Move Chipyard CI to Github Actions

- As similar as possible to the circle ci code.
- The `.github/README.md` file has a fair amount of documentation for this.
- Creates a worfklow file
  - re-uses most of the circleci/scipts unchanged
  - defines a number of *Composite Actions* which are like YML subroutines
- Removes the circle-ci code
- Points the CI badge in the top level README to use the GA test result