soc: esp32: drivers: counter: code refactor

Refactors counter driver code, bringing:

- more readability through the removal of abused macros
- better use of the devicetree, by moving peripheral node's
info defined on macros and Kconfigs to dts bindings
- less dependence from dynamic allocations, making counter
instances fully statically-allocated
- better use of DT_INST_* macros

Signed-off-by: Glauber Maroto Ferreira <glauber.ferreira@espressif.com>