Add kernel memory functions & other memory-related changes (#590)

New Features

- Added policy-based memory allocation APIs with capability flags and optional alignment: `memory_alloc_with_policy`, `memory_realloc_with_policy`, `memory_calloc_with_policy`, and `memory_free`.
- Switched heap memory reporting to `memory_print_stats`.

Bug Fixes

- Improved allocation robustness with capability fallback behavior.
- Added overflow-safe handling for aligned zero-initialized allocations.
- Tightened const-correctness for generated device-tree device arrays.

Tests

- Added unit tests for default policy, alignment, zero-initialization, realloc preservation, freeing, and memory stats reporting.

TactilityKernel/source/kernel_init.cpp

@@ -43,7 +43,7 @@ Module root_module = {
     .internal = nullptr
 };
 
-error_t kernel_init(Module* dts_modules[], DtsDevice dts_devices[]) {
+error_t kernel_init(Module* const dts_modules[], const DtsDevice dts_devices[]) {
     LOG_I(TAG, "init");
 
     if (module_construct_add_start(&root_module) != ERROR_NONE) {
@@ -51,7 +51,7 @@ error_t kernel_init(Module* dts_modules[], DtsDevice dts_devices[]) {
         return ERROR_RESOURCE;
     }
 
-    Module** dts_module = dts_modules;
+    Module* const* dts_module = dts_modules;
     while (*dts_module != nullptr) {
         if (module_construct_add_start(*dts_module) != ERROR_NONE) {
             LOG_E(TAG, "dts module init failed: %s", (*dts_module)->name);
@@ -60,7 +60,7 @@ error_t kernel_init(Module* dts_modules[], DtsDevice dts_devices[]) {
         dts_module++;
     }
 
-    DtsDevice* dts_device = dts_devices;
+    const DtsDevice* dts_device = dts_devices;
     while (dts_device->device != nullptr) {
         if (dts_device->status == DTS_DEVICE_STATUS_OKAY) {
             if (device_construct_add_start(dts_device->device, dts_device->compatible) != ERROR_NONE) {