Furi: core refactoring and CMSIS removal part 2 (#1410)

* Furi: rename and move core
* Furi: drop CMSIS_OS header and unused api, partially refactor and cleanup the rest
* Furi: CMSIS_OS drop and refactoring.
* Furi: refactoring, remove cmsis legacy
* Furi: fix incorrect assert on queue deallocation, cleanup timer
* Furi: improve delay api, get rid of floats
* hal: dropped furi_hal_crc
* Furi: move DWT based delay to cortex HAL
* Furi: update core documentation

Co-authored-by: hedger <hedger@nanode.su>

furi/core/check.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#define FURI_NORETURN [[noreturn]]
+#else
+#include <stdnoreturn.h>
+#define FURI_NORETURN noreturn
+#endif
+
+/** Check condition and crash if check failed */
+#define furi_check(__e) ((__e) ? (void)0 : furi_crash("furi_check failed\r\n"))
+
+/** Only in debug build: Assert condition and crash if assert failed  */
+#ifdef FURI_DEBUG
+#define furi_assert(__e) ((__e) ? (void)0 : furi_crash("furi_assert failed\r\n"))
+#else
+#define furi_assert(__e) \
+    do {                 \
+        ((void)(__e));   \
+    } while(0)
+#endif
+
+/** Crash system */
+FURI_NORETURN void furi_crash(const char* message);
+
+/** Halt system */
+FURI_NORETURN void furi_halt(const char* message);
+
+#ifdef __cplusplus
+}
+#endif