[Feature] Build HAT port fault and motor fault #2483
Description
The Raspberry Pi Build HAT has a couple of fault inputs that we don't have on other hubs.
One is a port fault that is triggered if we overload the voltage support for the Powered Up I/O ports (pin 4). This probably isn't likely to happen unless someone is making their own I/O devices. Still, it could be a good idea to do something with this.
The other is a motor fault that I assume means one of the motor driver chips got a fault (like overcurrent). It could also be a good idea to do something with this. Like stop all motors and raise an exception with the reason.