feat(esp_system): switch to standard __libc_init_array initialization

Initially, ESP-IDF used the do_global_ctors() function to run global
constructors. This was done to accommodate Xtensa targets that emit
.ctors.* sections, which are ordered in descending order.

For RISC-V, compilation used .init_array.* sections, which are designed
to have ascending order. Priority constructors in .init_array.* sections
were correctly processed in ascending order. However, non-priority
.init_array section was processed in descending order, as it was done
for Xtensa .ctors.

Starting with ESP-IDF v6.0, the implementation switched to the standard
LibC behavior (__libc_init_array()), which processes both priority and
non-priority constructors in ascending order.

To achieve this, a breaking changes were introduced:
  - Xtensa .ctors.* priority entries converted to .init_array.* format
    (ascending), to be passed to __libc_init_array().
  - Processing order of non-priority .init_array and .ctors sections was
    changed from descending to ascending.

Also, this change introduces .preinit_array for linking. This may be
needed for some C++ or sanitizer features.

Related to https://github.com/espressif/esp-idf/issues/15529

tools/test_apps/system/init_array/pytest_init_array.py

@@ -0,0 +1,17 @@
+# SPDX-FileCopyrightText: 2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-License-Identifier: CC0-1.0
+import pytest
+from pytest_embedded import Dut
+from pytest_embedded_idf.utils import idf_parametrize
+
+
+@pytest.mark.generic
+@idf_parametrize('target', ['supported_targets', 'preview_targets', 'linux'], indirect=['target'])
+def test_init_array(dut: Dut) -> None:
+    dut.expect_exact('preinit_func')
+    dut.expect_exact('init_prio_101')
+    dut.expect_exact('init_prio_102')
+    dut.expect_exact('init_prio_103')
+    dut.expect_exact('foo')
+    dut.expect_exact('bar')
+    dut.expect_exact('app_main running')