# Static Call Graph for image ..\OBJ\OriginCar.axf

#<CALLGRAPH># ARM Linker, 5060750: Last Updated: Mon Dec 22 18:06:35 2025

### Maximum Stack Usage = 424 bytes + Unknown(Functions without stacksize, Cycles, Untraceable Function Pointers)

### Call chain for Maximum Stack Depth:

prvTimerTask ⇒ prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf

### Functions with no stack information

- __user_initial_stackheap

### Mutually Recursive functions

- ADC_IRQHandler ⇒ ADC_IRQHandler

  ### Function Pointers

  - ADC_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - Balance_task from balance.o(i.Balance_task) referenced from main.o(i.start_task)
  - BusFault_Handler from stm32f4xx_it.o(i.BusFault_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  - CAN1_RX0_IRQHandler from can.o(i.CAN1_RX0_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - CAN1_RX1_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - CAN1_SCE_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - CAN1_TX_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - CAN2_RX0_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - CAN2_RX1_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - CAN2_SCE_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - CAN2_TX_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - CRYP_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DCMI_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA1_Stream0_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA1_Stream1_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA1_Stream2_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA1_Stream3_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA1_Stream4_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA1_Stream5_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA1_Stream6_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA1_Stream7_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA2_Stream0_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA2_Stream1_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA2_Stream2_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA2_Stream3_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA2_Stream4_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA2_Stream5_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA2_Stream6_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DMA2_Stream7_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - DebugMon_Handler from stm32f4xx_it.o(i.DebugMon_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  - ETH_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - ETH_WKUP_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - EXTI0_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - EXTI15_10_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - EXTI1_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - EXTI2_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - EXTI3_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - EXTI4_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - EXTI9_5_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - FLASH_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - FPU_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - FSMC_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - HASH_RNG_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - HardFault_Handler from stm32f4xx_it.o(i.HardFault_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  - I2C1_ER_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - I2C1_EV_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - I2C2_ER_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - I2C2_EV_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - I2C3_ER_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - I2C3_EV_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - MPU6050_task from mpu6050.o(i.MPU6050_task) referenced from main.o(i.start_task)
  - MemManage_Handler from stm32f4xx_it.o(i.MemManage_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  - NMI_Handler from stm32f4xx_it.o(i.NMI_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  - OTG_FS_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - OTG_FS_WKUP_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - OTG_HS_EP1_IN_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - OTG_HS_EP1_OUT_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - OTG_HS_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - OTG_HS_WKUP_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - PVD_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - PendSV_Handler from port.o(.emb_text) referenced from startup_stm32f40_41xxx.o(RESET)
  - RCC_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - RTC_Alarm_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - RTC_WKUP_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - Reset_Handler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - SDIO_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - SPI1_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - SPI2_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - SPI3_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - SVC_Handler from port.o(.emb_text) referenced from startup_stm32f40_41xxx.o(RESET)
  - SysTick_Handler from delay.o(i.SysTick_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  - SystemInit from system_stm32f4xx.o(i.SystemInit) referenced from startup_stm32f40_41xxx.o(.text)
  - TAMP_STAMP_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM1_BRK_TIM9_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM1_CC_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM1_TRG_COM_TIM11_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM1_UP_TIM10_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM2_IRQHandler from encoder.o(i.TIM2_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM3_IRQHandler from encoder.o(i.TIM3_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM4_IRQHandler from encoder.o(i.TIM4_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM5_IRQHandler from encoder.o(i.TIM5_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM6_DAC_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM7_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM8_BRK_TIM12_IRQHandler from encoder.o(i.TIM8_BRK_TIM12_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM8_CC_IRQHandler from timer.o(i.TIM8_CC_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM8_TRG_COM_TIM14_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - TIM8_UP_TIM13_IRQHandler from timer.o(i.TIM8_UP_TIM13_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - UART4_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - UART5_IRQHandler from usartx.o(i.UART5_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - USART1_IRQHandler from usartx.o(i.USART1_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - USART2_IRQHandler from usartx.o(i.USART2_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - USART3_IRQHandler from usartx.o(i.USART3_IRQHandler) referenced from startup_stm32f40_41xxx.o(RESET)
  - USART6_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - UsageFault_Handler from stm32f4xx_it.o(i.UsageFault_Handler) referenced from startup_stm32f40_41xxx.o(RESET)
  - WWDG_IRQHandler from startup_stm32f40_41xxx.o(.text) referenced from startup_stm32f40_41xxx.o(RESET)
  - __main from __main.o(!!!main) referenced from startup_stm32f40_41xxx.o(.text)
  - _printf_input_char from _printf_char_common.o(.text) referenced from _printf_char_common.o(.text)
  - data_task from usartx.o(i.data_task) referenced from main.o(i.start_task)
  - fputc from usart.o(i.fputc) referenced from _printf_char_file.o(.text)
  - led_task from led.o(i.led_task) referenced from main.o(i.start_task)
  - 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)
  - pstwo_task from pstwo.o(i.pstwo_task) referenced from main.o(i.start_task)
  - show_task from show.o(i.show_task) referenced from main.o(i.start_task)
  - start_task from main.o(i.start_task) referenced from main.o(i.main)

  ### Global Symbols

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

  - >> __scatterload
  - >> __rt_entry

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

  - >> __main

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

  - >> __rt_entry

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

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

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

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

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

  _printf_d (Thumb, 0 bytes, Stack size unknown bytes, _printf_d.o(.ARM.Collect$$_printf_percent$$00000009))
  [Stack]

  - Max Depth = 56 + Unknown Stack Size
  - Call Chain = _printf_d ⇒ _printf_int_dec ⇒ _printf_int_common
  [Calls]
  - >> _printf_int_dec

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

  - >> __printf

  _printf_s (Thumb, 0 bytes, Stack size unknown bytes, _printf_s.o(.ARM.Collect$$_printf_percent$$00000014))
  [Stack]

  - Max Depth = 24 + Unknown Stack Size
  - Call Chain = _printf_s ⇒ _printf_string ⇒ _printf_cs_common ⇒ _printf_str
  [Calls]
  - >> _printf_string

  _printf_percent_end (Thumb, 0 bytes, Stack size unknown bytes, _printf_percent_end.o(.ARM.Collect$$_printf_percent$$00000017))

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

  - >> __rt_entry_li

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

  - >> _fp_init

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  - >> __rt_exit_ls

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

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

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

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

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

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

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

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

  - >> __scatterload_rt2
  - >> __main

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

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

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

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

  - >> __rt_lib_init

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

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

  - Max Depth = 312 + Unknown Stack Size
  - Call Chain = __rt_entry_main ⇒ main ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> main
  - >> exit

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

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

  - >> exit

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

  - >> __rt_lib_shutdown

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

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

  - >> _sys_exit

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

  - startup_stm32f40_41xxx.o(RESET)

  __asm___6_port_c_39a90d8d__prvStartFirstTask (Thumb, 28 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 = 136 + Unknown Stack Size
  - Call Chain = PendSV_Handler ⇒ vTaskSwitchContext ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vTaskSwitchContext
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.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_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  ADC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Calls]

  - >> ADC_IRQHandler
  [Called By]
  - >> ADC_IRQHandler
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(RESET)

  CAN1_RX1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  CAN1_SCE_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  CAN1_TX_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  CAN2_RX0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  CAN2_RX1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  CAN2_SCE_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  CAN2_TX_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  CRYP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DCMI_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA1_Stream0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA1_Stream1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA1_Stream2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA1_Stream3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA1_Stream4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA1_Stream5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA1_Stream6_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA1_Stream7_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA2_Stream0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA2_Stream1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA2_Stream2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA2_Stream3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA2_Stream4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA2_Stream5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA2_Stream6_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  DMA2_Stream7_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  ETH_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  ETH_WKUP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  EXTI0_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  EXTI15_10_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  EXTI1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  EXTI2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  EXTI3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  EXTI4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  EXTI9_5_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  FLASH_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  FPU_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  FSMC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  HASH_RNG_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  I2C1_ER_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  I2C1_EV_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  I2C2_ER_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  I2C2_EV_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  I2C3_ER_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  I2C3_EV_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  OTG_FS_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  OTG_FS_WKUP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  OTG_HS_EP1_IN_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  OTG_HS_EP1_OUT_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  OTG_HS_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  OTG_HS_WKUP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  PVD_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  RCC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  RTC_Alarm_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  RTC_WKUP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  SDIO_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  SPI1_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  SPI2_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  SPI3_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TAMP_STAMP_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM1_BRK_TIM9_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM1_CC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM1_TRG_COM_TIM11_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM1_UP_TIM10_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM6_DAC_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM7_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM8_TRG_COM_TIM14_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  UART4_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  USART6_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  WWDG_IRQHandler (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f40_41xxx.o(.text))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  __user_initial_stackheap (Thumb, 0 bytes, Stack size unknown bytes, startup_stm32f40_41xxx.o(.text))
  [Called By]

  - >> __user_setup_stackheap

  __use_no_semihosting (Thumb, 2 bytes, Stack size 0 bytes, use_no_semi_2.o(.text), UNUSED)

  __2printf (Thumb, 20 bytes, Stack size 24 bytes, noretval__2printf.o(.text))
  [Stack]

  - Max Depth = 128 + Unknown Stack Size
  - Call Chain = __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> _printf_char_file
  [Called By]
  - >> vTaskDelay
  - >> vTaskStartScheduler
  - >> vTaskDelete
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vTaskDelayUntil
  - >> vTaskSwitchContext
  - >> prvInitialiseNewTask
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityDisinherit
  - >> xTaskCheckForTimeOut
  - >> vTaskSetTimeOutState
  - >> vTaskPlaceOnEventListRestricted
  - >> vTaskPlaceOnEventList
  - >> vPortValidateInterruptPriority
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> xQueueGenericReceive
  - >> xQueueGenericCreate
  - >> prvNotifyQueueSetContainer
  - >> xTaskResumeAll
  - >> vPortFree
  - >> pvPortMalloc
  - >> APP_Show
  - >> prvTaskExitError
  - >> xTimerGenericCommand
  - >> prvSwitchTimerLists
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer
  - >> xTimerCreateTimerTask
  - >> xPortStartScheduler
  - >> xTaskIncrementTick

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

  - Max Depth = 24 + Unknown Stack Size
  - Call Chain = __printf
  [Calls]
  - >> _printf_percent
  [Called By]
  - >> _printf_char_common

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

  - Max Depth = 16
  - Call Chain = _printf_str
  [Called By]
  - >> _printf_cs_common

  _printf_int_dec (Thumb, 104 bytes, Stack size 24 bytes, _printf_dec.o(.text))
  [Stack]

  - Max Depth = 56
  - Call Chain = _printf_int_dec ⇒ _printf_int_common
  [Calls]
  - >> _printf_int_common
  [Called By]
  - >> _printf_d

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

  - >> prvCopyDataToQueue
  - >> prvCopyDataFromQueue

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

  - >> __aeabi_memcpy4

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

  __aeabi_memset (Thumb, 16 bytes, Stack size 0 bytes, aeabi_memset.o(.text))
  [Calls]

  - >> _memset
  [Called By]
  - >> prvInitialiseNewTask

  __aeabi_memclr (Thumb, 0 bytes, Stack size 0 bytes, rt_memclr.o(.text))
  [Called By]

  - >> USART2_IRQHandler

  __rt_memclr (Thumb, 68 bytes, Stack size 0 bytes, rt_memclr.o(.text), UNUSED)
  [Calls]

  - >> _memset_w

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

  - >> __aeabi_memset

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

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

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

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

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

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

  - >> __aeabi_errno_addr

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

  - Max Depth = 8
  - Call Chain = __set_errno
  [Calls]
  - >> __aeabi_errno_addr
  [Called By]
  - >> __hardfp_tan
  - >> sqrt
  - >> __hardfp_sqrt
  - >> __hardfp_pow

  _printf_int_common (Thumb, 178 bytes, Stack size 32 bytes, _printf_intcommon.o(.text))
  [Stack]

  - Max Depth = 32
  - Call Chain = _printf_int_common
  [Called By]
  - >> _printf_int_dec

  _printf_char_common (Thumb, 32 bytes, Stack size 64 bytes, _printf_char_common.o(.text))
  [Stack]

  - Max Depth = 88 + Unknown Stack Size
  - Call Chain = _printf_char_common ⇒ __printf
  [Calls]
  - >> __printf
  [Called By]
  - >> _printf_char_file

  _printf_cs_common (Thumb, 20 bytes, Stack size 8 bytes, _printf_char.o(.text))
  [Stack]

  - Max Depth = 24
  - Call Chain = _printf_cs_common ⇒ _printf_str
  [Calls]
  - >> _printf_str
  [Called By]
  - >> _printf_string
  - >> _printf_char

  _printf_char (Thumb, 16 bytes, Stack size 0 bytes, _printf_char.o(.text), UNUSED)
  [Calls]

  - >> _printf_cs_common

  _printf_string (Thumb, 8 bytes, Stack size 0 bytes, _printf_char.o(.text))
  [Stack]

  - Max Depth = 24
  - Call Chain = _printf_string ⇒ _printf_cs_common ⇒ _printf_str
  [Calls]
  - >> _printf_cs_common
  [Called By]
  - >> _printf_s

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

  - Max Depth = 104 + Unknown Stack Size
  - Call Chain = _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> ferror
  - >> _printf_char_common
  [Called By]
  - >> __2printf

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

  - >> __rt_memcpy

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

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

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

  __aeabi_memclr4 (Thumb, 0 bytes, Stack size 4 bytes, rt_memclr_w.o(.text), UNUSED)

  __aeabi_memclr8 (Thumb, 0 bytes, Stack size 4 bytes, rt_memclr_w.o(.text), UNUSED)

  __rt_memclr_w (Thumb, 78 bytes, Stack size 4 bytes, rt_memclr_w.o(.text), UNUSED)

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

  - >> __rt_memclr

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

  - >> __set_errno
  - >> __read_errno

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

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

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

  - >> _printf_char_file

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

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

  - >> __user_setup_stackheap

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

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

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

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

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

  ADC_Cmd (Thumb, 22 bytes, Stack size 0 bytes, stm32f4xx_adc.o(i.ADC_Cmd))
  [Called By]

  - >> Adc_POWER_Init
  - >> Adc_Init

  ADC_CommonInit (Thumb, 34 bytes, Stack size 0 bytes, stm32f4xx_adc.o(i.ADC_CommonInit))
  [Called By]

  - >> Adc_POWER_Init
  - >> Adc_Init

  ADC_GetConversionValue (Thumb, 8 bytes, Stack size 0 bytes, stm32f4xx_adc.o(i.ADC_GetConversionValue))
  [Called By]

  - >> Get_Adc2
  - >> Get_Adc

  ADC_GetFlagStatus (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_adc.o(i.ADC_GetFlagStatus))
  [Called By]

