Various improvements (#461)

* **New Features**
  * Time and delay utilities added (ticks, ms, µs); SD card now uses an expansion-header CS pin; HTTP downloads warn when run on the GUI task and yield to avoid blocking.

* **Bug Fixes / Reliability**
  * Many hard-crash paths converted to guarded checks to reduce abrupt termination and improve stability.

* **Tests**
  * Unit tests added to validate time and delay accuracy.

* **Chores**
  * License header and build/macro updates.

TactilityC/Source/tt_hal_device.cpp

@@ -21,7 +21,7 @@ static tt::hal::Device::Type toTactilityDeviceType(DeviceType type) {
         case DEVICE_TYPE_GPS:
             return tt::hal::Device::Type::Gps;
         default:
-            tt_crash("Device::Type not supported");
+            check(false, "Device::Type not supported");
     }
 }