Save a few ISR cycles by not using an optional control_acceleration

fw: move to LPTIM trigger for ADCs

Rather than using inline ASM, use an actual HW trigger with LPTIM out.

Signed-off-by: Jean-Baptiste Theou <jb@genki.com>

For dual encoder configurations, set the output low pass filter too

Stiffen gains for fewer spurious failures

Update the default maximum torque

Limit PLL filter bandwidth for UART sources by polling rate

Pre-calculate exponential filter alpha constants

Test with and without bemf_feedforward

Bump the ABI version to 0x0107

This is necessary because old servos with

motor_position.output.sign == -1

had a workaround in moteus_tool that is no longer necessary.  This way
moteus_tool can identify which version of firmware it is dealing with
and do the right thing (if there is really a right thing for the old
version) for both versions.

Update dyno script with in-family values