Create hal-device module, fix GPIO, fix tests, fix TactilityC (#471)

* **New Features**
  * Added a HAL device module providing device enumeration, type queries and a HAL↔kernel bridge.

* **Improvements**
  * Integrated HAL module into startup; standardized module names, includes and lifecycle logging; safer file append behavior; broader build support.

* **API Changes**
  * Driver lifecycle now uses explicit add/remove semantics; C and HAL device type/lookup APIs clarified.

* **Chores**
  * Added module README and Apache‑2.0 license; updated build configuration to include the new module.

* **Fixes**
  * Updated tests and object file handling to behave correctly.

CMakeLists.txt

@@ -32,6 +32,7 @@ if (DEFINED ENV{ESP_IDF_VERSION})
         "Firmware"
         "Devices/${TACTILITY_DEVICE_PROJECT}"
         "Drivers"
+        "Modules"
         "Platforms/PlatformEsp32"
         "TactilityKernel"
         "Tactility"
@@ -84,6 +85,7 @@ if (NOT DEFINED ENV{ESP_IDF_VERSION})
     add_subdirectory(Libraries/QRCode)
     add_subdirectory(Libraries/minitar)
     add_subdirectory(Libraries/minmea)
+    add_subdirectory(Modules/hal-device)
 
     # FreeRTOS
     set(FREERTOS_CONFIG_FILE_DIRECTORY ${PROJECT_SOURCE_DIR}/Devices/simulator/Source CACHE STRING "")