Update format for latest gcc and esp-idf

[finger563]

Description

• Update libfmt (fmt) external library to latest
• Added commonly used includes from fmt to format.hpp

Motivation and Context

Makes it work with the latest esp-idf and supports additional formatting of things such as std::atomic.

How has this been tested?

Building the examples.

Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Documentation Update
• Hardware (schematic, board, system design) change
• Software change

Checklist:

• My change requires a change to the documentation.
• I have added / updated the documentation related to this change via either README or WIKI

Software

• I have added tests to cover my changes.
• I have updated the .github/workflows/build.yml file to add my new test to the automated cloud build github action.
• All new and existing tests passed.
• My code follows the code style of this project.