synopsys/dwc2_esp32: Add header for vTaskDelay.

[andrewleech]

Describe the PR
When compiling the synopsys/dwc2 for ESP32-S2 I found it to fail using IDF v5.0.4 with:

In file included from /tinyusb/src/portable/synopsys/dwc2/dcd_dwc2.c:47:
/tinyusb/src/portable/synopsys/dwc2/dwc2_esp32.h: In function 'dwc2_remote_wakeup_delay':
/tinyusb/src/portable/synopsys/dwc2/dwc2_esp32.h:71:3: error: implicit declaration of function 'vTaskDelay' [-Werror=implicit-function-declaration]
   71 |   vTaskDelay(pdMS_TO_TICKS(1));
      |   ^~~~~~~~~~
cc1: some warnings being treated as errors

Additional context
I didn't run into this problem initially when using a different IDF version, it must have this imported indirectly in a different header (or this warning/error disabled by default) however it seems sensible to include the header that defines vTaskDelay directly.

[HiFiPhile]

LGTM