cmake: Use updated mcu-driver-hal

Update mcu-driver-hal reference, and use new, streamlined CMake targets.

The main CMake target from mcu-driver-hal, the `mcu-driver-hal-api`, is
clear of any dependencies now. As a consequence some of the targets in
*this* project have to link to `target-interface` and
`mcu-driver-hal-toolbox` explicitly now. Add these changes as well.

Signed-off-by: Filip Jagodzinski <filip.jagodzinski@arm.com>