New RTT USB class

[casdoorn]

With the new BaseStation design a new USB implementation is needed because the USB class provided by ST only works for the old BaseStation. As the code for the previous USB was not clear, very basic, and documentation was lacking a modification to that code is not recommended and prone to new issues. So a new USB class has been written with REM in mind.

Features:

• USB 2.0 HS instead of USB 1.2 FS --> reduced latency and higher bandwidth.
• Random stopping bug fixed!
• 2 interfaces for high- and low-priority messages instead of 1, with alternate interface option(s) per priority interface.
• Reserved bandwidth and fixed (low) latency for high-priority messages using Interrupt Transfers (can be changed to ISO in the future).
• New user interface with marked user callable functions and callbacks structs for clear separation of code and code flow.
• Documentation about flow, structure reasoning, and documented pitfalls with links to more information about USB.

Issues/Outstanding Tasks:

• STM32CubeMX should still be updated in order to allow for two separate interfaces. Once code will be regenerated the configuration should for now be changed by hand.
• Needs RobotHub changes to USB code to handle the different Interfaces and Endpoints control flow/settings before it can be used with AI.
• Needs a different Python USB library scripts that has a lower level abstraction function calls, a working setup is already available, but not implemented for the test scripts.
• Needs better integration with In/Out buffers in main, but out of scope for this pull request. (Also Logging should not control USB sending).

WARNING

Does not work with old BaseStation!!! (But can be ported)