[FEATURE] Support simulator actions that occur at >1kHz

[dgobalak]

There are many features I want to support that rely on the simulator running at >1kHz.

1. Firmware interrupts/tasks/routines that run at >1kHz
2. High-frequency data logging
3. High-frequency models (sensors, actuators, etc.)

[dgobalak]

Implementation Ideas:

• just execute ticks at a much higher frequency and track sim time internally. If we can pass this sim time to the firmware, it can manage its scheduler. Tick freq can be set in conftest. On each tick, just check what needs to be done and do it