Add framing protocol support

[jthornblad]

Description

Adds support for the framing protocol used in Castor.

Type of change

Please tick any that are relevant to this PR and remove any that aren't.

• Bugfix (non breaking change which resolve an issue)
• Feature (non breaking change which adds functionality)
• Breaking Change (a change which would cause existing functionality to not work as expected)
• Documentation (a change to documentation)

Submission checklist

• My code follows the style guidelines of this project
• I have performed a self-review of my changes
• I have tested and verified my changes on target
• My changes are well written and CI is passing
• I have squashed my work to relevant commits and rebased on main for linear history
• I have added a "Co-authored-by: x" if several people contributed, either pair programming or by squashing commits from different authors.
• I have updated the documentation where relevant (readme, dev.tillitis.se etc.)
• QEMU is updated to reflect changes