[2/3] DMA Move API: Move DMA descriptors to peripheral drivers

[Dominaezzz]

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Pull Request Details 📖

Description

This is part of #1512 .

This is breaking change to move the DMA descriptors from the DMA channel to the individual DMA capable peripheral drivers.
Besides the actual descriptor move, there's another change which is to mandate that the descriptors are now 'static.
I tried not to mandate this but the borrow checker was fussing so I did it to save some hair.
This was going to be required eventually for soundness anyway and the impact to users will be negligible since most of them will be using the dma_buffer macros, which will do the right thing. So this I think this is fine.

Testing

HIL in CI

[bjoernQ]

Thanks! This looks good to me

[jessebraham]

I think this is looking quite good, thanks for your continued work on this.

We are unfortunately having some issues with our HIL setup currently and are blocked on merging, but I will merge this as soon as I'm able.