Separate Pi Comm UART Channels

• UART 1 TX (half duplex) for stm to pi transmission
• UART 2 TX RX for debugging
• UART 4 RX for pi to stm transmission

Separating RX and TX for pi comms into different channels enables pi comms to work for over 15 minutes.

Reduced interrupt (Minimal Changes)

• Refactored the UART interrupt for PiComms to reduce lines of code.
• PiComms process moved to ICommsModule.
• Function and variable names not revised, code has minimal changes and needs to be cleaned.
• Uses double 0 as delimiting

V1.0.0-abort-fix

PASSES RELIABILITY TEST

Protobuf + Abort (still contains lots of code inside interrupt)

Input delay is not fixed in this version. Only comms are working reliably.