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()

Tests/TactilityKernel/Source/MutexTest.cpp

@@ -26,8 +26,8 @@ TEST_CASE("mutex_try_lock should succeed on first lock but not on second") {
     Mutex mutex = { 0 };
     mutex_construct(&mutex);
 
-    CHECK_EQ(mutex_try_lock(&mutex), true);
-    CHECK_EQ(mutex_try_lock(&mutex), false);
+    CHECK_EQ(mutex_try_lock(&mutex, 0), true);
+    CHECK_EQ(mutex_try_lock(&mutex, 0), false);
     mutex_unlock(&mutex);
 
     mutex_destruct(&mutex);

Tests/TactilityKernel/Source/RecursiveMutexTest.cpp

@@ -43,8 +43,8 @@ TEST_CASE("recursive_mutex_try_lock should lock multiple times from the same thr
     RecursiveMutex mutex = { 0 };
     recursive_mutex_construct(&mutex);
 
-    CHECK_EQ(recursive_mutex_try_lock(&mutex), true);
-    CHECK_EQ(recursive_mutex_try_lock(&mutex), true);
+    CHECK_EQ(recursive_mutex_try_lock(&mutex, 0), true);
+    CHECK_EQ(recursive_mutex_try_lock(&mutex, 0), true);
     recursive_mutex_unlock(&mutex);
     CHECK_EQ(recursive_mutex_is_locked(&mutex), true);
     recursive_mutex_unlock(&mutex);