drivers: i2c: Base OMAP I2C support for TI-K3 processor

The OMAP I2C provides support for I2C serial interface on TI K3 series.
It is compatible with Philips I2C physical layer.
The commit includes:
Zephyr i2c api implementation
Polling Mode

Signed-off-by: Dhruv Menon <dhruvmenon1104@gmail.com>