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[bsp][esp32] adapt C3/C6 to ESP-IDF v6.1 and bump RISC-V toolchain to gcc 15.2 #5454

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[bsp][esp32] adapt C3/C6 to ESP-IDF v6.1 and bump RISC-V toolchain to gcc 15.2

[bsp][esp32] adapt C3/C6 to ESP-IDF v6.1 and bump RISC-V toolchain to gcc 15.2 #5454

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