Update docs and fix bugs (#149)

Improved the docs for the 3 main Tactility projects. I also fixed some inaccuracies and bugs in certain APIs as I went through the code.

TactilityCore/Source/kernel/PanicHandler.h

@@ -7,6 +7,7 @@
 #define CRASH_DATA_CALLSTACK_LIMIT 64
 #define CRASH_DATA_INCLUDES_SP false
 
+/** Represents a single frame on the callstack. */
 struct CallstackFrame {
     uint32_t pc = 0;
 #if CRASH_DATA_INCLUDES_SP
@@ -14,12 +15,14 @@ struct CallstackFrame {
 #endif
 };
 
+/** Callstack-related crash data. */
 struct CrashData {
     bool callstackCorrupted = false;
     uint8_t callstackLength = 0;
     CallstackFrame callstack[CRASH_DATA_CALLSTACK_LIMIT];
 };
 
-const CrashData* getRtcCrashData();
+/** @return the crash data */
+const CrashData& getRtcCrashData();
 
 #endif