Fix Rp2040 IRAM issues

[mikee47]

Tracked down a few more issues where flash code may be called from interrupt routines.

I found a way to check this is to inspect the RAM code (at address 0x20000000 onwards) in the dissassembly output (out/Rp2040/debug/build/apps.dis) looking for any 'veneer' routines which are typically required for calls to flash (starting at 0x10000000).

[what-the-diff]

PR Summary

• Implemented force inline for CriticalLock
  Enhanced performance by adding __forceinline to CriticalLock constructor and destructor
• Modified PICO_MEM_IN_RAM setting
  Improved memory usage by changing PICO_MEM_IN_RAM value from 0 to 1 for pico target
• Updated HardwareSPI submodule
  Upgraded HardwareSPI submodule to a new commit for better compatibility and stability