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/soc/esp32c3/include/soc/gpio_pins.h

@@ -1,16 +1,8 @@
-// Copyright 2020 Espressif Systems (Shanghai) PTE LTD
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
+/*
+ * SPDX-FileCopyrightText: 2020-2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
 
 
 #pragma once