usb: move CONFIG_USB_XHCI_DWC3 to Kconfig

Create an entry for "config USB_XHCI_DWC3" in Kconfig and
switch over to it for all boards.

Signed-off-by: Masahiro Yamada <yamada.masahiro@socionext.com>
diff --git a/configs/am57xx_evm_defconfig b/configs/am57xx_evm_defconfig
index 815811f..6743b84 100644
--- a/configs/am57xx_evm_defconfig
+++ b/configs/am57xx_evm_defconfig
@@ -35,3 +35,4 @@
 CONFIG_SYS_NS16550=y
 CONFIG_USB=y
 CONFIG_USB_XHCI_HCD=y
+CONFIG_USB_XHCI_DWC3=y