Update the EMS fw to handle the new BMS messages - STINT 1

[valegagge]

We want to provide the basic information (advanced alarms and % of charge) the new BMS provides to the user without changing the ETH protocol.

DoD
The EMS fw is updated and verified.

[valegagge]

Regarding the % of charge, this information is carried out in the message 0x620 that already belongs to the protocol, so I didn't need to develop something.
Instead, to provide the alarms to the user I updated the EMS fw to carry this info in one of the fillers of the eOas_battery_status_t.

In addition, I developed a new functionality that lets the user know the cause of the last run. In detail, when the EMS starts, it asks for the last logs to the BMS and prints them as debug messages.

[valegagge]

Along with @MSECode, we validated the first version of this code, and it seems to work as expected.

I still need to improve the code.

[valegagge]

the updated code is here: https://github.com/valegagge/icub-firmware/tree/feat/BMS_new_msg. EMS ver 194

[valegagge]

I complete the first version. see branches:

• https://github.com/valegagge/icub-firmware-shared/tree/feat/updateEOBat
• https://github.com/valegagge/icub-firmware/tree/feat/BMS_new_msg.

These last changes are simple aesthetic improvements.

Now the FW handles the new getLog message and prints a debug error when the BMS gets an error in the last run

[valegagge]

The fw is running on the ergocub SN002 as expected. (for IROS conference).

We satisfied the DOD, eve if the task is not completed.
I close this issue in favor of #504