This commit enables ULP FSM support for esp32s3 and updates ULP FSM code flow for other chips. It adds C Macro support for the ULP FSM instruction set on esp32s2 and esp32s3. The unit tests are also updated to test ULP FSM on ep32s2 and esp32s3.
Merges https://github.com/espressif/esp-idf/pull/5222
rd_reg comment references incorrect OPCODE ("OPCODE_WR_REG"); amended to "OPCODE_RD_REG". Merges https://github.com/espressif/esp-idf/pull/4098