Add new HW register names for registers created for v36 and v37
Add support routines to request these registers and get values as an inbound read comes back
Add set routine so host can set new registers as required
Add recognition of a wheel_type base.yaml parameter that can set wheel type to 'standard' or 'thin' and defaults to 'standard'. This gets converted to a bit setting in the MCB.
Added powerup query of wheel type and print that in ros log for reference
Using above read the 8-bit option/board rev switch on node startup and echo it back to a new MCB register that holds the option switch values. This is added so firmware can 'see' this 8-bit I2C port.
Newer firmware has a system event register which right now indicates if the MCB has been reset. This change adds ability to monitor if MCB was reset and notify in ros log. In a different change we will act on this but for now it at least gives us ability to monitor MCB resets.
Add a base.yaml parameter of fw_max_pwm so user can tweek max_pwm both from base.yaml and from dynamic parameters.
Fix some log spam issues for firmware version and date by changing to ONCE type of logs for those.
A group of changes to do the following