Adding trigger at 4kHz AHRS
Merge branch 'new_control_board' of https://github.com/moon-bear/firmware into another_new_brach_for_ming_to_test

Conflicts:
	program/test/estimator/attitude_estimator.c
	program/test/interrupt.c
	program/test/mcu_periph/tim.c
Filter is fully functional
Merge branch 'new_control_board' of https://github.com/moon-bear/firmware into another_new_brach_for_ming_to_test

Conflicts:
	program/test/estimator/attitude_estimator.c
	program/test/interrupt.c
	program/test/mcu_periph/test_periph.c
	program/test/mcu_periph/usart.c
Add pwm motor module to actuate motors
Merge branch 'new_control_board' of https://github.com/shengwen1997/QuadrotorFlightControl into test_shengwen
Merge branch 'new_control_board' of https://github.com/shengwen1997/QuadrotorFlightControl into test_shengwen
Write testing code for setting pwm
fix the wrong register name also
Clean some useless commement and code
Prevent delay to be optimized
Rename the SPI operating function
Use inline function to instead of macro
we need function to check the type of parameter
ADC Barometer is now function/ created files for vertical filter
 Merge branch 'another_new_brach_for_ming_to_test' of https://github.com/ming6842/firmware/
Merge branch 'new_control_board' of https://github.com/moon-bear/firmware into another_new_brach_for_ming_to_test

Conflicts:
	program/test/Makefile
	program/test/mcu_periph/test_periph.c
	program/test/mcu_periph/tim.h
	program/test/mcu_periph/usart.c
Finish every types of bound functions
Small modification before merge
Rearrange the file structure and rename
Fix wrong header files type
Fix some warnings, but still have one implicity declaration