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Add hardware debug support #883

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Matthew-Otto
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This PR adds support for RISC-V Debug Specification Version 1.0.0. There are some quirks with privilege unit interactions which I intend to cleanup soon. Otherwise, the RTL is tested and functional.

This PR also integrates some basic JTAG tests into the regression testing system. I'm open to any feedback that can make it better.

@davidharrishmc
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This PR will need significant testing before it is ready to merge.

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