ulp: fix missing include in esp32/ulp.h header

ulp.h uses some register base addresses, so needs to include soc.h

components/ulp/include/esp32/ulp.h

@@ -17,6 +17,7 @@
 #include <stddef.h>
 #include <stdlib.h>
 #include "esp_err.h"
+#include "soc/soc.h"
 
 #ifdef __cplusplus
 extern "C" {