Made some models generate reusable functions

[pattacini]

This PR makes the control and estimation models generate reusable functions.
To this end, I had to modify the following options:

• Code Generation > Interface > Code interface packaging: Reusable function¹
  • Code Generation > Interface > Pass root-level I/O as: Structure reference
• Code Generation > Identifiers > Maximum identifier length: 60²
• Model Referencing > Total number of instances allowed per top model: Multiple

Warning
This PR needs to be first tested on the device.

Footnotes

1. When the model contains a macro subsystem, I had also to set the same option in the Code Generation tab of the Block Parameter. ↩

2. I wouldn't expect an impact on our FW compiler as modern toolchains are perfectly capable of dealing with long identifiers. To be checked anyway. ↩

[mfussi66]

Just tested on the Wrist Lego setup, everything seems work just fine 👍
I tested both the current control mode and velocity, with no problems.

[pattacini]

Thanks heaps @mfussi66!
Merging then.