drivers: i2c: stm32: add bus recovery support

Add I2C bus recovery support to the STM32 v1 and v2 driver. The STM32 i2c
peripheral does not natively support I2C bus recovery so recovery is
performed using GPIO bitbanging. This mirrors the bus recovery
implementation for NXP MCUX LPI2C driver.

Fixes: zephyrproject-rtos#54917

Signed-off-by: Maxmillion McLaughlin <github@maxmclau.com>