[cleanup] Unify all calls to the error function.

This is the continuation of #244, we now deprecate `CErrors.error`,
the single entry point in Coq is `user_err`.

The rationale is to allow for easier grepping, and to ease a future
cleanup of error messages. In particular, we would like to
systematically classify all error messages raised by Coq and be sure
they are properly documented.

We restore the two functions removed in #244 to improve compatibility,
but mark them deprecated.

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