拉取/合并请求描述：(PR description)

rt_i2c_control() can change the controller configuration while rt_i2c_transfer() is using the bus. Take the same bus mutex around control commands, including SET_MAX_HZ, and release it through a common exit path. Error handling follows rt_i2c_transfer(); the API documentation now states that control requires thread context.

Fixes #11524.

Validation

GCC 16.1 compiled the complete I2C core and device wrapper against repository headers. Host tests with a pthread mutex adapter pass concurrent transfer/control combinations, control/control, max_hz updates, lock and callback errors, and a nested control-to-transfer call. The unpatched source fails the regression suite.

Configuration: RT_USING_I2C, RT_USING_DEVICE_OPS, RT_USING_MUTEX and RT_USING_SEMAPHORE. Changed-line clang-format and git diff --check pass. No target BSP, QEMU or I2C hardware test was run; the host adapter does not test RT-Thread priority inheritance.

当前拉取/合并请求的状态 Intent for your PR

必须选择一项 Choose one (Mandatory):

• 本拉取/合并请求是一个草稿版本 This PR is for a code-review and is intended to get feedback
• 本拉取/合并请求是一个成熟版本 This PR is mature, and ready to be integrated into the repo

代码质量 Code Quality：

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

• 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
• 代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
• 没有垃圾代码，代码尽量精简，不包含#if 0代码，不包含已经被注释了的代码 All redundant code is removed and cleaned up
• 所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
• 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
• 代码是高质量的 Code in this PR is of high quality
• 已经使用clang-format 源码格式化工具确保格式符合RT-Thread代码规范 This PR has been formatted with clang-format and complies with RT-Thread code specification
• 如果是新增bsp, 已经添加ci检查到.github/ALL_BSP_COMPILE.json 详细请参考链接BSP自查