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

[Gedare Bloom (@gedare)]

Gedare Bloom commented on a discussion: https://gitlab.rtems.org/rtems/rtos/rtems/-/merge_requests/821#note_139709


I'm not sure about the testing status. @vijay ?

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View it on GitLab: https://gitlab.rtems.org/rtems/rtos/rtems/-/merge_requests/821#note_139709
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