tools: use built-in USB_SERIAL_JTAG for "idf.py openocd" on C3 and S3

Since both chips have built-in JTAG functionality, and there are no
official boards with FT2232H for these chips, use the built-in JTAG
by default.

To use them with esp-prog, set:
  OPENOCD_COMMANDS="-f board/esp32c3-ftdi.cfg"
or pass this via the --openocd-commands argument to idf.py.

tools/idf_py_actions/debug_ext.py

@@ -159,6 +159,8 @@ def action_extensions(base_actions: Dict, project_path: str) -> Dict:
         OPENOCD_TAGET_CONFIG = {
             'esp32': '-f board/esp32-wrover-kit-3.3v.cfg',
             'esp32s2': '-f board/esp32s2-kaluga-1.cfg',
+            'esp32c3': '-f board/esp32c3-builtin.cfg',
+            'esp32s3': '-f board/esp32s3-builtin.cfg',
         }
         if os.getenv('OPENOCD_SCRIPTS') is None:
             raise FatalError('OPENOCD_SCRIPTS not found in the environment: Please run export.sh/export.bat', ctx)