)

  UART_DMAReceiveCplt (Thumb, 132 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMAReceiveCplt))
  [Stack]

  - Max Depth = 16
  - Call Chain = UART_DMAReceiveCplt ⇒ HAL_UART_RxCpltCallback
  [Calls]
  - >> HAL_UARTEx_RxEventCallback
  - >> HAL_UART_RxCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)

  UART_DMARxHalfCplt (Thumb, 30 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(.text.UART_DMARxHalfCplt))
  [Stack]

  - Max Depth = 16
  - Call Chain = UART_DMARxHalfCplt ⇒ HAL_UART_RxHalfCpltCallback
  [Calls]
  - >> HAL_UARTEx_RxEventCallback
  - >> HAL_UART_RxHalfCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(.text.UART_Start_Receive_DMA)

  UART_EndRxTransfer (Thumb, 80 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_EndRxTransfer))
  [Calls]

  - >> UART_EndRxTransfer
  [Called By]
  - >> UART_EndRxTransfer
  - >> UART_DMAError

  UART_EndTxTransfer (Thumb, 28 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(.text.UART_EndTxTransfer))
  [Calls]

  - >> UART_EndTxTransfer
  [Called By]
  - >> UART_EndTxTransfer
  - >> UART_DMAError

  UART_SetConfig (Thumb, 220 bytes, Stack size 8 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

  prvCopyDataFromQueue (Thumb, 38 bytes, Stack size 8 bytes, queue.o(.text.prvCopyDataFromQueue))
  [Stack]

  - Max Depth = 8
  - Call Chain = prvCopyDataFromQueue
  [Calls]
  - >> __aeabi_memcpy
  [Called By]
  - >> xQueueReceiveFromISR
  - >> xQueueReceive

  prvCopyDataToQueue (Thumb, 122 bytes, Stack size 16 bytes, queue.o(.text.prvCopyDataToQueue))
  [Stack]

  - Max Depth = 32
  - Call Chain = prvCopyDataToQueue ⇒ xTaskPriorityDisinherit
  [Calls]
  - >> xTaskPriorityDisinherit
  - >> __aeabi_memcpy
  [Called By]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend

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

  - >> xQueueSemaphoreTake

  prvInitialiseMutex (Thumb, 32 bytes, Stack size 8 bytes, queue.o(.text.prvInitialiseMutex))
  [Stack]

  - Max Depth = 136
  - Call Chain = prvInitialiseMutex ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueGenericSend
  [Called By]
  - >> xQueueCreateMutexStatic
  - >> xQueueCreateMutex

  prvInitialiseNewQueue (Thumb, 32 bytes, Stack size 16 bytes, queue.o(.text.prvInitialiseNewQueue))
  [Stack]

  - Max Depth = 48
  - Call Chain = prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> xQueueGenericReset
  [Called By]
  - >> xQueueGenericCreateStatic
  - >> xQueueGenericCreate

  prvIsQueueEmpty (Thumb, 24 bytes, Stack size 8 bytes, queue.o(.text.prvIsQueueEmpty))
  [Stack]

  - Max Depth = 8
  - Call Chain = prvIsQueueEmpty
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueSemaphoreTake
  - >> xQueueReceive

  prvIsQueueFull (Thumb, 28 bytes, Stack size 8 bytes, queue.o(.text.prvIsQueueFull))
  [Stack]

  - Max Depth = 8
  - Call Chain = prvIsQueueFull
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueGenericSend

  prvUnlockQueue (Thumb, 114 bytes, Stack size 24 bytes, queue.o(.text.prvUnlockQueue))
  [Stack]

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

  prvAddCurrentTaskToDelayedList (Thumb, 128 bytes, Stack size 24 bytes, tasks.o(.text.prvAddCurrentTaskToDelayedList))
  [Stack]

  - Max Depth = 32
  - Call Chain = prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vListInsertEnd
  - >> vListInsert
  - >> uxListRemove
  [Called By]
  - >> vTaskDelayUntil
  - >> vTaskDelay
  - >> xTaskNotifyWait
  - >> vTaskPlaceOnEventListRestricted
  - >> vTaskPlaceOnEventList

  prvAddNewTaskToReadyList (Thumb, 172 bytes, Stack size 16 bytes, tasks.o(.text.prvAddNewTaskToReadyList))
  [Stack]

  - Max Depth = 32
  - Call Chain = prvAddNewTaskToReadyList ⇒ prvInitialiseTaskLists
  [Calls]
  - >> vListInsertEnd
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvInitialiseTaskLists
  [Called By]
  - >> xTaskCreateStatic
  - >> xTaskCreate

  prvCheckTasksWaitingTermination (Thumb, 78 bytes, Stack size 24 bytes, tasks.o(.text.prvCheckTasksWaitingTermination))
  [Stack]

