feat: ipc: add nested-free flag support to mutex

[polarvid]

拉取/合并请求描述：(PR description)

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为什么提交这份PR (why to submit this PR)

This patch introduces a nested-free control flag to the mutex, allowing more flexible control over mutex hold limits. The change is necessary to handle scenarios where nested mutex acquisition is restricted, since it will introduce possibility of data corruption in a nested access to the critical area.

你的解决方案是什么 (what is your solution)

Changes:

• Added ctrl_flags field in rt_mutex structure to replace the reserved field for holding control flags.
• Introduced RT_MUTEX_CTRL_NESTED_FREE command in rt_mutex_control to enable the new flag.
• Refactored mutex initialization by extracting common logic into a new _mutex_init function, reducing code duplication.
• Updated the _rt_mutex_take function to respect the nested-free flag, preventing nested acquisition when the flag is set.
• Modified rt_mutex_control to handle the new control command and return appropriate error codes for invalid commands.

请提供验证的bsp和config (provide the config and bsp)

• BSP:

• .config:

• action:

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当前拉取/合并请求的状态 Intent for your PR

必须选择一项 Choose one (Mandatory):

• [ ] 本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
• [ ] 本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

代码质量 Code Quality：

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

• [ ] 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
• [ ] 代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
• [ ] 没有垃圾代码，代码尽量精简，不包含#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up
• [ ] 所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
• [ ] 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
• [ ] 代码是高质量的 Code in this PR is of high quality
• [ ] 已经使用formatting 等源码格式化工具确保格式符合RT-Thread代码规范 This PR complies with RT-Thread code specification