hal: Route CPU and Interrupt Controller HAL/LL to esp_cpu calls

This commit makes changes to cpu_ll.h, cpu_hal.h, and interrupt_controller_hal.h:

- Moved to esp_hw_support in order to be deprecated in the future
- HAL/LL API now route their calls to esp_cpu.h functions instead

Also updated soc_hal.h as follows:

- Removed __SOC_HAL_..._OTHER_CORES() macros as they dependend on cpu_hal.h
- Made soc_hal.h and soc_ll.h interfaces always inline, and removed soc_hal.c.

This commit also updates the XCHAL_ERRATUM_572 workaround by

- Removing it's HAL function and invoking the workaround it directly the bootloader
- Added missing workaround for the ESP32-S3

components/bootloader_support/src/esp32/bootloader_esp32.c

@@ -27,6 +27,8 @@
 #include "soc/rtc.h"
 #include "soc/spi_periph.h"
 #include "hal/gpio_hal.h"
+#include "xtensa/config/core.h"
+#include "xt_instr_macros.h"
 
 #include "esp32/rom/cache.h"
 #include "esp_rom_gpio.h"
@@ -350,6 +352,11 @@ esp_err_t bootloader_init(void)
 {
     esp_err_t ret = ESP_OK;
 
+#if XCHAL_ERRATUM_572
+    uint32_t memctl = XCHAL_CACHE_MEMCTL_DEFAULT;
+    WSR(MEMCTL, memctl);
+#endif // XCHAL_ERRATUM_572
+
     bootloader_init_mem();
 
     // check that static RAM is after the stack