Added support for FOC control of BLDC motors (and previous control of DC servos + cascaded control loop). Major highlights:
- Added support for control of drivers that are not TMC stepper drivers.
- Added center aligned PWM.
- Added support for basic FOC drivers (e.g. SimpleFOCMini), where the expansion board just emits UVW control signal.
- Added driver support for TI's DRV8316.
- Added low-side current sense support (e.g. for use with TI's DRV8316).
- Added additional M569.1 terms to support FOC-controlled motors, and additional control loop terms.
- Added support for additional closed loop tuning log entries in the ClosedLoopTuning Plugin
Tested hardware is the MB6HC mainboard, and the experimental SAMME51 expansion board.