Improved stepper support

[DocMoebiuz]

• Stepper is configurable by new parameters:
  * Type: 4-Wire Full Step, 4-Wire Half Step vs Driver
  * Speed - The maximum speed that the stepper supports
  * Acceleration - The acceleration value
  * Backlash - number of steps for compensation of backlash on direction change
  * AutoDisable - pins are not energized automatically once the target position is reached
  * Id - the profile id
• Backlash is compensated correctly
  * On direction change, the value of backlash is added (CCW > CW) or subsctracted (CW > CCW)
• Backward compatibility for loading old stepper config (kStepper, kStepperDeprecated)
• The current implementation has the name "kStepper"
• AutoDisable - Stepper current is disabled when once the target position is reached

Out-of-scope:

• Smoothness