use EXTI instead of ICU by default (#3032)

* exti default

* s

* skip late events

* there are more hellens now

* oof

* science

* kick

* kick

* I do not understand how computers

* science

* science

* no workflows to speed loop

* use existing subtraction

* extract function because I don't understand computers

* well, let's just dump the stack nearby

* is flipped condition still broken?

* different behavior

* what if we don't optimize

* mass storage overflows

* ok fine optimize a little bit

* we are just unable to print 64b apparently

* angry integers

* track which wheel/value was last

* signal instead of both

* try a queue

* Revert "no workflows to speed loop"

This reverts commit 0637a7d7ab.

* s

* print new timestamp too

* don't overrun the error buffer

* try to see where the event came from

* s

* does it help if we abort while self stim is enabled?

* do it in hwHandle

* what if we disable the pins

* include

* run with the safeties off in the name of science

* s

* d

* fix configs

* s

* s

* remove duct tape

* put the test back too....

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/config/boards/f407-discovery/board.mk

@@ -19,8 +19,6 @@ endif
 DDEFS += -DHW_FRANKENSO=1
 DDEFS += $(DEFAULT_ENGINE_TYPE)
 
-DDEFS += -DEFI_ICU_INPUTS=TRUE -DHAL_TRIGGER_USE_PAL=FALSE
-
 DDEFS += -DSTM32_I2C_USE_I2C3=TRUE
 
 ifndef IS_RE_BOOTLOADER

firmware/config/boards/hellen/hellen-common.mk

@@ -13,6 +13,4 @@ DDEFS += -DLED_COMMUNICATION_BRAIN_PIN_MODE=INVERTED_OUTPUT
 DDEFS += -DHW_HELLEN=1
 DDEFS += -DEFI_USE_OSC=TRUE
 
-DDEFS += -DEFI_ICU_INPUTS=FALSE
-
 DDEFS += -DTS_NO_SECONDARY=TRUE