Add support for SAMD21 HCD #404

Job	Run time
set-matrix	3s
build (esp-idf) / family (-b espressif_s3_devkitm)	6m 29s
build (arm-gcc) / family (-b feather_nrf52840_express)	45s
build (esp-idf) / family (-b espressif_s3_devkitm -f1 CFG_TUD_DWC2_DMA)	6m 35s
build (arm-gcc) / family (-b max32666fthr)	1m 16s
build (arm-gcc) / family (-b metro_m4_express)	43s
build (arm-gcc) / family (-b lpcxpresso11u37)	54s
build (arm-gcc) / family (-b ra4m1_ek)	35s
build (arm-gcc) / family (-b raspberry_pi_pico)	2m 1s
build (arm-gcc) / family (-b raspberry_pi_pico2)	2m 0s
build (arm-gcc) / family (-b stm32f072disco)	32s
build (arm-gcc) / family (-b stm32f407disco)	41s
build (arm-gcc) / family (-b stm32f407disco -f1 CFG_TUD_DWC2_DMA)	43s
build (arm-gcc) / family (-b stm32g0b1nucleo)	35s
hil-tinyusb	1m 27s
	25m 19s

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