misra8.4: safety.h + safety_declarations.h (commaai#2022)

* safety

* static!

* ALLOW_DEBUG

* fix

* fix 12.3

* remove comment

* no debug

* move stuff to debug

* only usage

* cleanup

* canfd hyundai

* no include for now

* indent

* comment for ford suppression

* also gm

* remove suppression

* only safety headers

* cleanup