feat(xtensa): add support for esp32s3 with xtensa arch

[elenaf9]

Description

• Add support for xtensa arch in riot-rs-threads
• Add support for esp32s3 chip in riot-rs-embassy (cc @ROMemories given that these are minimal changes, I don't think there will be many merge conflicts with refactor(embassy)!: extract arch modules as crates #392. I'll rebase once that PR is in)
• Add espressif-esp32-s3-wroom-1 board
• Adapt the laze-project.yml based on prio work from @kaspar030.

Testing

Rust on xtensa requires the installation of the esp toolchain and setting up the environment correctly. See the Rust on ESP Book. It can then be run as usual with

laze build -C examples/threading -b espressif-esp32-s3-wroom-1 run

Issues/PRs references

Fixes #359.

Open TODOs

There are still linker issues that have to be fixed. Right now I simply worked around them by commenting out the conflicting parts, and somehow it worked. See self-review.

Change checklist

• I have cleaned up my commit history and squashed fixup commits.
• I have followed the Coding Conventions.
• I have performed a self-review of my own code.
• I have made corresponding changes to the documentation.

[kaspar030]

@elenaf9 do you mind rebasing this?

[kaspar030]

Please rebase (again), and squash. and probably, do a cargo update, I added a commit to our embasssy fork to use the old waker code, which the current xtensa compiler needs.

[kaspar030]

I've added installing the xtensa toolchain for esp32s3 to CI, also building for the espressif-esp32-s3-wroom-1 board.

IMO this is good to go, apart from the CI (unrelated?) errors and the bench_sched_yield change.