sched: change pthread_mutex implementation from sem to mutex

[Gary-Hobson]

Summary

Since pthread_mutex is implemented by sem, it is impossible to see in ps who holds the lock and causes the wait. Replace semaphore with mutex implementation to solve the above problems

Impact

It depends on https://github.com/apache/nuttx/pull/13104

Testing

ostest & ltp

[acassis]

Please check CI error