[FL-3289] Various Furi/FuriHal bug fixes and improvements (#2637)

* Furi: properly handle thread free before TCB scrapping, add furi_free - more invasive version of free to memmgr. FuriHal: add DWT comparator api to cortex. Updater, RPC: refactor various thread shanenigans. Code cleanup.
* Rollback free macros and related changes

applications/services/storage/storage_external_api.c

@@ -803,6 +803,7 @@ void storage_file_free(File* file) {
 }
 
 FuriPubSub* storage_get_pubsub(Storage* storage) {
+    furi_assert(storage);
     return storage->pubsub;
 }
 

applications/services/storage/storages/storage_ext.c

@@ -337,6 +337,7 @@ static bool storage_ext_file_close(void* ctx, File* file) {
     file->internal_error_id = f_close(file_data);
     file->error_id = storage_ext_parse_error(file->internal_error_id);
     free(file_data);
+    storage_set_storage_file_data(file, NULL, storage);
     return (file->error_id == FSE_OK);
 }