# Static Call Graph for image ..\debug\main.axf

#<CALLGRAPH># ARM Linker, 5060960: Last Updated: Fri Dec 26 17:15:54 2025

### Maximum Stack Usage = 240 bytes + Unknown(Cycles, Untraceable Function Pointers)

### Call chain for Maximum Stack Depth:

prvTimerTask ⇒ prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick

### Mutually Recursive functions

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

  ### Function Pointers

  - ADC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - BusFault_Handler from stm32f4xx_it.o(i.BusFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_RX0_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_RX1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_SCE_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN1_TX_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_RX0_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_RX1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_SCE_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - CAN2_TX_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DCMI_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream0_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - DMA1_Stream1_IRQHandler from startup_stm32f407xx.o(.text) 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 stm32f4xx_it.o(i.DMA1_Stream5_IRQHandler) 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 startup_stm32f407xx.o(.text) 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(i.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(i.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(i.MemManage_Handler) referenced from startup_stm32f407xx.o(RESET)
  - NMI_Handler from stm32f4xx_it.o(i.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(.emb_text) referenced from startup_stm32f407xx.o(RESET)
  - RCC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - RTC_Alarm_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - RTC_WKUP_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - Reset_Handler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SDIO_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SPI1_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SPI2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SPI3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - SPI_DMAError from stm32f4xx_hal_spi.o(i.SPI_DMAError) referenced from stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
  - SPI_DMAHalfTransmitCplt from stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitCplt) referenced from stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
  - SPI_DMATransmitCplt from stm32f4xx_hal_spi.o(i.SPI_DMATransmitCplt) referenced from stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)
  - SVC_Handler from port.o(.emb_text) referenced from startup_stm32f407xx.o(RESET)
  - StartDefaultTask from freertos.o(i.StartDefaultTask) referenced from freertos.o(i.MX_FREERTOS_Init)
  - SysTick_Handler from cmsis_os2.o(i.SysTick_Handler) referenced from startup_stm32f407xx.o(RESET)
  - SystemInit from system_stm32f4xx.o(i.SystemInit) referenced from startup_stm32f407xx.o(.text)
  - TAMP_STAMP_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_BRK_TIM9_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_CC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_TRG_COM_TIM11_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM1_UP_TIM10_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM2_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM3_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM6_DAC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM7_IRQHandler from stm32f4xx_it.o(i.TIM7_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_BRK_TIM12_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_CC_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_TRG_COM_TIM14_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - TIM8_UP_TIM13_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - UART4_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - UART5_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - UART_DMAAbortOnError from stm32f4xx_hal_uart.o(i.UART_DMAAbortOnError) referenced from stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler)
  - USART1_IRQHandler from stm32f4xx_it.o(i.USART1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
  - USART2_IRQHandler from stm32f4xx_it.o(i.USART2_IRQHandler) 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(i.UsageFault_Handler) referenced from startup_stm32f407xx.o(RESET)
  - WWDG_IRQHandler from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
  - __main from entry.o(.ARM.Collect$$$$00000000) referenced from startup_stm32f407xx.o(.text)
  - fputc from usart1.o(i.fputc) referenced from printfa.o(i.__0printf)
  - main from main.o(i.main) referenced from entry9a.o(.ARM.Collect$$$$0000000B)
  - prvIdleTask from tasks.o(i.prvIdleTask) referenced from tasks.o(i.vTaskStartScheduler)
  - prvTaskExitError from port.o(i.prvTaskExitError) referenced from port.o(i.pxPortInitialiseStack)
  - prvTimerTask from timers.o(i.prvTimerTask) referenced from timers.o(i.xTimerCreateTimerTask)

  ### Global Symbols

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

  - startup_stm32f407xx.o(.text)

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

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

  - >> __scatterload

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

  - >> __scatterload

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

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

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

  __rt_lib_shutdown_fini (Thumb, 0 bytes, Stack size unknown bytes, entry12b.o(.ARM.Collect$$$$0000000E))

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

  __rt_final_exit (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$00000011))

  SVC_Handler (Thumb, 28 bytes, Stack size 0 bytes, port.o(.emb_text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  __asm___6_port_c_39a90d8d__prvStartFirstTask (Thumb, 36 bytes, Stack size 0 bytes, port.o(.emb_text))
  [Called By]

  - >> xPortStartScheduler

  __asm___6_port_c_39a90d8d__prvEnableVFP (Thumb, 16 bytes, Stack size 0 bytes, port.o(.emb_text))
  [Called By]

  - >> xPortStartScheduler

  PendSV_Handler (Thumb, 88 bytes, Stack size 0 bytes, port.o(.emb_text))
  [Stack]

  - Max Depth = 8
  - Call Chain = PendSV_Handler ⇒ vTaskSwitchContext
  [Calls]
  - >> vTaskSwitchContext
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  vPortGetIPSR (Thumb, 6 bytes, Stack size 0 bytes, port.o(.emb_text))
  [Called By]

  - >> vPortValidateInterruptPriority

  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_RX0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  CAN1_RX1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

  CAN1_TX_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  CAN2_RX0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  CAN2_RX1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

  CAN2_TX_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

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

  - startup_stm32f407xx.o(RESET)

  DMA1_Stream1_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_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_Stream6_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)

  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)

  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)

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

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

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

  - >> prvCopyDataToQueue
  - >> prvCopyDataFromQueue

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

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

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

  - >> prvInitialiseNewTask
  - >> memset
  - >> __aeabi_memclr

  __aeabi_memset4 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

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

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

  - >> __aeabi_memset

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

  - >> HAL_UART_MspInit
  - >> HAL_TIM_MspPostInit
  - >> HAL_TIM_Encoder_MspInit
  - >> HAL_SPI_MspInit
  - >> HAL_CAN_MspInit
  - >> HAL_ADC_MspInit
  - >> MX_TIM9_Init
  - >> MX_TIM8_Init
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM3_Init
  - >> MX_TIM2_Init
  - >> MX_TIM1_Init
  - >> MX_TIM12_Init
  - >> MX_GPIO_Init
  - >> SystemClock_Config

  __aeabi_memclr8 (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

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

  - >> __aeabi_memset

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

  - Max Depth = 88
  - Call Chain = __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_lasr
  - >> __aeabi_llsl
  - >> _double_round
  - >> _double_epilogue
  [Called By]
  - >> __aeabi_drsub
  - >> __aeabi_dsub
  - >> _fp_digits
  - >> MPU6050_GetTempValue

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

  - >> __aeabi_dadd

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

  - >> __aeabi_dadd

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

  - Max Depth = 40
  - Call Chain = __aeabi_ddiv ⇒ _double_round
  [Calls]
  - >> _double_round
  [Called By]
  - >> _fp_digits
  - >> MPU6050_GetTempValue

  __aeabi_i2d (Thumb, 34 bytes, Stack size 16 bytes, dflti.o(.text))
  [Stack]

  - Max Depth = 56
  - Call Chain = __aeabi_i2d ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> _double_epilogue
  [Called By]
  - >> MPU6050_GetTempValue

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

  - >> task_1_main

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

  - Max Depth = 8
  - Call Chain = __aeabi_d2f
  [Calls]
  - >> _float_round
  [Called By]
  - >> MPU6050_GetTempValue

  __aeabi_uidiv (Thumb, 0 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)

  __aeabi_uidivmod (Thumb, 44 bytes, Stack size 12 bytes, uidiv.o(.text), UNUSED)
  [Called By]

  - >> _printf_core

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

  - >> _double_epilogue
  - >> __aeabi_d2ulz
  - >> __aeabi_uldivmod
  - >> __aeabi_dadd

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

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

  - >> _double_epilogue
  - >> __aeabi_d2ulz
  - >> __aeabi_uldivmod

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

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

  - >> __aeabi_dadd

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

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

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

  - >> __aeabi_d2f

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

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

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

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

  - Max Depth = 40
  - Call Chain = _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_llsr
  - >> __aeabi_llsl
  - >> _double_round
  [Called By]
  - >> __aeabi_dmul
  - >> __aeabi_i2d
  - >> __aeabi_dadd

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

  - >> _double_epilogue
  [Called By]
  - >> _fp_digits

  __aeabi_d2ulz (Thumb, 48 bytes, Stack size 0 bytes, dfixul.o(.text), UNUSED)
  [Calls]

  - >> __aeabi_llsr
  - >> __aeabi_llsl
  [Called By]
  - >> _fp_digits

  __aeabi_cdrcmple (Thumb, 48 bytes, Stack size 0 bytes, cdrcmple.o(.text), UNUSED)
  [Called By]

  - >> _fp_digits

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

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

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

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

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

  DMA1_Stream5_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.DMA1_Stream5_IRQHandler))
  [Stack]

  - Max Depth = 32
  - Call Chain = DMA1_Stream5_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(i.DebugMon_Handler))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(RESET)

  Encoder_Init_All (Thumb, 70 bytes, Stack size 8 bytes, encoder.o(i.Encoder_Init_All))
  [Stack]

  - Max Depth = 32
  - Call Chain = Encoder_Init_All ⇒ HAL_TIM_Encoder_Start ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> HAL_TIM_Encoder_Start
  [Called By]
  - >> main

  Encoder_Update_All (Thumb, 44 bytes, Stack size 8 bytes, encoder.o(i.Encoder_Update_All))
  [Stack]

  - Max Depth = 8
  - Call Chain = Encoder_Update_All
  [Calls]
  - >> _Encoder_Update_Single
  [Called By]
  - >> task_1_main

  Error_Handler (Thumb, 4 bytes, Stack size 0 bytes, main.o(i.Error_Handler))
  [Called By]

  - >> HAL_SPI_MspInit
  - >> MX_USART2_UART_Init
  - >> MX_USART1_UART_Init
  - >> MX_TIM9_Init
  - >> MX_TIM8_Init
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM3_Init
  - >> MX_TIM2_Init
  - >> MX_TIM1_Init
  - >> MX_TIM12_Init
  - >> MX_SPI3_Init
  - >> MX_CAN1_Init
  - >> MX_ADC1_Init

