tools/codeformat.py: Add formatter using uncrustify for C, black for Py.

This commit adds a tool, codeformat.py, which will reformat C and Python
code to fit a certain style.  By default the tool will reformat (almost)
all the original (ie not 3rd-party) .c, .h and .py files in this
repository.  Passing filenames on the command-line to codeformat.py will
reformat only those.  Reformatting is done in-place.

uncrustify is used for C reformatting, which is available for many
platforms and can be easily built from source, see
https://github.com/uncrustify/uncrustify.  The configuration for uncrustify
is also added in this commit and values are chosen to best match the
existing code style.  A small post-processing stage on .c and .h files is
done by codeformat.py (after running uncrustify) to fix up some minor
items:
- space inserted after * when used as multiplication with sizeof
- #if/ifdef/ifndef/elif/else/endif are dedented by one level when they are
  configuring if-blocks and case-blocks.

For Python code, the formatter used is black, which can be pip-installed;
see https://github.com/psf/black.  The defaults are used, except for line-
length which is set at 99 characters to match the "about 100" line-length
limit used in C code.

The formatting tools used and their configuration were chosen to strike a
balance between keeping existing style and not changing too many lines of
code, and enforcing a relatively strict style (especially for Python code).
This should help to keep the code consistent across everything, and reduce
cognitive load when writing new code to match the style.

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