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/pubsub.h

@@ -0,0 +1,68 @@
+/**
+ * @file pubsub.h
+ * FuriPubSub
+ */
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** FuriPubSub Callback type */
+typedef void (*FuriPubSubCallback)(const void* message, void* context);
+
+/** FuriPubSub type */
+typedef struct FuriPubSub FuriPubSub;
+
+/** FuriPubSubSubscription type */
+typedef struct FuriPubSubSubscription FuriPubSubSubscription;
+
+/** Allocate FuriPubSub
+ *
+ * Reentrable, Not threadsafe, one owner
+ *
+ * @return     pointer to FuriPubSub instance
+ */
+FuriPubSub* furi_pubsub_alloc();
+
+/** Free FuriPubSub
+ * 
+ * @param      pubsub  FuriPubSub instance
+ */
+void furi_pubsub_free(FuriPubSub* pubsub);
+
+/** Subscribe to FuriPubSub
+ * 
+ * Threadsafe, Reentrable
+ * 
+ * @param      pubsub            pointer to FuriPubSub instance
+ * @param[in]  callback          The callback
+ * @param      callback_context  The callback context
+ *
+ * @return     pointer to FuriPubSubSubscription instance
+ */
+FuriPubSubSubscription*
+    furi_pubsub_subscribe(FuriPubSub* pubsub, FuriPubSubCallback callback, void* callback_context);
+
+/** Unsubscribe from FuriPubSub
+ * 
+ * No use of `pubsub_subscription` allowed after call of this method
+ * Threadsafe, Reentrable.
+ *
+ * @param      pubsub               pointer to FuriPubSub instance
+ * @param      pubsub_subscription  pointer to FuriPubSubSubscription instance
+ */
+void furi_pubsub_unsubscribe(FuriPubSub* pubsub, FuriPubSubSubscription* pubsub_subscription);
+
+/** Publish message to FuriPubSub
+ *
+ * Threadsafe, Reentrable.
+ * 
+ * @param      pubsub   pointer to FuriPubSub instance
+ * @param      message  message pointer to publish
+ */
+void furi_pubsub_publish(FuriPubSub* pubsub, void* message);
+
+#ifdef __cplusplus
+}
+#endif