[riot-notifications] [RIOT-OS/RIOT] core/mutex: Add mutex_cancel (#15442)

[benpicco]

Yes but I meant that

```C
   setup_isr_that_unblocks_mutex_but_mask_it();
   unsigned state = irq_disable();
   unmask_isr_that_unblocks_mutex();
```

procedure.

If you have no interrupt to configure, there would be no difference to the current `mutex_lock()` which disables interrupts as well.

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