feat(usb/h4): Add USB OTG host support for ESP32-H4

- hal: add DWC OTG core LL (usb_dwc_ll.h) and USB wrap LL (usb_wrap_ll.h)
- soc: add DWC register map/cfg (usb_dwc_struct.h, usb_dwc_cfg.h) and caps
- soc/kconfig: enable SOC_USB_OTG_SUPPORTED=1, SOC_USB_OTG_PERIPH_NUM=1
- docs: add ESP32-H4 to usb_phy test app “Supported Targets”
- ld: export USB_WRAP symbol
- doxygen: include USB Host headers for H4 to emit .inc files

Author: igi540

components/esp_hw_support/test_apps/usb_phy/README.md

@@ -1,4 +1,4 @@
-| Supported Targets | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | -------- | -------- | -------- | -------- |
 
 # USB: PHY sanity checks