Add freertos/ prefix to header includes

[NathanJPhillips]

This avoids conflicts with other, similarly named, header files.

[NathanJPhillips]

Unless I'm missing something, the CI failures look unrelated to this PR.

[leeebo]

@NathanJPhillips TinyUSB using a Macro to handle the prefix, please add the below lines in your tusb_config.h or define the Macro through CMakeLists.

// Espressif IDF requires "freertos/" prefix in include path
#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
  #define CFG_TUSB_OS_INC_PATH    freertos/
#endif