lib: chibios-contrib: sync with chibios-21.11.x (#22560)

This contains commit from da78eb3759b8..9d7a7f904ed1:

    9d7a7f90 Merge pull request #382 from KarlK90/fix/rp2040-i2c-speeds
    70119934 Merge pull request #383 from
             KarlK90/fix/rp2040-usb-get-status-request
    1a1bbe6c rp2040: usb: fix usb_lld_get_status functions
    7d9212dd rp2040: i2c: fix speed calculation
    fb67e502 Merge pull request #377 from 1Conan/sn32_fix_registry
    e72939ef SN32: update registry
    5b4836ca Merge pull request #376 from dexter93/sn32_usb_v2
    5ded9de9 sn32: usb: do NOT clear interrupt status until handled
    Leftover Sonix reference code cleanup. Sometimes when there is
    traffic on more than 1 ep's packets would be dropped before they
    could be handled. Clearing the status flags after handling them
    takes care of it.
    e9a4a512 sn32: usb: only activate interrupts on lld start
    e4a35d1c sn32: fix host remote wakeup

lib/chibios-contrib

@@ -1 +1 @@
-Subproject commit da78eb3759b8d1779b237657c7667baa4aa95ca1
+Subproject commit 9d7a7f904ed135e3459cf6d602db56a26872df6b