Adds support for A200S V4.1
Move A200S V4 to its own folder.
Expose I2C for LSM6DS3 to allow other devices on the same I2C bus. (It is now setup the same as the other IMUs)
Add alternative DC Calibration routine for Low side shunt hardware with very high mosfet output capacitance. The usual calibration routine causes an offset in the current calibration at high voltage from the capacitance discharging through the motor inductance when the single phase goes low. The alternative routine switches all phases at 50% to give a clean V0 state. This routine should not be run while the motor is spinning, so automatic calibration on startup is disabled when this routine is selected.
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