cmake: Extracted Zephyr module processing into python script

Fixes: #14513

This commit move the functionality of extracting zephyr modules into
generated CMake and Kconfig include files from CMake into python.

This allows other tools, especially CI to re-use the zephyr module
functionality.

Signed-off-by: Torsten Rasmussen <torsten.rasmussen@nordicsemi.no>