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- 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