Merge remote-tracking branch 'origin/master'

# Conflicts:
#	.vscode/launch.json
#	application/gimbal/gimbal.c
#	application/robot.c
#	bsp/usart/bsp_usart.c
#	bsp/usart/bsp_usart.h
#	modules/master_machine/master_process.c
#	modules/master_machine/seasky_protocol.c

.vscode/tasks.json

@@ -30,5 +30,15 @@
                 "isDefault": false,
             }
         },
+        {
+            "label": "log",
+            "type": "shell",
+            "command":"JlinkRTTClient",
+            "args": [],
+            "problemMatcher": [],
+            // "dependsOn":[
+            //     "build task", // 可以添加多个.
+            // ]
+        }
     ]
 }