hal rework

[crinq]

• [ ] rtos for nrt
• [ ] more rt threads
  • [ ] merge rt and frt
  • [ ] more rt funcs / comp
  • [ ] rt_prio 2.0
• [x] - volatile?
• [ ] hal_parse 2.0
  • [ ] expr parser (pin * const, const + const, ...)
  • [ ] CMD return as const
  • [ ] units
• [ ] more stats
• [ ] restart hal
• [ ] clear hal
• [ ] hw abstraction at load time #58
• [x] relink pin (b = a, c = b, relink c => b = a, c = a)
• [x] hal instance index < 0, vel[-1].en => vel[#vel - 1].en
• [ ] hw abstraction lib

[crinq]

no_volatile needs testing