docs: cited Kamen for his contribution in this fix

[sdcard] fix bad addressing for SDHC cards

[sdcard] better logging of SD Card type

docs: added explanation of the new debug commands, cited Jörg for his contribution in this fix

[floppy] fixed error in nic sector offset value in a FAT cluster It was hardcoded to work with 4 fat sectors per cluster. Generalized for any sectors per cluster value.

[cli] added some commands to debug sd card communication

[repo] updated readme with prompt commands description

[sdcard] Fixed typo in initialization procedure After acmd 41, must wait for empty R1 (0x00), not IDLE (0x01).

[encoder] use in-hardware quadrature encoder system instead of software

[sdcard] faster SPI /4 prescaler instead of /64