Merge pull request #203 from RAPcores/sjk/nolut1

Synth-time cosine table generator

Merge pull request #112 from RAPcores/sjk/encharness1

Add encoder output to rapcore test harness

Merge pull request #84 from RAPcores/tb_m

Tb m

Merge pull request #75 from RAPcores/sjk/ddamodule1

[step timer] move to own module

Update doc links

interrupt logic prevents skipped steps at slow speeds