1. add check in the gdma driver, to prevent multiple channels connecting
to the same peripheral
2. memory copy DMA ID will occupy the peripheral's DMA ID on some ESP
targets (e.g. esp32c3/s3). We should search for a free one when
install async memcpy driver.
Closes https://github.com/espressif/esp-idf/issues/10575
Alloc handle memory first then hook, we can benifit:
1. Don't have to do malloc in a critical section
2. Don't have to do esp_intr_free in a critical section
