Release: Design improvements and some fixes!

This release brings internal design changes such as the split the foc core loop into multiple controllers they are: current mode sensored, current mode sensorless (still in WIP), and voltage mode, this allowed to gain some performance by the reduction of if chains. Also espFoC is now being placed entirely in IRAM to avoid problems when the ESP32 cache is disabled. The current mode control pipeline now uses the traditional FoC strategy, PWM interrupt triggers the ADC, on its completion, it performs the high speed loop.

What is new:

• FoC core operation now split into separated controllers;
• espFoC now is linked into the IRAM;
• FoC processing now split into high speed that runs into ISR and low speed loop that runs into a high priority task;
• Angle extrapolation algorithm added to allow usage of low resolution / slow rotor position sensors;
• Current sensor driver interface now features callback registration when ADC samples are ready;

Fixes:

• Calibration sensor not being done even when enabling torque controller;
• Current sensor's ADC DIGI callback misses on high speed sample rate;
• Current sensor's ADC DIGI auto flush not being done;