[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

firmware/targets/furi_hal_include/furi_hal_cortex.h

@@ -56,6 +56,53 @@ bool furi_hal_cortex_timer_is_expired(FuriHalCortexTimer cortex_timer);
  */
 void furi_hal_cortex_timer_wait(FuriHalCortexTimer cortex_timer);
 
+typedef enum {
+    FuriHalCortexComp0,
+    FuriHalCortexComp1,
+    FuriHalCortexComp2,
+    FuriHalCortexComp3,
+} FuriHalCortexComp;
+
+typedef enum {
+    FuriHalCortexCompSizeWord = 0b10,
+    FuriHalCortexCompSizeHalfWord = 0b01,
+    FuriHalCortexCompSizeByte = 0b00,
+} FuriHalCortexCompSize;
+
+typedef enum {
+    FuriHalCortexCompFunctionPC = 0b100,
+    FuriHalCortexCompFunctionRead = 0b101,
+    FuriHalCortexCompFunctionWrite = 0b110,
+    FuriHalCortexCompFunctionReadWrite = 0b110,
+} FuriHalCortexCompFunction;
+
+/** Enable DWT comparator
+ * 
+ * Allows to programmatically set instruction/data breakpoints.
+ * 
+ * More details on how it works can be found in armv7m official documentation:
+ * https://developer.arm.com/documentation/ddi0403/d/Debug-Architecture/ARMv7-M-Debug/The-Data-Watchpoint-and-Trace-unit/The-DWT-comparators
+ * https://developer.arm.com/documentation/ddi0403/d/Debug-Architecture/ARMv7-M-Debug/The-Data-Watchpoint-and-Trace-unit/Comparator-Function-registers--DWT-FUNCTIONn
+ *
+ * @param[in]  comp      The Comparator
+ * @param[in]  function  The Comparator Function to use
+ * @param[in]  value     The value
+ * @param[in]  mask      The mask
+ * @param[in]  size      The size
+ */
+void furi_hal_cortex_comp_enable(
+    FuriHalCortexComp comp,
+    FuriHalCortexCompFunction function,
+    uint32_t value,
+    uint32_t mask,
+    FuriHalCortexCompSize size);
+
+/** Reset DWT comparator
+ *
+ * @param[in]  comp  The Comparator
+ */
+void furi_hal_cortex_comp_reset(FuriHalCortexComp comp);
+
 #ifdef __cplusplus
 }
 #endif