ulp: Added support for ULP FSM on esp32s3 and fixed bugs for esp32s2

This commit enables ULP FSM support for esp32s3 and updates ULP FSM code
flow for other chips.
It adds C Macro support for the ULP FSM instruction set on esp32s2 and
esp32s3.
The unit tests are also updated to test ULP FSM on ep32s2 and esp32s3.

examples/system/ulp_fsm/ulp/main/ulp_example_main.c

@@ -16,7 +16,7 @@
 #include "soc/rtc_periph.h"
 #include "driver/gpio.h"
 #include "driver/rtc_io.h"
-#include "esp32/ulp.h"
+#include "ulp.h"
 #include "ulp_main.h"
 
 extern const uint8_t ulp_main_bin_start[] asm("_binary_ulp_main_bin_start");
@@ -74,12 +74,15 @@ static void init_ulp_program(void)
     rtc_gpio_pullup_dis(gpio_num);
     rtc_gpio_hold_en(gpio_num);
 
+#if CONFIG_IDF_TARGET_ESP32
     /* Disconnect GPIO12 and GPIO15 to remove current drain through
-     * pullup/pulldown resistors.
+     * pullup/pulldown resistors on modules which have these (e.g. ESP32-WROVER)
      * GPIO12 may be pulled high to select flash voltage.
      */
     rtc_gpio_isolate(GPIO_NUM_12);
     rtc_gpio_isolate(GPIO_NUM_15);
+#endif // CONFIG_IDF_TARGET_ESP32
+
     esp_deep_sleep_disable_rom_logging(); // suppress boot messages
 
     /* Set ULP wake up period to T = 20ms.