  - Max Depth = 128
  - Call Chain = prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvDeleteTCB
  [Called By]
  - >> prvIdleTask

  prvDeleteTCB (Thumb, 54 bytes, Stack size 8 bytes, tasks.o(.text.prvDeleteTCB))
  [Stack]

  - Max Depth = 104
  - Call Chain = prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vPortFree
  [Called By]
  - >> vTaskDelete
  - >> prvCheckTasksWaitingTermination

  prvIdleTask (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(.text.prvIdleTask))
  [Stack]

  - Max Depth = 128
  - Call Chain = prvIdleTask ⇒ prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvCheckTasksWaitingTermination
  [Address Reference Count : 1]
  - tasks.o(.text.vTaskStartScheduler)

  prvInitialiseNewTask (Thumb, 152 bytes, Stack size 32 bytes, tasks.o(.text.prvInitialiseNewTask))
  [Stack]

  - Max Depth = 36
  - Call Chain = prvInitialiseNewTask ⇒ __aeabi_memset4 ⇒ _memset_w
  [Calls]
  - >> vListInitialiseItem
  - >> pxPortInitialiseStack
  - >> __aeabi_memset4
  [Called By]
  - >> xTaskCreateStatic
  - >> xTaskCreate

  prvInitialiseTaskLists (Thumb, 112 bytes, Stack size 16 bytes, tasks.o(.text.prvInitialiseTaskLists))
  [Stack]

  - Max Depth = 16
  - Call Chain = prvInitialiseTaskLists
  [Calls]
  - >> vListInitialise
  [Called By]
  - >> prvAddNewTaskToReadyList

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

  - >> xTaskResumeAll
  - >> xTaskIncrementTick
  - >> vTaskDelete

  prvCheckForValidListAndQueue (Thumb, 116 bytes, Stack size 24 bytes, timers.o(.text.prvCheckForValidListAndQueue))
  [Stack]

  - Max Depth = 96
  - Call Chain = prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  - >> xQueueGenericCreateStatic
  - >> vQueueAddToRegistry
  [Called By]
  - >> xTimerCreateTimerTask

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

  - >> prvTimerTask

  prvInsertTimerInActiveList (Thumb, 64 bytes, Stack size 8 bytes, timers.o(.text.prvInsertTimerInActiveList))
  [Stack]

  - Max Depth = 16
  - Call Chain = prvInsertTimerInActiveList ⇒ vListInsert
  [Calls]
  - >> vListInsert
  [Called By]
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer

  prvProcessExpiredTimer (Thumb, 110 bytes, Stack size 24 bytes, timers.o(.text.prvProcessExpiredTimer))
  [Stack]

  - Max Depth = 176
  - Call Chain = prvProcessExpiredTimer ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> uxListRemove
  - >> xTimerGenericCommand
  - >> prvInsertTimerInActiveList
  [Called By]
  - >> prvProcessTimerOrBlockTask

  prvProcessReceivedCommands (Thumb, 290 bytes, Stack size 48 bytes, timers.o(.text.prvProcessReceivedCommands))
  [Stack]

  - Max Depth = 248
  - Call Chain = prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> uxListRemove
  - >> vPortFree
  - >> xTimerGenericCommand
  - >> prvSampleTimeNow
  - >> prvInsertTimerInActiveList
  - >> xQueueReceive
  [Called By]
  - >> prvTimerTask

  prvProcessTimerOrBlockTask (Thumb, 128 bytes, Stack size 24 bytes, timers.o(.text.prvProcessTimerOrBlockTask))
  [Stack]

  - Max Depth = 224
  - Call Chain = prvProcessTimerOrBlockTask ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvSampleTimeNow
  - >> prvProcessExpiredTimer
  - >> vQueueWaitForMessageRestricted
  [Called By]
  - >> prvTimerTask

  prvSampleTimeNow (Thumb, 42 bytes, Stack size 16 bytes, timers.o(.text.prvSampleTimeNow))
  [Stack]

  - Max Depth = 200
  - Call Chain = prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvSwitchTimerLists
  - >> xTaskGetTickCount
  [Called By]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands

  prvSwitchTimerLists (Thumb, 142 bytes, Stack size 32 bytes, timers.o(.text.prvSwitchTimerLists))
  [Stack]

  - Max Depth = 184
  - Call Chain = prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsert
  - >> uxListRemove
  - >> xTimerGenericCommand
  [Called By]
  - >> prvSampleTimeNow

  prvTimerTask (Thumb, 22 bytes, Stack size 8 bytes, timers.o(.text.prvTimerTask))
  [Stack]

