feat(soc): add USB DFU and OTG console caps

Add USB DFU and OTG console SOC capability flags for esp32s2, esp32s3, and esp32p4.

Use these caps in Kconfig, documentation conditionals, and idf.py DFU actions so USB support
is derived from SOC capabilities instead of hardcoded target names.

components/soc/esp32p4/include/soc/Kconfig.soc_caps.in

@@ -111,6 +111,10 @@ config SOC_USB_OTG_SUPPORTED
     bool
     default y
 
+config SOC_USB_DFU_SUPPORTED
+    bool
+    default y
+
 config SOC_WIRELESS_HOST_SUPPORTED
     bool
     default y

components/soc/esp32p4/include/soc/soc_caps.h

@@ -50,6 +50,7 @@
 #define SOC_ASYNC_MEMCPY_SUPPORTED      1
 #define SOC_EMAC_SUPPORTED              1
 #define SOC_USB_OTG_SUPPORTED           1
+#define SOC_USB_DFU_SUPPORTED           1
 #define SOC_WIRELESS_HOST_SUPPORTED     1
 #define SOC_USB_SERIAL_JTAG_SUPPORTED   1
 #define SOC_TEMP_SENSOR_SUPPORTED       1