Add kernel drivers for SPI and UART and make locking APIs more consistent (#489)

- Add kernel support for SPI driver
- Add kernel support for UART driver
- Implemented ESP32 UART kernel driver
- Update existing UART-related code in Tactility to use new kernel driver
- Remove UART from tt::hal::Configuration
- Remove tt_hal_uart functionality but keep functions for now
- Update devicetrees for UART changes
- Kernel mutex and recursive mutex: improved locking API design
- Other kernel improvements
- Added device_exists_of_type() and device_find_by_name()

Platforms/PlatformEsp32/Include/tactility/bindings/esp32_uart.h

@@ -0,0 +1,16 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <tactility/bindings/bindings.h>
+#include <tactility/drivers/esp32_uart.h>
+#include <driver/uart.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+DEFINE_DEVICETREE(esp32_uart, struct Esp32UartConfig)
+
+#ifdef __cplusplus
+}
+#endif

Platforms/PlatformEsp32/Include/tactility/drivers/esp32_i2c.h

@@ -17,7 +17,6 @@ struct Esp32I2cConfig {
     bool pinSclPullUp;
 };
 
-error_t esp32_i2c_get_port(struct Device* device, i2c_port_t* port);
 
 #ifdef __cplusplus
 }

Platforms/PlatformEsp32/Include/tactility/drivers/esp32_spi.h

@@ -0,0 +1,23 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <driver/spi_common.h>
+#include <tactility/drivers/spi_controller.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct Esp32SpiConfig {
+    spi_host_device_t host;
+    int pin_mosi;
+    int pin_miso;
+    int pin_sclk;
+    int pin_wp;
+    int pin_hd;
+    int max_transfer_size;
+};
+
+#ifdef __cplusplus
+}
+#endif

Platforms/PlatformEsp32/Include/tactility/drivers/esp32_uart.h

@@ -0,0 +1,21 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <driver/uart.h>
+#include <tactility/drivers/uart_controller.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct Esp32UartConfig {
+    uart_port_t port;
+    int pinTx;
+    int pinRx;
+    int pinCts;
+    int pinRts;
+};
+
+#ifdef __cplusplus
+}
+#endif