  Get_ADC_Voltage (Thumb, 72 bytes, Stack size 16 bytes, vin.o(i.Get_ADC_Voltage))
  [Stack]

  - Max Depth = 40
  - Call Chain = Get_ADC_Voltage ⇒ HAL_ADC_PollForConversion
  [Calls]
  - >> HAL_ADC_Stop
  - >> HAL_ADC_Start
  - >> HAL_ADC_PollForConversion
  - >> HAL_ADC_GetValue
  [Called By]
  - >> Get_Vin_Voltage

  Get_Vin_Voltage (Thumb, 40 bytes, Stack size 8 bytes, vin.o(i.Get_Vin_Voltage))
  [Stack]

  - Max Depth = 48
  - Call Chain = Get_Vin_Voltage ⇒ Get_ADC_Voltage ⇒ HAL_ADC_PollForConversion
  [Calls]
  - >> Get_ADC_Voltage
  [Called By]
  - >> task_1_main

  HAL_ADC_ConfigChannel (Thumb, 316 bytes, Stack size 20 bytes, stm32f4xx_hal_adc.o(i.HAL_ADC_ConfigChannel))
  [Stack]

  - Max Depth = 20
  - Call Chain = HAL_ADC_ConfigChannel
  [Called By]
  - >> MX_ADC1_Init

  HAL_ADC_GetValue (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_hal_adc.o(i.HAL_ADC_GetValue))
  [Called By]

  - >> Get_ADC_Voltage

  HAL_ADC_Init (Thumb, 84 bytes, Stack size 16 bytes, stm32f4xx_hal_adc.o(i.HAL_ADC_Init))
  [Stack]

  - Max Depth = 88
  - Call Chain = HAL_ADC_Init ⇒ HAL_ADC_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_ADC_MspInit
  - >> ADC_Init
  [Called By]
  - >> MX_ADC1_Init

  HAL_ADC_MspInit (Thumb, 84 bytes, Stack size 32 bytes, adc.o(i.HAL_ADC_MspInit))
  [Stack]

  - Max Depth = 72
  - Call Chain = HAL_ADC_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_Init
  - >> __aeabi_memclr4
  [Called By]
  - >> HAL_ADC_Init

  HAL_ADC_PollForConversion (Thumb, 170 bytes, Stack size 24 bytes, stm32f4xx_hal_adc.o(i.HAL_ADC_PollForConversion))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_ADC_PollForConversion
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> Get_ADC_Voltage

  HAL_ADC_Start (Thumb, 228 bytes, Stack size 12 bytes, stm32f4xx_hal_adc.o(i.HAL_ADC_Start))
  [Stack]

  - Max Depth = 12
  - Call Chain = HAL_ADC_Start
  [Called By]
  - >> Get_ADC_Voltage

  HAL_ADC_Stop (Thumb, 60 bytes, Stack size 0 bytes, stm32f4xx_hal_adc.o(i.HAL_ADC_Stop))
  [Called By]

  - >> Get_ADC_Voltage

  HAL_CAN_Init (Thumb, 282 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_Init))
  [Stack]

  - Max Depth = 88
  - Call Chain = HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_CAN_MspInit
  - >> HAL_GetTick
  [Called By]
  - >> MX_CAN1_Init

  HAL_CAN_MspInit (Thumb, 90 bytes, Stack size 32 bytes, can.o(i.HAL_CAN_MspInit))
  [Stack]

  - Max Depth = 72
  - Call Chain = HAL_CAN_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_Init
  - >> __aeabi_memclr4
  [Called By]
  - >> HAL_CAN_Init

  HAL_DMA_Abort (Thumb, 146 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(i.HAL_DMA_Abort))
  [Stack]

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

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

  - >> HAL_UART_IRQHandler

  HAL_DMA_IRQHandler (Thumb, 412 bytes, Stack size 32 bytes, stm32f4xx_hal_dma.o(i.HAL_DMA_IRQHandler))
  [Stack]

  - Max Depth = 32
  - Call Chain = HAL_DMA_IRQHandler
  [Called By]
  - >> DMA1_Stream5_IRQHandler

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

  - Max Depth = 32
  - Call Chain = HAL_DMA_Init ⇒ DMA_CheckFifoParam
  [Calls]
  - >> DMA_CheckFifoParam
  - >> DMA_CalcBaseAndBitshift
  - >> HAL_GetTick
  [Called By]
  - >> HAL_SPI_MspInit

  HAL_DMA_Start_IT (Thumb, 110 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(i.HAL_DMA_Start_IT))
  [Stack]

  - Max Depth = 36
  - Call Chain = HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> DMA_SetConfig
  [Called By]
  - >> HAL_SPI_Transmit_DMA

  HAL_Delay (Thumb, 32 bytes, Stack size 16 bytes, stm32f4xx_hal.o(i.HAL_Delay))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_Delay
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> MPU6050_Init
  - >> main

  HAL_GPIO_Init (Thumb, 450 bytes, Stack size 40 bytes, stm32f4xx_hal_gpio.o(i.HAL_GPIO_Init))
  [Stack]

  - Max Depth = 40
  - Call Chain = HAL_GPIO_Init
  [Called By]
  - >> HAL_UART_MspInit
  - >> HAL_TIM_MspPostInit
  - >> HAL_TIM_Encoder_MspInit
  - >> HAL_SPI_MspInit
  - >> HAL_CAN_MspInit
  - >> HAL_ADC_MspInit
  - >> MX_GPIO_Init

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

  - >> IIC_Wait_Ack
  - >> IIC_Read_Byte

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

  - >> set_led4_state
  - >> set_led3_state
  - >> set_buzz_state
  - >> MX_GPIO_Init
  - >> MPU6050_Init
  - >> IIC_Wait_Ack
  - >> IIC_Stop
  - >> IIC_Start
  - >> IIC_Send_Byte
  - >> IIC_Read_Byte

  HAL_GetTick (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_hal.o(i.HAL_GetTick))
  [Called By]

  - >> HAL_DMA_Init
  - >> HAL_CAN_Init
  - >> HAL_RCC_OscConfig
  - >> HAL_RCC_ClockConfig
  - >> HAL_Delay
  - >> HAL_DMA_Abort
  - >> HAL_ADC_PollForConversion
  - >> HAL_UART_Transmit
  - >> UART_WaitOnFlagUntilTimeout
  - >> SPI_WaitFlagStateUntilTimeout
  - >> SPI_DMATransmitCplt

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

  - >> HAL_TIM_PeriodElapsedCallback

  HAL_Init (Thumb, 48 bytes, Stack size 8 bytes, stm32f4xx_hal.o(i.HAL_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = HAL_Init ⇒ HAL_InitTick ⇒ HAL_TIM_Base_Init ⇒ TIM_Base_SetConfig
  [Calls]
  - >> HAL_NVIC_SetPriorityGrouping
  - >> HAL_InitTick
  - >> HAL_MspInit
  [Called By]
  - >> main

  HAL_InitTick (Thumb, 132 bytes, Stack size 40 bytes, stm32f4xx_hal_timebase_tim.o(i.HAL_InitTick))
  [Stack]

  - Max Depth = 68
  - Call Chain = HAL_InitTick ⇒ HAL_TIM_Base_Init ⇒ TIM_Base_SetConfig
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  - >> HAL_TIM_Base_Start_IT
  - >> HAL_TIM_Base_Init
  - >> HAL_RCC_GetPCLK1Freq
  - >> HAL_RCC_GetClockConfig
  [Called By]
  - >> HAL_RCC_ClockConfig
  - >> HAL_Init

  HAL_MspInit (Thumb, 52 bytes, Stack size 8 bytes, stm32f4xx_hal_msp.o(i.HAL_MspInit))
  [Stack]

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

  HAL_NVIC_EnableIRQ (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(i.HAL_NVIC_EnableIRQ))
  [Called By]

  - >> HAL_UART_MspInit
  - >> MX_DMA_Init
  - >> HAL_InitTick

  HAL_NVIC_SetPriority (Thumb, 60 bytes, Stack size 16 bytes, stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriority))
  [Stack]

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

  HAL_NVIC_SetPriorityGrouping (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriorityGrouping))
  [Called By]

  - >> HAL_Init

  HAL_RCC_ClockConfig (Thumb, 288 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_ClockConfig))
  [Stack]

  - Max Depth = 100
  - Call Chain = HAL_RCC_ClockConfig ⇒ HAL_InitTick ⇒ HAL_TIM_Base_Init ⇒ TIM_Base_SetConfig
  [Calls]
  - >> HAL_RCC_GetSysClockFreq
  - >> HAL_GetTick
  - >> HAL_InitTick
  [Called By]
  - >> SystemClock_Config

  HAL_RCC_GetClockConfig (Thumb, 54 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetClockConfig))
  [Called By]

  - >> HAL_InitTick

  HAL_RCC_GetPCLK1Freq (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK1Freq))
  [Called By]

  - >> HAL_InitTick
  - >> UART_SetConfig

  HAL_RCC_GetPCLK2Freq (Thumb, 20 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK2Freq))
  [Called By]

  - >> UART_SetConfig

  HAL_RCC_GetSysClockFreq (Thumb, 88 bytes, Stack size 8 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetSysClockFreq))
  [Stack]

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

  HAL_RCC_OscConfig (Thumb, 856 bytes, Stack size 40 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_OscConfig))
  [Stack]

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

  HAL_SPI_ErrorCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_ErrorCallback))
  [Called By]

  - >> SPI_DMATransmitCplt
  - >> SPI_DMAError

  HAL_SPI_Init (Thumb, 188 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_Init))
  [Stack]

  - Max Depth = 96
  - Call Chain = HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_SPI_MspInit
  [Called By]
  - >> MX_SPI3_Init

  HAL_SPI_MspInit (Thumb, 140 bytes, Stack size 40 bytes, spi.o(i.HAL_SPI_MspInit))
  [Stack]

  - Max Depth = 80
  - Call Chain = HAL_SPI_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_DMA_Init
  - >> HAL_GPIO_Init
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> HAL_SPI_Init

