Upgrade idf v5.1

[hathach]

Description of Change

upgrade ESP IDF to v5.1.1

• migrate codes and build changes from IDF v4.3 to v5.1.1
• remove esp-idf submodule, just use idf installation, specified tested version in ports/espressif/readme.md
• make changes to esp cmake project, move cmakelists.txt around
• add post build to tinyuf2 to generate bootloader_bin.c for self-update
• add post build for self-update to generate update-tinyuf2.uf2
• add pre-commit ci check for typo (codespell) and spacing