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()

TactilityKernel/Source/concurrent/dispatcher.cpp

@@ -58,7 +58,7 @@ error_t dispatcher_dispatch_timed(DispatcherHandle_t dispatcher, void* callbackC
     auto* data = dispatcher_data(dispatcher);
 
     // Mutate
-    if (!mutex_try_lock_timed(&data->mutex, timeout)) {
+    if (!mutex_try_lock(&data->mutex, timeout)) {
 #ifdef ESP_PLATFORM
         LOG_E(TAG, "Mutex acquisition timeout");
 #endif
@@ -115,7 +115,7 @@ error_t dispatcher_consume_timed(DispatcherHandle_t dispatcher, TickType_t timeo
     // Mutate
     bool processing = true;
     do {
-        if (mutex_try_lock_timed(&data->mutex, 10)) {
+        if (mutex_try_lock(&data->mutex, 10)) {
             if (!data->queue.empty()) {
                 // Make a copy, so it's thread-safe when we unlock
                 auto entry = data->queue.front();