replace outdated wrong `SOC_I2C_NUM` and use `SOC_HP_I2C_NUM` #1555

Job	Run time
Push event file	2s
Generate matrix	1s
Build (validation, esp32h2) / Build validation tests for esp32h2	8s
Build (validation, esp32c6) / Build validation tests for esp32c6	16s
Build (validation, esp32c3) / Build validation tests for esp32c3	10s
Build (validation, esp32) / Build validation tests for esp32	7s
Build (validation, esp32p4) / Build validation tests for esp32p4	5s
Build (validation, esp32s2) / Build validation tests for esp32s2	8s
Build (validation, esp32s3) / Build validation tests for esp32s3	8s
QEMU	0s
Hardware	0s
	1m 5s

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