[DMA 7/8]: Remove `Dma`, move channels to `Peripherals` #9112

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Run time

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Job	Run time
extras	1m 14s
esp-hal (esp32c2)	7m 19s
esp-hal (esp32c3)	7m 39s
esp-hal (esp32c6)	9m 56s
host-tests	14s
msrv	7m 45s
esp-hal (esp32h2)	8m 17s
esp-hal (esp32)	8m 54s
esp-hal (esp32s2)	9m 27s
rustfmt	27s
esp-hal (esp32s3)	6m 43s
	1h 7m 55s