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Add autonomous Docker for compilation/simulation #2

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This PR adds a Dockerfile based on Ubuntu (verilator is unfortunately broken on Debian, hence Ubuntu). The purpose is to be able to compile the SystemC simulator, compile the firmware and launch a simulation profiling only with Docker:

$ make -f Makefile.docker

Beware that since this uses the packaged picolibc standard library, this depends on PR #1 that introduces it.

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