添加了大量调试log，新增了dwt计时宏，增加了USB软件复位防止主控复位后上位机无法连接usb

modules/imu/BMI088driver.c

@@ -2,6 +2,7 @@
 #include "BMI088reg.h"
 #include "BMI088Middleware.h"
 #include "bsp_dwt.h"
+#include "bsp_log.h"
 #include <math.h>
 
 #warning this is a legacy support. test the new BMI088 module as soon as possible.
@@ -129,7 +130,7 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
     startTime = DWT_GetTimeline_s();
     do
     {
-        if (DWT_GetTimeline_s() - startTime > 10)
+        if (DWT_GetTimeline_s() - startTime > 12)
         {
             // <20><>????
             bmi088->GyroOffset[0] = GxOFFSET;
@@ -137,6 +138,7 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
             bmi088->GyroOffset[2] = GzOFFSET;
             bmi088->gNorm = gNORM;
             bmi088->TempWhenCali = 40;
+            LOGERROR("[BMI088] Calibrate Failed! Use offline params");
             break;
         }
 
@@ -206,7 +208,11 @@ void Calibrate_MPU_Offset(IMU_Data_t *bmi088)
                 gyroDiff[0] > 0.15f ||
                 gyroDiff[1] > 0.15f ||
                 gyroDiff[2] > 0.15f)
+            {
+                LOGWARNING("[bmi088] calibration was interrupted\n");
                 break;
+            }
+
             DWT_Delay(0.0005);
         }
 
@@ -252,7 +258,10 @@ uint8_t bmi088_accel_init(void)
 
     // check the "who am I"
     if (res != BMI088_ACC_CHIP_ID_VALUE)
+    {
+        LOGERROR("[bmi088] Can not read bmi088 acc chip id");
         return BMI088_NO_SENSOR;
+    }
 
     // set accel sonsor config and check
     for (write_reg_num = 0; write_reg_num < BMI088_WRITE_ACCEL_REG_NUM; write_reg_num++)
@@ -294,7 +303,10 @@ uint8_t bmi088_gyro_init(void)
 
     // check the "who am I"
     if (res != BMI088_GYRO_CHIP_ID_VALUE)
+    {
+        LOGERROR("[bmi088] Can not read bmi088 gyro chip id");
         return BMI088_NO_SENSOR;
+    }
 
     // set gyro sonsor config and check
     for (write_reg_num = 0; write_reg_num < BMI088_WRITE_GYRO_REG_NUM; write_reg_num++)