Bluetooth: HFP_HF: Improve codec negotiation

Add the configuration `BT_HFP_HF_CODEC_NEG` to configure the codec
negotiation feature.

Add a configuration `BT_HFP_HF_CODEC_MSBC` to support mSBC codec.

Add a configuration `BT_HFP_HF_CODEC_LC3_SWB` to support LC3 SWB codec.

Add a function `bt_hfp_hf_audio_connect` to trigger audio connection
sequence.

Add a function `bt_hfp_hf_select_codec` to response the codec
negotiation request.

Add a function `bt_hfp_hf_set_codecs` to notify the AG supported Codec
IDs of HF.

Handle unsolicited response `+BCS` sent from AG.

Send supported Codec IDs supported by HF if the SLC is established.

Signed-off-by: Lyle Zhu <lyle.zhu@nxp.com>