[stm32] F4: fix ppm input timer frequency for TIM2

- krooz: don't use TIM2 for PWM
- change to 6 ticks per usec to fit all frequencies
- on the F1 we assume to run at 72MHz for HCLK and both timer clocks
  TIM1 -> APB2 = HCLK = 72MHz
  TIM2 -> 2 * APB1 = 2 * 36MHz = 72MHz
- on the F4 we assume 2 * AHB clock:
  TIM1 -> 2 * APB2 = 168MHz
  TIM2 -> 2 * APB1 = 84MHz

closes #470
[electrical] don't try to use ADC_CHANNEL_CURRENT in SITL
[imu][aspirin_2_spi] clear naming for mag axes assignment
[krooz] add imu driver for KroozSD board from Sergei
[spi] spi for stm32f4
[spi] update apogee and krooz board files for spi