userspace/hal: move public headers to userspace/include
This allows private headers to be clearly private (in userspace/wrsw_hal/).
rt_ipc.h is used by phytool too, so it is not private and is now in include/.
As a side effect, remove -I../wrs_hal from makefile.
Signed-off-by: Alessandro Rubini <rubini@gnudd.com>
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