Add DMI Bridge to FireSim

[soohyuk-cho]

Adds a FireSim DMI Bridge for an alternative bringup interface other than TSI.

• Adds a new DMI target config for FireSim for quick testing
• Adds bridge binder for DMI
• Enables DebugModule for all FireSim designs (now that clock gating can be disabled). This matches CY's behavior of always having it.

Related PRs / Issues:

Type of change:

• Bug fix
• New feature
• Other enhancement

Impact:

• RTL change
• Software change (RISC-V software)
• Build system change
• Other

Contributor Checklist:

• Did you set main as the base branch?
• Is this PR's title suitable for inclusion in the changelog and have you added a changelog:<topic> label?
• Did you state the type-of-change/impact?
• Did you delete any extraneous prints/debugging code?
• Did you mark the PR with a changelog: label?
• (If applicable) Did you update the conda .conda-lock.yml file if you updated the conda requirements file?
• (If applicable) Did you add documentation for the feature?
• (If applicable) Did you add a test demonstrating the PR?

• (If applicable) Did you mark the PR as Please Backport?