  HAL_SPI_Transmit_DMA (Thumb, 190 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA))
  [Stack]

  - Max Depth = 52
  - Call Chain = HAL_SPI_Transmit_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_DMA_Start_IT
  [Called By]
  - >> RGB_Update

  HAL_SPI_TxCpltCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_TxCpltCallback))
  [Called By]

  - >> SPI_DMATransmitCplt

  HAL_SPI_TxHalfCpltCallback (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_TxHalfCpltCallback))
  [Called By]

  - >> SPI_DMAHalfTransmitCplt

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

  - >> HAL_TIM_IRQHandler

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

  - >> HAL_TIM_IRQHandler

  HAL_TIMEx_ConfigBreakDeadTime (Thumb, 84 bytes, Stack size 8 bytes, stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_ConfigBreakDeadTime))
  [Stack]

  - Max Depth = 8
  - Call Chain = HAL_TIMEx_ConfigBreakDeadTime
  [Called By]
  - >> MX_TIM8_Init
  - >> MX_TIM1_Init

  HAL_TIMEx_MasterConfigSynchronization (Thumb, 116 bytes, Stack size 16 bytes, stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_MasterConfigSynchronization))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_TIMEx_MasterConfigSynchronization
  [Called By]
  - >> MX_TIM8_Init
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM3_Init
  - >> MX_TIM2_Init
  - >> MX_TIM1_Init

  HAL_TIM_Base_Init (Thumb, 90 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_Base_Init))
  [Stack]

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

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

  - >> HAL_TIM_Base_Init

  HAL_TIM_Base_Start_IT (Thumb, 100 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_Base_Start_IT))
  [Called By]

  - >> HAL_InitTick

  HAL_TIM_Encoder_Init (Thumb, 164 bytes, Stack size 24 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_Encoder_Init))
  [Stack]

  - Max Depth = 112
  - Call Chain = HAL_TIM_Encoder_Init ⇒ HAL_TIM_Encoder_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_Encoder_MspInit
  - >> TIM_Base_SetConfig
  [Called By]
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM3_Init
  - >> MX_TIM2_Init

  HAL_TIM_Encoder_MspInit (Thumb, 294 bytes, Stack size 48 bytes, tim.o(i.HAL_TIM_Encoder_MspInit))
  [Stack]

  - Max Depth = 88
  - Call Chain = HAL_TIM_Encoder_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_Init
  - >> __aeabi_memclr4
  [Called By]
  - >> HAL_TIM_Encoder_Init

  HAL_TIM_Encoder_Start (Thumb, 142 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_Encoder_Start))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_TIM_Encoder_Start ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> TIM_CCxChannelCmd
  [Called By]
  - >> Encoder_Init_All

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

  - >> HAL_TIM_IRQHandler

  HAL_TIM_IRQHandler (Thumb, 304 bytes, Stack size 24 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = HAL_TIM_IRQHandler
  [Calls]
  - >> HAL_TIM_PeriodElapsedCallback
  - >> HAL_TIM_TriggerCallback
  - >> HAL_TIM_PWM_PulseFinishedCallback
  - >> HAL_TIM_OC_DelayElapsedCallback
  - >> HAL_TIM_IC_CaptureCallback
  - >> HAL_TIMEx_CommutCallback
  - >> HAL_TIMEx_BreakCallback
  [Called By]
  - >> TIM7_IRQHandler

  HAL_TIM_MspPostInit (Thumb, 194 bytes, Stack size 40 bytes, tim.o(i.HAL_TIM_MspPostInit))
  [Stack]

  - Max Depth = 80
  - Call Chain = HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_Init
  - >> __aeabi_memclr4
  [Called By]
  - >> MX_TIM9_Init
  - >> MX_TIM8_Init
  - >> MX_TIM1_Init
  - >> MX_TIM12_Init

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

  - >> HAL_TIM_IRQHandler

  HAL_TIM_PWM_ConfigChannel (Thumb, 204 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_ConfigChannel))
  [Stack]

  - Max Depth = 36
  - Call Chain = HAL_TIM_PWM_ConfigChannel ⇒ TIM_OC2_SetConfig
  [Calls]
  - >> TIM_OC2_SetConfig
  - >> TIM_OC4_SetConfig
  - >> TIM_OC3_SetConfig
  - >> TIM_OC1_SetConfig
  [Called By]
  - >> MX_TIM9_Init
  - >> MX_TIM8_Init
  - >> MX_TIM1_Init
  - >> MX_TIM12_Init

  HAL_TIM_PWM_Init (Thumb, 90 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Init))
  [Stack]

  - Max Depth = 28
  - Call Chain = HAL_TIM_PWM_Init ⇒ TIM_Base_SetConfig
  [Calls]
  - >> HAL_TIM_PWM_MspInit
  - >> TIM_Base_SetConfig
  [Called By]
  - >> MX_TIM9_Init
  - >> MX_TIM8_Init
  - >> MX_TIM1_Init
  - >> MX_TIM12_Init

  HAL_TIM_PWM_MspInit (Thumb, 100 bytes, Stack size 8 bytes, tim.o(i.HAL_TIM_PWM_MspInit))
  [Stack]

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

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

  - >> HAL_TIM_IRQHandler

  HAL_TIM_PWM_Start (Thumb, 172 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Start))
  [Stack]

  - Max Depth = 16
  - Call Chain = HAL_TIM_PWM_Start ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> TIM_CCxChannelCmd
  [Called By]
  - >> SERVO_Init_All
  - >> PWM_Init_All

  HAL_TIM_PeriodElapsedCallback (Thumb, 14 bytes, Stack size 0 bytes, main.o(i.HAL_TIM_PeriodElapsedCallback))
  [Calls]

  - >> HAL_IncTick
  [Called By]
  - >> HAL_TIM_IRQHandler

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

  - >> HAL_TIM_IRQHandler

  HAL_UARTEx_ReceiveToIdle_IT (Thumb, 78 bytes, Stack size 12 bytes, stm32f4xx_hal_uart.o(i.HAL_UARTEx_ReceiveToIdle_IT))
  [Stack]

  - Max Depth = 12
  - Call Chain = HAL_UARTEx_ReceiveToIdle_IT
  [Calls]
  - >> UART_Start_Receive_IT
  [Called By]
  - >> USART2_Config_Init
  - >> USART1_Config_Init
  - >> HAL_UART_ErrorCallback
  - >> HAL_UARTEx_RxEventCallback

  HAL_UARTEx_RxEventCallback (Thumb, 66 bytes, Stack size 16 bytes, usart_config.o(i.HAL_UARTEx_RxEventCallback))
  [Stack]

  - Max Depth = 60
  - Call Chain = HAL_UARTEx_RxEventCallback ⇒ USART2_Process_Packet ⇒ pwm_control_territory ⇒ motor_right_front
  [Calls]
  - >> HAL_UARTEx_ReceiveToIdle_IT
  - >> USART2_Process_Packet
  - >> USART1_Process_Packet
  [Called By]
  - >> HAL_UART_IRQHandler
  - >> UART_Receive_IT

  HAL_UART_ErrorCallback (Thumb, 48 bytes, Stack size 16 bytes, usart_config.o(i.HAL_UART_ErrorCallback))
  [Stack]

  - Max Depth = 28
  - Call Chain = HAL_UART_ErrorCallback ⇒ HAL_UARTEx_ReceiveToIdle_IT
  [Calls]
  - >> HAL_UARTEx_ReceiveToIdle_IT
  [Called By]
  - >> HAL_UART_IRQHandler
  - >> UART_DMAAbortOnError

  HAL_UART_IRQHandler (Thumb, 636 bytes, Stack size 24 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler))
  [Stack]

  - Max Depth = 92
  - Call Chain = HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UARTEx_RxEventCallback ⇒ USART2_Process_Packet ⇒ pwm_control_territory ⇒ motor_right_front
  [Calls]
  - >> HAL_DMA_Abort
  - >> HAL_DMA_Abort_IT
  - >> HAL_UART_TxCpltCallback
  - >> UART_Receive_IT
  - >> UART_EndRxTransfer
  - >> HAL_UART_ErrorCallback
  - >> HAL_UARTEx_RxEventCallback
  [Called By]
  - >> USART2_IRQHandler
  - >> USART1_IRQHandler

  HAL_UART_Init (Thumb, 100 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_Init))
  [Stack]

  - Max Depth = 96
  - Call Chain = HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_UART_MspInit
  - >> UART_SetConfig
  [Called By]
  - >> MX_USART2_UART_Init
  - >> MX_USART1_UART_Init

  HAL_UART_MspInit (Thumb, 184 bytes, Stack size 40 bytes, usart.o(i.HAL_UART_MspInit))
  [Stack]

  - Max Depth = 80
  - Call Chain = HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_NVIC_SetPriority
  - >> HAL_NVIC_EnableIRQ
  - >> HAL_GPIO_Init
  - >> __aeabi_memclr4
  [Called By]
  - >> HAL_UART_Init

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

  - >> UART_Receive_IT

  HAL_UART_Transmit (Thumb, 160 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_Transmit))
  [Stack]

  - Max Depth = 64
  - Call Chain = HAL_UART_Transmit ⇒ UART_WaitOnFlagUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> UART_WaitOnFlagUntilTimeout
  [Called By]
  - >> fputc

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

  - >> HAL_UART_IRQHandler

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

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

  MPU6050_GetAccData (Thumb, 40 bytes, Stack size 16 bytes, mpu6050.o(i.MPU6050_GetAccData))
  [Stack]

  - Max Depth = 64
  - Call Chain = MPU6050_GetAccData ⇒ MPU6050_ReadRegister ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ delay_us
  [Calls]
  - >> MPU6050_ReadRegister
  [Called By]
  - >> task_1_main

  MPU6050_GetGyroData (Thumb, 40 bytes, Stack size 16 bytes, mpu6050.o(i.MPU6050_GetGyroData))
  [Stack]

  - Max Depth = 64
  - Call Chain = MPU6050_GetGyroData ⇒ MPU6050_ReadRegister ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ delay_us
  [Calls]
  - >> MPU6050_ReadRegister
  [Called By]
  - >> task_1_main

