[RFC v2] introduce UDC class

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This is the second version of the UDC-class series. The changelog:
v1 -> v2:
- udc_lock is now a mutex and rework add/remove of udc and gadget.
- send KOBJ_CHANGE with KOBJ_CHANGE=driver->function on
  attaching/deatching gadget drivers.
- udc class is auto-selected if gadget support is enabled.
- added missing kernel doc for bind

Sebastian

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