drivers/tone_alarm and tune_control small improvements/cleanup

- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
 - drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
 - drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
 - msg/tune_control: add tune_id numbering
 - systemcmds/tune_control: add "error" special case tune_id
 - move all tune_control publication to new uORB::PublicationQueued<>
 - start tone_alarm immediately after board defaults are loaded to fix potential startup issues
 - for SITL (or other boards with no TONE output) print common messages (startup, error, etc)

platforms/nuttx/src/px4/nxp/imxrt/tone_alarm/ToneAlarmInterface.cpp

@@ -163,8 +163,9 @@ void init()
 #endif /* TONE_ALARM_TIMER */
 }
 
-void start_note(unsigned frequency)
+hrt_abstime start_note(unsigned frequency)
 {
+	hrt_abstime time_started = 0;
 #if defined(TONE_ALARM_TIMER)
 	float period = 0.5f / frequency;
 
@@ -182,8 +183,13 @@ void start_note(unsigned frequency)
 	rCR  |= GPT_CR_EN;
 
 	// configure the GPIO to enable timer output
+	irqstate_t flags = enter_critical_section();
+	time_started = hrt_absolute_time();
 	px4_arch_configgpio(GPIO_TONE_ALARM);
+	leave_critical_section(flags);
 #endif /* TONE_ALARM_TIMER */
+
+	return time_started;
 }
 
 void stop_note()