  - Max Depth = 256
  - Call Chain = prvTimerTask ⇒ prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands
  - >> prvGetNextExpireTime
  [Address Reference Count : 1]
  - timers.o(.text.xTimerCreateTimerTask)

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

  - Max Depth = 8
  - Call Chain = SVC_Setup
  [Calls]
  - >> __NVIC_SetPriority
  [Called By]
  - >> osKernelStart

  __NVIC_SetPriority (Thumb, 14 bytes, Stack size 0 bytes, cmsis_os2.o(.text.__NVIC_SetPriority))
  [Called By]

  - >> SVC_Setup

  prvHeapInit (Thumb, 118 bytes, Stack size 0 bytes, heap_4.o(.text.prvHeapInit))
  [Called By]

  - >> pvPortMalloc

  prvInsertBlockIntoFreeList (Thumb, 90 bytes, Stack size 8 bytes, heap_4.o(.text.prvInsertBlockIntoFreeList))
  [Stack]

  - Max Depth = 8
  - Call Chain = prvInsertBlockIntoFreeList
  [Called By]
  - >> vPortFree
  - >> pvPortMalloc

  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
  [Called By]
  - >> xPortStartScheduler
  [Address Reference Count : 1]
  - port.o(.text.pxPortInitialiseStack)

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

  - >> xPortStartScheduler

  BSP_CAN_CreateIdQueue (Thumb, 146 bytes, Stack size 32 bytes, can_1.o(.text.BSP_CAN_CreateIdQueue))
  [Stack]

  - Max Depth = 192
  - Call Chain = BSP_CAN_CreateIdQueue ⇒ osMutexAcquire ⇒ xQueueTakeMutexRecursive ⇒ xQueueSemaphoreTake ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_Malloc
  - >> BSP_Free
  - >> osMutexRelease
  - >> osMutexAcquire
  - >> osMessageQueueNew
  [Called By]
  - >> BSP_CAN_RegisterId

  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_FindQueue (Thumb, 38 bytes, Stack size 0 bytes, can_1.o(.text.BSP_CAN_FindQueue))
  [Called By]

  - >> BSP_CAN_GetMessage
  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  BSP_CAN_GetFrameType (Thumb, 26 bytes, Stack size 0 bytes, can_1.o(.text.BSP_CAN_GetFrameType))
  [Called By]

  - >> BSP_CAN_RxFifo1Callback
  - >> BSP_CAN_RxFifo0Callback

  BSP_CAN_RxFifo0Callback (Thumb, 194 bytes, Stack size 112 bytes, can_1.o(.text.BSP_CAN_RxFifo0Callback))
  [Stack]

  - Max Depth = 264
  - Call Chain = BSP_CAN_RxFifo0Callback ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> HAL_GetTick
  - >> HAL_CAN_GetRxMessage
  - >> HAL_CAN_GetRxFifoFillLevel
  - >> BSP_CAN_ParseId
  - >> BSP_CAN_GetHandle
  - >> BSP_CAN_GetFrameType
  - >> BSP_CAN_FindQueue
  - >> osMessageQueuePut
  - >> __aeabi_memcpy
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_RxFifo1Callback (Thumb, 194 bytes, Stack size 112 bytes, can_1.o(.text.BSP_CAN_RxFifo1Callback))
  [Stack]

  - Max Depth = 264
  - Call Chain = BSP_CAN_RxFifo1Callback ⇒ osMessageQueuePut ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> HAL_GetTick
  - >> HAL_CAN_GetRxMessage
  - >> HAL_CAN_GetRxFifoFillLevel
  - >> BSP_CAN_ParseId
  - >> BSP_CAN_GetHandle
  - >> BSP_CAN_GetFrameType
  - >> BSP_CAN_FindQueue
  - >> osMessageQueuePut
  - >> __aeabi_memcpy
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_TxCompleteCallback (Thumb, 100 bytes, Stack size 64 bytes, can_1.o(.text.BSP_CAN_TxCompleteCallback))
  [Stack]

  - Max Depth = 88
  - Call Chain = BSP_CAN_TxCompleteCallback ⇒ BSP_CAN_TxQueuePop
  [Calls]
  - >> HAL_CAN_GetTxMailboxesFreeLevel
  - >> HAL_CAN_AddTxMessage
  - >> BSP_CAN_GetHandle
  - >> BSP_CAN_TxQueuePop
  - >> BSP_CAN_TxQueueIsEmpty
  [Address Reference Count : 1]
  - can_1.o(.text.BSP_CAN_Init)

