manifest: update zephyr revision, fix VPR esr init

Manifest PR for backport of
[nrf fromlist] arch: riscv: option to init custom hw stacked esf memb

Signed-off-by: Łukasz Stępnicki <[email protected]>

Author: lstnl

west.yml

@@ -69,7 +69,7 @@ manifest:
     # https://developer.nordicsemi.com/nRF_Connect_SDK/doc/latest/zephyr/guides/modules.html
     - name: zephyr
       repo-path: sdk-zephyr
-      revision: 868f0e1c61d5f6da1598ba371e512f953dee608d
+      revision: 942ee1baa8e1389e150a5e34244a347de0c67cd3
       import:
         # In addition to the zephyr repository itself, NCS also
         # imports the contents of zephyr/west.yml at the above