Migrate hardware dependencies from Git submodules to Bender

[Aquaticfuller]

Summarize the changes concisely

Changelog

Added

• Makefile: Always checkout bender deps if necessary when any Makefile target is called. Also add clean-deps target to clean all the deps.

Changed

• bender: Remove all hardware git submodules, switch to bender.

• Remove hardware git submodule init in ci scripts.

Checklist

• Automated tests pass
• Changelog updated
• Code style guideline is observed

[mbertuletti]

Thanks for this work. Please address the comments, rebase and change the README.md in hardware/deps on how to modify or add an hardware dependency.

[mbertuletti]

I removed the hardware patches in the repo to avoid to check out bender dependencies in the hardware deps workspace.

• For register_interface I waived linter errors and verilator warnings on the generated files.
• For tech_cells_generic I removed the patch for hardware DPIs on the tc_sram macro and created a wrapper in the mempool_system.