  MPU6050_GetTempValue (Thumb, 58 bytes, Stack size 8 bytes, mpu6050.o(i.MPU6050_GetTempValue))
  [Stack]

  - Max Depth = 96
  - Call Chain = MPU6050_GetTempValue ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> __aeabi_i2d
  - >> __aeabi_ddiv
  - >> __aeabi_dadd
  - >> __aeabi_d2f
  - >> MPU6050_ReadRegister
  [Called By]
  - >> task_1_main

  MPU6050_Init (Thumb, 70 bytes, Stack size 8 bytes, mpu6050.o(i.MPU6050_Init))
  [Stack]

  - Max Depth = 56
  - Call Chain = MPU6050_Init ⇒ MPU6050_SetAccRange ⇒ MPU6050_WriteRegister ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ delay_us
  [Calls]
  - >> HAL_GPIO_WritePin
  - >> HAL_Delay
  - >> MPU6050_SetGyroRange
  - >> MPU6050_SetAccRange
  - >> MPU6050_WriteRegister
  [Called By]
  - >> main

  MPU6050_SetAccRange (Thumb, 10 bytes, Stack size 0 bytes, mpu6050.o(i.MPU6050_SetAccRange))
  [Stack]

  - Max Depth = 48
  - Call Chain = MPU6050_SetAccRange ⇒ MPU6050_WriteRegister ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ delay_us
  [Calls]
  - >> MPU6050_WriteRegister
  [Called By]
  - >> MPU6050_Init

  MPU6050_SetGyroRange (Thumb, 10 bytes, Stack size 0 bytes, mpu6050.o(i.MPU6050_SetGyroRange))
  [Called By]

  - >> MPU6050_Init

  MX_ADC1_Init (Thumb, 88 bytes, Stack size 32 bytes, adc.o(i.MX_ADC1_Init))
  [Stack]

  - Max Depth = 120
  - Call Chain = MX_ADC1_Init ⇒ HAL_ADC_Init ⇒ HAL_ADC_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_ADC_Init
  - >> HAL_ADC_ConfigChannel
  - >> Error_Handler
  [Called By]
  - >> main

  MX_CAN1_Init (Thumb, 52 bytes, Stack size 8 bytes, can.o(i.MX_CAN1_Init))
  [Stack]

  - Max Depth = 96
  - Call Chain = MX_CAN1_Init ⇒ HAL_CAN_Init ⇒ HAL_CAN_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_CAN_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_DMA_Init (Thumb, 40 bytes, Stack size 8 bytes, dma.o(i.MX_DMA_Init))
  [Stack]

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

  MX_FREERTOS_Init (Thumb, 18 bytes, Stack size 8 bytes, freertos.o(i.MX_FREERTOS_Init))
  [Stack]

  - Max Depth = 184
  - Call Chain = MX_FREERTOS_Init ⇒ osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> osThreadNew
  [Called By]
  - >> main

  MX_GPIO_Init (Thumb, 256 bytes, Stack size 48 bytes, gpio.o(i.MX_GPIO_Init))
  [Stack]

  - Max Depth = 88
  - Call Chain = MX_GPIO_Init ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_GPIO_WritePin
  - >> HAL_GPIO_Init
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_SPI3_Init (Thumb, 62 bytes, Stack size 8 bytes, spi.o(i.MX_SPI3_Init))
  [Stack]

  - Max Depth = 104
  - Call Chain = MX_SPI3_Init ⇒ HAL_SPI_Init ⇒ HAL_SPI_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_SPI_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_TIM12_Init (Thumb, 98 bytes, Stack size 40 bytes, tim.o(i.MX_TIM12_Init))
  [Stack]

  - Max Depth = 120
  - Call Chain = MX_TIM12_Init ⇒ HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIM_MspPostInit
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_TIM1_Init (Thumb, 200 bytes, Stack size 80 bytes, tim.o(i.MX_TIM1_Init))
  [Stack]

  - Max Depth = 160
  - Call Chain = MX_TIM1_Init ⇒ HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIMEx_MasterConfigSynchronization
  - >> HAL_TIMEx_ConfigBreakDeadTime
  - >> HAL_TIM_MspPostInit
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_TIM2_Init (Thumb, 96 bytes, Stack size 56 bytes, tim.o(i.MX_TIM2_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_TIM2_Init ⇒ HAL_TIM_Encoder_Init ⇒ HAL_TIM_Encoder_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_Encoder_Init
  - >> HAL_TIMEx_MasterConfigSynchronization
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_TIM3_Init (Thumb, 96 bytes, Stack size 56 bytes, tim.o(i.MX_TIM3_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_TIM3_Init ⇒ HAL_TIM_Encoder_Init ⇒ HAL_TIM_Encoder_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_Encoder_Init
  - >> HAL_TIMEx_MasterConfigSynchronization
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_TIM4_Init (Thumb, 96 bytes, Stack size 56 bytes, tim.o(i.MX_TIM4_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_TIM4_Init ⇒ HAL_TIM_Encoder_Init ⇒ HAL_TIM_Encoder_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_Encoder_Init
  - >> HAL_TIMEx_MasterConfigSynchronization
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_TIM5_Init (Thumb, 94 bytes, Stack size 56 bytes, tim.o(i.MX_TIM5_Init))
  [Stack]

  - Max Depth = 168
  - Call Chain = MX_TIM5_Init ⇒ HAL_TIM_Encoder_Init ⇒ HAL_TIM_Encoder_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_Encoder_Init
  - >> HAL_TIMEx_MasterConfigSynchronization
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_TIM8_Init (Thumb, 200 bytes, Stack size 80 bytes, tim.o(i.MX_TIM8_Init))
  [Stack]

  - Max Depth = 160
  - Call Chain = MX_TIM8_Init ⇒ HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIMEx_MasterConfigSynchronization
  - >> HAL_TIMEx_ConfigBreakDeadTime
  - >> HAL_TIM_MspPostInit
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_TIM9_Init (Thumb, 98 bytes, Stack size 40 bytes, tim.o(i.MX_TIM9_Init))
  [Stack]

  - Max Depth = 120
  - Call Chain = MX_TIM9_Init ⇒ HAL_TIM_MspPostInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_PWM_ConfigChannel
  - >> HAL_TIM_MspPostInit
  - >> Error_Handler
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  MX_USART1_UART_Init (Thumb, 48 bytes, Stack size 8 bytes, usart.o(i.MX_USART1_UART_Init))
  [Stack]

  - Max Depth = 104
  - Call Chain = MX_USART1_UART_Init ⇒ HAL_UART_Init ⇒ HAL_UART_MspInit ⇒ HAL_GPIO_Init
  [Calls]
  - >> HAL_UART_Init
  - >> Error_Handler
  [Called By]
  - >> main

  MX_USART2_UART_Init (Thumb, 48 bytes, Stack size 8 bytes, usart.o(i.MX_USART2_UART_Init))
  [Stack]

  - Max Depth = 104
  - Call Chain = MX_USART2_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(i.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(i.NMI_Handler))
  [Calls]

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

  PWM_Init_All (Thumb, 70 bytes, Stack size 8 bytes, pwm.o(i.PWM_Init_All))
  [Stack]

  - Max Depth = 24
  - Call Chain = PWM_Init_All ⇒ HAL_TIM_PWM_Start ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> HAL_TIM_PWM_Start
  [Called By]
  - >> main

  PWM_Set_Duty (Thumb, 28 bytes, Stack size 0 bytes, pwm.o(i.PWM_Set_Duty))
  [Called By]

  - >> Servo_360_Set_Angle
  - >> motor_right_front
  - >> motor_right_back
  - >> motor_left_front
  - >> motor_left_back

  RGB_Init (Thumb, 16 bytes, Stack size 0 bytes, rgb.o(i.RGB_Init))
  [Called By]

  - >> main

  RGB_SetFullColor (Thumb, 108 bytes, Stack size 16 bytes, rgb.o(i.RGB_SetFullColor))
  [Stack]

  - Max Depth = 68
  - Call Chain = RGB_SetFullColor ⇒ RGB_Update ⇒ HAL_SPI_Transmit_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> RGB_Update
  [Called By]
  - >> main

  RGB_Update (Thumb, 10 bytes, Stack size 0 bytes, rgb.o(i.RGB_Update))
  [Stack]

  - Max Depth = 52
  - Call Chain = RGB_Update ⇒ HAL_SPI_Transmit_DMA ⇒ HAL_DMA_Start_IT ⇒ DMA_SetConfig
  [Calls]
  - >> HAL_SPI_Transmit_DMA
  [Called By]
  - >> RGB_SetFullColor

  SERVO_Init_All (Thumb, 8 bytes, Stack size 0 bytes, servo.o(i.SERVO_Init_All))
  [Stack]

  - Max Depth = 16
  - Call Chain = SERVO_Init_All ⇒ HAL_TIM_PWM_Start ⇒ TIM_CCxChannelCmd
  [Calls]
  - >> HAL_TIM_PWM_Start
  [Called By]
  - >> main

  Servo_360_Set_Angle (Thumb, 70 bytes, Stack size 0 bytes, servo.o(i.Servo_360_Set_Angle))
  [Calls]

  - >> PWM_Set_Duty
  [Called By]
  - >> task_1_main
  - >> main

  StartDefaultTask (Thumb, 6 bytes, Stack size 0 bytes, freertos.o(i.StartDefaultTask))
  [Stack]

  - Max Depth = 128 + In Cycle
  - Call Chain = StartDefaultTask ⇒ StartDefaultTask (Cycle)
  [Calls]
  - >> task_1_main
  - >> StartDefaultTask
  [Called By]
  - >> StartDefaultTask
  [Address Reference Count : 1]
  - freertos.o(i.MX_FREERTOS_Init)

  SysTick_Handler (Thumb, 26 bytes, Stack size 8 bytes, cmsis_os2.o(i.SysTick_Handler))
  [Stack]

