refactor(esp_tinyusb): Changed CONFIG_TINYUSB_NO_DEFAULT_TASK to non-inverted logic

[roma-jam]

Description

Regarding the external or default (handling internally in the esp_tinyusb component) TinyUSB Task for tud_task().

Before:

#if !CONFIG_TINYUSB_NO_DEFAULT_TASK -> then create the TinyUSB task during driver install and handle tud_task() there. The logic holds two negative parts, which increases the difficulty of code readability.

After:

#if CONFIG_TINYUSB_DEFAULT_TASK -> then create the TinyUSB task during driver install and handle tud_task() there.
Clear logic: if default task -> then task holds in the driver.

Related

Prerequisites for dynamic TinyUSB configuration:

Selecting USB Peripheral
TinyUSB task configuring

Testing

N/A

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Checklist

Before submitting a Pull Request, please ensure the following:

• 🚨 This PR does not introduce breaking changes.
• All CI checks (GH Actions) pass.
• Documentation is updated as needed.
• Tests are updated or added as necessary.
• Code is well-commented, especially in complex areas.
• Git history is clean — commits are squashed to the minimum necessary.