added code handling IMU and started writing stabilization code
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../Drivers/STM32G0xx_HAL_Driver/Inc/stm32g0xx_ll_rcc.h:1793:26:LL_RCC_GetAPB1Prescaler 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:217:19:HAL_RCC_DeInit 8
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:309:19:HAL_RCC_OscConfig 70
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:805:19:HAL_RCC_ClockConfig 23
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1040:6:HAL_RCC_MCOConfig 2
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1128:10:HAL_RCC_GetSysClockFreq 7
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1196:10:HAL_RCC_GetHCLKFreq 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1207:10:HAL_RCC_GetPCLK1Freq 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1220:6:HAL_RCC_GetOscConfig 8
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1323:6:HAL_RCC_GetClockConfig 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1356:6:HAL_RCC_EnableCSS 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1372:6:HAL_RCC_EnableLSECSS 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1383:6:HAL_RCC_DisableLSECSS 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1393:6:HAL_RCC_NMI_IRQHandler 3
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1419:13:HAL_RCC_CSSCallback 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1430:13:HAL_RCC_LSECSSCallback 1
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../Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_rcc.c:1443:10:HAL_RCC_GetResetSource 1
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