[include][console] split lib/console.h into two

TL;DR most uses of lib/console.h -> lk/console_cmd.h

Move the part that lets a piece of code somewhere in the system to
define a console command from the actual lib/console api to start an
instance of the console. Move in almost every place the user of the
console command definition to the new header, lk/console_cmd.h which is
always in the include path.

Also remove most uses of testing for WITH_LIB_CONSOLE since you can
almost always just safely define it and then let the linker remove it.

target/nucleo-f072rb/init.c

@@ -11,12 +11,12 @@
 #include <lk/compiler.h>
 #include <dev/gpio.h>
 #include <dev/i2c.h>
-#include <lib/console.h>
 #include <platform/gpio.h>
 #include <platform/stm32.h>
 #include <platform/usbc.h>
 #include <target/gpioconfig.h>
 #include <target/usb.h>
+#include <lk/console_cmd.h>
 
 void target_early_init(void) {
     /* configure the usart2 pins */