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/kernel.h

@@ -0,0 +1,93 @@
+/**
+ * @file kenrel.h
+ * Furi Kernel primitives
+ */
+#pragma once
+
+#include <core/base.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** Lock kernel, pause process scheduling
+ *
+ * @return     previous lock state(0 - unlocked, 1 - locked)
+ */
+int32_t furi_kernel_lock();
+
+/** Unlock kernel, resume process scheduling
+ *
+ * @return     previous lock state(0 - unlocked, 1 - locked)
+ */
+int32_t furi_kernel_unlock();
+
+/** Restore kernel lock state
+ *
+ * @param[in]  lock  The lock state
+ *
+ * @return     new lock state or error
+ */
+int32_t furi_kernel_restore_lock(int32_t lock);
+
+/** Get kernel systick frequency
+ *
+ * @return     systick counts per second
+ */
+uint32_t furi_kernel_get_tick_frequency();
+
+/** Delay execution
+ * 
+ * Also keep in mind delay is aliased to scheduler timer intervals.
+ *
+ * @param[in]  ticks  The ticks count to pause
+ */
+void furi_delay_tick(uint32_t ticks);
+
+/** Delay until tick
+ *
+ * @param[in]  ticks  The tick until which kerel should delay task execution
+ *
+ * @return     The furi status.
+ */
+FuriStatus furi_delay_until_tick(uint32_t tick);
+
+/** Get current tick counter
+ *
+ * System uptime, may overflow.
+ *
+ * @return     Current ticks in milliseconds
+ */
+uint32_t furi_get_tick(void);
+
+/** Convert milliseconds to ticks
+ *
+ * @param[in]   milliseconds    time in milliseconds
+ * @return      time in ticks
+ */
+uint32_t furi_ms_to_ticks(uint32_t milliseconds);
+
+/** Delay in milliseconds
+ * 
+ * This method uses kernel ticks on the inside, which causes delay to be aliased to scheduler timer intervals.
+ * Real wait time will be between X+ milliseconds.
+ * Special value: 0, will cause task yield.
+ * Also if used when kernel is not running will fall back to `furi_delay_us`.
+ * 
+ * @warning    Cannot be used from ISR
+ *
+ * @param[in]  milliseconds  milliseconds to wait
+ */
+void furi_delay_ms(uint32_t milliseconds);
+
+/** Delay in microseconds
+ * 
+ * Implemented using Cortex DWT counter. Blocking and non aliased.
+ *
+ * @param[in]  microseconds  microseconds to wait
+ */
+void furi_delay_us(uint32_t microseconds);
+
+#ifdef __cplusplus
+}
+#endif