feat: add I2C support to the SoC topology and formal verification

- Updated  to include I2C1 in IRQ bindings.
- Modified  to increase IRQ group width and add I2C1 interrupt.
- Enhanced  to include I2C formal properties and adjust timeouts.
- Added I2C-related source files to the formal verification flow.
- Updated DMA wrapper in  to handle I2C DMA signals.
- Created a new testbench  for I2C functionality verification.
- Implemented I2C helper functions in  for testing.
- Added I2C tests in  to validate controller behavior and recovery.
- Updated existing tests to accommodate changes in DMA and IRQ handling.

scripts/run_c_tests.py

@@ -21,6 +21,7 @@ TEST_SOURCES = (
     "crt/src/lib/stdlib.c",
     "crt/src/lib/string.c",
     "crt/src/hal/gpio_math.c",
+    "crt/src/hal/i2c_math.c",
     "crt/src/hal/ws2812_math.c",
     "crt/src/hal/uart_math.c",
     "crt/src/hal/timer_math.c",