Provide ulp_adc_deinit() API to fix ADC1 handle leakage (IDFGH-11673)

[kutukvpavel]

Fix for #12766. Also restructured error handling in ulp_adc_init(...) so that it returns an error code instead of calling abort() from ESP_ERROR_CHECK(...).
Tested against ulp_riscv_adc example (deep sleep case) as well as our own custom app (light sleep case).

P.S. Right now ulp_adc driver is remarkably similar to oneshot driver itself, it mostly duplicates configuration API, introducing little new functionality. While I think this PR should be merged and backported to v5.1 branch ASAP to enable customers (like us) to use ULP ADC with Light Sleep, it's probably worth integrating ULP-related initialization code into oneshot driver itself in future releases. After all, adc_oneshot_unit_init_cfg_t::ulp_mode is already there.

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[ESP-Marius]

Thanks for adding this @kutukvpavel!

LGTM, i'll pull it into our internal gitlab for review, test and merge.

[ESP-Marius]

sha=8596d46774d65171b4540288918037c43e3debb4