Finish clang-tidy cleanups (#3003)

* Add .clang-tidy configuration.
* A separate .clang-tidy is used for hal includes to suppress modernize-use-using
  (as these are C headers).
* Add NOLINT where necessary for a clean run.
* Add clang-tidy job to lint-format workflow.  This workflow is now only run on PRs.
  To reduce runtime, clang-tidy is only run on files changed in the PR.

Two wpilibc changes; both are unlikely to break user code:
* BuiltInAccelerometer: Make SetRange() final
* Counter: Make SetMaxPeriod() final

After these cleanups, the only file that does not run cleanly is
cscore_raw_cv.h due to it not being standalone.

wpilibc/src/test/native/cpp/simulation/DifferentialDriveSimTest.cpp

@@ -43,6 +43,7 @@ TEST(DifferentialDriveSim, Convergence) {
   auto trajectory = frc::TrajectoryGenerator::GenerateTrajectory(
       frc::Pose2d(), {}, frc::Pose2d(2_m, 2_m, 0_rad), config);
 
+  // NOLINTNEXTLINE
   for (double t = 0; t < trajectory.TotalTime().to<double>(); t += 0.02) {
     auto state = trajectory.Sample(20_ms);
     auto ramseteOut = ramsete.Calculate(sim.GetPose(), state);