  - >> Get_Adc2
  - >> Get_Adc

  ADC_Init (Thumb, 74 bytes, Stack size 12 bytes, stm32f4xx_adc.o(i.ADC_Init))
  [Stack]

  - Max Depth = 12
  - Call Chain = ADC_Init
  [Called By]
  - >> Adc_POWER_Init
  - >> Adc_Init

  ADC_RegularChannelConfig (Thumb, 184 bytes, Stack size 20 bytes, stm32f4xx_adc.o(i.ADC_RegularChannelConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = ADC_RegularChannelConfig
  [Called By]
  - >> Get_Adc2
  - >> Get_Adc

  ADC_SoftwareStartConv (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_adc.o(i.ADC_SoftwareStartConv))
  [Called By]

  - >> Get_Adc2
  - >> Get_Adc

  APP_Show (Thumb, 228 bytes, Stack size 24 bytes, show.o(i.APP_Show))
  [Stack]

  - Max Depth = 152 + Unknown Stack Size
  - Call Chain = APP_Show ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> __2printf
  [Called By]
  - >> show_task

  Adc_Init (Thumb, 124 bytes, Stack size 56 bytes, adc.o(i.Adc_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = Adc_Init ⇒ GPIO_Init
  [Calls]
  - >> RCC_APB2PeriphResetCmd
  - >> RCC_APB2PeriphClockCmd
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> ADC_Init
  - >> ADC_CommonInit
  - >> ADC_Cmd
  [Called By]
  - >> systemInit

  Adc_POWER_Init (Thumb, 124 bytes, Stack size 56 bytes, adc.o(i.Adc_POWER_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = Adc_POWER_Init ⇒ GPIO_Init
  [Calls]
  - >> RCC_APB2PeriphResetCmd
  - >> RCC_APB2PeriphClockCmd
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> ADC_Init
  - >> ADC_CommonInit
  - >> ADC_Cmd
  [Called By]
  - >> systemInit

  Balance_task (Thumb, 724 bytes, Stack size 16 bytes, balance.o(i.Balance_task))
  [Stack]

  - Max Depth = 416 + Unknown Stack Size
  - Call Chain = Balance_task ⇒ Remote_Control ⇒ Drive_Motor ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> vTaskDelayUntil
  - >> getSysTickCnt
  - >> Turn_Off
  - >> Set_Pwm
  - >> Remote_Control
  - >> PS2_control
  - >> Limit_Pwm
  - >> Key
  - >> Incremental_PI_D
  - >> Incremental_PI_C
  - >> Incremental_PI_B
  - >> Incremental_PI_A
  - >> Get_Velocity_Form_Encoder
  - >> Get_RC
  - >> Drive_Motor
  [Address Reference Count : 1]
  - main.o(i.start_task)

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

  - startup_stm32f40_41xxx.o(RESET)

  Buzzer_Init (Thumb, 50 bytes, Stack size 16 bytes, led.o(i.Buzzer_Init))
  [Stack]

  - Max Depth = 36
  - Call Chain = Buzzer_Init ⇒ GPIO_Init
  [Calls]
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  CAN1_Mode_Init (Thumb, 488 bytes, Stack size 40 bytes, can.o(i.CAN1_Mode_Init))
  [Stack]

  - Max Depth = 60
  - Call Chain = CAN1_Mode_Init ⇒ GPIO_PinAFConfig
  [Calls]
  - >> RCC_APB1PeriphClockCmd
  - >> NVIC_Init
  - >> GPIO_PinAFConfig
  - >> CAN_ITConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  CAN1_RX0_IRQHandler (Thumb, 252 bytes, Stack size 48 bytes, can.o(i.CAN1_RX0_IRQHandler))
  [Stack]

  - Max Depth = 232
  - Call Chain = CAN1_RX0_IRQHandler ⇒ Vz_to_Akm_Angle ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> Vz_to_Akm_Angle
  - >> CAN1_Rx_Msg
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(RESET)

  CAN1_Rx_Msg (Thumb, 208 bytes, Stack size 20 bytes, can.o(i.CAN1_Rx_Msg))
  [Stack]

  - Max Depth = 20
  - Call Chain = CAN1_Rx_Msg
  [Called By]
  - >> CAN1_RX0_IRQHandler

  CAN1_Send_Num (Thumb, 64 bytes, Stack size 24 bytes, can.o(i.CAN1_Send_Num))
  [Stack]

  - Max Depth = 44
  - Call Chain = CAN1_Send_Num ⇒ CAN1_Tx_Msg
  [Calls]
  - >> CAN1_Tx_Staus
  - >> CAN1_Tx_Msg
  [Called By]
  - >> CAN_SEND

  CAN1_Tx_Msg (Thumb, 260 bytes, Stack size 20 bytes, can.o(i.CAN1_Tx_Msg))
  [Stack]

  - Max Depth = 20
  - Call Chain = CAN1_Tx_Msg
  [Called By]
  - >> CAN1_Send_Num

  CAN1_Tx_Staus (Thumb, 126 bytes, Stack size 0 bytes, can.o(i.CAN1_Tx_Staus))
  [Called By]

  - >> CAN1_Send_Num

  CAN_ITConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_can.o(i.CAN_ITConfig))
  [Called By]

  - >> CAN1_Mode_Init

  CAN_SEND (Thumb, 102 bytes, Stack size 16 bytes, usartx.o(i.CAN_SEND))
  [Stack]

  - Max Depth = 60
  - Call Chain = CAN_SEND ⇒ CAN1_Send_Num ⇒ CAN1_Tx_Msg
  [Calls]
  - >> CAN1_Send_Num
  [Called By]
  - >> data_task

  Check_Sum (Thumb, 52 bytes, Stack size 8 bytes, usartx.o(i.Check_Sum))
  [Stack]

  - Max Depth = 8
  - Call Chain = Check_Sum
  [Called By]
  - >> data_transition
  - >> USART3_IRQHandler
  - >> UART5_IRQHandler

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

  - startup_stm32f40_41xxx.o(RESET)

  Drive_Motor (Thumb, 1992 bytes, Stack size 104 bytes, balance.o(i.Drive_Motor))
  [Stack]

  - Max Depth = 368
  - Call Chain = Drive_Motor ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> target_limit_int
  - >> target_limit_float
  - >> Smooth_control
  - >> __hardfp_tan
  - >> __hardfp_sqrt
  - >> __hardfp_pow
  - >> __aeabi_f2d
  - >> __aeabi_dmul
  - >> __aeabi_ddiv
  - >> __aeabi_dsub
  - >> __aeabi_dadd
  - >> __aeabi_d2f
  - >> __aeabi_dneg
  [Called By]
  - >> Balance_task
  - >> Remote_Control
  - >> PS2_control
  - >> Get_RC

  Enable_Pin (Thumb, 42 bytes, Stack size 16 bytes, motor.o(i.Enable_Pin))
  [Stack]

  - Max Depth = 36
  - Call Chain = Enable_Pin ⇒ GPIO_Init
  [Calls]
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  Encoder_Init_TIM2 (Thumb, 224 bytes, Stack size 40 bytes, encoder.o(i.Encoder_Init_TIM2))
  [Stack]

  - Max Depth = 76
  - Call Chain = Encoder_Init_TIM2 ⇒ TIM_ICInit ⇒ TI4_Config
  [Calls]
  - >> TIM_TimeBaseStructInit
  - >> TIM_TimeBaseInit
  - >> TIM_SetCounter
  - >> TIM_ITConfig
  - >> TIM_ICStructInit
  - >> TIM_ICInit
  - >> TIM_EncoderInterfaceConfig
  - >> TIM_Cmd
  - >> TIM_ClearFlag
  - >> RCC_APB1PeriphClockCmd
  - >> GPIO_PinAFConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  Encoder_Init_TIM3 (Thumb, 180 bytes, Stack size 40 bytes, encoder.o(i.Encoder_Init_TIM3))
  [Stack]

  - Max Depth = 76
  - Call Chain = Encoder_Init_TIM3 ⇒ TIM_ICInit ⇒ TI4_Config
  [Calls]
  - >> TIM_TimeBaseStructInit
  - >> TIM_TimeBaseInit
  - >> TIM_SetCounter
  - >> TIM_ITConfig
  - >> TIM_ICStructInit
  - >> TIM_ICInit
  - >> TIM_EncoderInterfaceConfig
  - >> TIM_Cmd
  - >> TIM_ClearFlag
  - >> RCC_APB1PeriphClockCmd
  - >> GPIO_PinAFConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  Encoder_Init_TIM4 (Thumb, 180 bytes, Stack size 40 bytes, encoder.o(i.Encoder_Init_TIM4))
  [Stack]

  - Max Depth = 76
  - Call Chain = Encoder_Init_TIM4 ⇒ TIM_ICInit ⇒ TI4_Config
  [Calls]
  - >> TIM_TimeBaseStructInit
  - >> TIM_TimeBaseInit
  - >> TIM_SetCounter
  - >> TIM_ITConfig
  - >> TIM_ICStructInit
  - >> TIM_ICInit
  - >> TIM_EncoderInterfaceConfig
  - >> TIM_Cmd
  - >> TIM_ClearFlag
  - >> RCC_APB1PeriphClockCmd
  - >> GPIO_PinAFConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  Encoder_Init_TIM5 (Thumb, 178 bytes, Stack size 40 bytes, encoder.o(i.Encoder_Init_TIM5))
  [Stack]

  - Max Depth = 76
  - Call Chain = Encoder_Init_TIM5 ⇒ TIM_ICInit ⇒ TI4_Config
  [Calls]
  - >> TIM_TimeBaseStructInit
  - >> TIM_TimeBaseInit
  - >> TIM_SetCounter
  - >> TIM_ITConfig
  - >> TIM_ICStructInit
  - >> TIM_ICInit
  - >> TIM_EncoderInterfaceConfig
  - >> TIM_Cmd
  - >> TIM_ClearFlag
  - >> RCC_APB1PeriphClockCmd
  - >> GPIO_PinAFConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  GPIO_Init (Thumb, 144 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_Init))
  [Stack]

  - Max Depth = 20
  - Call Chain = GPIO_Init
  [Called By]
  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> Enable_Pin
  - >> LED_Init
  - >> Buzzer_Init
  - >> KEY_Init
  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> CAN1_Mode_Init
  - >> Adc_POWER_Init
  - >> Adc_Init
  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> uart1_init
  - >> TIM8_Cap_Init
  - >> TIM12_SERVO_Init
  - >> PS2_Init
  - >> OLED_Init
  - >> I2C_GPIOInit

  GPIO_PinAFConfig (Thumb, 70 bytes, Stack size 20 bytes, stm32f4xx_gpio.o(i.GPIO_PinAFConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = GPIO_PinAFConfig
  [Called By]
  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> CAN1_Mode_Init
  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> uart1_init
  - >> TIM8_Cap_Init
  - >> TIM12_SERVO_Init

  GPIO_SetBits (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_gpio.o(i.GPIO_SetBits))
  [Called By]

  - >> LED_Init

  Get_Adc (Thumb, 44 bytes, Stack size 8 bytes, adc.o(i.Get_Adc))
  [Stack]

  - Max Depth = 28
  - Call Chain = Get_Adc ⇒ ADC_RegularChannelConfig
  [Calls]
  - >> ADC_SoftwareStartConv
  - >> ADC_RegularChannelConfig
  - >> ADC_GetFlagStatus
  - >> ADC_GetConversionValue
  [Called By]
  - >> Get_adc_Average

  Get_Adc2 (Thumb, 44 bytes, Stack size 8 bytes, adc.o(i.Get_Adc2))
  [Stack]

  - Max Depth = 28
  - Call Chain = Get_Adc2 ⇒ ADC_RegularChannelConfig
  [Calls]
  - >> ADC_SoftwareStartConv
  - >> ADC_RegularChannelConfig
  - >> ADC_GetFlagStatus
  - >> ADC_GetConversionValue
  [Called By]
  - >> Get_battery_volt

  Get_RC (Thumb, 874 bytes, Stack size 8 bytes, balance.o(i.Get_RC))
  [Stack]

  - Max Depth = 376
  - Call Chain = Get_RC ⇒ Drive_Motor ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> Drive_Motor
  [Called By]
  - >> Balance_task

  Get_Velocity_Form_Encoder (Thumb, 484 bytes, Stack size 24 bytes, balance.o(i.Get_Velocity_Form_Encoder))
  [Stack]

  - Max Depth = 24
  - Call Chain = Get_Velocity_Form_Encoder
  [Calls]
  - >> Read_Encoder
  [Called By]
  - >> Balance_task

  Get_adc_Average (Thumb, 46 bytes, Stack size 24 bytes, adc.o(i.Get_adc_Average))
  [Stack]

  - Max Depth = 224 + Unknown Stack Size
  - Call Chain = Get_adc_Average ⇒ delay_ms ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> delay_ms
  - >> Get_Adc
  [Called By]
  - >> oled_show
  - >> Robot_Select

  Get_battery_volt (Thumb, 120 bytes, Stack size 64 bytes, adc.o(i.Get_battery_volt))
  [Stack]

  - Max Depth = 96
  - Call Chain = Get_battery_volt ⇒ __aeabi_dmul
  [Calls]
  - >> Get_Adc2
  - >> __aeabi_dmul
  - >> __aeabi_ui2d
  - >> __aeabi_ddiv
  - >> __aeabi_d2f
  [Called By]
  - >> show_task

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

  - startup_stm32f40_41xxx.o(RESET)

  I2C_Ack (Thumb, 64 bytes, Stack size 8 bytes, i2c.o(i.I2C_Ack))
  [Stack]

  - Max Depth = 24
  - Call Chain = I2C_Ack ⇒ delay_us
  [Calls]
  - >> delay_us
  [Called By]
  - >> I2C_ReadByte

  I2C_GPIOInit (Thumb, 62 bytes, Stack size 16 bytes, i2c.o(i.I2C_GPIOInit))
  [Stack]

  - Max Depth = 36
  - Call Chain = I2C_GPIOInit ⇒ GPIO_Init
  [Calls]
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  I2C_NAck (Thumb, 62 bytes, Stack size 8 bytes, i2c.o(i.I2C_NAck))
  [Stack]

  - Max Depth = 24
  - Call Chain = I2C_NAck ⇒ delay_us
  [Calls]
  - >> delay_us
  [Called By]
  - >> I2C_ReadByte

  I2C_ReadByte (Thumb, 100 bytes, Stack size 16 bytes, i2c.o(i.I2C_ReadByte))
  [Stack]

  - Max Depth = 40
  - Call Chain = I2C_ReadByte ⇒ I2C_NAck ⇒ delay_us
  [Calls]
  - >> delay_us
  - >> I2C_NAck
  - >> I2C_Ack
  [Called By]
  - >> I2C_ReadOneByte

  I2C_ReadOneByte (Thumb, 64 bytes, Stack size 16 bytes, i2c.o(i.I2C_ReadOneByte))
  [Stack]

