Introduce track command in 3rd order spg.
With this command the spg is set to track the 'track_x' input but will
still honour all limits (v, a, j, x)

Remove now unneeded nsec base time.
Command handling in the sample now uses trigger time.
Trace handling still has to be done, then all nsec timers can be removed
from the sample.

is killed out of the blue)
Add return value to controller_block_add() and add a check to the
blocks for its value.

is killed out of the blue)
Add return value to controller_block_add() and add a check to the
blocks for its value.

This way we can use one function to set a number of params. All blocks
(including the il2c generator) have been updated with the extra argument.

	modified:   Makefile
	modified:   controller/am335x/block_am335x_adc.c
	modified:   controller/am335x/block_am335x_pwm.c
	modified:   controller/am335x/block_am335x_qed.c
	modified:   controller/block/block_bridge_pwm.c
	modified:   controller/block/block_counter.c
	modified:   controller/block/block_filter_iir.c
	modified:   controller/block/block_filter_lp.c
	modified:   controller/block/block_friction.c
	modified:   controller/block/block_gain.c
	modified:   controller/block/block_inverse_proportional.c
	modified:   controller/block/block_limit.c
	modified:   controller/block/block_limit_2nd.c
	modified:   controller/block/block_limit_var.c
	modified:   controller/block/block_matrix_2x2.c
	modified:   controller/block/block_pid.c
	modified:   controller/block/block_pid_aw.c
	modified:   controller/block/block_quantize.c
	modified:   controller/block/block_rangecheck.c
	modified:   controller/block/block_servo_state.c
	modified:   controller/block/block_setpoint_generator_1d.c
	modified:   controller/block/block_setpoint_generator_3d.c
	modified:   controller/block/block_sine.c
	modified:   controller/block/block_state_machine.c
	modified:   controller/block/block_trajectplayer.c
	modified:   controller/block/block_trigger.c
	modified:   controller/block/block_value.c
	modified:   controller/block/block_value_bool.c
	modified:   controller/block/block_value_uint32.c
	modified:   controller/block/il2c/il2c.c
	modified:   controller/controller/controller_block.h
	modified:   controller/controller/controller_block_param.c
	modified:   controller/dt_azimuth/dt_az_safety.c
	modified:   controller/dt_elevation/dt_el_safety.c
	modified:   controller/ec/block_beckhoff_el2xxx.c
	modified:   controller/ec/block_beckhoff_el3xxx.c
	modified:   controller/ec/block_beckhoff_el4xxx.c
	modified:   controller/ec/block_ec.c
	modified:   controller/ec/block_ec_sim.c
	modified:   controller/test/block_test_command.c
	modified:   controller/test/block_test_input_bool.c
	modified:   controller/test/block_test_input_float.c
	modified:   controller/test/block_test_input_uint32.c
	modified:   controller/test/block_test_output_bool.c
	modified:   controller/test/block_test_output_float.c
	modified:   controller/test/block_test_output_uint32.c

Als add parameter description and check to parameter lists.

Blocks can now check the number of arguments before parsing them.

The frequency keyword has been removed.
The blocks keyword now needs two arguments: frequency (Hz) and delay (seconds)

Now it is possible to add parameters multiple times and we no longer depend
on the location of the parameter in the list.

Use immediate trigger in test.ctrl files.
Fix some bugs

Lots of test updates

Fix some setpoint generator quirks

Various small fixes
Add command protocol to websocket
Add cross compiling with 'TARGET='
Fix some issues with ARM

New proxy code in spg_auth.
Moved all trackers to new interface
Cleanup some old stuff.

Also make predictions more reliable by using position/velocity algorithms

Some optimizations and some bugfixes and less leaking

way around.

Do not override a brake.

Ghost terminals still need special attention, but most blocks don't
use them and use the same malloc + initialize pattern.

-Safety blocks have some names changed
-Setpoint generator is redesigned.
 +No longer 'unitless' with 'd' as derivative, but physics names (x, v, a, j)
 +Removal of 'mirrored' code.
 +improved tracking at high speeds
 +Addition of 'precision' parameters to limit numerical noise