将默认视觉通信换为usb虚拟串口，修复视觉发送roll错误；增加了attach调试支持

basic_framework.ioc

@@ -227,58 +227,59 @@ Mcu.Pin13=PI6
 Mcu.Pin14=PG9
 Mcu.Pin15=PD1
 Mcu.Pin16=PA11
-Mcu.Pin17=PF0
-Mcu.Pin18=PA9
-Mcu.Pin19=PC9
+Mcu.Pin17=PA10
+Mcu.Pin18=PF0
+Mcu.Pin19=PA9
 Mcu.Pin2=PB4
-Mcu.Pin20=PA8
-Mcu.Pin21=PH0-OSC_IN
-Mcu.Pin22=PH1-OSC_OUT
-Mcu.Pin23=PF1
-Mcu.Pin24=PC6
-Mcu.Pin25=PG6
-Mcu.Pin26=PF6
-Mcu.Pin27=PH12
-Mcu.Pin28=PG3
-Mcu.Pin29=PH11
+Mcu.Pin20=PC9
+Mcu.Pin21=PA8
+Mcu.Pin22=PH0-OSC_IN
+Mcu.Pin23=PH1-OSC_OUT
+Mcu.Pin24=PF1
+Mcu.Pin25=PC6
+Mcu.Pin26=PG6
+Mcu.Pin27=PF6
+Mcu.Pin28=PH12
+Mcu.Pin29=PG3
 Mcu.Pin3=PB3
-Mcu.Pin30=PH10
-Mcu.Pin31=PD14
-Mcu.Pin32=PA0-WKUP
-Mcu.Pin33=PA4
-Mcu.Pin34=PC4
-Mcu.Pin35=PE13
-Mcu.Pin36=PA5
-Mcu.Pin37=PC5
-Mcu.Pin38=PE9
-Mcu.Pin39=PE11
+Mcu.Pin30=PH11
+Mcu.Pin31=PH10
+Mcu.Pin32=PD14
+Mcu.Pin33=PA0-WKUP
+Mcu.Pin34=PA4
+Mcu.Pin35=PC4
+Mcu.Pin36=PE13
+Mcu.Pin37=PA5
+Mcu.Pin38=PC5
+Mcu.Pin39=PE9
 Mcu.Pin4=PA14
-Mcu.Pin40=PE14
-Mcu.Pin41=PB13
-Mcu.Pin42=PA7
-Mcu.Pin43=PB0
-Mcu.Pin44=PB14
-Mcu.Pin45=PB15
-Mcu.Pin46=VP_ADC1_TempSens_Input
-Mcu.Pin47=VP_ADC1_Vref_Input
-Mcu.Pin48=VP_CRC_VS_CRC
-Mcu.Pin49=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin40=PE11
+Mcu.Pin41=PE14
+Mcu.Pin42=PB13
+Mcu.Pin43=PA7
+Mcu.Pin44=PB0
+Mcu.Pin45=PB14
+Mcu.Pin46=PB15
+Mcu.Pin47=VP_ADC1_TempSens_Input
+Mcu.Pin48=VP_ADC1_Vref_Input
+Mcu.Pin49=VP_CRC_VS_CRC
 Mcu.Pin5=PA13
-Mcu.Pin50=VP_RNG_VS_RNG
-Mcu.Pin51=VP_RTC_VS_RTC_Activate
-Mcu.Pin52=VP_SYS_VS_tim14
-Mcu.Pin53=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin54=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin55=VP_TIM5_VS_ClockSourceINT
-Mcu.Pin56=VP_TIM8_VS_ClockSourceINT
-Mcu.Pin57=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin58=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
-Mcu.Pin59=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
+Mcu.Pin50=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin51=VP_RNG_VS_RNG
+Mcu.Pin52=VP_RTC_VS_RTC_Activate
+Mcu.Pin53=VP_SYS_VS_tim14
+Mcu.Pin54=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin55=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin56=VP_TIM5_VS_ClockSourceINT
+Mcu.Pin57=VP_TIM8_VS_ClockSourceINT
+Mcu.Pin58=VP_TIM10_VS_ClockSourceINT
+Mcu.Pin59=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
 Mcu.Pin6=PB7
+Mcu.Pin60=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.3.0_1.3.0
 Mcu.Pin7=PB6
 Mcu.Pin8=PD0
 Mcu.Pin9=PC11
-Mcu.PinsNb=60
+Mcu.PinsNb=61
 Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
@@ -336,6 +337,8 @@ PA0-WKUP.GPIO_Label=KEY
 PA0-WKUP.GPIO_PuPd=GPIO_PULLUP
 PA0-WKUP.Locked=true
 PA0-WKUP.Signal=GPIO_Input
+PA10.Locked=true
+PA10.Signal=USB_OTG_FS_ID
 PA11.Mode=Device_Only
 PA11.Signal=USB_OTG_FS_DM
 PA12.Mode=Device_Only
@@ -517,7 +520,7 @@ ProjectManager.StackSize=0x4000
 ProjectManager.TargetToolchain=Makefile
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,18-MX_TIM8_Init-TIM8-false-HAL-true,19-MX_I2C2_Init-I2C2-false-HAL-true,20-MX_I2C3_Init-I2C3-false-HAL-true,21-MX_SPI2_Init-SPI2-false-HAL-true,22-MX_CRC_Init-CRC-false-HAL-true,23-MX_DAC_Init-DAC-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_SPI1_Init-SPI1-false-HAL-true,8-MX_TIM4_Init-TIM4-false-HAL-true,9-MX_TIM5_Init-TIM5-false-HAL-true,10-MX_USART3_UART_Init-USART3-false-HAL-true,11-MX_RNG_Init-RNG-false-HAL-true,12-MX_RTC_Init-RTC-false-HAL-true,13-MX_TIM1_Init-TIM1-false-HAL-true,14-MX_TIM10_Init-TIM10-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USART6_UART_Init-USART6-false-HAL-true,17-MX_TIM8_Init-TIM8-false-HAL-true,18-MX_I2C2_Init-I2C2-false-HAL-true,19-MX_I2C3_Init-I2C3-false-HAL-true,20-MX_SPI2_Init-SPI2-false-HAL-true,21-MX_CRC_Init-CRC-false-HAL-true,22-MX_DAC_Init-DAC-false-HAL-true,23-MX_USB_OTG_FS_USB_Init-USB_OTG_FS-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4
@@ -646,7 +649,10 @@ USART3.WordLength=WORDLENGTH_9B
 USART6.IPParameters=VirtualMode
 USART6.VirtualMode=VM_ASYNC
 USB_DEVICE.CLASS_NAME_FS=CDC
-USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
+USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS,MANUFACTURER_STRING-CDC_FS,PID_CDC_FS,PRODUCT_STRING_CDC_FS
+USB_DEVICE.MANUFACTURER_STRING-CDC_FS=YueLuEmbedded
+USB_DEVICE.PID_CDC_FS=202
+USB_DEVICE.PRODUCT_STRING_CDC_FS=Vision Comm port
 USB_DEVICE.VirtualMode-CDC_FS=Cdc
 USB_DEVICE.VirtualModeFS=Cdc_FS
 USB_OTG_FS.IPParameters=VirtualMode