cmsis: Add RTE_Components.h and remove dependency on HAL

After some refactoring in MCU-Driver-HAL, it is no longer necessary to
depend on any non-API code from the HAL.

In particular, `RTE_Components.h` which is CMSIS components'
configuration header is no longer provided by the HAL. Now we add one
`RTE_Components.h` to each example that needs CMSIS, which is the
standard approach.

CMSIS components also require the macro `CMSIS_device_header` to be set
to a file containing architecture-specific definitions. The HAL
internally sets it to its own `cmsis.h`, but to avoid dependency on that
we make CMSIS's built-in headers such as `ARMCM55.h` available in
`cmsis-core`'s include paths and set `CMSIS_device_header="ARMCM55.h" in
our examples. Note that uses of headers like `ARMCM55.h` are optional
and a user project can provide its own customized architecture header.

Note: RTX needs different configurations depending on whether TF-M is
enabled or not. Because CMake can only produce one copy of each static
library per build, TF-M and non-TF-M examples need to be built in
separately if a user wants to try all of them.

Signed-off-by: Jaeden Amero <jaeden.amero@arm.com>
Signed-off-by: Lingkai Dong <lingkai.dong@arm.com>