  - Max Depth = 56
  - Call Chain = I2C_ReadOneByte ⇒ I2C_ReadByte ⇒ I2C_NAck ⇒ delay_us
  [Calls]
  - >> I2C_WriteByte
  - >> I2C_WaiteForAck
  - >> I2C_Stop
  - >> I2C_Start
  - >> I2C_ReadByte
  [Called By]
  - >> I2C_WriteBits
  - >> MPU_Get_Gyroscope
  - >> MPU_Get_Accelscope
  - >> MPU6050_initialize

  I2C_Start (Thumb, 88 bytes, Stack size 8 bytes, i2c.o(i.I2C_Start))
  [Stack]

  - Max Depth = 24
  - Call Chain = I2C_Start ⇒ delay_us
  [Calls]
  - >> delay_us
  [Called By]
  - >> I2C_WriteOneByte
  - >> I2C_ReadOneByte

  I2C_Stop (Thumb, 60 bytes, Stack size 8 bytes, i2c.o(i.I2C_Stop))
  [Stack]

  - Max Depth = 24
  - Call Chain = I2C_Stop ⇒ delay_us
  [Calls]
  - >> delay_us
  [Called By]
  - >> I2C_WaiteForAck
  - >> I2C_WriteOneByte
  - >> I2C_ReadOneByte

  I2C_WaiteForAck (Thumb, 88 bytes, Stack size 8 bytes, i2c.o(i.I2C_WaiteForAck))
  [Stack]

  - Max Depth = 32
  - Call Chain = I2C_WaiteForAck ⇒ I2C_Stop ⇒ delay_us
  [Calls]
  - >> delay_us
  - >> I2C_Stop
  [Called By]
  - >> I2C_WriteOneByte
  - >> I2C_ReadOneByte

  I2C_WriteBits (Thumb, 88 bytes, Stack size 32 bytes, i2c.o(i.I2C_WriteBits))
  [Stack]

  - Max Depth = 88
  - Call Chain = I2C_WriteBits ⇒ I2C_ReadOneByte ⇒ I2C_ReadByte ⇒ I2C_NAck ⇒ delay_us
  [Calls]
  - >> I2C_WriteOneByte
  - >> I2C_ReadOneByte
  [Called By]
  - >> MPU6050_setFullScaleGyroRange
  - >> MPU6050_setFullScaleAccelRange

  I2C_WriteByte (Thumb, 88 bytes, Stack size 16 bytes, i2c.o(i.I2C_WriteByte))
  [Stack]

  - Max Depth = 32
  - Call Chain = I2C_WriteByte ⇒ delay_us
  [Calls]
  - >> delay_us
  [Called By]
  - >> I2C_WriteOneByte
  - >> I2C_ReadOneByte

  I2C_WriteOneByte (Thumb, 50 bytes, Stack size 16 bytes, i2c.o(i.I2C_WriteOneByte))
  [Stack]

  - Max Depth = 48
  - Call Chain = I2C_WriteOneByte ⇒ I2C_WriteByte ⇒ delay_us
  [Calls]
  - >> I2C_WriteByte
  - >> I2C_WaiteForAck
  - >> I2C_Stop
  - >> I2C_Start
  [Called By]
  - >> I2C_WriteBits
  - >> MPU6050_Set_Rate
  - >> MPU6050_Set_LPF
  - >> MPU6050_initialize

  Incremental_PI_A (Thumb, 146 bytes, Stack size 0 bytes, balance.o(i.Incremental_PI_A))
  [Called By]

  - >> Balance_task

  Incremental_PI_B (Thumb, 146 bytes, Stack size 0 bytes, balance.o(i.Incremental_PI_B))
  [Called By]

  - >> Balance_task

  Incremental_PI_C (Thumb, 146 bytes, Stack size 0 bytes, balance.o(i.Incremental_PI_C))
  [Called By]

  - >> Balance_task

  Incremental_PI_D (Thumb, 146 bytes, Stack size 0 bytes, balance.o(i.Incremental_PI_D))
  [Called By]

  - >> Balance_task

  KEY_Init (Thumb, 42 bytes, Stack size 16 bytes, key.o(i.KEY_Init))
  [Stack]

  - Max Depth = 36
  - Call Chain = KEY_Init ⇒ GPIO_Init
  [Calls]
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  Key (Thumb, 40 bytes, Stack size 8 bytes, balance.o(i.Key))
  [Stack]

  - Max Depth = 8
  - Call Chain = Key
  [Calls]
  - >> click_N_Double_MPU6050
  [Called By]
  - >> Balance_task

  LED_Init (Thumb, 60 bytes, Stack size 16 bytes, led.o(i.LED_Init))
  [Stack]

  - Max Depth = 36
  - Call Chain = LED_Init ⇒ GPIO_Init
  [Calls]
  - >> GPIO_SetBits
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  Limit_Pwm (Thumb, 156 bytes, Stack size 4 bytes, balance.o(i.Limit_Pwm))
  [Stack]

  - Max Depth = 4
  - Call Chain = Limit_Pwm
  [Calls]
  - >> target_limit_float
  [Called By]
  - >> Balance_task

  MPU6050_Set_LPF (Thumb, 60 bytes, Stack size 16 bytes, mpu6050.o(i.MPU6050_Set_LPF))
  [Stack]

  - Max Depth = 64
  - Call Chain = MPU6050_Set_LPF ⇒ I2C_WriteOneByte ⇒ I2C_WriteByte ⇒ delay_us
  [Calls]
  - >> I2C_WriteOneByte
  [Called By]
  - >> MPU6050_Set_Rate

  MPU6050_Set_Rate (Thumb, 60 bytes, Stack size 16 bytes, mpu6050.o(i.MPU6050_Set_Rate))
  [Stack]

  - Max Depth = 80
  - Call Chain = MPU6050_Set_Rate ⇒ MPU6050_Set_LPF ⇒ I2C_WriteOneByte ⇒ I2C_WriteByte ⇒ delay_us
  [Calls]
  - >> I2C_WriteOneByte
  - >> MPU6050_Set_LPF
  [Called By]
  - >> MPU6050_initialize

  MPU6050_initialize (Thumb, 136 bytes, Stack size 8 bytes, mpu6050.o(i.MPU6050_initialize))
  [Stack]

  - Max Depth = 208 + Unknown Stack Size
  - Call Chain = MPU6050_initialize ⇒ delay_ms ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> delay_ms
  - >> I2C_WriteOneByte
  - >> I2C_ReadOneByte
  - >> MPU6050_setFullScaleGyroRange
  - >> MPU6050_setFullScaleAccelRange
  - >> MPU6050_Set_Rate
  [Called By]
  - >> systemInit

  MPU6050_setFullScaleAccelRange (Thumb, 20 bytes, Stack size 16 bytes, mpu6050.o(i.MPU6050_setFullScaleAccelRange))
  [Stack]

  - Max Depth = 104
  - Call Chain = MPU6050_setFullScaleAccelRange ⇒ I2C_WriteBits ⇒ I2C_ReadOneByte ⇒ I2C_ReadByte ⇒ I2C_NAck ⇒ delay_us
  [Calls]
  - >> I2C_WriteBits
  [Called By]
  - >> MPU6050_initialize

  MPU6050_setFullScaleGyroRange (Thumb, 20 bytes, Stack size 16 bytes, mpu6050.o(i.MPU6050_setFullScaleGyroRange))
  [Stack]

  - Max Depth = 104
  - Call Chain = MPU6050_setFullScaleGyroRange ⇒ I2C_WriteBits ⇒ I2C_ReadOneByte ⇒ I2C_ReadByte ⇒ I2C_NAck ⇒ delay_us
  [Calls]
  - >> I2C_WriteBits
  [Called By]
  - >> MPU6050_initialize

  MPU6050_task (Thumb, 190 bytes, Stack size 8 bytes, mpu6050.o(i.MPU6050_task))
  [Stack]

  - Max Depth = 208 + Unknown Stack Size
  - Call Chain = MPU6050_task ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vTaskDelayUntil
  - >> getSysTickCnt
  - >> MPU_Get_Gyroscope
  - >> MPU_Get_Accelscope
  [Address Reference Count : 1]
  - main.o(i.start_task)

  MPU_Get_Accelscope (Thumb, 170 bytes, Stack size 8 bytes, mpu6050.o(i.MPU_Get_Accelscope))
  [Stack]

  - Max Depth = 64
  - Call Chain = MPU_Get_Accelscope ⇒ I2C_ReadOneByte ⇒ I2C_ReadByte ⇒ I2C_NAck ⇒ delay_us
  [Calls]
  - >> I2C_ReadOneByte
  [Called By]
  - >> MPU6050_task

  MPU_Get_Gyroscope (Thumb, 202 bytes, Stack size 8 bytes, mpu6050.o(i.MPU_Get_Gyroscope))
  [Stack]

  - Max Depth = 64
  - Call Chain = MPU_Get_Gyroscope ⇒ I2C_ReadOneByte ⇒ I2C_ReadByte ⇒ I2C_NAck ⇒ delay_us
  [Calls]
  - >> I2C_ReadOneByte
  [Called By]
  - >> MPU6050_task

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

  - startup_stm32f40_41xxx.o(RESET)

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

  - startup_stm32f40_41xxx.o(RESET)

  NVIC_Init (Thumb, 106 bytes, Stack size 16 bytes, misc.o(i.NVIC_Init))
  [Stack]

  - Max Depth = 16
  - Call Chain = NVIC_Init
  [Called By]
  - >> CAN1_Mode_Init
  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> uart1_init
  - >> TIM8_Cap_Init

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

  - >> systemInit

  OLED_Clear (Thumb, 42 bytes, Stack size 12 bytes, oled.o(i.OLED_Clear))
  [Stack]

  - Max Depth = 32
  - Call Chain = OLED_Clear ⇒ OLED_Refresh_Gram ⇒ OLED_WR_Byte
  [Calls]
  - >> OLED_Refresh_Gram
  [Called By]
  - >> OLED_ShowString
  - >> OLED_Init

  OLED_DrawPoint (Thumb, 100 bytes, Stack size 20 bytes, oled.o(i.OLED_DrawPoint))
  [Stack]

  - Max Depth = 20
  - Call Chain = OLED_DrawPoint
  [Called By]
  - >> OLED_ShowChar

  OLED_Init (Thumb, 296 bytes, Stack size 16 bytes, oled.o(i.OLED_Init))
  [Stack]

  - Max Depth = 216 + Unknown Stack Size
  - Call Chain = OLED_Init ⇒ delay_ms ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> RCC_APB1PeriphClockCmd
  - >> delay_ms
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> RCC_LSEConfig
  - >> PWR_BackupAccessCmd
  - >> OLED_WR_Byte
  - >> OLED_Clear
  [Called By]
  - >> systemInit

  OLED_Refresh_Gram (Thumb, 70 bytes, Stack size 12 bytes, oled.o(i.OLED_Refresh_Gram))
  [Stack]

  - Max Depth = 20
  - Call Chain = OLED_Refresh_Gram ⇒ OLED_WR_Byte
  [Calls]
  - >> OLED_WR_Byte
  [Called By]
  - >> OLED_Clear
  - >> oled_show

  OLED_ShowChar (Thumb, 158 bytes, Stack size 36 bytes, oled.o(i.OLED_ShowChar))
  [Stack]

  - Max Depth = 56
  - Call Chain = OLED_ShowChar ⇒ OLED_DrawPoint
  [Calls]
  - >> OLED_DrawPoint
  [Called By]
  - >> OLED_ShowString
  - >> OLED_ShowNumber

  OLED_ShowNumber (Thumb, 148 bytes, Stack size 56 bytes, oled.o(i.OLED_ShowNumber))
  [Stack]

  - Max Depth = 112
  - Call Chain = OLED_ShowNumber ⇒ OLED_ShowChar ⇒ OLED_DrawPoint
  [Calls]
  - >> oled_pow
  - >> OLED_ShowChar
  [Called By]
  - >> oled_show

  OLED_ShowString (Thumb, 68 bytes, Stack size 20 bytes, oled.o(i.OLED_ShowString))
  [Stack]

  - Max Depth = 76
  - Call Chain = OLED_ShowString ⇒ OLED_ShowChar ⇒ OLED_DrawPoint
  [Calls]
  - >> OLED_ShowChar
  - >> OLED_Clear
  [Called By]
  - >> oled_show

  OLED_WR_Byte (Thumb, 82 bytes, Stack size 8 bytes, oled.o(i.OLED_WR_Byte))
  [Stack]

  - Max Depth = 8
  - Call Chain = OLED_WR_Byte
  [Called By]
  - >> OLED_Refresh_Gram
  - >> OLED_Init

  PS2_AnologData (Thumb, 8 bytes, Stack size 0 bytes, pstwo.o(i.PS2_AnologData))
  [Called By]

  - >> PS2_Read

  PS2_ClearData (Thumb, 20 bytes, Stack size 0 bytes, pstwo.o(i.PS2_ClearData))
  [Called By]

  - >> PS2_DataKey

  PS2_Cmd (Thumb, 130 bytes, Stack size 16 bytes, pstwo.o(i.PS2_Cmd))
  [Stack]

  - Max Depth = 32
  - Call Chain = PS2_Cmd ⇒ delay_us
  [Calls]
  - >> delay_us
  [Called By]
  - >> PS2_TurnOnAnalogMode
  - >> PS2_ShortPoll
  - >> PS2_ReadData
  - >> PS2_ExitConfing
  - >> PS2_EnterConfing

  PS2_DataKey (Thumb, 70 bytes, Stack size 8 bytes, pstwo.o(i.PS2_DataKey))
  [Stack]

  - Max Depth = 56
  - Call Chain = PS2_DataKey ⇒ PS2_ReadData ⇒ PS2_Cmd ⇒ delay_us
  [Calls]
  - >> PS2_ReadData
  - >> PS2_ClearData
  [Called By]
  - >> PS2_Read

  PS2_EnterConfing (Thumb, 84 bytes, Stack size 8 bytes, pstwo.o(i.PS2_EnterConfing))
  [Stack]

  - Max Depth = 40
  - Call Chain = PS2_EnterConfing ⇒ PS2_Cmd ⇒ delay_us
  [Calls]
  - >> delay_us
  - >> PS2_Cmd
  [Called By]
  - >> PS2_SetInit

  PS2_ExitConfing (Thumb, 84 bytes, Stack size 8 bytes, pstwo.o(i.PS2_ExitConfing))
  [Stack]

  - Max Depth = 40
  - Call Chain = PS2_ExitConfing ⇒ PS2_Cmd ⇒ delay_us
  [Calls]
  - >> delay_us
  - >> PS2_Cmd
  [Called By]
  - >> PS2_SetInit

  PS2_Init (Thumb, 82 bytes, Stack size 16 bytes, pstwo.o(i.PS2_Init))
  [Stack]

  - Max Depth = 36
  - Call Chain = PS2_Init ⇒ GPIO_Init
  [Calls]
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  [Called By]
  - >> systemInit

