refactor: Role system

[voltangle]

TL;DR: current system was very much rigid to either combined or split control and supervisor architectures. More than 2 chips were not supported at all. This refactor makes it more flexible in that regard

In short:

• each role is a separate core-* crate
• roles communicate with each other using CORElink
• multiple roles can exist on one MCU
• CORElink is implemented with an autogenerated router, that depending on the destination routes the messages either as function calls (if the roles exist in one MCU), or to a physical comms bus, like CAN or even USART (if the destination role is on another MCU)
• Router is generated using the feature information, it sees which roles can communicate with in-memory channels and which need a physical bus

Tasks

• Router design
• CORElink router codegen
• Initialization and usage of the router
• General design of some roles for the future (like the BMS role)