Minor cleanups of tdma protocol handling:

o break out version-related code to simplify rev'ing the protocol
o add parameter validation macros so checks that appear multiple places
  are consistent (and easy to change)
o add protocol version check when looking for a scan candidate
o improve scan debug output format
o rewrite beacon update handling to calculate a bitmask of changed values
  and pass that down through the driver callback so drivers can optimize work
o do slot bounds check before use when parsing received beacons

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