Changed QEI test harness to include print master/slave cores to 'hide' printing latency
Tidied-up print master/slave, changed error-bound on Steady-speed tests to be a % of steady-speed. No passes all anti-clockwise tests
Changed origin test so can be done at any point in test schedule. Now passes all tests
Switched on Noisy QEI data, this version passes all tests
Added new Lo-prob and Hi-prob QEI states, this version passes all tests
Re-organised logic for valid-state tests, this version passes all tests
Now only evaluate velocity if valid data, this version passes all tests
Collapsed number of QEI states to 5, this version passes all tests
Simplified logic for angular_increment/spin_direction estimates, this version passes all tests
Now only evaluate velocity if Highly accurate data, this version passes all tests
In qei_server module, split large function into smaller ones
New QEI test harness with noisy test data, (and noise filter), passes all tests
Defined QEI_DBG so debug info can be switched ON/OFF, Moved S64_T, U64_T typedefs to app_global.h, passes all tests
Updated app_foc_demo to work with module_locks, added extra WatchDog channel for other motor, removed all references to Ethernet and CAN, now Motor_1 runs okay, Motor_0 still dead
Update module_foc_hall to have local HALL_XSCOPE define to switch On/Off xscope probe, altered QEI server defines, so it runs with app_foc_demo
Removed 'sign change' hacks, still under test, parked to switch branches
Fixed a bug in QEI server initialisation, this snapshot spins in both directions Open-loop
Tidied up logic for  QEI server initialisation, this snapshot spins in both directions Open-loop
Updated inner_loop.xc to invert QEI spin for LDO motors, corrected Hall-phases and comments to be consistent with spin direction conventions
Updated control loop and modules, so acknowledge initialisation & close-down, QEI server required _is_simulation() switch to remove 128mc delay required on H/W (to miss UV_FAULT toggle behaviour