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Add memory preloading support for vcs-testharness

Created by: Gchauvon

Hello @MikeOpenHWGroup,

To make simulation faster, i added memory preloading support for vcs-testharness. cva6.yaml takes the right commands to preload memory using the makefile in the cva6 repository.

This PR is highly dependent on the PR n°772 i did in the cva6 repository. (https://github.com/openhwgroup/cva6/pull/772)

I recommend to wait for the CVA6 PR to be merged before merging this one.

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