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/xtensa/esp32s3/include/xtensa/config/core.h

@@ -132,6 +132,16 @@
 #define XCHAL_ERRATUM_497       0
 #endif
 
+/*
+ * Erratum 572 (releases TBD, but present in ESP32S3)
+ * Disable zero-overhead loop buffer to prevent rare illegal instruction
+ * exceptions while executing zero-overhead loops.
+ */
+#if ( XCHAL_HAVE_LOOPS && XCHAL_LOOP_BUFFER_SIZE != 0 )
+#define XCHAL_ERRATUM_572   1
+#else
+#define XCHAL_ERRATUM_572   0
+#endif
 
 /*----------------------------------------------------------------------
                 ISA