1. Fix deep sleep wakeup IOs can not be unhold issue
2. Correct hold related APIs' description
3. Fix gpio_force_hold_all API
docs: Add GPIO wakeup source to sleep_modes doc for ESP32C3 and C2
Since ulp wakeup signal are connected to ulp int raw(except esp32), we
need to clear ulp int raw before sleep when ulp wakeup enabled. Otherwise,
if the ulp int raw is already set, chip will not sleep properly.
Closes https://github.com/espressif/esp-idf/issues/6229