esp32/MCPWM: Add motor control MCPWM driver.

[IhorNehrutsa]

If possible, this will be full support for the ESP32 MCPWM peripheral according to the
Motor Control Pulse Width Modulator (MCPWM)

In the future, esp32.MCPWM will allow the development of common cross-port machine.COMPLEMENTARY_PWM, Space Vector PWM, machine.CAPTURE etc.

Based on Basic MCPWM support #5818
Some code is taken from https://github.com/micropython/micropython/blob/master/ports/mimxrt/machine_pwm.c @robert-hh

The py/mpprint.h file from #8050, the ports/esp32/mphalport.c and ports/esp32/mphalport.h files from #10888 will be removed from this PR when development is complete.

[github-actions]

Code size report:

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 98.39%. Comparing base (8809ae7) to head (e88200f).

❗ Current head e88200f differs from pull request most recent head e6218be

Please upload reports for the commit e6218be to get more accurate results.

Additional details and impacted files

@@            Coverage Diff             @@
##           master   #12345      +/-   ##
==========================================
- Coverage   98.39%   98.39%   -0.01%     
==========================================
  Files         161      158       -3     
  Lines       21204    20939     -265     
==========================================
- Hits        20864    20602     -262     
+ Misses        340      337       -3     

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[IhorNehrutsa]

First results:
Dead Time Configurations for Classical PWM Waveforms

Active High Complementary

Active High

Rising Delay on PWMA and Bypass Dead Time for PWMB

Falling Delay on PWMB and Bypass Dead Time for PWMA

Rising and Falling Delay on PWMB and Bypass Dead Time for PWMA

[IhorNehrutsa]

Second stage:

m = MCPWM(0, (16,17), waveform=14, deadtime=2**16//8)
print(m)

MCPWM(0, (Pin(16), Pin(17)), freq=5000Hz, duty_u16=32768, deadtime=8192ns=82ticks, resolution_hz=10000000, period_ticks=2000 action=14)

m.force00()

m.force10()

m.force01()

m.force0_1()

m.force_10()

m.force_1_1()

[projectgus]

This is an automated heads-up that we've just merged a Pull Request
that removes the STATIC macro from MicroPython's C API.

See #13763

A search suggests this PR might apply the STATIC macro to some C code. If it
does, then next time you rebase the PR (or merge from master) then you should
please replace all the STATIC keywords with static.

Although this is an automated message, feel free to @-reply to me directly if
you have any questions about this.