[mac-frame] add util functions to generate ack (#4884)

This commit adds mac frame util functions to generate acks (both Imm
and Enh acks) from a received frame. These funtions are utils APIs for
platforms which don't provide ack generation.

This commit also introduces compile options for CSL to control the CSL
IE related part.

script/test

@@ -92,6 +92,12 @@ build_simulation()
 
     fi
 
+    if [[ "${version}" == "1.2" ]]; then
+        options+=(
+            "-DOT_CSL_RECEIVER=ON"
+        )
+    fi
+
     local builddir="${OT_BUILDDIR}/cmake/openthread-simulation-${version}"
     (mkdir -p "${builddir}" \
         && cd "${builddir}" \