Set dead time for tbs boards.
Comment fixes.
Replace timeoutMIN with commutation stretching to combat comparator bias.

In most cases, the comparator output will stay low or high when the motor
is not spinning. Normally this is not a problem as the motor will be
perturbed enough by the next commutation to start to get a reasonable
signal. However, in some cases, the motor may not move enough and we will
just stay in the state of skipping every other commutation until some
external force helps generate enough back-EMF to sway the comparator
output.

Ideally, it would be nice to have an "equal" output from the comparator,
but this is not available.

The start timeout min/max were intended to assist pushing motors that
might otherwise not align without increasing the commutation rate, but
this has never really been the problem. What we really need instead is a
delay for at least long enough to allow the magnetic field to build up
and move the motor before continuing to the next step.

The problem with a fixed START_DELAY_US (as introduced in b86dc7cfadc6)
is that too long a delay will cause problems starting low-mass motors or
motors at high voltage, since we may wait too long and miss the zero
crossing. So, here we introduce a delay which starts at START_DELAY_US
and builds up in steps until we two successful zero crossings. The
default delay wraps around in a byte and will reach a maximum of 2ms.

This should fix the starting of any motor that might sometimes vibrate
or buzz when stopped in certain cogging positions.
Do not bother to multiply by zero when stretching start commutations.
Fix up some comments to make more sense (Thanks PaulMcMillan!).
Remove redundant call to switch_power_off.
Skip short pulse of RED LED during starting.
Fix regression since 675ee37ce4 which rarely causes a full power blip at
power off.

When power off is requested, POWER_ON is cleared and the on duty is set
to 0 cycles. This does not completely stop power, however, as the pwm_on
interrupt will still occur and pwm_off will be scheduled to be called
immediately after. This sets up a case where pwm_on will switch on the
FET and then the AVR will execute one non-interrupt instruction before
executing the next interrupt (which could be either pwm_off or int0 and
pwm_off).

If this instruction happens to be the "cli" of a commutation block that
would advance to the next PWM FET, the FET on state would be copied to
the new one, but the FET flags would be left cleared, leaving the PWM
interrupt with nothing to do, resulting in the equivalent of full power
until either the high side FET is turned off at the next commutation or
(worse) power is requested again and the correct FET flag is set two
commutations later.

Instead of only setting a 0 duty cycle, always track the FET that should
be PWMed, and make set_new_duty_zero set pwm_on_ptr to pwm_off so that
power is immediately cut, but can still be restored without waiting until
the next cycle.
Disable hardware checking on Afro HV until driver situation is sorted out.
Limit zero crossing filter backtracking while running.

The back-EMF from some motors when clipping through the high side body
diode seems to create noise that can significantly delay the ZC filter
and lead to significantly retarded timing that can then blind the next
commutation event due to the blanking period and not completing until
after the zero crossing has already passed. This tends to be a problem
at lower speeds and higher currents.

For example, dragging the bell of the 16 pole Multistar (HengLi) 4822
390KV at about 30% duty cycle at 16V would cause significant current draw
and broken timing. Heavy acceleration would also cause synchronization
loss that even the demag_timeout handler could not help with.

Limiting the backtracking (the amount at which we will "back off") from
an accepted zero crossing point seems to greatly help here. This also
seems to help other cases such as switching directions as quickly as
possible. The tendency for some motors to get stuck in slow rotation in
the wrong direction also seems to be fixed.

The only downside seems to be that the unbalanced filtering now seems to
have more tendancy to align to magnetic harmonics than actual motor
timing. This causes a squeak or squeal until the power level is changed
or the motor moves slightly, affecting the inductance. Traces on the
oscilloscope seem to look very much like those from a micro motor in this
case, so it seems difficult to avoid. Please report any such cases where
this is a problem.
Return to 120 degree zero crossing timeout (from 240 degrees).

This seems to further help rapid direction changing since the ZC
filter backtracing was limited.
Some simple fixes and updates to README.md.
Limit zero crossing filter backtracking, take 2.

The approach in 7e76349687 was to just limit the maximum amount of
backtracking that the ZC filtering will do while running. A counter is
initialized based on the timing period and must reach zero to consider
the ZC complete. If the comparator output is the wrong level, the counter
may build back up to the value it started with. We simply set the "value
it started with" to a fixed smaller number while in running state. This
works well on the Multistar 4225 390KV 16-pole motor when dragging by
hand at moderate PWM, but there are some problems.

The previous long filtering method worked much better with tracking of
stalled motors and motors transitioning from starting to running (or
starting where the motor is already spinning). So, with the change, it
can be quite easy to get ahead of the actual back-EMF and align to the
electrical properties of the motor.

When this occurs, we typically spiral up to maximum timing, making a
squeak or squealing sound. Eventually, a zero-crossing timeout occurs or
TIMING_MAX is hit enough times for it to shift the power down to 0 (part
of the RPM limiter) and a zero-crossing timeout occurs. In some cases,
such as with brushless gimbal motors, this happens repeatedly and it is
not possible to actually run the motor unless accelerated externally.
Higher maximum backtracking values help for the gimbal motor, but we then
re-introduce the original problem with the 390KV.

This approach reuses the late demagnetization timer as a trigger for
changing the filtering backtracking whenever timing is slow enough that
the backtracking value is higher than ZC_CHECK_FAST. This idea is based
on the observation that there are no early transitions due to noise,
only late erroneous backtracking, which is what prompted the original
demag_timeout handling. So, after 24 degrees, we now detect more easily
that a ZC has occurred.

This method seems to have the same improvement with the 390KV, while
still working fairly well with the gimbal motor (not quite as good as
before, but once it is running, it is OK). Dragging the the 390KV slowly
still causes the detected ZC to become late, but it doesn't seem to be a
problem anymore for rapid acceleration and this only seems to happen at
very low speeds. The filtering backtracking limit can also be adjusted
(ZC_CHECK_FAST) to help.

In the same conditions, wii-esc with fixed-time ZC filtering seems to
show similar problems. Once the 390KV is started, it continues to trip
the sync recovery code continuously until accelerated past a certain
speed. This turns off power at every commutation, making it easily
visible on the 'scope. The result seems to be reduced torque until
sufficient speed is reached.
Support negative values in sbiwx/adiwx macros.

This allows negative TIMING_OFFSET values. Thanks, Owen!
Whitespace fixes.
Add support for DYS 30A (dys_nfet) boards.
Raise demagnetization timeout from 24 to 42 degrees.

42 degrees allows a bit of recovery from stumbling under sudden
acceleration from slow speeds on some motors such as the MT3506.
Do not wait for demagnetization when powerskipping.
Limit zero crossing filter backtracking, take 3.

Take 2 in d58be3e357 made some motors better and other cases, like the
MT3506, worse. It is a little sad how much logic is required, but I have
tried for weeks to find a more simple approach. Nothing else is able to
work as well as this with all of the motors I have to test.

Previously, the demagnetization path disabled power only during the zero
crossing wait. This did reduce the amount of current slightly, which did
help, but in many cases the timeout would keep recurring for some time,
reducing output power until the back-EMF was high enough. We now disable
power and align, which allows for faster acceleration even with timeouts.
The remaining timeouts can probably be solved by a smoother timing_duty
limit.

This also restores the 240 degree zero crossing timeout which helps with
motors with unbalanced windings and the ZMR RCX 1804 2400KV.
Make RC timeout (RCP_TOT) be actually configurable again.