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()

Tactility/Source/hal/i2c/I2c.cpp

@@ -37,9 +37,8 @@ Device* findDevice(i2c_port_t port) {
         auto* driver = device_get_driver(device);
         if (driver == nullptr) return true;
         if (!driver_is_compatible(driver, "espressif,esp32-i2c")) return true;
-        i2c_port_t port;
-        if (esp32_i2c_get_port(device, &port) != ERROR_NONE) return true;
-        if (port != params_ptr->port) return true;
+        auto* config = static_cast<const Esp32I2cConfig*>(device->config);
+        if (config->port != params_ptr->port) return true;
         // Found it, stop iterating
         params_ptr->device = device;
         return false;