  PS2_Read (Thumb, 204 bytes, Stack size 8 bytes, pstwo.o(i.PS2_Read))
  [Stack]

  - Max Depth = 64
  - Call Chain = PS2_Read ⇒ PS2_DataKey ⇒ PS2_ReadData ⇒ PS2_Cmd ⇒ delay_us
  [Calls]
  - >> PS2_DataKey
  - >> PS2_AnologData
  [Called By]
  - >> pstwo_task

  PS2_ReadData (Thumb, 164 bytes, Stack size 16 bytes, pstwo.o(i.PS2_ReadData))
  [Stack]

  - Max Depth = 48
  - Call Chain = PS2_ReadData ⇒ PS2_Cmd ⇒ delay_us
  [Calls]
  - >> delay_us
  - >> PS2_Cmd
  [Called By]
  - >> PS2_DataKey

  PS2_SetInit (Thumb, 28 bytes, Stack size 8 bytes, pstwo.o(i.PS2_SetInit))
  [Stack]

  - Max Depth = 48
  - Call Chain = PS2_SetInit ⇒ PS2_TurnOnAnalogMode ⇒ PS2_Cmd ⇒ delay_us
  [Calls]
  - >> PS2_TurnOnAnalogMode
  - >> PS2_ShortPoll
  - >> PS2_ExitConfing
  - >> PS2_EnterConfing
  [Called By]
  - >> systemInit

  PS2_ShortPoll (Thumb, 60 bytes, Stack size 8 bytes, pstwo.o(i.PS2_ShortPoll))
  [Stack]

  - Max Depth = 40
  - Call Chain = PS2_ShortPoll ⇒ PS2_Cmd ⇒ delay_us
  [Calls]
  - >> delay_us
  - >> PS2_Cmd
  [Called By]
  - >> PS2_SetInit

  PS2_TurnOnAnalogMode (Thumb, 78 bytes, Stack size 8 bytes, pstwo.o(i.PS2_TurnOnAnalogMode))
  [Stack]

  - Max Depth = 40
  - Call Chain = PS2_TurnOnAnalogMode ⇒ PS2_Cmd ⇒ delay_us
  [Calls]
  - >> delay_us
  - >> PS2_Cmd
  [Called By]
  - >> PS2_SetInit

  PS2_control (Thumb, 552 bytes, Stack size 24 bytes, balance.o(i.PS2_control))
  [Stack]

  - Max Depth = 392
  - Call Chain = PS2_control ⇒ Drive_Motor ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> Drive_Motor
  [Called By]
  - >> Balance_task

  PWR_BackupAccessCmd (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_pwr.o(i.PWR_BackupAccessCmd))
  [Called By]

  - >> OLED_Init

  RCC_AHB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_AHB1PeriphClockCmd))
  [Called By]

  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> Enable_Pin
  - >> LED_Init
  - >> Buzzer_Init
  - >> KEY_Init
  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> CAN1_Mode_Init
  - >> Adc_POWER_Init
  - >> Adc_Init
  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> uart1_init
  - >> TIM8_Cap_Init
  - >> TIM12_SERVO_Init
  - >> PS2_Init
  - >> OLED_Init
  - >> I2C_GPIOInit

  RCC_APB1PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB1PeriphClockCmd))
  [Called By]

  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> CAN1_Mode_Init
  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> TIM12_SERVO_Init
  - >> OLED_Init

  RCC_APB2PeriphClockCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphClockCmd))
  [Called By]

  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> Adc_POWER_Init
  - >> Adc_Init
  - >> uart1_init
  - >> TIM8_Cap_Init

  RCC_APB2PeriphResetCmd (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_APB2PeriphResetCmd))
  [Called By]

  - >> Adc_POWER_Init
  - >> Adc_Init

  RCC_GetClocksFreq (Thumb, 214 bytes, Stack size 20 bytes, stm32f4xx_rcc.o(i.RCC_GetClocksFreq))
  [Stack]

  - Max Depth = 20
  - Call Chain = RCC_GetClocksFreq
  [Called By]
  - >> USART_Init

  RCC_LSEConfig (Thumb, 40 bytes, Stack size 0 bytes, stm32f4xx_rcc.o(i.RCC_LSEConfig))
  [Called By]

  - >> OLED_Init

  Read_Encoder (Thumb, 88 bytes, Stack size 0 bytes, encoder.o(i.Read_Encoder))
  [Called By]

  - >> Get_Velocity_Form_Encoder

  Remote_Control (Thumb, 554 bytes, Stack size 32 bytes, balance.o(i.Remote_Control))
  [Stack]

  - Max Depth = 400
  - Call Chain = Remote_Control ⇒ Drive_Motor ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> target_limit_int
  - >> Drive_Motor
  [Called By]
  - >> Balance_task

  Robot_Init (Thumb, 160 bytes, Stack size 40 bytes, robot_select_init.o(i.Robot_Init))
  [Stack]

  - Max Depth = 72
  - Call Chain = Robot_Init ⇒ __aeabi_d2f
  [Calls]
  - >> __aeabi_d2f
  [Called By]
  - >> Robot_Select

  Robot_Select (Thumb, 348 bytes, Stack size 8 bytes, robot_select_init.o(i.Robot_Select))
  [Stack]

  - Max Depth = 232 + Unknown Stack Size
  - Call Chain = Robot_Select ⇒ Get_adc_Average ⇒ delay_ms ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> Get_adc_Average
  - >> Robot_Init
  [Called By]
  - >> systemInit

  Set_Pwm (Thumb, 134 bytes, Stack size 16 bytes, balance.o(i.Set_Pwm))
  [Stack]

  - Max Depth = 16
  - Call Chain = Set_Pwm
  [Called By]
  - >> Balance_task

  Smooth_control (Thumb, 432 bytes, Stack size 4 bytes, balance.o(i.Smooth_control))
  [Stack]

  - Max Depth = 4
  - Call Chain = Smooth_control
  [Calls]
  - >> target_limit_float
  - >> float_abs
  [Called By]
  - >> Drive_Motor

  SysTick_CLKSourceConfig (Thumb, 40 bytes, Stack size 0 bytes, misc.o(i.SysTick_CLKSourceConfig))
  [Called By]

  - >> delay_init

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

  - Max Depth = 168 + Unknown Stack Size
  - Call Chain = SysTick_Handler ⇒ xPortSysTickHandler ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xPortSysTickHandler
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(RESET)

  SystemInit (Thumb, 88 bytes, Stack size 8 bytes, system_stm32f4xx.o(i.SystemInit))
  [Stack]

  - Max Depth = 20
  - Call Chain = SystemInit ⇒ SetSysClock
  [Calls]
  - >> SetSysClock
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(.text)

  TIM10_PWM_Init (Thumb, 150 bytes, Stack size 56 bytes, motor.o(i.TIM10_PWM_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = TIM10_PWM_Init ⇒ GPIO_PinAFConfig
  [Calls]
  - >> TIM_TimeBaseInit
  - >> TIM_Cmd
  - >> GPIO_PinAFConfig
  - >> RCC_APB2PeriphClockCmd
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> TIM_OC1PreloadConfig
  - >> TIM_OC1Init
  - >> TIM_ARRPreloadConfig
  [Called By]
  - >> systemInit

  TIM11_PWM_Init (Thumb, 158 bytes, Stack size 56 bytes, motor.o(i.TIM11_PWM_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = TIM11_PWM_Init ⇒ GPIO_PinAFConfig
  [Calls]
  - >> TIM_TimeBaseInit
  - >> TIM_Cmd
  - >> GPIO_PinAFConfig
  - >> RCC_APB2PeriphClockCmd
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> TIM_OC1PreloadConfig
  - >> TIM_OC1Init
  - >> TIM_CtrlPWMOutputs
  - >> TIM_ARRPreloadConfig
  [Called By]
  - >> systemInit

  TIM12_SERVO_Init (Thumb, 196 bytes, Stack size 56 bytes, timer.o(i.TIM12_SERVO_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = TIM12_SERVO_Init ⇒ GPIO_PinAFConfig
  [Calls]
  - >> TIM_TimeBaseInit
  - >> TIM_Cmd
  - >> RCC_APB1PeriphClockCmd
  - >> GPIO_PinAFConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> TIM_OC2PreloadConfig
  - >> TIM_OC2Init
  - >> TIM_OC1PreloadConfig
  - >> TIM_OC1Init
  - >> TIM_CtrlPWMOutputs
  [Called By]
  - >> systemInit

  TIM1_PWM_Init (Thumb, 238 bytes, Stack size 56 bytes, motor.o(i.TIM1_PWM_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = TIM1_PWM_Init ⇒ GPIO_PinAFConfig
  [Calls]
  - >> TIM_TimeBaseInit
  - >> TIM_Cmd
  - >> GPIO_PinAFConfig
  - >> RCC_APB2PeriphClockCmd
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> TIM_OC4PreloadConfig
  - >> TIM_OC4Init
  - >> TIM_OC3PreloadConfig
  - >> TIM_OC3Init
  - >> TIM_OC2PreloadConfig
  - >> TIM_OC2Init
  - >> TIM_OC1PreloadConfig
  - >> TIM_OC1Init
  - >> TIM_CtrlPWMOutputs
  - >> TIM_ARRPreloadConfig
  [Called By]
  - >> systemInit

  TIM2_IRQHandler (Thumb, 24 bytes, Stack size 0 bytes, encoder.o(i.TIM2_IRQHandler))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM3_IRQHandler (Thumb, 18 bytes, Stack size 0 bytes, encoder.o(i.TIM3_IRQHandler))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM4_IRQHandler (Thumb, 18 bytes, Stack size 0 bytes, encoder.o(i.TIM4_IRQHandler))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM5_IRQHandler (Thumb, 18 bytes, Stack size 0 bytes, encoder.o(i.TIM5_IRQHandler))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM8_BRK_TIM12_IRQHandler (Thumb, 18 bytes, Stack size 0 bytes, encoder.o(i.TIM8_BRK_TIM12_IRQHandler))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM8_CC_IRQHandler (Thumb, 810 bytes, Stack size 8 bytes, timer.o(i.TIM8_CC_IRQHandler))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM8_CC_IRQHandler ⇒ TIM_GetITStatus
  [Calls]
  - >> TIM_OC4PolarityConfig
  - >> TIM_OC3PolarityConfig
  - >> TIM_OC2PolarityConfig
  - >> TIM_OC1PolarityConfig
  - >> TIM_GetITStatus
  - >> TIM_GetCapture4
  - >> TIM_GetCapture3
  - >> TIM_GetCapture2
  - >> TIM_GetCapture1
  - >> TIM_ClearITPendingBit
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(RESET)

  TIM8_Cap_Init (Thumb, 328 bytes, Stack size 48 bytes, timer.o(i.TIM8_Cap_Init))
  [Stack]

  - Max Depth = 84
  - Call Chain = TIM8_Cap_Init ⇒ TIM_ICInit ⇒ TI4_Config
  [Calls]
  - >> TIM_TimeBaseInit
  - >> TIM_ITConfig
  - >> TIM_ICInit
  - >> TIM_Cmd
  - >> NVIC_Init
  - >> GPIO_PinAFConfig
  - >> RCC_APB2PeriphClockCmd
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> TIM_CtrlPWMOutputs
  [Called By]
  - >> systemInit

  TIM8_UP_TIM13_IRQHandler (Thumb, 14 bytes, Stack size 0 bytes, timer.o(i.TIM8_UP_TIM13_IRQHandler))
  [Address Reference Count : 1]

  - startup_stm32f40_41xxx.o(RESET)

  TIM9_PWM_Init (Thumb, 174 bytes, Stack size 56 bytes, motor.o(i.TIM9_PWM_Init))
  [Stack]

  - Max Depth = 76
  - Call Chain = TIM9_PWM_Init ⇒ GPIO_PinAFConfig
  [Calls]
  - >> TIM_TimeBaseInit
  - >> TIM_Cmd
  - >> GPIO_PinAFConfig
  - >> RCC_APB2PeriphClockCmd
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> TIM_OC2PreloadConfig
  - >> TIM_OC2Init
  - >> TIM_OC1PreloadConfig
  - >> TIM_OC1Init
  - >> TIM_ARRPreloadConfig
  [Called By]
  - >> systemInit

  TIM_ARRPreloadConfig (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ARRPreloadConfig))
  [Called By]

  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init

  TIM_ClearFlag (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ClearFlag))
  [Called By]

  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2

  TIM_ClearITPendingBit (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ClearITPendingBit))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_Cmd))
  [Called By]

  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> TIM8_Cap_Init
  - >> TIM12_SERVO_Init

  TIM_CtrlPWMOutputs (Thumb, 30 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_CtrlPWMOutputs))
  [Called By]

  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM8_Cap_Init
  - >> TIM12_SERVO_Init

  TIM_EncoderInterfaceConfig (Thumb, 66 bytes, Stack size 20 bytes, stm32f4xx_tim.o(i.TIM_EncoderInterfaceConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = TIM_EncoderInterfaceConfig
  [Called By]
  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2

  TIM_GetCapture1 (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_GetCapture1))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_GetCapture2 (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_GetCapture2))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_GetCapture3 (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_GetCapture3))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_GetCapture4 (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_GetCapture4))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_GetITStatus (Thumb, 34 bytes, Stack size 12 bytes, stm32f4xx_tim.o(i.TIM_GetITStatus))
  [Stack]

  - Max Depth = 12
  - Call Chain = TIM_GetITStatus
  [Called By]
  - >> TIM8_CC_IRQHandler

  TIM_ICInit (Thumb, 110 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_ICInit))
  [Stack]

  - Max Depth = 36
  - Call Chain = TIM_ICInit ⇒ TI4_Config
  [Calls]
  - >> TIM_SetIC4Prescaler
  - >> TIM_SetIC3Prescaler
  - >> TIM_SetIC2Prescaler
  - >> TIM_SetIC1Prescaler
  - >> TI4_Config
  - >> TI3_Config
  - >> TI2_Config
  - >> TI1_Config
  [Called By]
  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> TIM8_Cap_Init

  TIM_ICStructInit (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ICStructInit))
  [Called By]

  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2

  TIM_ITConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_ITConfig))
  [Called By]

  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> TIM8_Cap_Init

  TIM_OC1Init (Thumb, 114 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_OC1Init))
  [Stack]

  - Max Depth = 16
  - Call Chain = TIM_OC1Init
  [Called By]
  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> TIM12_SERVO_Init

  TIM_OC1PolarityConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC1PolarityConfig))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_OC1PreloadConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC1PreloadConfig))
  [Called By]

  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> TIM12_SERVO_Init

  TIM_OC2Init (Thumb, 154 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_OC2Init))
  [Stack]

  - Max Depth = 16
  - Call Chain = TIM_OC2Init
  [Called By]
  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM12_SERVO_Init

  TIM_OC2PolarityConfig (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC2PolarityConfig))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_OC2PreloadConfig (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC2PreloadConfig))
  [Called By]

