SPI Mode setting was very broken. MSB and LSB sets did not work (MSB is the only one supported)
and if LSB was set (which was the default) the ioct to set clock phase would fail. This
deprecates all the individual functions, the LSB/MSB functions, and adds an SPI mode selection
function. This is usually more understandable, and shows up in a lot more documentation
fmt removed fmt::make_args_checked since it's no longer needed for
constexpr format string checks.
fmt deprecated implicit conversions from enums to integers in format
arguments, so I added explicit static casts.
Most of these were unused, the IMU ones were just debug messages.
The only one that wasn't removed is in portable-file-dialogs.cpp since
the replacement looks less trivial.
The angular rate is treated somewhat like an angle during calibration,
but the datasheet says it's angular rate. The variables were renamed to
make this clearer.
