Reorganize the logic for restarting FlexRay communication to be Autosar compliant

Reorganize the logic for restarting FlexRay communication to be Autosar compliant

Autosar specification restricts the Fr_StartCommunication to be use only for starting the communication and no other logic should be there.
The specification orders the Fr_ControllerInit function to be able to switch POC state to Config from any other states. So all the restart logic was moved here.

Commands descriptions and rpp function documentation was modified.