  - Max Depth = 40
  - Call Chain = SysTick_Handler ⇒ xPortSysTickHandler ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xPortSysTickHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  SystemClock_Config (Thumb, 140 bytes, Stack size 88 bytes, main.o(i.SystemClock_Config))
  [Stack]

  - Max Depth = 188
  - Call Chain = SystemClock_Config ⇒ HAL_RCC_ClockConfig ⇒ HAL_InitTick ⇒ HAL_TIM_Base_Init ⇒ TIM_Base_SetConfig
  [Calls]
  - >> HAL_RCC_OscConfig
  - >> HAL_RCC_ClockConfig
  - >> __aeabi_memclr4
  [Called By]
  - >> main

  SystemInit (Thumb, 12 bytes, Stack size 0 bytes, system_stm32f4xx.o(i.SystemInit))
  [Address Reference Count : 1]

  - startup_stm32f407xx.o(.text)

  TIM7_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.TIM7_IRQHandler))
  [Stack]

  - Max Depth = 24
  - Call Chain = TIM7_IRQHandler ⇒ HAL_TIM_IRQHandler
  [Calls]
  - >> HAL_TIM_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  TIM_Base_SetConfig (Thumb, 164 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(i.TIM_Base_SetConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_Base_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_Init
  - >> HAL_TIM_Encoder_Init
  - >> HAL_TIM_Base_Init

  TIM_CCxChannelCmd (Thumb, 26 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.TIM_CCxChannelCmd))
  [Stack]

  - Max Depth = 8
  - Call Chain = TIM_CCxChannelCmd
  [Called By]
  - >> HAL_TIM_PWM_Start
  - >> HAL_TIM_Encoder_Start

  TIM_OC2_SetConfig (Thumb, 98 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(i.TIM_OC2_SetConfig))
  [Stack]

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

  UART_Start_Receive_IT (Thumb, 54 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(i.UART_Start_Receive_IT))
  [Called By]

  - >> HAL_UARTEx_ReceiveToIdle_IT

  USART1_Config_Init (Thumb, 24 bytes, Stack size 8 bytes, usart1.o(i.USART1_Config_Init))
  [Stack]

  - Max Depth = 32
  - Call Chain = USART1_Config_Init ⇒ __2printf
  [Calls]
  - >> HAL_UARTEx_ReceiveToIdle_IT
  - >> __2printf
  [Called By]
  - >> main

  USART1_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.USART1_IRQHandler))
  [Stack]

  - Max Depth = 92
  - Call Chain = USART1_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UARTEx_RxEventCallback ⇒ USART2_Process_Packet ⇒ pwm_control_territory ⇒ motor_right_front
  [Calls]
  - >> HAL_UART_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  USART1_Process_Packet (Thumb, 48 bytes, Stack size 16 bytes, usart1.o(i.USART1_Process_Packet))
  [Stack]

  - Max Depth = 36
  - Call Chain = USART1_Process_Packet ⇒ pwm_control_territory ⇒ motor_right_front
  [Calls]
  - >> pwm_control_territory
  [Called By]
  - >> HAL_UARTEx_RxEventCallback

  USART2_Config_Init (Thumb, 12 bytes, Stack size 0 bytes, usart2.o(i.USART2_Config_Init))
  [Stack]

  - Max Depth = 12
  - Call Chain = USART2_Config_Init ⇒ HAL_UARTEx_ReceiveToIdle_IT
  [Calls]
  - >> HAL_UARTEx_ReceiveToIdle_IT
  [Called By]
  - >> main

  USART2_IRQHandler (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.USART2_IRQHandler))
  [Stack]

  - Max Depth = 92
  - Call Chain = USART2_IRQHandler ⇒ HAL_UART_IRQHandler ⇒ UART_Receive_IT ⇒ HAL_UARTEx_RxEventCallback ⇒ USART2_Process_Packet ⇒ pwm_control_territory ⇒ motor_right_front
  [Calls]
  - >> HAL_UART_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f407xx.o(RESET)

  USART2_Process_Packet (Thumb, 80 bytes, Stack size 24 bytes, usart2.o(i.USART2_Process_Packet))
  [Stack]

  - Max Depth = 44
  - Call Chain = USART2_Process_Packet ⇒ pwm_control_territory ⇒ motor_right_front
  [Calls]
  - >> pwm_control_territory
  [Called By]
  - >> HAL_UARTEx_RxEventCallback

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

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

  __0printf (Thumb, 22 bytes, Stack size 24 bytes, printfa.o(i.__0printf), UNUSED)
  [Calls]

  - >> _printf_core

  __1printf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0printf), UNUSED)

  __2printf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0printf))
  [Stack]

  - Max Depth = 24
  - Call Chain = __2printf
  [Called By]
  - >> task_1_main
  - >> USART1_Config_Init
  - >> main

  __c89printf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0printf), UNUSED)

  printf (Thumb, 0 bytes, Stack size 24 bytes, printfa.o(i.__0printf), UNUSED)

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

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

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

  delay_us (Thumb, 26 bytes, Stack size 8 bytes, delay.o(i.delay_us))
  [Stack]

  - Max Depth = 8
  - Call Chain = delay_us
  [Called By]
  - >> IIC_Wait_Ack
  - >> IIC_Stop
  - >> IIC_Start
  - >> IIC_Send_Byte
  - >> IIC_Read_Byte

  fputc (Thumb, 20 bytes, Stack size 16 bytes, usart1.o(i.fputc))
  [Stack]

  - Max Depth = 80
  - Call Chain = fputc ⇒ HAL_UART_Transmit ⇒ UART_WaitOnFlagUntilTimeout
  [Calls]
  - >> HAL_UART_Transmit
  [Address Reference Count : 1]
  - printfa.o(i.__0printf)

  main (Thumb, 176 bytes, Stack size 0 bytes, main.o(i.main))
  [Stack]

  - Max Depth = 188
  - Call Chain = main ⇒ SystemClock_Config ⇒ HAL_RCC_ClockConfig ⇒ HAL_InitTick ⇒ HAL_TIM_Base_Init ⇒ TIM_Base_SetConfig
  [Calls]
  - >> set_led4_state
  - >> set_led3_state
  - >> set_buzz_state
  - >> osKernelStart
  - >> osKernelInitialize
  - >> USART2_Config_Init
  - >> USART1_Config_Init
  - >> Servo_360_Set_Angle
  - >> SERVO_Init_All
  - >> RGB_SetFullColor
  - >> RGB_Init
  - >> PWM_Init_All
  - >> MX_USART2_UART_Init
  - >> MX_USART1_UART_Init
  - >> MX_TIM9_Init
  - >> MX_TIM8_Init
  - >> MX_TIM5_Init
  - >> MX_TIM4_Init
  - >> MX_TIM3_Init
  - >> MX_TIM2_Init
  - >> MX_TIM1_Init
  - >> MX_TIM12_Init
  - >> MX_SPI3_Init
  - >> MX_GPIO_Init
  - >> MX_FREERTOS_Init
  - >> MX_DMA_Init
  - >> MX_CAN1_Init
  - >> MX_ADC1_Init
  - >> MPU6050_Init
  - >> HAL_Init
  - >> HAL_Delay
  - >> Encoder_Init_All
  - >> SystemClock_Config
  - >> __2printf
  [Address Reference Count : 1]
  - entry9a.o(.ARM.Collect$$$$0000000B)

  motor_left_back (Thumb, 70 bytes, Stack size 8 bytes, pwm.o(i.motor_left_back))
  [Stack]

  - Max Depth = 8
  - Call Chain = motor_left_back
  [Calls]
  - >> PWM_Set_Duty
  [Called By]
  - >> pwm_control_territory

  motor_left_front (Thumb, 70 bytes, Stack size 8 bytes, pwm.o(i.motor_left_front))
  [Stack]

  - Max Depth = 8
  - Call Chain = motor_left_front
  [Calls]
  - >> PWM_Set_Duty
  [Called By]
  - >> pwm_control_territory

  motor_right_back (Thumb, 70 bytes, Stack size 8 bytes, pwm.o(i.motor_right_back))
  [Stack]

  - Max Depth = 8
  - Call Chain = motor_right_back
  [Calls]
  - >> PWM_Set_Duty
  [Called By]
  - >> pwm_control_territory

  motor_right_front (Thumb, 70 bytes, Stack size 8 bytes, pwm.o(i.motor_right_front))
  [Stack]

  - Max Depth = 8
  - Call Chain = motor_right_front
  [Calls]
  - >> PWM_Set_Duty
  [Called By]
  - >> pwm_control_territory

  osDelay (Thumb, 26 bytes, Stack size 8 bytes, cmsis_os2.o(i.osDelay))
  [Stack]

  - Max Depth = 72
  - Call Chain = osDelay ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vTaskDelay
  [Called By]
  - >> task_1_main

  osKernelInitialize (Thumb, 32 bytes, Stack size 0 bytes, cmsis_os2.o(i.osKernelInitialize))
  [Called By]

  - >> main

  osKernelStart (Thumb, 48 bytes, Stack size 8 bytes, cmsis_os2.o(i.osKernelStart))
  [Stack]

  - Max Depth = 168
  - Call Chain = osKernelStart ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvInitialiseNewTask ⇒ pxPortInitialiseStack
  [Calls]
  - >> vTaskStartScheduler
  [Called By]
  - >> main

  osThreadNew (Thumb, 138 bytes, Stack size 40 bytes, cmsis_os2.o(i.osThreadNew))
  [Stack]

  - Max Depth = 176
  - Call Chain = osThreadNew ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskCreateStatic
  - >> xTaskCreate
  [Called By]
  - >> MX_FREERTOS_Init

  pvPortMalloc (Thumb, 216 bytes, Stack size 24 bytes, heap_4.o(i.pvPortMalloc))
  [Stack]

  - Max Depth = 80
  - Call Chain = pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvInsertBlockIntoFreeList
  - >> prvHeapInit
  [Called By]
  - >> xTaskCreate

  pwm_control_territory (Thumb, 226 bytes, Stack size 12 bytes, pwm.o(i.pwm_control_territory))
  [Stack]

