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Refactor the spi module #613

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Summary

Checklist

  • CHANGELOG.md for the BSP or HAL updated
  • All new or modified code is well documented, especially public items
  • No new warnings or clippy suggestions have been introduced (see CI or check locally)

After trying to use `SpiFuture` in the real world, I encountered some
problems that these changes address. Specifically, I added the ability
for the `Spi` struct to be part of some user type. The `AsSpi` trait
provides an interface for the `SpiFuture`. This has the added benefit of
simplifying the implementation.
- Make conversion from `Status` to `Error` an inherent function of
  `Status` rather than an implementation of `TryFrom`
- Add a `DynCapability` enum to allow run-time branching on `Capability`
- Improve type-level consistency for the `AnyConfig` and `AnySpi` traits
- Change how the `.get_dyn_length()` and `.set_dyn_length()` methods are
  restricted to only those structs with `DynLength`
- Remove calls to `assert_eq!` to help limit formatting code
- Fix bugs related to `Tx` `Capability`
@jbeaurivage jbeaurivage added the enhancement New feature or request label May 14, 2023
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