Add support for esp32 builtin usb jtag adapter

[ad7718]

esp_usb_jtag (for example) need to be added as debug adapter.
openocd-esp32 needs to be compiled with support of esp builtin jtag support. I've tested it with esp-c3 and it works.

[ad7718]

I've made a template project for debugging, maybe it will help https://github.com/ad7718/esp32-c3_pio_builtin_jtag_debugging

[ad7718]

#659