  - Max Depth = 20
  - Call Chain = pwm_control_territory ⇒ motor_right_front
  [Calls]
  - >> motor_right_front
  - >> motor_right_back
  - >> motor_left_front
  - >> motor_left_back
  [Called By]
  - >> USART2_Process_Packet
  - >> USART1_Process_Packet

  pxPortInitialiseStack (Thumb, 40 bytes, Stack size 8 bytes, port.o(i.pxPortInitialiseStack))
  [Stack]

  - Max Depth = 8
  - Call Chain = pxPortInitialiseStack
  [Called By]
  - >> prvInitialiseNewTask

  set_buzz_state (Thumb, 10 bytes, Stack size 0 bytes, buzz.o(i.set_buzz_state))
  [Calls]

  - >> HAL_GPIO_WritePin
  [Called By]
  - >> main

  set_led3_state (Thumb, 10 bytes, Stack size 0 bytes, led.o(i.set_led3_state))
  [Calls]

  - >> HAL_GPIO_WritePin
  [Called By]
  - >> main

  set_led4_state (Thumb, 10 bytes, Stack size 0 bytes, led.o(i.set_led4_state))
  [Calls]

  - >> HAL_GPIO_WritePin
  [Called By]
  - >> main

  task_1_main (Thumb, 218 bytes, Stack size 32 bytes, task_manage.o(i.task_1_main))
  [Stack]

  - Max Depth = 128
  - Call Chain = task_1_main ⇒ MPU6050_GetTempValue ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round
  [Calls]
  - >> Servo_360_Set_Angle
  - >> __2printf
  - >> __aeabi_f2d
  - >> MPU6050_GetTempValue
  - >> MPU6050_GetGyroData
  - >> MPU6050_GetAccData
  - >> Encoder_Update_All
  - >> Get_Vin_Voltage
  - >> osDelay
  [Called By]
  - >> StartDefaultTask

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

  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityDisinherit
  - >> xTaskResumeAll
  - >> prvSwitchTimerLists
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands
  - >> xTaskIncrementTick
  - >> prvIdleTask
  - >> prvAddCurrentTaskToDelayedList

  vApplicationGetIdleTaskMemory (Thumb, 16 bytes, Stack size 0 bytes, cmsis_os2.o(i.vApplicationGetIdleTaskMemory))
  [Called By]

  - >> vTaskStartScheduler

  vApplicationGetTimerTaskMemory (Thumb, 18 bytes, Stack size 0 bytes, cmsis_os2.o(i.vApplicationGetTimerTaskMemory))
  [Called By]

  - >> xTimerCreateTimerTask

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

  - >> xQueueGenericReset
  - >> prvCheckForValidListAndQueue
  - >> prvAddNewTaskToReadyList

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

  - >> prvInitialiseNewTask

  vListInsert (Thumb, 48 bytes, Stack size 12 bytes, list.o(i.vListInsert))
  [Stack]

  - Max Depth = 12
  - Call Chain = vListInsert
  [Called By]
  - >> vTaskPlaceOnEventList
  - >> prvSwitchTimerLists
  - >> prvInsertTimerInActiveList
  - >> prvAddCurrentTaskToDelayedList

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

  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityDisinherit
  - >> vTaskPlaceOnEventListRestricted
  - >> xTaskResumeAll
  - >> xTaskIncrementTick
  - >> prvAddNewTaskToReadyList
  - >> prvAddCurrentTaskToDelayedList

  vPortEnterCritical (Thumb, 54 bytes, Stack size 0 bytes, port.o(i.vPortEnterCritical))
  [Called By]

  - >> xTaskCheckForTimeOut
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> vQueueWaitForMessageRestricted
  - >> prvUnlockQueue
  - >> prvIsQueueEmpty
  - >> xTaskResumeAll
  - >> prvCheckForValidListAndQueue
  - >> prvIdleTask
  - >> prvAddNewTaskToReadyList

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

  - >> xTaskCheckForTimeOut
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> vQueueWaitForMessageRestricted
  - >> prvUnlockQueue
  - >> prvIsQueueEmpty
  - >> xTaskResumeAll
  - >> prvCheckForValidListAndQueue
  - >> prvIdleTask
  - >> prvAddNewTaskToReadyList

  vPortFree (Thumb, 94 bytes, Stack size 16 bytes, heap_4.o(i.vPortFree))
  [Stack]

  - Max Depth = 72
  - Call Chain = vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvInsertBlockIntoFreeList
  [Called By]
  - >> prvProcessReceivedCommands
  - >> xTaskCreate
  - >> prvDeleteTCB

  vPortSetupTimerInterrupt (Thumb, 32 bytes, Stack size 0 bytes, port.o(i.vPortSetupTimerInterrupt))
  [Called By]

  - >> xPortStartScheduler

  vPortValidateInterruptPriority (Thumb, 74 bytes, Stack size 8 bytes, port.o(i.vPortValidateInterruptPriority))
  [Stack]

  - Max Depth = 8
  - Call Chain = vPortValidateInterruptPriority
  [Calls]
  - >> vPortGetIPSR
  [Called By]
  - >> xQueueGenericSendFromISR

  vQueueAddToRegistry (Thumb, 34 bytes, Stack size 8 bytes, queue.o(i.vQueueAddToRegistry))
  [Stack]

  - Max Depth = 8
  - Call Chain = vQueueAddToRegistry
  [Called By]
  - >> prvCheckForValidListAndQueue

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

  - Max Depth = 68
  - Call Chain = vQueueWaitForMessageRestricted ⇒ vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vTaskPlaceOnEventListRestricted
  - >> prvUnlockQueue
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> prvProcessTimerOrBlockTask

  vTaskDelay (Thumb, 66 bytes, Stack size 8 bytes, tasks.o(i.vTaskDelay))
  [Stack]

  - Max Depth = 64
  - Call Chain = vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvAddCurrentTaskToDelayedList
  [Called By]
  - >> osDelay

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

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

  vTaskMissedYield (Thumb, 8 bytes, Stack size 0 bytes, tasks.o(i.vTaskMissedYield))
  [Called By]

  - >> prvUnlockQueue

  vTaskPlaceOnEventList (Thumb, 44 bytes, Stack size 8 bytes, tasks.o(i.vTaskPlaceOnEventList))
  [Stack]

  - Max Depth = 44
  - Call Chain = vTaskPlaceOnEventList ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vListInsert
  - >> prvAddCurrentTaskToDelayedList
  [Called By]
  - >> xQueueReceive
  - >> xQueueGenericSend

  vTaskPlaceOnEventListRestricted (Thumb, 52 bytes, Stack size 16 bytes, tasks.o(i.vTaskPlaceOnEventListRestricted))
  [Stack]

  - Max Depth = 52
  - Call Chain = vTaskPlaceOnEventListRestricted ⇒ prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vListInsertEnd
  - >> prvAddCurrentTaskToDelayedList
  [Called By]
  - >> vQueueWaitForMessageRestricted

  vTaskStartScheduler (Thumb, 118 bytes, Stack size 40 bytes, tasks.o(i.vTaskStartScheduler))
  [Stack]

  - Max Depth = 160
  - Call Chain = vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvInitialiseNewTask ⇒ pxPortInitialiseStack
  [Calls]
  - >> xTimerCreateTimerTask
  - >> xPortStartScheduler
  - >> vApplicationGetIdleTaskMemory
  - >> xTaskCreateStatic
  [Called By]
  - >> osKernelStart

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

  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vPortFree
  - >> pvPortMalloc
  - >> prvProcessTimerOrBlockTask
  - >> vTaskDelay

  vTaskSwitchContext (Thumb, 90 bytes, Stack size 8 bytes, tasks.o(i.vTaskSwitchContext))
  [Stack]

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

  xPortStartScheduler (Thumb, 222 bytes, Stack size 16 bytes, port.o(i.xPortStartScheduler))
  [Stack]

  - Max Depth = 16
  - Call Chain = xPortStartScheduler
  [Calls]
  - >> vPortSetupTimerInterrupt
  - >> __asm___6_port_c_39a90d8d__prvEnableVFP
  - >> __asm___6_port_c_39a90d8d__prvStartFirstTask
  [Called By]
  - >> vTaskStartScheduler

  xPortSysTickHandler (Thumb, 38 bytes, Stack size 8 bytes, port.o(i.xPortSysTickHandler))
  [Stack]

  - Max Depth = 32
  - Call Chain = xPortSysTickHandler ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskIncrementTick
  [Called By]
  - >> SysTick_Handler

  xQueueGenericCreateStatic (Thumb, 102 bytes, Stack size 16 bytes, queue.o(i.xQueueGenericCreateStatic))
  [Stack]

  - Max Depth = 64
  - Call Chain = xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> prvInitialiseNewQueue
  [Called By]
  - >> prvCheckForValidListAndQueue

  xQueueGenericReset (Thumb, 132 bytes, Stack size 16 bytes, queue.o(i.xQueueGenericReset))
  [Stack]

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

  xQueueGenericSend (Thumb, 346 bytes, Stack size 56 bytes, queue.o(i.xQueueGenericSend))
  [Stack]

  - Max Depth = 112
  - Call Chain = xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> prvUnlockQueue
  - >> prvCopyDataToQueue
  - >> xTaskResumeAll
  - >> xTaskGetSchedulerState
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xTimerGenericCommand

  xQueueGenericSendFromISR (Thumb, 190 bytes, Stack size 32 bytes, queue.o(i.xQueueGenericSendFromISR))
  [Stack]

  - Max Depth = 72
  - Call Chain = xQueueGenericSendFromISR ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vPortValidateInterruptPriority
  - >> prvCopyDataToQueue
  [Called By]
  - >> xTimerGenericCommand

  xQueueReceive (Thumb, 308 bytes, Stack size 56 bytes, queue.o(i.xQueueReceive))
  [Stack]