  BSP_CAN_TxQueueInit (Thumb, 28 bytes, Stack size 0 bytes, can_1.o(.text.BSP_CAN_TxQueueInit))
  [Called By]

  - >> BSP_CAN_Init

  BSP_CAN_TxQueueIsEmpty (Thumb, 34 bytes, Stack size 0 bytes, can_1.o(.text.BSP_CAN_TxQueueIsEmpty))
  [Called By]

  - >> BSP_CAN_TxCompleteCallback

  BSP_CAN_TxQueuePop (Thumb, 116 bytes, Stack size 24 bytes, can_1.o(.text.BSP_CAN_TxQueuePop))
  [Stack]

  - Max Depth = 24
  - Call Chain = BSP_CAN_TxQueuePop
  [Called By]
  - >> BSP_CAN_TxCompleteCallback

  BSP_CAN_TxQueuePush (Thumb, 126 bytes, Stack size 32 bytes, can_1.o(.text.BSP_CAN_TxQueuePush))
  [Stack]

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

  CAN_Get (Thumb, 36 bytes, Stack size 0 bytes, can_1.o(.text.CAN_Get))
  [Called By]

  - >> HAL_CAN_WakeUpFromRxMsgCallback
  - >> HAL_CAN_TxMailbox2CompleteCallback
  - >> HAL_CAN_TxMailbox2AbortCallback
  - >> HAL_CAN_TxMailbox1CompleteCallback
  - >> HAL_CAN_TxMailbox1AbortCallback
  - >> HAL_CAN_TxMailbox0CompleteCallback
  - >> HAL_CAN_TxMailbox0AbortCallback
  - >> HAL_CAN_SleepCallback
  - >> HAL_CAN_RxFifo1MsgPendingCallback
  - >> HAL_CAN_RxFifo1FullCallback
  - >> HAL_CAN_RxFifo0MsgPendingCallback
  - >> HAL_CAN_RxFifo0FullCallback
  - >> HAL_CAN_ErrorCallback

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

  - >> HAL_UART_RxHalfCpltCallback
  - >> HAL_UART_RxCpltCallback
  - >> HAL_UART_ErrorCallback

  MOTOR_RM_CreateCANManager (Thumb, 60 bytes, Stack size 16 bytes, motor_rm.o(.text.MOTOR_RM_CreateCANManager))
  [Stack]

  - Max Depth = 136 + Unknown Stack Size
  - Call Chain = MOTOR_RM_CreateCANManager ⇒ BSP_Malloc ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> BSP_Malloc
  - >> __aeabi_memclr4
  [Called By]
  - >> MOTOR_RM_Register

  MOTOR_RM_GetCANManager (Thumb, 20 bytes, Stack size 0 bytes, motor_rm.o(.text.MOTOR_RM_GetCANManager))
  [Called By]

  - >> MOTOR_RM_Update
  - >> MOTOR_RM_SetOutput
  - >> MOTOR_RM_Register
  - >> MOTOR_RM_GetMotor
  - >> MOTOR_RM_Ctrl

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

  - >> MOTOR_RM_SetOutput
  - >> Motor_RM_Decode

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

  - >> MOTOR_RM_SetOutput

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

  - >> Motor_RM_Decode

  Motor_RM_Decode (Thumb, 348 bytes, Stack size 32 bytes, motor_rm.o(.text.Motor_RM_Decode))
  [Stack]

  - Max Depth = 32
  - Call Chain = Motor_RM_Decode
  [Calls]
  - >> MOTOR_RM_GetRatio
  - >> MOTOR_RM_GetLSB
  [Called By]
  - >> MOTOR_RM_Update

  DEVICE_AT9S_RxCpltCallback (Thumb, 20 bytes, Stack size 8 bytes, at9s_pro.o(.text.DEVICE_AT9S_RxCpltCallback))
  [Stack]

  - Max Depth = 64
  - Call Chain = DEVICE_AT9S_RxCpltCallback ⇒ osThreadFlagsSet ⇒ xTaskGenericNotifyFromISR
  [Calls]
  - >> osThreadFlagsSet
  [Address Reference Count : 1]
  - at9s_pro.o(.text.DEVICE_AT9S_Init)

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

  - >> LowPassFilter2p_Reset

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

  - >> LowPassFilter2p_Apply

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

  - >> PID_Init
  - >> PID_Calc

  ScaleSumTo1 (Thumb, 54 bytes, Stack size 0 bytes, shoot_control.o(.text.ScaleSumTo1))
  [Called By]

  - >> Shoot_RunningFSM

  ### Undefined Global Symbols