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/drivers/spi_controller.cpp

@@ -0,0 +1,29 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <tactility/drivers/spi_controller.h>
+#include <tactility/error.h>
+#include <tactility/device.h>
+
+#define SPI_DRIVER_API(driver) ((struct SpiControllerApi*)driver->api)
+
+extern "C" {
+
+error_t spi_controller_lock(struct Device* device) {
+    const auto* driver = device_get_driver(device);
+    return SPI_DRIVER_API(driver)->lock(device);
+}
+
+error_t spi_controller_try_lock(struct Device* device, TickType_t timeout) {
+    const auto* driver = device_get_driver(device);
+    return SPI_DRIVER_API(driver)->try_lock(device, timeout);
+}
+
+error_t spi_controller_unlock(struct Device* device) {
+    const auto* driver = device_get_driver(device);
+    return SPI_DRIVER_API(driver)->unlock(device);
+}
+
+const struct DeviceType SPI_CONTROLLER_TYPE {
+    .name = "spi-controller"
+};
+
+}