espressif: group boards using target name as a family

`hw\bsp` separate one family folder to esp32s2, esp32s3
add board specific board.cmake file to override board specific options(features)
fix examples and test scripts to use new family approach

examples/device/cdc_msc_freertos/CMakeLists.txt

@@ -9,10 +9,10 @@ set(TOP "../../..")
 get_filename_component(TOP "${TOP}" REALPATH)
 
 # Check for -DFAMILY=
-if(FAMILY STREQUAL "esp32sx")
+if(FAMILY MATCHES "^(esp32s[2-3])*")
   include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
   project(${PROJECT})
 
 else()
-  message(FATAL_ERROR "Invalid FAMILY specified")
+  message(FATAL_ERROR "Invalid FAMILY specified: ${FAMILY}")
 endif()