Move Fault Handler stuff to a new file called FaultHandler

[IshDeshpa]

Describe the problem this feature will solve
Currently our fault handling behavior exists in Tasks.h/Tasks.c. It is a little unclear where the fault handling behavior exists to a new user, and it's harder to document fault handling without it being in a separate file since it is a lot to document.

Describe the proposed solution
Fault handling behavior (assertOSError, throwTaskError, etc.) should be moved to a new file called FaultHandler for code clarity and documentation purposes.