  - Max Depth = 112
  - Call Chain = xQueueReceive ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskPlaceOnEventList
  - >> vTaskInternalSetTimeOutState
  - >> prvUnlockQueue
  - >> prvIsQueueEmpty
  - >> prvCopyDataFromQueue
  - >> xTaskResumeAll
  - >> xTaskGetSchedulerState
  - >> vTaskSuspendAll
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> prvProcessReceivedCommands

  xTaskCheckForTimeOut (Thumb, 112 bytes, Stack size 24 bytes, tasks.o(i.xTaskCheckForTimeOut))
  [Stack]

  - Max Depth = 24
  - Call Chain = xTaskCheckForTimeOut
  [Calls]
  - >> vTaskInternalSetTimeOutState
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueReceive
  - >> xQueueGenericSend

  xTaskCreate (Thumb, 90 bytes, Stack size 56 bytes, tasks.o(i.xTaskCreate))
  [Stack]

  - Max Depth = 136
  - Call Chain = xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vPortFree
  - >> pvPortMalloc
  - >> prvInitialiseNewTask
  - >> prvAddNewTaskToReadyList
  [Called By]
  - >> osThreadNew

  xTaskCreateStatic (Thumb, 86 bytes, Stack size 40 bytes, tasks.o(i.xTaskCreateStatic))
  [Stack]

  - Max Depth = 88
  - Call Chain = xTaskCreateStatic ⇒ prvInitialiseNewTask ⇒ pxPortInitialiseStack
  [Calls]
  - >> prvInitialiseNewTask
  - >> prvAddNewTaskToReadyList
  [Called By]
  - >> osThreadNew
  - >> xTimerCreateTimerTask
  - >> vTaskStartScheduler

  xTaskGetSchedulerState (Thumb, 22 bytes, Stack size 0 bytes, tasks.o(i.xTaskGetSchedulerState))
  [Called By]

  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> xTimerGenericCommand
  - >> SysTick_Handler

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

  - >> prvSampleTimeNow

  xTaskIncrementTick (Thumb, 192 bytes, Stack size 24 bytes, tasks.o(i.xTaskIncrementTick))
  [Stack]

  - Max Depth = 24
  - Call Chain = xTaskIncrementTick
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> prvResetNextTaskUnblockTime
  [Called By]
  - >> xTaskResumeAll
  - >> xPortSysTickHandler

  xTaskPriorityDisinherit (Thumb, 118 bytes, Stack size 16 bytes, tasks.o(i.xTaskPriorityDisinherit))
  [Stack]

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

  xTaskRemoveFromEventList (Thumb, 98 bytes, Stack size 16 bytes, tasks.o(i.xTaskRemoveFromEventList))
  [Stack]

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

  xTaskResumeAll (Thumb, 182 bytes, Stack size 32 bytes, tasks.o(i.xTaskResumeAll))
  [Stack]

  - Max Depth = 56
  - Call Chain = xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskIncrementTick
  - >> prvResetNextTaskUnblockTime
  [Called By]
  - >> xQueueReceive
  - >> xQueueGenericSend
  - >> vPortFree
  - >> pvPortMalloc
  - >> prvProcessTimerOrBlockTask
  - >> vTaskDelay

  xTimerCreateTimerTask (Thumb, 78 bytes, Stack size 32 bytes, timers.o(i.xTimerCreateTimerTask))
  [Stack]

  - Max Depth = 120
  - Call Chain = xTimerCreateTimerTask ⇒ xTaskCreateStatic ⇒ prvInitialiseNewTask ⇒ pxPortInitialiseStack
  [Calls]
  - >> vApplicationGetTimerTaskMemory
  - >> prvCheckForValidListAndQueue
  - >> xTaskCreateStatic
  [Called By]
  - >> vTaskStartScheduler

  xTimerGenericCommand (Thumb, 98 bytes, Stack size 40 bytes, timers.o(i.xTimerGenericCommand))
  [Stack]

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

  ### Local Symbols

  TIM_OC1_SetConfig (Thumb, 88 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(i.TIM_OC1_SetConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_OC1_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_ConfigChannel

  TIM_OC3_SetConfig (Thumb, 96 bytes, Stack size 20 bytes, stm32f4xx_hal_tim.o(i.TIM_OC3_SetConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_OC3_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_ConfigChannel

  TIM_OC4_SetConfig (Thumb, 70 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(i.TIM_OC4_SetConfig))
  [Stack]

  - Max Depth = 12
  - Call Chain = TIM_OC4_SetConfig
  [Called By]
  - >> HAL_TIM_PWM_ConfigChannel

  ADC_Init (Thumb, 284 bytes, Stack size 8 bytes, stm32f4xx_hal_adc.o(i.ADC_Init))
  [Stack]

  - Max Depth = 8
  - Call Chain = ADC_Init
  [Called By]
  - >> HAL_ADC_Init

  DMA_CalcBaseAndBitshift (Thumb, 34 bytes, Stack size 0 bytes, stm32f4xx_hal_dma.o(i.DMA_CalcBaseAndBitshift))
  [Called By]

  - >> HAL_DMA_Init

  DMA_CheckFifoParam (Thumb, 84 bytes, Stack size 8 bytes, stm32f4xx_hal_dma.o(i.DMA_CheckFifoParam))
  [Stack]

  - Max Depth = 8
  - Call Chain = DMA_CheckFifoParam
  [Called By]
  - >> HAL_DMA_Init

  DMA_SetConfig (Thumb, 40 bytes, Stack size 12 bytes, stm32f4xx_hal_dma.o(i.DMA_SetConfig))
  [Stack]

  - Max Depth = 12
  - Call Chain = DMA_SetConfig
  [Called By]
  - >> HAL_DMA_Start_IT

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

  - >> HAL_NVIC_SetPriority

  SPI_DMAError (Thumb, 34 bytes, Stack size 8 bytes, stm32f4xx_hal_spi.o(i.SPI_DMAError))
  [Stack]

  - Max Depth = 8
  - Call Chain = SPI_DMAError
  [Calls]
  - >> HAL_SPI_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)

  SPI_DMAHalfTransmitCplt (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_hal_spi.o(i.SPI_DMAHalfTransmitCplt))
  [Stack]

  - Max Depth = 8
  - Call Chain = SPI_DMAHalfTransmitCplt
  [Calls]
  - >> HAL_SPI_TxHalfCpltCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)

  SPI_DMATransmitCplt (Thumb, 100 bytes, Stack size 16 bytes, stm32f4xx_hal_spi.o(i.SPI_DMATransmitCplt))
  [Stack]

  - Max Depth = 72
  - Call Chain = SPI_DMATransmitCplt ⇒ SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> HAL_SPI_TxCpltCallback
  - >> HAL_SPI_ErrorCallback
  - >> SPI_EndRxTxTransaction
  [Address Reference Count : 1]
  - stm32f4xx_hal_spi.o(i.HAL_SPI_Transmit_DMA)

  SPI_EndRxTxTransaction (Thumb, 98 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(i.SPI_EndRxTxTransaction))
  [Stack]

  - Max Depth = 56
  - Call Chain = SPI_EndRxTxTransaction ⇒ SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> SPI_WaitFlagStateUntilTimeout
  [Called By]
  - >> SPI_DMATransmitCplt

  SPI_WaitFlagStateUntilTimeout (Thumb, 182 bytes, Stack size 32 bytes, stm32f4xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout))
  [Stack]

  - Max Depth = 32
  - Call Chain = SPI_WaitFlagStateUntilTimeout
  [Calls]
  - >> HAL_GetTick
  [Called By]
  - >> SPI_EndRxTxTransaction

  UART_DMAAbortOnError (Thumb, 14 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(i.UART_DMAAbortOnError))
  [Stack]

  - Max Depth = 36
  - Call Chain = UART_DMAAbortOnError ⇒ HAL_UART_ErrorCallback ⇒ HAL_UARTEx_ReceiveToIdle_IT
  [Calls]
  - >> HAL_UART_ErrorCallback
  [Address Reference Count : 1]
  - stm32f4xx_hal_uart.o(i.HAL_UART_IRQHandler)

  UART_EndRxTransfer (Thumb, 78 bytes, Stack size 0 bytes, stm32f4xx_hal_uart.o(i.UART_EndRxTransfer))
  [Calls]

  - >> UART_EndRxTransfer
  [Called By]
  - >> HAL_UART_IRQHandler
  - >> UART_WaitOnFlagUntilTimeout
  - >> UART_EndRxTransfer

  UART_Receive_IT (Thumb, 194 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(i.UART_Receive_IT))
  [Stack]

  - Max Depth = 68
  - Call Chain = UART_Receive_IT ⇒ HAL_UARTEx_RxEventCallback ⇒ USART2_Process_Packet ⇒ pwm_control_territory ⇒ motor_right_front
  [Calls]
  - >> HAL_UART_RxCpltCallback
  - >> HAL_UARTEx_RxEventCallback
  [Called By]
  - >> HAL_UART_IRQHandler

  UART_SetConfig (Thumb, 258 bytes, Stack size 16 bytes, stm32f4xx_hal_uart.o(i.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

  UART_WaitOnFlagUntilTimeout (Thumb, 114 bytes, Stack size 32 bytes, stm32f4xx_hal_uart.o(i.UART_WaitOnFlagUntilTimeout))
  [Stack]

  - Max Depth = 32
  - Call Chain = UART_WaitOnFlagUntilTimeout
  [Calls]
  - >> HAL_GetTick
  - >> UART_EndRxTransfer
  [Called By]
  - >> HAL_UART_Transmit

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

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

  prvCopyDataToQueue (Thumb, 108 bytes, Stack size 24 bytes, queue.o(i.prvCopyDataToQueue))
  [Stack]

  - Max Depth = 40
  - Call Chain = prvCopyDataToQueue ⇒ xTaskPriorityDisinherit
  [Calls]
  - >> xTaskPriorityDisinherit
  - >> __aeabi_memcpy
  [Called By]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend

  prvInitialiseNewQueue (Thumb, 34 bytes, Stack size 16 bytes, queue.o(i.prvInitialiseNewQueue))
  [Stack]

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

  prvIsQueueEmpty (Thumb, 28 bytes, Stack size 8 bytes, queue.o(i.prvIsQueueEmpty))
  [Stack]

