bugfix(driver/gpio):update the incorrect comment

There are some register description errors in parts of rom/gpio.h
This commit update the incorrect comments in rom/gpio.h And now
esp_rom_gpio.h is recommend instead of rom/gpio.h. So this commit adds
macro SIG_GPIO_OUT_IDX in esp_rom_gpio_connect_out_signal
function and removes the reference to gpio.h in some source files.

Closes https://github.com/espressif/esp-idf/issues/11737

components/bootloader_support/bootloader_flash/src/bootloader_flash_config_esp32c2.c

@@ -10,7 +10,6 @@
 #include "esp_err.h"
 #include "esp_log.h"
 #include "esp_rom_gpio.h"
-#include "esp32c2/rom/gpio.h"
 #include "esp32c2/rom/spi_flash.h"
 #include "esp32c2/rom/efuse.h"
 #include "soc/gpio_periph.h"

components/bootloader_support/bootloader_flash/src/bootloader_flash_config_esp32c3.c

@@ -11,7 +11,6 @@
 #include "esp_log.h"
 #include "esp_rom_gpio.h"
 #include "esp_rom_efuse.h"
-#include "esp32c3/rom/gpio.h"
 #include "esp32c3/rom/spi_flash.h"
 #include "esp32c3/rom/efuse.h"
 #include "soc/gpio_periph.h"

components/bootloader_support/bootloader_flash/src/bootloader_flash_config_esp32c6.c

@@ -11,7 +11,6 @@
 #include "esp_log.h"
 #include "esp_rom_gpio.h"
 #include "esp_rom_efuse.h"
-#include "esp32c6/rom/gpio.h"
 #include "esp32c6/rom/spi_flash.h"
 #include "esp32c6/rom/efuse.h"
 #include "soc/gpio_periph.h"

components/bootloader_support/bootloader_flash/src/bootloader_flash_config_esp32h2.c

@@ -11,7 +11,6 @@
 #include "esp_log.h"
 #include "esp_rom_gpio.h"
 #include "esp_rom_efuse.h"
-#include "esp32h2/rom/gpio.h"
 #include "esp32h2/rom/spi_flash.h"
 #include "esp32h2/rom/efuse.h"
 #include "soc/gpio_periph.h"