PCB and firmware

Gate PCB 70% completed, need to figure out pinout for MCU and layout
signal amps.  Board size reduced by 50%.  Also need to add testpoints
Robot PCB PSU layout completed, motor and stepper drivers will move to
separate PCB
Created firmware files, w/o code
Gate PCB progress

Did layout for gate pcb signal amps, finalized board size, added
testpoints
Board final; SPI progress

Sent PCBs to FAB
SPI driver working for multi-byte.  Bug: bytes are sent in reversed
order, although bit ordering (MSB first) is correct.