drivers: usb: Enhance USB and UDC drivers for STM32 OTG configurations

- Unified the handling of USB OTG HS and USB OTG FS
  by removing redundant preprocessor conditionals.
- Introduced a new macro `UDC_STM32_BASE_ADDRESS`
  to dynamically set the USB base address.

Signed-off-by: IBEN EL HADJ MESSAOUD Marwa <marwa.ibenelhadjmessaoud-ext@st.com>