[riot-notifications] [RIOT-OS/RIOT] core: debug: use IS_ACTIVE in debug.h (#15365)

[Martine Lenders]

> why introduce the extra dependency when the goal (compile time checking) is met already?
> This is not replacing `#if DEFINE` with `if(DEFINE)`, it was already the latter, and the header made sure that ENABLE_DEBUG is always set.

True

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