Feature/add all fault handler

Description

Added a generic fault handler and the ability to clear (some) faults.

What to focus on

• put content here.

Reviewers

• @cw
• @amyblank
• @bz
• @ps

Resources

• Must be used with burt/firmware/burt-firmware!182

Issues

What issues does this fix?

• Fixes #74
• Fixes #75
• Fixes #76