Cleaned out libmaple.h; this had wide-ranging implications.

Many of the #defines in libmaple.h were board-specific, not
MCU-specific.  Most of these were only used by code under
libmaple/usb/.  These were moved into usb_config.h, and are clearly
marked as being terrible hacks.  I'm going to treat the USB stack as a
black box that we'll deal with later.

Further, instead of having a variety of #defines like "How many USARTS
do I have?", we decide that based on the density of the chip.  This is
determined by testing for STM32_MEDIUM_DENSITY or STM32_HIGH_DENSITY
defines.  libmaple currently doesn't support low-density chips, so
that suffices.  The Makefile will set these automatically based on the
MCU.

Other offending #defines are ERROR_LED_PORT and ERROR_LED_PIN; these
were made optional, but they're set in the Makefile as a hack to keep
things working.

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