(more) cleanly support multi-cs spi
Fix MPU6000 driver
amsGetPos() Hall angle encoder numbers 0,1, moved into ams-enc.c (uncouple from ams-ctrl)
added PWM limits to Duncan's tih.c for TI HBridge
tiHSetDC not setting FWD direction if needed.
changed ams-enc Hall reading to unsigned
comments on dfmem to clarify, remove delay on SPI2