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Rework filter response functions (#384)

* Deprecate `freqz` and `freqs` to `freqresp`

And DRY up the `freqrep` code.

* Deprecate `phasez` to `phaseresp` which also supports analog filters

* Deprecate `grpdelayz` to `grpdelay`

* Deprecate `impz` and `stepz` to `impresp` and `stepresp`

* Update tests for deprecated filter response functions

* Clean up filter response tests

* Add `grpdelay(filter::FilterCoefficients{:s}, w)`

* `freqresp`/`phaseresp`/`grpdelay`: Return `w` if not given

* Support default `w` for `freqresp` et al. for analog filters

* Deprecate `freqrep` (neé `freqz`/`freqs`) with `hz` parameter

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1485 of 1520 relevant lines covered (97.7%)

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