  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM12_SERVO_Init

  TIM_OC3Init (Thumb, 150 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_OC3Init))
  [Stack]

  - Max Depth = 16
  - Call Chain = TIM_OC3Init
  [Called By]
  - >> TIM1_PWM_Init

  TIM_OC3PolarityConfig (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC3PolarityConfig))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_OC3PreloadConfig (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC3PreloadConfig))
  [Called By]

  - >> TIM1_PWM_Init

  TIM_OC4Init (Thumb, 112 bytes, Stack size 16 bytes, stm32f4xx_tim.o(i.TIM_OC4Init))
  [Stack]

  - Max Depth = 16
  - Call Chain = TIM_OC4Init
  [Called By]
  - >> TIM1_PWM_Init

  TIM_OC4PolarityConfig (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC4PolarityConfig))
  [Called By]

  - >> TIM8_CC_IRQHandler

  TIM_OC4PreloadConfig (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_OC4PreloadConfig))
  [Called By]

  - >> TIM1_PWM_Init

  TIM_SetCounter (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetCounter))
  [Called By]

  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2

  TIM_SetIC1Prescaler (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetIC1Prescaler))
  [Called By]

  - >> TIM_ICInit

  TIM_SetIC2Prescaler (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetIC2Prescaler))
  [Called By]

  - >> TIM_ICInit

  TIM_SetIC3Prescaler (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetIC3Prescaler))
  [Called By]

  - >> TIM_ICInit

  TIM_SetIC4Prescaler (Thumb, 26 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_SetIC4Prescaler))
  [Called By]

  - >> TIM_ICInit

  TIM_TimeBaseInit (Thumb, 104 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_TimeBaseInit))
  [Called By]

  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> TIM8_Cap_Init
  - >> TIM12_SERVO_Init

  TIM_TimeBaseStructInit (Thumb, 18 bytes, Stack size 0 bytes, stm32f4xx_tim.o(i.TIM_TimeBaseStructInit))
  [Called By]

  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2

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

  - >> Balance_task

  UART5_IRQHandler (Thumb, 246 bytes, Stack size 16 bytes, usartx.o(i.UART5_IRQHandler))
  [Stack]

  - Max Depth = 200
  - Call Chain = UART5_IRQHandler ⇒ Vz_to_Akm_Angle ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> Vz_to_Akm_Angle
  - >> USART_ReceiveData
  - >> USART_GetITStatus
  - >> XYZ_Target_Speed_transition
  - >> Check_Sum
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(RESET)

  USART1_IRQHandler (Thumb, 282 bytes, Stack size 32 bytes, usartx.o(i.USART1_IRQHandler))
  [Stack]

  - Max Depth = 216
  - Call Chain = USART1_IRQHandler ⇒ Vz_to_Akm_Angle ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> Vz_to_Akm_Angle
  - >> USART_ReceiveData
  - >> USART_GetITStatus
  - >> XYZ_Target_Speed_transition
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(RESET)

  USART1_SEND (Thumb, 26 bytes, Stack size 4 bytes, usartx.o(i.USART1_SEND))
  [Stack]

  - Max Depth = 4
  - Call Chain = USART1_SEND
  [Calls]
  - >> usart1_send
  [Called By]
  - >> data_task

  USART2_IRQHandler (Thumb, 646 bytes, Stack size 56 bytes, usartx.o(i.USART2_IRQHandler))
  [Stack]

  - Max Depth = 320
  - Call Chain = USART2_IRQHandler ⇒ __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> USART_GetITStatus
  - >> __hardfp_pow
  - >> __aeabi_f2d
  - >> __aeabi_dmul
  - >> __aeabi_i2d
  - >> __aeabi_dadd
  - >> __aeabi_d2f
  - >> __aeabi_memclr
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(RESET)

  USART3_IRQHandler (Thumb, 256 bytes, Stack size 16 bytes, usartx.o(i.USART3_IRQHandler))
  [Stack]

  - Max Depth = 200
  - Call Chain = USART3_IRQHandler ⇒ Vz_to_Akm_Angle ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> Vz_to_Akm_Angle
  - >> USART_ReceiveData
  - >> USART_GetITStatus
  - >> XYZ_Target_Speed_transition
  - >> Check_Sum
  [Address Reference Count : 1]
  - startup_stm32f40_41xxx.o(RESET)

  USART3_SEND (Thumb, 26 bytes, Stack size 4 bytes, usartx.o(i.USART3_SEND))
  [Stack]

  - Max Depth = 4
  - Call Chain = USART3_SEND
  [Calls]
  - >> usart3_send
  [Called By]
  - >> data_task

  USART5_SEND (Thumb, 26 bytes, Stack size 4 bytes, usartx.o(i.USART5_SEND))
  [Stack]

  - Max Depth = 4
  - Call Chain = USART5_SEND
  [Calls]
  - >> usart5_send
  [Called By]
  - >> data_task

  USART_Cmd (Thumb, 24 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_Cmd))
  [Called By]

  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> uart1_init

  USART_GetITStatus (Thumb, 84 bytes, Stack size 16 bytes, stm32f4xx_usart.o(i.USART_GetITStatus))
  [Stack]

  - Max Depth = 16
  - Call Chain = USART_GetITStatus
  [Called By]
  - >> USART3_IRQHandler
  - >> USART2_IRQHandler
  - >> USART1_IRQHandler
  - >> UART5_IRQHandler

  USART_ITConfig (Thumb, 74 bytes, Stack size 20 bytes, stm32f4xx_usart.o(i.USART_ITConfig))
  [Stack]

  - Max Depth = 20
  - Call Chain = USART_ITConfig
  [Called By]
  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> uart1_init

  USART_Init (Thumb, 204 bytes, Stack size 48 bytes, stm32f4xx_usart.o(i.USART_Init))
  [Stack]

  - Max Depth = 68
  - Call Chain = USART_Init ⇒ RCC_GetClocksFreq
  [Calls]
  - >> RCC_GetClocksFreq
  [Called By]
  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> uart1_init

  USART_ReceiveData (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_usart.o(i.USART_ReceiveData))
  [Called By]

  - >> USART3_IRQHandler
  - >> USART1_IRQHandler
  - >> UART5_IRQHandler

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

  - startup_stm32f40_41xxx.o(RESET)

  Vz_to_Akm_Angle (Thumb, 188 bytes, Stack size 80 bytes, usartx.o(i.Vz_to_Akm_Angle))
  [Stack]

  - Max Depth = 184
  - Call Chain = Vz_to_Akm_Angle ⇒ __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __hardfp_atan
  - >> __aeabi_f2d
  - >> __aeabi_dmul
  - >> __aeabi_ddiv
  - >> __aeabi_dadd
  - >> __aeabi_d2f
  [Called By]
  - >> CAN1_RX0_IRQHandler
  - >> USART3_IRQHandler
  - >> USART1_IRQHandler
  - >> UART5_IRQHandler

  XYZ_Target_Speed_transition (Thumb, 102 bytes, Stack size 56 bytes, usartx.o(i.XYZ_Target_Speed_transition))
  [Stack]

  - Max Depth = 88
  - Call Chain = XYZ_Target_Speed_transition ⇒ __aeabi_dmul
  [Calls]
  - >> __aeabi_dmul
  - >> __aeabi_i2d
  - >> __aeabi_dadd
  - >> __aeabi_d2f
  [Called By]
  - >> USART3_IRQHandler
  - >> USART1_IRQHandler
  - >> UART5_IRQHandler

  __ARM_fpclassify (Thumb, 48 bytes, Stack size 8 bytes, fpclassify.o(i.__ARM_fpclassify))
  [Stack]

  - Max Depth = 8
  - Call Chain = __ARM_fpclassify
  [Called By]
  - >> __kernel_tan
  - >> __hardfp_pow
  - >> __hardfp_atan

  __hardfp_atan (Thumb, 622 bytes, Stack size 48 bytes, atan.o(i.__hardfp_atan))
  [Stack]

  - Max Depth = 104
  - Call Chain = __hardfp_atan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __kernel_poly
  - >> __ARM_fpclassify
  - >> fabs
  - >> __mathlib_dbl_underflow
  - >> __mathlib_dbl_infnan
  - >> __aeabi_dmul
  - >> __aeabi_ddiv
  - >> __aeabi_dsub
  - >> __aeabi_drsub
  - >> __aeabi_dadd
  - >> __aeabi_dneg
  [Called By]
  - >> Vz_to_Akm_Angle

  __hardfp_pow (Thumb, 3072 bytes, Stack size 192 bytes, pow.o(i.__hardfp_pow))
  [Stack]

  - Max Depth = 264
  - Call Chain = __hardfp_pow ⇒ sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> __kernel_poly
  - >> __ARM_fpclassify
  - >> fabs
  - >> __mathlib_dbl_underflow
  - >> __mathlib_dbl_overflow
  - >> __mathlib_dbl_invalid
  - >> __mathlib_dbl_infnan2
  - >> __mathlib_dbl_divzero
  - >> __ARM_scalbn
  - >> __aeabi_cdrcmple
  - >> __set_errno
  - >> sqrt
  - >> __aeabi_dmul
  - >> __aeabi_i2d
  - >> __aeabi_ddiv
  - >> __aeabi_dsub
  - >> __aeabi_drsub
  - >> __aeabi_dadd
  - >> __aeabi_dneg
  [Called By]
  - >> USART2_IRQHandler
  - >> Drive_Motor

  __hardfp_sqrt (Thumb, 122 bytes, Stack size 32 bytes, sqrt.o(i.__hardfp_sqrt))
  [Stack]

  - Max Depth = 72
  - Call Chain = __hardfp_sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> _dsqrt
  - >> __set_errno
  [Called By]
  - >> data_transition
  - >> Drive_Motor

  __hardfp_tan (Thumb, 108 bytes, Stack size 32 bytes, tan.o(i.__hardfp_tan))
  [Stack]

  - Max Depth = 216
  - Call Chain = __hardfp_tan ⇒ __kernel_tan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __kernel_tan
  - >> __ieee754_rem_pio2
  - >> __mathlib_dbl_invalid
  - >> __mathlib_dbl_infnan
  - >> __set_errno
  [Called By]
  - >> Drive_Motor

  __ieee754_rem_pio2 (Thumb, 938 bytes, Stack size 120 bytes, rred.o(i.__ieee754_rem_pio2))
  [Stack]

  - Max Depth = 152
  - Call Chain = __ieee754_rem_pio2 ⇒ __aeabi_dmul
  [Calls]
  - >> fabs
  - >> __aeabi_dmul
  - >> __aeabi_ui2d
  - >> __aeabi_i2d
  - >> __aeabi_d2iz
  - >> __aeabi_dsub
  - >> __aeabi_drsub
  - >> __aeabi_dadd
  - >> __aeabi_dneg
  [Called By]
  - >> __hardfp_tan

  __kernel_poly (Thumb, 248 bytes, Stack size 24 bytes, poly.o(i.__kernel_poly))
  [Stack]

  - Max Depth = 56
  - Call Chain = __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __aeabi_dmul
  - >> __aeabi_dadd
  [Called By]
  - >> __kernel_tan
  - >> __hardfp_pow
  - >> __hardfp_atan

  __kernel_tan (Thumb, 764 bytes, Stack size 128 bytes, tan_i.o(i.__kernel_tan))
  [Stack]

  - Max Depth = 184
  - Call Chain = __kernel_tan ⇒ __kernel_poly ⇒ __aeabi_dmul
  [Calls]
  - >> __kernel_poly
  - >> __ARM_fpclassify
  - >> fabs
  - >> __mathlib_dbl_underflow
  - >> __aeabi_dmul
  - >> __aeabi_i2d
  - >> __aeabi_d2iz
  - >> __aeabi_ddiv
  - >> __aeabi_dsub
  - >> __aeabi_drsub
  - >> __aeabi_dadd
  - >> __aeabi_dneg
  [Called By]
  - >> __hardfp_tan

  __mathlib_dbl_divzero (Thumb, 28 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_divzero))
  [Stack]

  - Max Depth = 40
  - Call Chain = __mathlib_dbl_divzero ⇒ __aeabi_ddiv
  [Calls]
  - >> __aeabi_ddiv
  [Called By]
  - >> __hardfp_pow

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

  - Max Depth = 24
  - Call Chain = __mathlib_dbl_infnan ⇒ __aeabi_dadd
  [Calls]
  - >> __aeabi_dadd
  [Called By]
  - >> __hardfp_tan
  - >> __hardfp_atan

  __mathlib_dbl_infnan2 (Thumb, 20 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_infnan2))
  [Stack]

  - Max Depth = 24
  - Call Chain = __mathlib_dbl_infnan2 ⇒ __aeabi_dadd
  [Calls]
  - >> __aeabi_dadd
  [Called By]
  - >> __hardfp_pow

  __mathlib_dbl_invalid (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_invalid))
  [Stack]

  - Max Depth = 40
  - Call Chain = __mathlib_dbl_invalid ⇒ __aeabi_ddiv
  [Calls]
  - >> __aeabi_ddiv
  [Called By]
  - >> __hardfp_tan
  - >> __hardfp_pow

  __mathlib_dbl_overflow (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_overflow))
  [Stack]

  - Max Depth = 40
  - Call Chain = __mathlib_dbl_overflow ⇒ __aeabi_dmul
  [Calls]
  - >> __aeabi_dmul
  [Called By]
  - >> __hardfp_pow

  __mathlib_dbl_underflow (Thumb, 24 bytes, Stack size 8 bytes, dunder.o(i.__mathlib_dbl_underflow))
  [Stack]

  - Max Depth = 40
  - Call Chain = __mathlib_dbl_underflow ⇒ __aeabi_dmul
  [Calls]
  - >> __aeabi_dmul
  [Called By]
  - >> __kernel_tan
  - >> __hardfp_pow
  - >> __hardfp_atan

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

  - >> __rt_exit_exit

  click_N_Double_MPU6050 (Thumb, 184 bytes, Stack size 0 bytes, key.o(i.click_N_Double_MPU6050))
  [Called By]

  - >> Key

  data_task (Thumb, 40 bytes, Stack size 8 bytes, usartx.o(i.data_task))
  [Stack]

  - Max Depth = 208 + Unknown Stack Size
  - Call Chain = data_task ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> data_transition
  - >> USART5_SEND
  - >> USART3_SEND
  - >> USART1_SEND
  - >> CAN_SEND
  - >> vTaskDelayUntil
  - >> getSysTickCnt
  [Address Reference Count : 1]
  - main.o(i.start_task)

  data_transition (Thumb, 1342 bytes, Stack size 48 bytes, usartx.o(i.data_transition))
  [Stack]

  - Max Depth = 120
  - Call Chain = data_transition ⇒ __hardfp_sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> Check_Sum
  - >> __hardfp_sqrt
  - >> __aeabi_f2d
  - >> __aeabi_dmul
  - >> __aeabi_d2iz
  - >> __aeabi_ddiv
  [Called By]
  - >> data_task

  delay_init (Thumb, 58 bytes, Stack size 16 bytes, delay.o(i.delay_init))
  [Stack]

