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Add support for mill build tool and make submodules permanent #1

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Hello,
I am using sdf-fft in another project, and I would like to contribute back some changes.

In this pull request I did two things. I wrote a build configuration for the mill build tool, and made submodules a part of the repository.

Is there any reason why the submodules are not a part of the repository? If so, I can also contribute back a pull request with only the mill build script change (build.sc).

Please let me know, if you think this change would be helpful, I think it would simplify the workflow for people using mill instead of sbt. Additionally, I would like to bump the chisel version used by sdf-fft to at least 3.6.0, but ideally to > 5, just because the speed ups would make my life much easier. I might do a separate pull request for that if you are interested.

Pozdrav,
Jure

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