Mostly ethercat related in the ec directory.

The controller_load functions will set it to the .ctrl filename.
Modifiy dumpdot to use it to make subgraphs. This way we get a nice
grouping of blocks per file.

A few new pieces of documentation about ethercat input/output
Modifief eps files to include a preview (to speed up libre office)

Conflicts:
	console/console/start_console.sh

Also fix some reentrancy issues in the controller_load functions.

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

It contains code now duplicated in several trackers.
This is step 1:
-create library
-use in the moon tracker.

Todo:
step 2:
-move other trackers
-Improve library code.

Also add dt_model.ini file for loading dt_model parameters

-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

These are not yet tested (due to lack of ARM compiler)

The build is done in a separate, clean, directory. This is freshly checked
out from Git, and then in this directory controller, console, or both
are built. The result is stored in a tar file in the original directory from
where make is invoked.

Such a tree makes it easy to run the code from, and to make a proper and
clean release of the code.