update(port/dwc2/usb_glue_esp): add freertos/task.h for old esp-idf

Signed-off-by: sakumisu <1203593632@qq.com>

Author: sakumisu

port/dwc2/usb_glue_esp.c

@@ -9,6 +9,7 @@
 #include "esp_private/usb_phy.h"
 #include "soc/periph_defs.h"
 #include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 #include "usbd_core.h"
 #include "usbh_core.h"