Boston DM Base Class Refactor Bug with PCIe device ID

See also discussion in #287 

`self.dm` should be `self.device` in the `RuntimeError`s in the `open` function of `bmc_deformable_mirror_hardware.py`.  This is addressed in #328 

Additionally the `set_device_id` function does not handle being passed a 0 (the default) gracefully and instead raises an error. This is a problem for HiCAT which does not specify a `device_id`.  