feat: dma support

[AndreCostaaa]

Tracking issue for dma support. The API can be similar to the current i2c api which means:

• Create a generic api inside so3/devices
  • We can start with a simple dma_transfer(src, dst, size); function and leave it to the driver to handle multiple transfers
• Create a driver for the bcm2711 dma

Reference can be the i2c_bsc driver