Use thiserror for errors

[AlfioEmanueleFresta]

• Reduces some boilerplate
• Used in Add NFC transport #105 - allow making dependency non-optional, rather than for nfc feature only
• I plan to use this in new CBOR serialization and deserialization, as I would like to encapsulate underlying errors (more easily)

[msirringhaus]

Looks good so far, but I'd like to have Clone back, where possible.

[AlfioEmanueleFresta]

Thanks @msirringhaus, good points. Addressed, good to merge?

[msirringhaus]

Yes, thank you!