feat(safety): create fault handling system

[t-bre]

Description

Instead of calling Error_Handler() everywhere which just halts the system, an error handling system should be implemented which safely shuts down the system.

Requirements

• [x] Implement system for registering critical and non-critical faults.
• [ ] Shut down system safely in event of critical fault, or repeated non-critical fault.
• [ ] Broadcast fault state using CANBC.
• [ ] Replace all instances of Error_Handler() with appropriate fault handler calls.

[t-bre]

@Scaniox I will implement this system soon(ish), which your shutdown interrupt handler (#167) can call to shutdown the system.