added PWM dithering support #114
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this adds a pwm_differing parameter to dither the PWM frequency. Defaults to zero. The aim is to reduce the impact of resonances and harmonics by spreading out the commutation frequency.
Note that the value is relative to TIM1_AUTORELOAD which varies between MCUs. We should probably normalise this to be in maybe 10Hz units?
I've flown this with the VimDrones Nano L431 ESCs on DroneCAN. I had hoped it would eliminate an annoying buzz on the copter, but it didn't