rebase and re-pr Fix at32 targets #9618
Merged
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this pr rebase #9616 and cherry pick #9578
including :
1. optimize usb vcp driver ,make more effiective
2. fix AT32F435VMT7 target SAGEATF4 's SPI2 af mux bug
3. fix NEUTRONRC\SAGEATF4 ledstrip timer conflict and dma confliect
4. optimize at32 adc sample time ,make current meter more accure (very usefull for long range fly)
5. add bmi088 support for SAGEATF4 target for new board test
all these improves test on SAGEATF4 & NEUTRONRC FC BOARDS and will close pr #9616