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/furi.c

@@ -0,0 +1,27 @@
+#include "furi.h"
+#include <string.h>
+#include "queue.h"
+
+void furi_init() {
+    furi_assert(!furi_is_irq_context());
+    furi_assert(xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED);
+
+    furi_log_init();
+    furi_record_init();
+    furi_stdglue_init();
+}
+
+void furi_run() {
+    furi_assert(!furi_is_irq_context());
+    furi_assert(xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED);
+
+#if(__ARM_ARCH_7A__ == 0U)
+    /* Service Call interrupt might be configured before kernel start     */
+    /* and when its priority is lower or equal to BASEPRI, svc intruction */
+    /* causes a Hard Fault.                                               */
+    NVIC_SetPriority(SVCall_IRQn, 0U);
+#endif
+
+    /* Start the kernel scheduler */
+    vTaskStartScheduler();
+}