DMA for I2C

[Sabramz]

Description

Title. Doing it cuz its faster and easier.

Acceptance Criteria

• Interface for I2C DMA calls
• All I2C read and write calls are replaced with reading and wiring to DMA
• Tested on car

Proposed Solution

Set up DMA for I2C on CubeMX. Start DMA in init functions. Replace I2C HAL calls with DMA calls.

[Sabramz]

Added blocked tag since we currently make no I2C calls (gotta get GPIO expanders back in).