bl602-hal
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Add DMA functionality
This PR adds a dma module based on the rp-hal implementation.
Currently it is only tested together with UART, but it (hopefully) should be usable for any of the peripherals.
Related to the DMA change, this PR also extends src/interrupts with more peripherals and
adds a typelevel module (copied from rp-hal, which copied from atsamd-hal).