Moteus

* Support the moteus-n1
* Fix possible inability to flash after reconfiguring aux ports
* Improve hardware board version detection reliability

* Support sending and receiving arbitrary data from a UART configured on one of the auxiliary ports
* when mode 'kTunnel' is selected, then the diagnostic protocol can be used to send and receive data
* aux1 is diagnostic channel 2
* aux2 is diagnostic channel 3
* Permit I2C encoders to operate at up to 1kHz
* Report control position, velocity, and torque as well as the errors in tracking them over the register protocol as registers 0x038 through 0x03d
* Provide support for synchronizing the clock of a moteus controller with a host application.
* In the diagnostic data, report the number of times that hall sensors changed more than one bit at the same time. This is an imperfect measure of problematic hall data, but better than nothing.
* Fix register 0x006 to be reported in revolutions as it previously was and as it is still documented
* Expose the drv8353 fault flags over the register protocol as registers 0x140 and 0x141

* Encoder registers 0x050-0x054 now report positions and velocities in terms of revolutions instead of counts
* AS5600 support now reports the full resolution instead of omitting the lower 8 bits
* External motor temperature can now be sensed and used for power limiting
* When in fixed voltage mode, `servo.bemf_feedforward` is used. This can allow gimbal control mode to operate at any speed, and AC induction motors to be operated in open loop V/Hz mode.
* Use dwarf-4 debugging symbols, so gdb will actually work

* Properly handle hall effect encoder sources that have a non-zero offset

* Fix `servo.max_power_W` to not half an implicit factor of 0.5x
* Add `servo.bemf_feedforward`, which applies a feedforward voltage in proportion to the commanded velocity and motor Kv rating
* Improve ADC initialization to be robust to new compiler optimizations

* Make motor_position.output.sign actually work
* This can be used to change the direction of rotation of the motor, but previously using it did not achieve that effect.