Peripherals: accel driver, dma

[slowguitarist]

This pull request:

• Ports the updated accelerometer driver from crashnurn.
• Enables drivers to accept runtime configuration and set devices to generate 'data ready' interrupts.
• Refactors driver code with better look and small performance tweaks.
• Introduces global EXT interrupt that triggers DMA transfer with completion and error callbacks.
• Implements double buffering to avoid conflicts with single consumer and reduce copying.
• Adds thread-context functions to fetch DMA buffers based on either device or available data.
• Updates CubeMX project to 6.16.1.

[slowguitarist]

Closing as superseded by setup.