  - Max Depth = 16
  - Call Chain = delay_init
  [Calls]
  - >> SysTick_CLKSourceConfig
  [Called By]
  - >> systemInit

  delay_ms (Thumb, 60 bytes, Stack size 16 bytes, delay.o(i.delay_ms))
  [Stack]

  - Max Depth = 200 + Unknown Stack Size
  - Call Chain = delay_ms ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vTaskDelay
  - >> xTaskGetSchedulerState
  - >> delay_us
  [Called By]
  - >> Get_adc_Average
  - >> OLED_Init
  - >> MPU6050_initialize

  delay_us (Thumb, 68 bytes, Stack size 16 bytes, delay.o(i.delay_us))
  [Stack]

  - Max Depth = 16
  - Call Chain = delay_us
  [Called By]
  - >> delay_ms
  - >> PS2_TurnOnAnalogMode
  - >> PS2_ShortPoll
  - >> PS2_ReadData
  - >> PS2_ExitConfing
  - >> PS2_EnterConfing
  - >> PS2_Cmd
  - >> I2C_WriteByte
  - >> I2C_WaiteForAck
  - >> I2C_Stop
  - >> I2C_Start
  - >> I2C_ReadByte
  - >> I2C_NAck
  - >> I2C_Ack

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

  - Max Depth = 8
  - Call Chain = fabs
  [Called By]
  - >> __kernel_tan
  - >> __ieee754_rem_pio2
  - >> __hardfp_pow
  - >> __hardfp_atan

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

  - >> Smooth_control

  fputc (Thumb, 24 bytes, Stack size 0 bytes, usart.o(i.fputc))
  [Address Reference Count : 1]

  - _printf_char_file.o(.text)

  getSysTickCnt (Thumb, 22 bytes, Stack size 8 bytes, delay.o(i.getSysTickCnt))
  [Stack]

  - Max Depth = 8
  - Call Chain = getSysTickCnt
  [Calls]
  - >> xTaskGetTickCount
  - >> xTaskGetSchedulerState
  [Called By]
  - >> show_task
  - >> pstwo_task
  - >> data_task
  - >> MPU6050_task
  - >> Balance_task

  led_task (Thumb, 24 bytes, Stack size 0 bytes, led.o(i.led_task))
  [Stack]

  - Max Depth = 184 + Unknown Stack Size
  - Call Chain = led_task ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vTaskDelay
  [Address Reference Count : 1]
  - main.o(i.start_task)

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

  - Max Depth = 312 + Unknown Stack Size
  - Call Chain = main ⇒ vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskCreate
  - >> vTaskStartScheduler
  - >> systemInit
  [Called By]
  - >> __rt_entry_main

  oled_pow (Thumb, 22 bytes, Stack size 8 bytes, oled.o(i.oled_pow))
  [Stack]

  - Max Depth = 8
  - Call Chain = oled_pow
  [Called By]
  - >> OLED_ShowNumber

  oled_show (Thumb, 2932 bytes, Stack size 16 bytes, show.o(i.oled_show))
  [Stack]

  - Max Depth = 240 + Unknown Stack Size
  - Call Chain = oled_show ⇒ Get_adc_Average ⇒ delay_ms ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> Get_adc_Average
  - >> OLED_ShowString
  - >> OLED_ShowNumber
  - >> OLED_Refresh_Gram
  [Called By]
  - >> show_task

  pstwo_task (Thumb, 24 bytes, Stack size 8 bytes, pstwo.o(i.pstwo_task))
  [Stack]

  - Max Depth = 208 + Unknown Stack Size
  - Call Chain = pstwo_task ⇒ vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vTaskDelayUntil
  - >> getSysTickCnt
  - >> PS2_Read
  [Address Reference Count : 1]
  - main.o(i.start_task)

  pvPortMalloc (Thumb, 262 bytes, Stack size 24 bytes, heap_4.o(i.pvPortMalloc))
  [Stack]

  - Max Depth = 192 + Unknown Stack Size
  - Call Chain = pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvInsertBlockIntoFreeList
  - >> prvHeapInit
  - >> __2printf
  [Called By]
  - >> xTaskCreate
  - >> xQueueGenericCreate

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

  - >> xQueueGenericReceive

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

  - >> prvInitialiseNewTask

  show_task (Thumb, 360 bytes, Stack size 8 bytes, show.o(i.show_task))
  [Stack]

  - Max Depth = 248 + Unknown Stack Size
  - Call Chain = show_task ⇒ oled_show ⇒ Get_adc_Average ⇒ delay_ms ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> Get_battery_volt
  - >> vTaskDelayUntil
  - >> getSysTickCnt
  - >> oled_show
  - >> APP_Show
  [Address Reference Count : 1]
  - main.o(i.start_task)

  sqrt (Thumb, 110 bytes, Stack size 32 bytes, sqrt.o(i.sqrt))
  [Stack]

  - Max Depth = 72
  - Call Chain = sqrt ⇒ _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> _dsqrt
  - >> __set_errno
  [Called By]
  - >> __hardfp_pow

  start_task (Thumb, 146 bytes, Stack size 16 bytes, main.o(i.start_task))
  [Stack]

  - Max Depth = 280 + Unknown Stack Size
  - Call Chain = start_task ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskCreate
  - >> vTaskDelete
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Address Reference Count : 1]
  - main.o(i.main)

  systemInit (Thumb, 190 bytes, Stack size 8 bytes, system.o(i.systemInit))
  [Stack]

  - Max Depth = 240 + Unknown Stack Size
  - Call Chain = systemInit ⇒ Robot_Select ⇒ Get_adc_Average ⇒ delay_ms ⇒ vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> TIM9_PWM_Init
  - >> TIM1_PWM_Init
  - >> TIM11_PWM_Init
  - >> TIM10_PWM_Init
  - >> Enable_Pin
  - >> LED_Init
  - >> Buzzer_Init
  - >> KEY_Init
  - >> Encoder_Init_TIM5
  - >> Encoder_Init_TIM4
  - >> Encoder_Init_TIM3
  - >> Encoder_Init_TIM2
  - >> CAN1_Mode_Init
  - >> Adc_POWER_Init
  - >> Adc_Init
  - >> NVIC_PriorityGroupConfig
  - >> delay_init
  - >> uart5_init
  - >> uart3_init
  - >> uart2_init
  - >> uart1_init
  - >> TIM8_Cap_Init
  - >> TIM12_SERVO_Init
  - >> PS2_SetInit
  - >> PS2_Init
  - >> OLED_Init
  - >> Robot_Select
  - >> MPU6050_initialize
  - >> I2C_GPIOInit
  [Called By]
  - >> main

  target_limit_float (Thumb, 42 bytes, Stack size 0 bytes, balance.o(i.target_limit_float))
  [Called By]

  - >> Smooth_control
  - >> Limit_Pwm
  - >> Drive_Motor

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

  - >> Remote_Control
  - >> Drive_Motor

  uart1_init (Thumb, 168 bytes, Stack size 40 bytes, usartx.o(i.uart1_init))
  [Stack]

  - Max Depth = 108
  - Call Chain = uart1_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
  [Calls]
  - >> NVIC_Init
  - >> GPIO_PinAFConfig
  - >> RCC_APB2PeriphClockCmd
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> USART_Init
  - >> USART_ITConfig
  - >> USART_Cmd
  [Called By]
  - >> systemInit

  uart2_init (Thumb, 166 bytes, Stack size 40 bytes, usartx.o(i.uart2_init))
  [Stack]

  - Max Depth = 108
  - Call Chain = uart2_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
  [Calls]
  - >> RCC_APB1PeriphClockCmd
  - >> NVIC_Init
  - >> GPIO_PinAFConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> USART_Init
  - >> USART_ITConfig
  - >> USART_Cmd
  [Called By]
  - >> systemInit

  uart3_init (Thumb, 168 bytes, Stack size 40 bytes, usartx.o(i.uart3_init))
  [Stack]

  - Max Depth = 108
  - Call Chain = uart3_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
  [Calls]
  - >> RCC_APB1PeriphClockCmd
  - >> NVIC_Init
  - >> GPIO_PinAFConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> USART_Init
  - >> USART_ITConfig
  - >> USART_Cmd
  [Called By]
  - >> systemInit

  uart5_init (Thumb, 212 bytes, Stack size 40 bytes, usartx.o(i.uart5_init))
  [Stack]

  - Max Depth = 108
  - Call Chain = uart5_init ⇒ USART_Init ⇒ RCC_GetClocksFreq
  [Calls]
  - >> RCC_APB1PeriphClockCmd
  - >> NVIC_Init
  - >> GPIO_PinAFConfig
  - >> RCC_AHB1PeriphClockCmd
  - >> GPIO_Init
  - >> USART_Init
  - >> USART_ITConfig
  - >> USART_Cmd
  [Called By]
  - >> systemInit

  usart1_send (Thumb, 20 bytes, Stack size 0 bytes, usartx.o(i.usart1_send))
  [Called By]

  - >> USART1_SEND

  usart3_send (Thumb, 22 bytes, Stack size 0 bytes, usartx.o(i.usart3_send))
  [Called By]

  - >> USART3_SEND

  usart5_send (Thumb, 20 bytes, Stack size 0 bytes, usartx.o(i.usart5_send))
  [Called By]

  - >> USART5_SEND

  uxListRemove (Thumb, 40 bytes, Stack size 0 bytes, list.o(i.uxListRemove))
  [Called By]

  - >> vTaskDelete
  - >> prvCheckTasksWaitingTermination
  - >> prvAddCurrentTaskToDelayedList
  - >> xTaskRemoveFromEventList
  - >> xTaskPriorityDisinherit
  - >> vTaskPriorityInherit
  - >> xTaskResumeAll
  - >> prvSwitchTimerLists
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer
  - >> xTaskIncrementTick

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

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

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

  - >> prvInitialiseNewTask

  vListInsert (Thumb, 52 bytes, Stack size 8 bytes, list.o(i.vListInsert))
  [Stack]

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

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

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

  vPortEnterCritical (Thumb, 68 bytes, Stack size 8 bytes, port.o(i.vPortEnterCritical))
  [Stack]

  - Max Depth = 136 + Unknown Stack Size
  - Call Chain = vPortEnterCritical ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> __2printf
  [Called By]
  - >> vTaskDelete
  - >> start_task
  - >> prvCheckTasksWaitingTermination
  - >> prvAddNewTaskToReadyList
  - >> xTaskCheckForTimeOut
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> xQueueGenericReceive
  - >> vQueueWaitForMessageRestricted
  - >> prvUnlockQueue
  - >> prvIsQueueFull
  - >> prvIsQueueEmpty
  - >> xTaskResumeAll
  - >> prvCheckForValidListAndQueue

  vPortExitCritical (Thumb, 48 bytes, Stack size 8 bytes, port.o(i.vPortExitCritical))
  [Stack]

  - Max Depth = 136 + Unknown Stack Size
  - Call Chain = vPortExitCritical ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> __2printf
  [Called By]
  - >> vTaskDelete
  - >> start_task
  - >> prvCheckTasksWaitingTermination
  - >> prvAddNewTaskToReadyList
  - >> xTaskCheckForTimeOut
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> xQueueGenericReceive
  - >> vQueueWaitForMessageRestricted
  - >> prvUnlockQueue
  - >> prvIsQueueFull
  - >> prvIsQueueEmpty
  - >> xTaskResumeAll
  - >> prvCheckForValidListAndQueue

  vPortFree (Thumb, 120 bytes, Stack size 16 bytes, heap_4.o(i.vPortFree))
  [Stack]

  - Max Depth = 184 + Unknown Stack Size
  - Call Chain = vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvInsertBlockIntoFreeList
  - >> __2printf
  [Called By]
  - >> xTaskCreate
  - >> prvDeleteTCB
  - >> prvProcessReceivedCommands

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

  - >> xPortStartScheduler

  vPortValidateInterruptPriority (Thumb, 86 bytes, Stack size 16 bytes, port.o(i.vPortValidateInterruptPriority))
  [Stack]

  - Max Depth = 144 + Unknown Stack Size
  - Call Chain = vPortValidateInterruptPriority ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortGetIPSR
  - >> __2printf
  [Called By]
  - >> xQueueGenericSendFromISR

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

  - >> prvCheckForValidListAndQueue

  vQueueWaitForMessageRestricted (Thumb, 74 bytes, Stack size 24 bytes, queue.o(i.vQueueWaitForMessageRestricted))
  [Stack]

  - Max Depth = 240 + Unknown Stack Size
  - Call Chain = vQueueWaitForMessageRestricted ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vTaskPlaceOnEventListRestricted
  - >> prvUnlockQueue
  [Called By]
  - >> prvProcessTimerOrBlockTask

  vTaskDelay (Thumb, 72 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelay))
  [Stack]

  - Max Depth = 184 + Unknown Stack Size
  - Call Chain = vTaskDelay ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> __2printf
  [Called By]
  - >> delay_ms
  - >> led_task

  vTaskDelayUntil (Thumb, 170 bytes, Stack size 32 bytes, tasks.o(i.vTaskDelayUntil))
  [Stack]

  - Max Depth = 200 + Unknown Stack Size
  - Call Chain = vTaskDelayUntil ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> __2printf
  [Called By]
  - >> show_task
  - >> pstwo_task
  - >> data_task
  - >> MPU6050_task
  - >> Balance_task

  vTaskDelete (Thumb, 192 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelete))
  [Stack]

  - Max Depth = 208 + Unknown Stack Size
  - Call Chain = vTaskDelete ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvResetNextTaskUnblockTime
  - >> prvDeleteTCB
  - >> vListInsertEnd
  - >> uxListRemove
  - >> __2printf
  [Called By]
  - >> start_task

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

  - >> prvUnlockQueue

  vTaskPlaceOnEventList (Thumb, 42 bytes, Stack size 16 bytes, tasks.o(i.vTaskPlaceOnEventList))
  [Stack]

  - Max Depth = 144 + Unknown Stack Size
  - Call Chain = vTaskPlaceOnEventList ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> vListInsert
  - >> __2printf
  [Called By]
  - >> xQueueGenericSend
  - >> xQueueGenericReceive

  vTaskPlaceOnEventListRestricted (Thumb, 50 bytes, Stack size 16 bytes, tasks.o(i.vTaskPlaceOnEventListRestricted))
  [Stack]

  - Max Depth = 144 + Unknown Stack Size
  - Call Chain = vTaskPlaceOnEventListRestricted ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvAddCurrentTaskToDelayedList
  - >> vListInsertEnd
  - >> __2printf
  [Called By]
  - >> vQueueWaitForMessageRestricted

  vTaskPriorityInherit (Thumb, 164 bytes, Stack size 16 bytes, tasks.o(i.vTaskPriorityInherit))
  [Stack]

