[riot-notifications] [RIOT-OS/RIOT] drivers/{b, c}*: model modules in Kconfig (#15466)

[Francisco]

@fjmolinas commented on this pull request.

Just one question otherwise everything looks good.

> +CONFIG_MODULE_PHYDAT=y
+CONFIG_MODULE_SAUL=y
+CONFIG_MODULE_SAUL_REG=y
+CONFIG_MODULE_SAUL_DEFAULT=y

When I use `menuconfig` I can see that `CONFIG_MODULE_SAUL_GPIO` is selected but I cant find where it is selected in the dependencies.

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