[DMA 7/8]: Remove `Dma`, move channels to `Peripherals` #9118

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Run time

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Job	Run time
msrv	7m 25s
extras	51s
host-tests	23s
esp-hal (esp32c2)	7m 12s
esp-hal (esp32c3)	8m 34s
rustfmt	24s
esp-hal (esp32c6)	10m 21s
esp-hal (esp32h2)	8m 38s
esp-hal (esp32)	11m 56s
esp-hal (esp32s2)	11m 48s
esp-hal (esp32s3)	13m 47s
	1h 21m 19s