Replace all place which use semaphore as lock with mutex wrapper

[xiaoxiang781216]

See the discussion: #5070 and https://www.mail-archive.com/dev@nuttx.apache.org/msg07312.html

[pkarashchenko]

@xiaoxiang781216 will we improve mutex wrapper to check for holder before releasing a mutex or a separate ticket should be created for that? Currently mutex can be released from a task that is not holding it.

[xiaoxiang781216]

it can be added in the separate PR. Maybe need to enabled in the debug mode to save the space.

[pkarashchenko]

I think that probably a good way will be to move priority inheritance from sem to mutex and clean-up priority inheritance APIs for semaphores after we switch to mutexes in code

[xiaoxiang781216]

Yes, this is the safe path to fix the priority inheritance issue.