Merge cram-dev WIP to avoid branch divergence & check CI status #603
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this will free up some time for concurrent processing instead of spin-waiting on new frames
Peripheral reset is now controlled by udma_global (and actually does something, instead of being a /dev/null)
there's now unfortunately branch divergence in the NTO/MPW code base The methodology is to code like we're running on NTO, and if the "mpw" feature is selected, we put hacks in to run on MPW hardware. Under the theory that MPW should be totally deprecated once NTO comes out, and therefore the hacks should accumulate in the MPW code base (and ideally be somewhat easy to cull when the time comes).
The test is abridged because i2c is a pretty slow protocol, so we do the bare minimum to exercise a write and a read.
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