drivers: i2c: fix timing and stop bit

Current impĺementation fails due to missing stop bit
when reading data. This fixes it and refactor the implementation
by adding k_busy_wait when waiting I2C bus completion.

Also, this implementation is based on esp-idf v3.0.
It will be refactored based on latest esp-idf v4.3 using proper
low level calls.

Signed-off-by: Sylvio Alves <sylvio.alves@espressif.com>

Fixes #34015