RTEMS | libi2c: Use RTEMS thread API and support initialization at device driver level (!821)

[Joel Sherrill (@joel)]

Joel Sherrill commented: https://gitlab.rtems.org/rtems/rtos/rtems/-/merge_requests/821#note_139681


@gedare Is this OK now?

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View it on GitLab: https://gitlab.rtems.org/rtems/rtos/rtems/-/merge_requests/821#note_139681
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