  - Max Depth = 16
  - Call Chain = vTaskPriorityInherit
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  [Called By]
  - >> xQueueGenericReceive

  vTaskSetTimeOutState (Thumb, 32 bytes, Stack size 8 bytes, tasks.o(i.vTaskSetTimeOutState))
  [Stack]

  - Max Depth = 136 + Unknown Stack Size
  - Call Chain = vTaskSetTimeOutState ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> __2printf
  [Called By]
  - >> xTaskCheckForTimeOut
  - >> xQueueGenericSend
  - >> xQueueGenericReceive

  vTaskStartScheduler (Thumb, 108 bytes, Stack size 16 bytes, tasks.o(i.vTaskStartScheduler))
  [Stack]

  - Max Depth = 296 + Unknown Stack Size
  - Call Chain = vTaskStartScheduler ⇒ xTimerCreateTimerTask ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskCreate
  - >> xTimerCreateTimerTask
  - >> xPortStartScheduler
  - >> __2printf
  [Called By]
  - >> main

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

  - >> vTaskDelay
  - >> vTaskDelayUntil
  - >> prvCheckTasksWaitingTermination
  - >> xQueueGenericSend
  - >> xQueueGenericReceive
  - >> vPortFree
  - >> pvPortMalloc
  - >> prvProcessTimerOrBlockTask

  vTaskSwitchContext (Thumb, 110 bytes, Stack size 8 bytes, tasks.o(i.vTaskSwitchContext))
  [Stack]

  - Max Depth = 136 + Unknown Stack Size
  - Call Chain = vTaskSwitchContext ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> __2printf
  [Called By]
  - >> PendSV_Handler

  xPortStartScheduler (Thumb, 258 bytes, Stack size 16 bytes, port.o(i.xPortStartScheduler))
  [Stack]

  - Max Depth = 144 + Unknown Stack Size
  - Call Chain = xPortStartScheduler ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortSetupTimerInterrupt
  - >> __asm___6_port_c_39a90d8d__prvEnableVFP
  - >> __asm___6_port_c_39a90d8d__prvStartFirstTask
  - >> __2printf
  [Called By]
  - >> vTaskStartScheduler

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

  - Max Depth = 160 + Unknown Stack Size
  - Call Chain = xPortSysTickHandler ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskIncrementTick
  [Called By]
  - >> SysTick_Handler

  xQueueGenericCreate (Thumb, 78 bytes, Stack size 32 bytes, queue.o(i.xQueueGenericCreate))
  [Stack]

  - Max Depth = 224 + Unknown Stack Size
  - Call Chain = xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvInitialiseNewQueue
  - >> pvPortMalloc
  - >> __2printf
  [Called By]
  - >> prvCheckForValidListAndQueue

  xQueueGenericReceive (Thumb, 416 bytes, Stack size 56 bytes, queue.o(i.xQueueGenericReceive))
  [Stack]

  - Max Depth = 272 + Unknown Stack Size
  - Call Chain = xQueueGenericReceive ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskSetTimeOutState
  - >> vTaskPriorityInherit
  - >> vTaskPlaceOnEventList
  - >> pvTaskIncrementMutexHeldCount
  - >> prvUnlockQueue
  - >> prvIsQueueEmpty
  - >> prvCopyDataFromQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> __2printf
  [Called By]
  - >> prvProcessReceivedCommands

  xQueueGenericReset (Thumb, 136 bytes, Stack size 16 bytes, queue.o(i.xQueueGenericReset))
  [Stack]

  - Max Depth = 160 + Unknown Stack Size
  - Call Chain = xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskRemoveFromEventList
  - >> vListInitialise
  - >> __2printf
  [Called By]
  - >> prvInitialiseNewQueue

  xQueueGenericSend (Thumb, 412 bytes, Stack size 56 bytes, queue.o(i.xQueueGenericSend))
  [Stack]

  - Max Depth = 272 + Unknown Stack Size
  - Call Chain = xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskGetSchedulerState
  - >> xTaskRemoveFromEventList
  - >> xTaskCheckForTimeOut
  - >> vTaskSetTimeOutState
  - >> vTaskPlaceOnEventList
  - >> prvUnlockQueue
  - >> prvNotifyQueueSetContainer
  - >> prvIsQueueFull
  - >> prvCopyDataToQueue
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> __2printf
  [Called By]
  - >> xTimerGenericCommand

  xQueueGenericSendFromISR (Thumb, 234 bytes, Stack size 40 bytes, queue.o(i.xQueueGenericSendFromISR))
  [Stack]

  - Max Depth = 240 + Unknown Stack Size
  - Call Chain = xQueueGenericSendFromISR ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> vPortValidateInterruptPriority
  - >> prvNotifyQueueSetContainer
  - >> prvCopyDataToQueue
  - >> __2printf
  [Called By]
  - >> xTimerGenericCommand

  xTaskCheckForTimeOut (Thumb, 116 bytes, Stack size 24 bytes, tasks.o(i.xTaskCheckForTimeOut))
  [Stack]

  - Max Depth = 160 + Unknown Stack Size
  - Call Chain = xTaskCheckForTimeOut ⇒ vPortExitCritical ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> vTaskSetTimeOutState
  - >> __2printf
  [Called By]
  - >> xQueueGenericSend
  - >> xQueueGenericReceive

  xTaskCreate (Thumb, 96 bytes, Stack size 72 bytes, tasks.o(i.xTaskCreate))
  [Stack]

  - Max Depth = 264 + Unknown Stack Size
  - Call Chain = xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvInitialiseNewTask
  - >> prvAddNewTaskToReadyList
  - >> vPortFree
  - >> pvPortMalloc
  [Called By]
  - >> vTaskStartScheduler
  - >> start_task
  - >> main
  - >> xTimerCreateTimerTask

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

  - >> delay_ms
  - >> SysTick_Handler
  - >> getSysTickCnt
  - >> xQueueGenericSend
  - >> xQueueGenericReceive
  - >> xTimerGenericCommand

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

  - >> getSysTickCnt
  - >> prvSampleTimeNow

  xTaskIncrementTick (Thumb, 272 bytes, Stack size 24 bytes, tasks.o(i.xTaskIncrementTick))
  [Stack]

  - Max Depth = 152 + Unknown Stack Size
  - Call Chain = xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvResetNextTaskUnblockTime
  - >> vListInsertEnd
  - >> uxListRemove
  - >> __2printf
  [Called By]
  - >> xPortSysTickHandler
  - >> xTaskResumeAll

  xTaskPriorityDisinherit (Thumb, 168 bytes, Stack size 16 bytes, tasks.o(i.xTaskPriorityDisinherit))
  [Stack]

  - Max Depth = 144 + Unknown Stack Size
  - Call Chain = xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> __2printf
  [Called By]
  - >> prvCopyDataToQueue

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

  - Max Depth = 144 + Unknown Stack Size
  - Call Chain = xTaskRemoveFromEventList ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vListInsertEnd
  - >> uxListRemove
  - >> __2printf
  [Called By]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  - >> xQueueGenericReset
  - >> xQueueGenericReceive
  - >> prvUnlockQueue
  - >> prvNotifyQueueSetContainer

  xTaskResumeAll (Thumb, 214 bytes, Stack size 16 bytes, tasks.o(i.xTaskResumeAll))
  [Stack]

  - Max Depth = 168 + Unknown Stack Size
  - Call Chain = xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvResetNextTaskUnblockTime
  - >> vListInsertEnd
  - >> uxListRemove
  - >> xTaskIncrementTick
  - >> __2printf
  [Called By]
  - >> vTaskDelay
  - >> vTaskDelayUntil
  - >> prvCheckTasksWaitingTermination
  - >> xQueueGenericSend
  - >> xQueueGenericReceive
  - >> vPortFree
  - >> pvPortMalloc
  - >> prvProcessTimerOrBlockTask

  xTimerCreateTimerTask (Thumb, 56 bytes, Stack size 16 bytes, timers.o(i.xTimerCreateTimerTask))
  [Stack]

  - Max Depth = 280 + Unknown Stack Size
  - Call Chain = xTimerCreateTimerTask ⇒ xTaskCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskCreate
  - >> prvCheckForValidListAndQueue
  - >> __2printf
  [Called By]
  - >> vTaskStartScheduler

  xTimerGenericCommand (Thumb, 118 bytes, Stack size 48 bytes, timers.o(i.xTimerGenericCommand))
  [Stack]

  - Max Depth = 320 + Unknown Stack Size
  - Call Chain = xTimerGenericCommand ⇒ xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskGetSchedulerState
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  - >> __2printf
  [Called By]
  - >> prvSwitchTimerLists
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer

  __aeabi_dneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic))
  [Called By]

  - >> Drive_Motor
  - >> __kernel_tan
  - >> __ieee754_rem_pio2
  - >> __hardfp_pow
  - >> __hardfp_atan

  _dneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  __aeabi_fneg (Thumb, 0 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  _fneg (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  _dabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  _fabs (Thumb, 6 bytes, Stack size 0 bytes, basic.o(x$fpl$basic), UNUSED)

  __aeabi_d2f (Thumb, 0 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_d2f
  [Called By]
  - >> Vz_to_Akm_Angle
  - >> Get_battery_volt
  - >> XYZ_Target_Speed_transition
  - >> USART2_IRQHandler
  - >> Robot_Init
  - >> Drive_Motor

  _d2f (Thumb, 98 bytes, Stack size 32 bytes, d2f.o(x$fpl$d2f), UNUSED)
  [Calls]

  - >> __fpl_fretinf
  - >> __fpl_dnaninf

  __aeabi_dadd (Thumb, 0 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd))
  [Stack]

  - Max Depth = 16
  - Call Chain = __aeabi_dadd
  [Called By]
  - >> Vz_to_Akm_Angle
  - >> XYZ_Target_Speed_transition
  - >> USART2_IRQHandler
  - >> Drive_Motor
  - >> __kernel_tan
  - >> __ieee754_rem_pio2
  - >> __kernel_poly
  - >> __mathlib_dbl_infnan2
  - >> __mathlib_dbl_infnan
  - >> __hardfp_pow
  - >> __hardfp_atan

  _dadd (Thumb, 332 bytes, Stack size 16 bytes, daddsub_clz.o(x$fpl$dadd), UNUSED)
  [Calls]

  - >> __fpl_dretinf
  - >> __fpl_dnaninf
  - >> _dsub1

  __fpl_dcheck_NaN1 (Thumb, 10 bytes, Stack size 0 bytes, dcheck1.o(x$fpl$dcheck1))
  [Calls]

  - >> __fpl_return_NaN
  [Called By]
  - >> __ARM_scalbn

  __fpl_dcmp_Inf (Thumb, 24 bytes, Stack size 0 bytes, dcmpi.o(x$fpl$dcmpinf), UNUSED)
  [Called By]

  - >> _dcmple

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

  - Max Depth = 32
  - Call Chain = __aeabi_ddiv
  [Called By]
  - >> Vz_to_Akm_Angle
  - >> Get_battery_volt
  - >> data_transition
  - >> Drive_Motor
  - >> __kernel_tan
  - >> __mathlib_dbl_invalid
  - >> __mathlib_dbl_divzero
  - >> __hardfp_pow
  - >> __hardfp_atan

  _ddiv (Thumb, 552 bytes, Stack size 32 bytes, ddiv.o(x$fpl$ddiv), UNUSED)
  [Calls]

  - >> __fpl_dretinf
  - >> __fpl_dnaninf

  __aeabi_d2iz (Thumb, 0 bytes, Stack size 32 bytes, dfix.o(x$fpl$dfix))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_d2iz
  [Called By]
  - >> data_transition
  - >> __kernel_tan
  - >> __ieee754_rem_pio2

  _dfix (Thumb, 94 bytes, Stack size 32 bytes, dfix.o(x$fpl$dfix), UNUSED)
  [Calls]

  - >> __fpl_dnaninf

  __aeabi_i2d (Thumb, 0 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dflt))
  [Called By]

  - >> XYZ_Target_Speed_transition
  - >> USART2_IRQHandler
  - >> __kernel_tan
  - >> __ieee754_rem_pio2
  - >> __hardfp_pow

  _dflt (Thumb, 46 bytes, Stack size 0 bytes, dflt_clz.o(x$fpl$dflt), UNUSED)

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

  - >> Get_battery_volt
  - >> __ieee754_rem_pio2

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

  __aeabi_cdcmple (Thumb, 0 bytes, Stack size 32 bytes, dleqf.o(x$fpl$dleqf), UNUSED)

  _dcmple (Thumb, 120 bytes, Stack size 32 bytes, dleqf.o(x$fpl$dleqf), UNUSED)
  [Calls]

  - >> __fpl_dcmp_Inf
  - >> __fpl_dnaninf

  __fpl_dcmple_InfNaN (Thumb, 0 bytes, Stack size unknown bytes, dleqf.o(x$fpl$dleqf), UNUSED)
  [Called By]

  - >> _drcmple

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

  - Max Depth = 32
  - Call Chain = __aeabi_dmul
  [Called By]
  - >> Vz_to_Akm_Angle
  - >> Get_battery_volt
  - >> data_transition
  - >> XYZ_Target_Speed_transition
  - >> USART2_IRQHandler
  - >> Drive_Motor
  - >> __kernel_tan
  - >> __ieee754_rem_pio2
  - >> __kernel_poly
  - >> __mathlib_dbl_underflow
  - >> __mathlib_dbl_overflow
  - >> __hardfp_pow
  - >> __hardfp_atan

  _dmul (Thumb, 332 bytes, Stack size 32 bytes, dmul.o(x$fpl$dmul), UNUSED)
  [Calls]

  - >> __fpl_dretinf
  - >> __fpl_dnaninf

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

  - Max Depth = 16
  - Call Chain = __fpl_dnaninf
  [Called By]
  - >> _dsqrt
  - >> _dcmple
  - >> _dmul
  - >> _dfix
  - >> _ddiv
  - >> _dsub
  - >> _dadd
  - >> _d2f

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

  - >> _f2d
  - >> _dmul
  - >> _ddiv
  - >> _dadd

  __aeabi_cdrcmple (Thumb, 0 bytes, Stack size 16 bytes, drleqf.o(x$fpl$drleqf))
  [Stack]

  - Max Depth = 16
  - Call Chain = __aeabi_cdrcmple
  [Called By]
  - >> __hardfp_pow

  _drcmple (Thumb, 108 bytes, Stack size 16 bytes, drleqf.o(x$fpl$drleqf), UNUSED)
  [Calls]

  - >> __fpl_dcmple_InfNaN

  __aeabi_drsub (Thumb, 0 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb))
  [Stack]

  - Max Depth = 8
  - Call Chain = __aeabi_drsub
  [Called By]
  - >> __kernel_tan
  - >> __ieee754_rem_pio2
  - >> __hardfp_pow
  - >> __hardfp_atan

  _drsb (Thumb, 22 bytes, Stack size 8 bytes, daddsub_clz.o(x$fpl$drsb), UNUSED)
  [Calls]

