ESP-IDF change only: use the new ESP-IDF I2C API.

In version 5.2 of ESP-IDF, Espressif have introduced a new I2C API.  Now that we test with a later version of ESP-IDF we can employ the new ESP-IDF I2C API.  We continue to support the old ESP-IDF I2C API for earlier ESP-IDF versions and you may switch back to using the older ESP-IDF I2C API by defining ESP_IDF_I2C_NEW_API_DISABLE for your build.