feat: Allow users to configure new/legacy I2C driver for SCCB hardware

[finger563]

Description

Add Kconfig option to select legacy or new I2C driver for SCCB communications.

Related

Fixes #741

Testing

I have run this locally as part of changes on my camera-streamer project using the fork esp32-camera.

esp-cpp/camera-streamer#10

---

Checklist

Before submitting a Pull Request, please ensure the following:

• 🚨 This PR does not introduce breaking changes.
• All CI checks (GH Actions) pass.
• Documentation is updated as needed.
• Tests are updated or added as necessary.
• Code is well-commented, especially in complex areas.
• Git history is clean — commits are squashed to the minimum necessary.

[AxelLin]

Because SCCB_HARDWARE_I2C_DRIVER_NEW is only available for IDF-5.4+,
to avoid breaking existing application,
I think the SCCB_HARDWARE_I2C_DRIVER_SELECTION should be default to SCCB_HARDWARE_I2C_DRIVER_LEGACY.

[finger563]

Because SCCB_HARDWARE_I2C_DRIVER_NEW is only available for IDF-5.4+,
to avoid breaking existing application,
I think the SCCB_HARDWARE_I2C_DRIVER_SELECTION should be default to SCCB_HARDWARE_I2C_DRIVER_LEGACY.

@AxelLin it actually gets overridden in cmakelists if esp idf is < 5.4

[AxelLin]

@AxelLin it actually gets overridden in cmakelists if esp idf is < 5.4

Ok, there is no breakage with older IDF.

[AxelLin]

@me-no-dev Could you take a look of this PR?