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Bump CMake version to 3.9, which the oldest version supporting the project DESCRIPTION option (see https://cmake.org/cmake/help/latest/command/project.html#command:project), which was introduced by commit 59821cb. CMake policy CMP0048 is set to NEW by default since 3.0 and can be removed. Fixes OpenEtherCATsociety#559, fixes OpenEtherCATsociety#512
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