drivers/usbdev: add UVC gadget class driver

Add USB Video Class 1.1 gadget driver supporting Bulk transport
with uncompressed YUY2 video streaming. Resolution and frame
interval are negotiated dynamically via PROBE/COMMIT control.

- uvc.h: protocol constants, streaming control struct, public API
- uvc.c: class driver with PROBE/COMMIT, bulk EP, /dev/uvc0 chardev
- Kconfig/Make.defs: USBUVC config and build rules
- boardctl.c: BOARDIOC_USBDEV_UVC standalone init path

Hardened against host disconnect:
- Removed nxmutex_lock from USB interrupt context paths
- Added 30s semaphore timeout in uvc_write with EP_CANCEL fallback
- Drain stale wrsem counts in VS_COMMIT before new stream
- Guard uvc_streaming_stop() against double EP_CANCEL race
- Handle EP_SUBMIT returning -ESHUTDOWN gracefully

Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>

Author: JianyuWang0623

boards/boardctl.c

@@ -56,6 +56,7 @@
 #  include <nuttx/usb/cdcacm.h>
 #  include <nuttx/usb/pl2303.h>
 #  include <nuttx/usb/usbmsc.h>
+#  include <nuttx/usb/uvc.h>
 #  include <nuttx/usb/composite.h>
 #endif
 
@@ -206,6 +207,44 @@ static inline int
         break;
 #endif
 
+#if defined(CONFIG_USBUVC) && !defined(CONFIG_USBUVC_COMPOSITE)
+      case BOARDIOC_USBDEV_UVC:              /* UVC class */
+        switch (ctrl->action)
+          {
+            case BOARDIOC_USBDEV_INITIALIZE: /* Initialize UVC device */
+              break;
+
+            case BOARDIOC_USBDEV_CONNECT:    /* Connect the UVC device */
+              {
+                FAR const struct uvc_params_s *params;
+
+                DEBUGASSERT(ctrl->handle != NULL);
+
+                /* Application passes video params via *handle */
+
+                params = (FAR const struct uvc_params_s *)*ctrl->handle;
+                *ctrl->handle = usbdev_uvc_initialize(params);
+                if (*ctrl->handle == NULL)
+                  {
+                    ret = -EIO;
+                  }
+              }
+              break;
+
+            case BOARDIOC_USBDEV_DISCONNECT: /* Disconnect the UVC device */
+              {
+                DEBUGASSERT(ctrl->handle != NULL && *ctrl->handle != NULL);
+                usbdev_uvc_uninitialize(*ctrl->handle);
+              }
+              break;
+
+            default:
+              ret = -EINVAL;
+              break;
+          }
+        break;
+#endif
+
 #ifdef CONFIG_USBDEV_COMPOSITE
       case BOARDIOC_USBDEV_COMPOSITE:        /* Composite device */
         switch (ctrl->action)

drivers/usbdev/CMakeLists.txt

@@ -61,6 +61,10 @@ if(CONFIG_USBDEV)
     list(APPEND SRCS mtp.c)
   endif()
 
+  if(CONFIG_USBUVC)
+    list(APPEND SRCS uvc.c)
+  endif()
+
   if(CONFIG_NET_CDCECM)
     list(APPEND SRCS cdcecm.c)
   endif()

drivers/usbdev/Kconfig

@@ -948,6 +948,47 @@ config USBADB_INTERFACESTR
 
 endif # USBADB
 
+menuconfig USBUVC
+	bool "USB Video Class (UVC) gadget support"
+	default n
+	depends on USBDEV
+	---help---
+		Enables USB Video Class (UVC) gadget device support.
+		The device appears as a USB webcam to the host.
+
+if USBUVC
+
+config USBUVC_COMPOSITE
+	bool "UVC composite support"
+	default n
+	depends on USBDEV_COMPOSITE
+	---help---
+		Configure the UVC driver as part of a composite USB device.
+		When enabled, the UVC gadget can be combined with other USB
+		class drivers (e.g., CDC/ACM) in a single composite device.
+
+if !USBUVC_COMPOSITE
+
+config USBUVC_EPBULKIN
+	int "Bulk IN endpoint number"
+	default 1
+
+config USBUVC_EP0MAXPACKET
+	int "Max packet size for EP0"
+	default 64
+
+endif # !USBUVC_COMPOSITE
+
+config USBUVC_EPBULKIN_FSSIZE
+	int "Bulk IN full-speed max packet size"
+	default 64
+
+config USBUVC_NWRREQS
+	int "Number of write requests"
+	default 4
+
+endif # USBUVC
+
 menuconfig USBMSC
 	bool "USB Mass storage class device"
 	default n

drivers/usbdev/Make.defs

@@ -56,6 +56,10 @@ ifeq ($(CONFIG_USBADB),y)
   CSRCS += adb.c
 endif
 
+ifeq ($(CONFIG_USBUVC),y)
+  CSRCS += uvc.c
+endif
+
 ifeq ($(CONFIG_USBMTP),y)
   CSRCS += mtp.c
 endif