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

[Kaspar Schleiser]

> Btw: I think I will place a preconditions that `mutex_lock_may_fail()` is called with IRQs disabled.

how do you unblock specific IRQs in RIOT?

IMO this is getting out of hand. Why not just keep mutex_unlock() private to mutex, xtimer, ztimer?

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