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AS5047P Absolute Encoder + Parallel PD Gain Function #191
This integrates Aksat's work into getting the AS5047P Absolute Encoder working in SPI. Uses GPIO 3 and 4 for Slave Select of Encoder 1 and 2. I did this by adding an encoder mode in addition to Incremental and Hall.
I also added a controller function to modify the PD gains in parallel form, then convert them to the presently implemented form.
Some random default configuration settings, such as pll bandwidth and other things may have been changed to the setting I am using for my setup, but these may be disregarded.