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tools: use riscv32-esp-elf toolchain for ESP32-S2 RISC-V ULP
riscv32-esp-elf toolchain (used for ESP32-C3) can also be used for ESP32-S2 RISC-V ULP coprocessor. This removes the riscv-none-embed-gcc toolchain which was originally used for the ULP, and updates the docs and CMake files to use riscv32-esp-elf. Some flags are cleaned up and workarounds removed from CMake toolchain file.
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@@ -25,11 +25,6 @@
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.. tool-esp32s2ulp-elf-notes
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---
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.. tool-riscv-none-embed-gcc-notes
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---
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.. tool-openocd-esp32-notes
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