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

  prvUnlockQueue (Thumb, 106 bytes, Stack size 24 bytes, queue.o(i.prvUnlockQueue))
  [Stack]

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

  prvAddCurrentTaskToDelayedList (Thumb, 84 bytes, Stack size 24 bytes, tasks.o(i.prvAddCurrentTaskToDelayedList))
  [Stack]

  - Max Depth = 36
  - Call Chain = prvAddCurrentTaskToDelayedList ⇒ vListInsert
  [Calls]
  - >> vListInsertEnd
  - >> vListInsert
  - >> uxListRemove
  [Called By]
  - >> vTaskPlaceOnEventListRestricted
  - >> vTaskPlaceOnEventList
  - >> vTaskDelay

  prvAddNewTaskToReadyList (Thumb, 190 bytes, Stack size 24 bytes, tasks.o(i.prvAddNewTaskToReadyList))
  [Stack]

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

  prvDeleteTCB (Thumb, 52 bytes, Stack size 8 bytes, tasks.o(i.prvDeleteTCB))
  [Stack]

  - Max Depth = 80
  - Call Chain = prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vPortFree
  [Called By]
  - >> prvIdleTask

  prvIdleTask (Thumb, 82 bytes, Stack size 0 bytes, tasks.o(i.prvIdleTask))
  [Stack]

  - Max Depth = 80
  - Call Chain = prvIdleTask ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> uxListRemove
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvDeleteTCB
  [Address Reference Count : 1]
  - tasks.o(i.vTaskStartScheduler)

  prvInitialiseNewTask (Thumb, 176 bytes, Stack size 40 bytes, tasks.o(i.prvInitialiseNewTask))
  [Stack]

  - Max Depth = 48
  - Call Chain = prvInitialiseNewTask ⇒ pxPortInitialiseStack
  [Calls]
  - >> vListInitialiseItem
  - >> pxPortInitialiseStack
  - >> __aeabi_memset
  [Called By]
  - >> xTaskCreateStatic
  - >> xTaskCreate

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

  - >> xTaskResumeAll
  - >> xTaskIncrementTick

  prvCheckForValidListAndQueue (Thumb, 72 bytes, Stack size 16 bytes, timers.o(i.prvCheckForValidListAndQueue))
  [Stack]

  - Max Depth = 80
  - Call Chain = prvCheckForValidListAndQueue ⇒ xQueueGenericCreateStatic ⇒ prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList
  [Calls]
  - >> xQueueGenericCreateStatic
  - >> vQueueAddToRegistry
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vListInitialise
  [Called By]
  - >> xTimerCreateTimerTask

  prvInsertTimerInActiveList (Thumb, 52 bytes, Stack size 16 bytes, timers.o(i.prvInsertTimerInActiveList))
  [Stack]

  - Max Depth = 28
  - Call Chain = prvInsertTimerInActiveList ⇒ vListInsert
  [Calls]
  - >> vListInsert
  [Called By]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands

  prvProcessReceivedCommands (Thumb, 248 bytes, Stack size 48 bytes, timers.o(i.prvProcessReceivedCommands))
  [Stack]

  - Max Depth = 240
  - Call Chain = prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> xQueueReceive
  - >> uxListRemove
  - >> vPortFree
  - >> xTimerGenericCommand
  - >> prvSampleTimeNow
  - >> prvInsertTimerInActiveList
  [Called By]
  - >> prvTimerTask

  prvProcessTimerOrBlockTask (Thumb, 182 bytes, Stack size 32 bytes, timers.o(i.prvProcessTimerOrBlockTask))
  [Stack]

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

  prvSampleTimeNow (Thumb, 36 bytes, Stack size 16 bytes, timers.o(i.prvSampleTimeNow))
  [Stack]

  - Max Depth = 192
  - Call Chain = prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvSwitchTimerLists
  - >> xTaskGetTickCount
  [Called By]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands

  prvSwitchTimerLists (Thumb, 104 bytes, Stack size 24 bytes, timers.o(i.prvSwitchTimerLists))
  [Stack]

  - Max Depth = 176
  - Call Chain = prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> vListInsert
  - >> uxListRemove
  - >> xTimerGenericCommand
  [Called By]
  - >> prvSampleTimeNow

  prvTimerTask (Thumb, 32 bytes, Stack size 0 bytes, timers.o(i.prvTimerTask))
  [Stack]

  - Max Depth = 240
  - Call Chain = prvTimerTask ⇒ prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ xTaskResumeAll ⇒ xTaskIncrementTick
  [Calls]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands
  [Address Reference Count : 1]
  - timers.o(i.xTimerCreateTimerTask)

  prvHeapInit (Thumb, 66 bytes, Stack size 0 bytes, heap_4.o(i.prvHeapInit))
  [Called By]

  - >> pvPortMalloc

  prvInsertBlockIntoFreeList (Thumb, 72 bytes, Stack size 12 bytes, heap_4.o(i.prvInsertBlockIntoFreeList))
  [Stack]

  - Max Depth = 12
  - Call Chain = prvInsertBlockIntoFreeList
  [Called By]
  - >> vPortFree
  - >> pvPortMalloc

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

  - port.o(i.pxPortInitialiseStack)

  _Encoder_Update_Single (Thumb, 22 bytes, Stack size 0 bytes, encoder.o(i._Encoder_Update_Single))
  [Called By]

  - >> Encoder_Update_All

  IIC_Read_Byte (Thumb, 186 bytes, Stack size 24 bytes, mpu6050.o(i.IIC_Read_Byte))
  [Stack]

  - Max Depth = 32
  - Call Chain = IIC_Read_Byte ⇒ delay_us
  [Calls]
  - >> HAL_GPIO_WritePin
  - >> HAL_GPIO_ReadPin
  - >> delay_us
  [Called By]
  - >> MPU6050_ReadRegister

  IIC_Send_Byte (Thumb, 96 bytes, Stack size 16 bytes, mpu6050.o(i.IIC_Send_Byte))
  [Stack]

  - Max Depth = 24
  - Call Chain = IIC_Send_Byte ⇒ delay_us
  [Calls]
  - >> HAL_GPIO_WritePin
  - >> delay_us
  [Called By]
  - >> MPU6050_WriteRegister
  - >> MPU6050_ReadRegister

  IIC_Start (Thumb, 76 bytes, Stack size 8 bytes, mpu6050.o(i.IIC_Start))
  [Stack]

  - Max Depth = 16
  - Call Chain = IIC_Start ⇒ delay_us
  [Calls]
  - >> HAL_GPIO_WritePin
  - >> delay_us
  [Called By]
  - >> MPU6050_WriteRegister
  - >> MPU6050_ReadRegister

  IIC_Stop (Thumb, 76 bytes, Stack size 8 bytes, mpu6050.o(i.IIC_Stop))
  [Stack]

  - Max Depth = 16
  - Call Chain = IIC_Stop ⇒ delay_us
  [Calls]
  - >> HAL_GPIO_WritePin
  - >> delay_us
  [Called By]
  - >> MPU6050_WriteRegister
  - >> MPU6050_ReadRegister
  - >> IIC_Wait_Ack

  IIC_Wait_Ack (Thumb, 94 bytes, Stack size 16 bytes, mpu6050.o(i.IIC_Wait_Ack))
  [Stack]

  - Max Depth = 32
  - Call Chain = IIC_Wait_Ack ⇒ IIC_Stop ⇒ delay_us
  [Calls]
  - >> HAL_GPIO_WritePin
  - >> HAL_GPIO_ReadPin
  - >> delay_us
  - >> IIC_Stop
  [Called By]
  - >> MPU6050_WriteRegister
  - >> MPU6050_ReadRegister

  MPU6050_ReadRegister (Thumb, 84 bytes, Stack size 16 bytes, mpu6050.o(i.MPU6050_ReadRegister))
  [Stack]

  - Max Depth = 48
  - Call Chain = MPU6050_ReadRegister ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ delay_us
  [Calls]
  - >> IIC_Wait_Ack
  - >> IIC_Stop
  - >> IIC_Start
  - >> IIC_Send_Byte
  - >> IIC_Read_Byte
  [Called By]
  - >> MPU6050_GetTempValue
  - >> MPU6050_GetGyroData
  - >> MPU6050_GetAccData

  MPU6050_WriteRegister (Thumb, 48 bytes, Stack size 16 bytes, mpu6050.o(i.MPU6050_WriteRegister))
  [Stack]

  - Max Depth = 48
  - Call Chain = MPU6050_WriteRegister ⇒ IIC_Wait_Ack ⇒ IIC_Stop ⇒ delay_us
  [Calls]
  - >> IIC_Wait_Ack
  - >> IIC_Stop
  - >> IIC_Start
  - >> IIC_Send_Byte
  [Called By]
  - >> MPU6050_Init
  - >> MPU6050_SetAccRange

  _fp_digits (Thumb, 366 bytes, Stack size 64 bytes, printfa.o(i._fp_digits), UNUSED)
  [Calls]

  - >> __aeabi_dmul
  - >> __aeabi_d2ulz
  - >> __aeabi_cdrcmple
  - >> __aeabi_uldivmod
  - >> __aeabi_ddiv
  - >> __aeabi_dadd
  [Called By]
  - >> _printf_core

  _printf_core (Thumb, 1704 bytes, Stack size 136 bytes, printfa.o(i._printf_core), UNUSED)
  [Calls]

  - >> __aeabi_uidivmod
  - >> _printf_pre_padding
  - >> _printf_post_padding
  - >> _fp_digits
  - >> __aeabi_uldivmod
  [Called By]
  - >> __0printf

  _printf_post_padding (Thumb, 36 bytes, Stack size 24 bytes, printfa.o(i._printf_post_padding), UNUSED)
  [Called By]

  - >> _printf_core

  _printf_pre_padding (Thumb, 46 bytes, Stack size 24 bytes, printfa.o(i._printf_pre_padding), UNUSED)
  [Called By]

  - >> _printf_core

  ### Undefined Global Symbols