Rework tutorial section 6 with a worked XCKU040 example: how to pull IR opcodes/IDCODE from the BSDL (with a grep), a field-by-field table, the verbatim registry entry, and a dedicated section on what `caveats` are (bit-flags for hardware gotchas, not free text) and how to add one. Also fixes the broken in-page anchor links to the section.