This merges all changes regarding TMC4671 improvements and fixes in the meantime.
Changes for TMC:
TMC saves ADC offsets in flash and checks if they are valid
TMC calibration sequence to measure adc offsets and encoder settings
Partial rewrite of encoder alignment routines minimizing movement
Automatic index search and position offset reloading for TMC w. ABN encoders (Autohoming for wheels)
Flux reported in current readout
Experimental external encoder support for tmc (no absolute encoder benefits yet but possible to add)
Faster startup
Allowed combining TMC encoder for commutation and externally in axis selected encoder for gamepad positioning for higher precision in gamepad and better speed for commutation
General changes:
F407 reboots correctly after exiting DFU bootloader (already merged)
This merges all changes regarding TMC4671 improvements and fixes in the meantime.
Changes for TMC:
General changes: