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/esp32s3/bootloader_esp32s3.c

@@ -37,6 +37,8 @@
 #include "esp_efuse.h"
 #include "hal/mmu_hal.h"
 #include "hal/cache_hal.h"
+#include "xtensa/config/core.h"
+#include "xt_instr_macros.h"
 
 
 static const char *TAG = "boot.esp32s3";
@@ -316,6 +318,12 @@ static inline void bootloader_ana_reset_config(void)
 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_ana_reset_config();
     bootloader_super_wdt_auto_feed();
     // protect memory region