drivers: usb: udc: add STM32 UDC driver

Add UDC driver for STM32 based MCU, relying on HAL/PCD.
This has been tested with cdc_acm sample on the following boards:

- 96b_carbon (STM32F4)
- disco_l475_iot1 (STM32L4)
- nucleo_wb55rg (STM32WB)
- nucleo_h723zg (STM32H7)
- stm32f3_disco (STM32F3)

This fails at runtime for the following:

- b_u585i_iot2a (STM32U5)

Signed-off-by: Loic Poulain <loic.poulain@linaro.org>