Migrate CONFIG_ULPI* to Kconfig

Move CONFIG_USB_ULPI* from headers to defconfigs for boards that use it.
Also - add CONFIG_USB where necesarry - all boards use it,
but some are not defining it explicitly.

Affected boards:
colibri_t20, harmony, mcx, mt_ventoux, twister,
zynq_(picozed, zc702, zc706, zed, zybo)

Signed-off-by: Mateusz Kulikowski <mateusz.kulikowski@gmail.com>
Reviewed-by: Simon Glass <sjg@chromium.org>