WIP [feature] templated RPC methods migration

[jsturdy]

This PR holds the code of the migration to the templated methods. It will be built up as the individual modules are merged into my fork, and will only become non WIP after all code has found its way into that fork (so review of the independent parts can still happen in bite-size chunks).

As it stands here, the changes have been applied to the core libraries as well as the utils and amc modules.

Description

Significant and breaking

Types of changes

• [x] Breaking change (fix or feature that would cause existing functionality to change)

Motivation and Context

Necessary to bring the code base into the future.

How Has This Been Tested?

Only with the compiler so far, will envision a set of operational tests to follow before final merge.

Checklist:

• [x] My code follows the code style of this project.
• [x] My change requires a change to the documentation.
• [x] I have updated the documentation accordingly (hopefully)
• [ ] I have added tests to cover my changes.
• [ ] All new and existing tests passed.

[jsturdy]

I opened #167 to supersede this (it contains all the changes mentioned in the description of this, and is the hopeful starting point for integrated development between xhal/cmsgemos/ctp7_modules in the templated RPC framework)