Split esc (ethercat slave controller) code into seperate modules.
Add code to read SII eeprom of esc devices and use it for
device initialization.
Add per device thread for monitoring/recovery of devices.

Everything else stays in esc.c

Also add a lot of code for reading the ESCs eeprom with configuration
parameters. Also provide 'struct esc_device' for generic device creation
and handling based on the eeprom configuration.

The el1xxx, el2xxx and el3xxx now use this generic device.
Also the el3xxx module now properly supports the EL3102 device.

Add comments to command_server lib
Remove now obsolete ec_el_test
Fix controller_sample shell newlines

Also a small bugfix in the sample timing shell commands

Also some changes to properly log to console when no slaves are found

(previous commit was incomplete...)

A few improvements from the Vitsch Electronics CVS
Use log_send() for all logging and add context (DEBUG/WARNING/ERROR) info.
A little bit more comments

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.