arm64/imx9: Add LPI2C driver

[pussuw]

Summary

Adds LPI2C driver (fork-lifted from IMXRT) for IMX93

Impact

Add new driver for IMX93. Both polling and DMA modes work, but eDMA driver will be added later!

Testing

imx93-evk

[acassis]

Maybe you need to include the right header:

Error: chip/imx9_lpi2c.c:758:3: error: implicit declaration of function 'modifyreg32'; did you mean 'modreg32'? [-Werror=implicit-function-declaration]
  758 |   modifyreg32(priv->config->base + offset, clearbits, setbits);

[pussuw]

Maybe you need to include the right header:

Error: chip/imx9_lpi2c.c:758:3: error: implicit declaration of function 'modifyreg32'; did you mean 'modreg32'? [-Werror=implicit-function-declaration]
  758 |   modifyreg32(priv->config->base + offset, clearbits, setbits);

Need to rebase, it's missing this: #12146

[pussuw]

Rebase is now done @acassis :)

[jerpelea]

please add commit message describing the change