west.yaml: update hal_rpi_pico to be based on Pico SDK 2.1.0#84204

kartben merged 2 commits intozephyrproject-rtos:mainzephyrproject-rtos/zephyr:mainfrom

ajf58:update_rpi_pico_sdkajf58/zephyr:update_rpi_pico_sdkCopy head branch name to clipboard