drivers/usbdev_synopsys_dwc2: add thread context switch at ISR exit

The USB device driver ISR sets a thread flag of the waiting USBUS thread to indicate that it has to handle a USB device driver event. However, setting a thread flag only sets `sched_context_switch_request` to indicate that a thread context switch would be required, but it is not executed. Therefore, for STM32 MCUs, `cortexm_isr_end` was called to execute the context switch. Since the driver is also used by other platforms, this call is replaced by a direct call of `thread_yield_higher` if required. NOTE: For ESP32x SoC, such a thread context switch is implicitly executed at the end of each ISR if necessary.

drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c

@@ -1546,7 +1546,8 @@ void _isr_common(dwc2_usb_otg_fshs_t *usbdev)
         }
         _global_regs(conf)->GAHBCFG &= ~USB_OTG_GAHBCFG_GINT;
     }
-#ifdef MCU_STM32
+
+#ifdef MODULE_CORTEXM_COMMON
     cortexm_isr_end();
 #endif
 }