  - >> _dsub1
  - >> _dadd1

  _dsqrt (Thumb, 404 bytes, Stack size 24 bytes, dsqrt_umaal.o(x$fpl$dsqrt))
  [Stack]

  - Max Depth = 40
  - Call Chain = _dsqrt ⇒ __fpl_dnaninf
  [Calls]
  - >> __fpl_dnaninf
  [Called By]
  - >> sqrt
  - >> __hardfp_sqrt

  __aeabi_dsub (Thumb, 0 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub))
  [Stack]

  - Max Depth = 32
  - Call Chain = __aeabi_dsub
  [Called By]
  - >> Drive_Motor
  - >> __kernel_tan
  - >> __ieee754_rem_pio2
  - >> __hardfp_pow
  - >> __hardfp_atan

  _dsub (Thumb, 464 bytes, Stack size 32 bytes, daddsub_clz.o(x$fpl$dsub), UNUSED)
  [Calls]

  - >> __fpl_dnaninf
  - >> _dadd1

  __aeabi_f2d (Thumb, 0 bytes, Stack size 16 bytes, f2d.o(x$fpl$f2d))
  [Stack]

  - Max Depth = 16
  - Call Chain = __aeabi_f2d
  [Called By]
  - >> Vz_to_Akm_Angle
  - >> data_transition
  - >> USART2_IRQHandler
  - >> Drive_Motor

  _f2d (Thumb, 86 bytes, Stack size 16 bytes, f2d.o(x$fpl$f2d), UNUSED)
  [Calls]

  - >> __fpl_fnaninf
  - >> __fpl_dretinf

  __fpl_fnaninf (Thumb, 140 bytes, Stack size 8 bytes, fnaninf.o(x$fpl$fnaninf), UNUSED)
  [Called By]

  - >> _f2d

  _fp_init (Thumb, 10 bytes, Stack size 0 bytes, fpinit.o(x$fpl$fpinit))
  [Called By]

  - >> __rt_lib_init_fp_1

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

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

  __fpl_fretinf (Thumb, 10 bytes, Stack size 0 bytes, fretinf.o(x$fpl$fretinf), UNUSED)
  [Called By]

  - >> _d2f

  __fpl_return_NaN (Thumb, 100 bytes, Stack size 0 bytes, retnan.o(x$fpl$retnan))
  [Calls]

  - >> __fpl_cmpreturn
  [Called By]
  - >> __fpl_dcheck_NaN1

  __ARM_scalbn (Thumb, 92 bytes, Stack size 0 bytes, scalbn.o(x$fpl$scalbn))
  [Calls]

  - >> __fpl_dcheck_NaN1
  [Called By]
  - >> __hardfp_pow

  __fpl_cmpreturn (Thumb, 48 bytes, Stack size 0 bytes, trapv.o(x$fpl$trapveneer))
  [Called By]

  - >> __fpl_return_NaN

  ### Local Symbols

  SetSysClock (Thumb, 220 bytes, Stack size 12 bytes, system_stm32f4xx.o(i.SetSysClock))
  [Stack]

  - Max Depth = 12
  - Call Chain = SetSysClock
  [Called By]
  - >> SystemInit

  TI1_Config (Thumb, 58 bytes, Stack size 20 bytes, stm32f4xx_tim.o(i.TI1_Config))
  [Stack]

  - Max Depth = 20
  - Call Chain = TI1_Config
  [Called By]
  - >> TIM_ICInit

  TI2_Config (Thumb, 80 bytes, Stack size 20 bytes, stm32f4xx_tim.o(i.TI2_Config))
  [Stack]

  - Max Depth = 20
  - Call Chain = TI2_Config
  [Called By]
  - >> TIM_ICInit

  TI3_Config (Thumb, 72 bytes, Stack size 20 bytes, stm32f4xx_tim.o(i.TI3_Config))
  [Stack]

  - Max Depth = 20
  - Call Chain = TI3_Config
  [Called By]
  - >> TIM_ICInit

  TI4_Config (Thumb, 80 bytes, Stack size 20 bytes, stm32f4xx_tim.o(i.TI4_Config))
  [Stack]

  - Max Depth = 20
  - Call Chain = TI4_Config
  [Called By]
  - >> TIM_ICInit

  prvCopyDataFromQueue (Thumb, 42 bytes, Stack size 16 bytes, queue.o(i.prvCopyDataFromQueue))
  [Stack]

  - Max Depth = 16
  - Call Chain = prvCopyDataFromQueue
  [Calls]
  - >> __aeabi_memcpy
  [Called By]
  - >> xQueueGenericReceive

  prvCopyDataToQueue (Thumb, 124 bytes, Stack size 24 bytes, queue.o(i.prvCopyDataToQueue))
  [Stack]

  - Max Depth = 168 + Unknown Stack Size
  - Call Chain = prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskPriorityDisinherit
  - >> __aeabi_memcpy
  [Called By]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  - >> prvNotifyQueueSetContainer

  prvInitialiseNewQueue (Thumb, 46 bytes, Stack size 24 bytes, queue.o(i.prvInitialiseNewQueue))
  [Stack]

  - Max Depth = 184 + Unknown Stack Size
  - Call Chain = prvInitialiseNewQueue ⇒ xQueueGenericReset ⇒ xTaskRemoveFromEventList ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xQueueGenericReset
  [Called By]
  - >> xQueueGenericCreate

  prvIsQueueEmpty (Thumb, 26 bytes, Stack size 16 bytes, queue.o(i.prvIsQueueEmpty))
  [Stack]

  - Max Depth = 152 + Unknown Stack Size
  - Call Chain = prvIsQueueEmpty ⇒ vPortExitCritical ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueGenericReceive

  prvIsQueueFull (Thumb, 30 bytes, Stack size 16 bytes, queue.o(i.prvIsQueueFull))
  [Stack]

  - Max Depth = 152 + Unknown Stack Size
  - Call Chain = prvIsQueueFull ⇒ vPortExitCritical ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  [Called By]
  - >> xQueueGenericSend

  prvNotifyQueueSetContainer (Thumb, 124 bytes, Stack size 32 bytes, queue.o(i.prvNotifyQueueSetContainer))
  [Stack]

  - Max Depth = 200 + Unknown Stack Size
  - Call Chain = prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskRemoveFromEventList
  - >> prvCopyDataToQueue
  - >> __2printf
  [Called By]
  - >> xQueueGenericSendFromISR
  - >> xQueueGenericSend
  - >> prvUnlockQueue

  prvUnlockQueue (Thumb, 146 bytes, Stack size 16 bytes, queue.o(i.prvUnlockQueue))
  [Stack]

  - Max Depth = 216 + Unknown Stack Size
  - Call Chain = prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xTaskRemoveFromEventList
  - >> vTaskMissedYield
  - >> prvNotifyQueueSetContainer
  [Called By]
  - >> xQueueGenericSend
  - >> xQueueGenericReceive
  - >> vQueueWaitForMessageRestricted

  prvAddCurrentTaskToDelayedList (Thumb, 124 bytes, Stack size 24 bytes, tasks.o(i.prvAddCurrentTaskToDelayedList))
  [Stack]

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

  prvAddNewTaskToReadyList (Thumb, 156 bytes, Stack size 8 bytes, tasks.o(i.prvAddNewTaskToReadyList))
  [Stack]

  - Max Depth = 144 + Unknown Stack Size
  - Call Chain = prvAddNewTaskToReadyList ⇒ vPortExitCritical ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvInitialiseTaskLists
  - >> vListInsertEnd
  [Called By]
  - >> xTaskCreate

  prvCheckTasksWaitingTermination (Thumb, 86 bytes, Stack size 16 bytes, tasks.o(i.prvCheckTasksWaitingTermination))
  [Stack]

  - Max Depth = 208 + Unknown Stack Size
  - Call Chain = prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> prvDeleteTCB
  - >> uxListRemove
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  [Called By]
  - >> prvIdleTask

  prvDeleteTCB (Thumb, 18 bytes, Stack size 8 bytes, tasks.o(i.prvDeleteTCB))
  [Stack]

  - Max Depth = 192 + Unknown Stack Size
  - Call Chain = prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortFree
  [Called By]
  - >> vTaskDelete
  - >> prvCheckTasksWaitingTermination

  prvIdleTask (Thumb, 32 bytes, Stack size 0 bytes, tasks.o(i.prvIdleTask))
  [Stack]

  - Max Depth = 208 + Unknown Stack Size
  - Call Chain = prvIdleTask ⇒ prvCheckTasksWaitingTermination ⇒ prvDeleteTCB ⇒ vPortFree ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvCheckTasksWaitingTermination
  [Address Reference Count : 1]
  - tasks.o(i.vTaskStartScheduler)

  prvInitialiseNewTask (Thumb, 170 bytes, Stack size 40 bytes, tasks.o(i.prvInitialiseNewTask))
  [Stack]

  - Max Depth = 168 + Unknown Stack Size
  - Call Chain = prvInitialiseNewTask ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vListInitialiseItem
  - >> pxPortInitialiseStack
  - >> __aeabi_memset
  - >> __2printf
  [Called By]
  - >> xTaskCreate

  prvInitialiseTaskLists (Thumb, 70 bytes, Stack size 8 bytes, tasks.o(i.prvInitialiseTaskLists))
  [Stack]

  - Max Depth = 8
  - Call Chain = prvInitialiseTaskLists
  [Calls]
  - >> vListInitialise
  [Called By]
  - >> prvAddNewTaskToReadyList

  prvResetNextTaskUnblockTime (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(i.prvResetNextTaskUnblockTime))
  [Called By]

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

  prvCheckForValidListAndQueue (Thumb, 72 bytes, Stack size 8 bytes, timers.o(i.prvCheckForValidListAndQueue))
  [Stack]

  - Max Depth = 232 + Unknown Stack Size
  - Call Chain = prvCheckForValidListAndQueue ⇒ xQueueGenericCreate ⇒ pvPortMalloc ⇒ xTaskResumeAll ⇒ xTaskIncrementTick ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vPortExitCritical
  - >> vPortEnterCritical
  - >> xQueueGenericCreate
  - >> vQueueAddToRegistry
  - >> vListInitialise
  [Called By]
  - >> xTimerCreateTimerTask

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

  - >> prvTimerTask

  prvInsertTimerInActiveList (Thumb, 80 bytes, Stack size 24 bytes, timers.o(i.prvInsertTimerInActiveList))
  [Stack]

  - Max Depth = 32
  - Call Chain = prvInsertTimerInActiveList ⇒ vListInsert
  [Calls]
  - >> vListInsert
  [Called By]
  - >> prvProcessReceivedCommands
  - >> prvProcessExpiredTimer

  prvProcessExpiredTimer (Thumb, 84 bytes, Stack size 24 bytes, timers.o(i.prvProcessExpiredTimer))
  [Stack]

  - Max Depth = 344 + Unknown Stack Size
  - Call Chain = prvProcessExpiredTimer ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> uxListRemove
  - >> xTimerGenericCommand
  - >> prvInsertTimerInActiveList
  - >> __2printf
  [Called By]
  - >> prvProcessTimerOrBlockTask

  prvProcessReceivedCommands (Thumb, 254 bytes, Stack size 48 bytes, timers.o(i.prvProcessReceivedCommands))
  [Stack]

  - Max Depth = 416 + Unknown Stack Size
  - Call Chain = prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xQueueGenericReceive
  - >> uxListRemove
  - >> vPortFree
  - >> xTimerGenericCommand
  - >> prvSampleTimeNow
  - >> prvInsertTimerInActiveList
  - >> __2printf
  [Called By]
  - >> prvTimerTask

  prvProcessTimerOrBlockTask (Thumb, 102 bytes, Stack size 24 bytes, timers.o(i.prvProcessTimerOrBlockTask))
  [Stack]

  - Max Depth = 392 + Unknown Stack Size
  - Call Chain = prvProcessTimerOrBlockTask ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vQueueWaitForMessageRestricted
  - >> xTaskResumeAll
  - >> vTaskSuspendAll
  - >> prvSampleTimeNow
  - >> prvProcessExpiredTimer
  [Called By]
  - >> prvTimerTask

  prvSampleTimeNow (Thumb, 40 bytes, Stack size 16 bytes, timers.o(i.prvSampleTimeNow))
  [Stack]

  - Max Depth = 368 + Unknown Stack Size
  - Call Chain = prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> xTaskGetTickCount
  - >> prvSwitchTimerLists
  [Called By]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands

  prvSwitchTimerLists (Thumb, 140 bytes, Stack size 32 bytes, timers.o(i.prvSwitchTimerLists))
  [Stack]

  - Max Depth = 352 + Unknown Stack Size
  - Call Chain = prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> vListInsert
  - >> uxListRemove
  - >> xTimerGenericCommand
  - >> __2printf
  [Called By]
  - >> prvSampleTimeNow

  prvTimerTask (Thumb, 26 bytes, Stack size 8 bytes, timers.o(i.prvTimerTask))
  [Stack]

  - Max Depth = 424 + Unknown Stack Size
  - Call Chain = prvTimerTask ⇒ prvProcessReceivedCommands ⇒ prvSampleTimeNow ⇒ prvSwitchTimerLists ⇒ xTimerGenericCommand ⇒ xQueueGenericSend ⇒ prvUnlockQueue ⇒ prvNotifyQueueSetContainer ⇒ prvCopyDataToQueue ⇒ xTaskPriorityDisinherit ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> prvProcessTimerOrBlockTask
  - >> prvProcessReceivedCommands
  - >> prvGetNextExpireTime
  [Address Reference Count : 1]
  - timers.o(i.xTimerCreateTimerTask)

  prvTaskExitError (Thumb, 50 bytes, Stack size 0 bytes, port.o(i.prvTaskExitError))
  [Stack]

  - Max Depth = 128 + Unknown Stack Size
  - Call Chain = prvTaskExitError ⇒ __2printf ⇒ _printf_char_file ⇒ _printf_char_common ⇒ __printf
  [Calls]
  - >> __2printf
  [Address Reference Count : 1]
  - port.o(i.pxPortInitialiseStack)

  prvHeapInit (Thumb, 98 bytes, Stack size 12 bytes, heap_4.o(i.prvHeapInit))
  [Stack]

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

  prvInsertBlockIntoFreeList (Thumb, 96 bytes, Stack size 8 bytes, heap_4.o(i.prvInsertBlockIntoFreeList))
  [Stack]

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

  _dadd1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dadd), UNUSED)
  [Called By]

  - >> _dsub
  - >> _drsb

  _dsub1 (Thumb, 0 bytes, Stack size unknown bytes, daddsub_clz.o(x$fpl$dsub), UNUSED)
  [Called By]

  - >> _drsb
  - >> _dadd

  _printf_input_char (Thumb, 10 bytes, Stack size 0 bytes, _printf_char_common.o(.text))
  [Address Reference Count : 1]

  - _printf_char_common.o(.text)

  ### Undefined Global Symbols