tests/drivers/udc/drivers.usb.udc fails on rpi_pico

[soburi]

Describe the bug

The tests/drivers/udc/drivers.usb.udc fails on rpi_pico.

This seems to have started from the initial commit
9816e87.

To Reproduce

Run the test with twister.

west twister --device-testing --device-serial /dev/ttyACM
0 -p rpi_pico -T tests/drivers/udc/ -xOPENOCD=/usr/local/bin/openocd

Expected behavior

Pass the test.

Impact

The actual function is working, so the impact is minor.

Logs and console output

*** Booting Zephyr OS build v4.0.0-4372-g3142c51d87a1 ***
Running TESTSUITE udc_driver_test
===================================================================
I: UDC device HS: 0
START - test_udc_enabled
E: ep 0x01 already enabled

    Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/udc/src/main.c:158: test_udc_ep_enable: (err3 not equal to -ENODEV)
Not failed to enable endpoint
 FAIL - test_udc_enabled in 0.017 seconds
===================================================================
START - test_udc_ep_buf

    Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/udc/src/main.c:382: test_udc_ep_mps: (err is non-zero)
Failed to initialize UDC driver
 FAIL - test_udc_ep_buf in 0.013 seconds
===================================================================
START - test_udc_ep_int

    Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/udc/src/main.c:382: test_udc_ep_mps: (err is non-zero)
Failed to initialize UDC driver
 FAIL - test_udc_ep_int in 0.013 seconds
===================================================================
START - test_udc_ep_iso

    Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/udc/src/main.c:382: test_udc_ep_mps: (err is non-zero)
Failed to initialize UDC driver
 FAIL - test_udc_ep_iso in 0.013 seconds
===================================================================
START - test_udc_initialized

    Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/udc/src/main.c:529: udc_driver_test_test_udc_initialized: (err is non-zero)
Failed to initialize UDC driver
 FAIL - test_udc_initialized in 0.015 seconds
===================================================================
START - test_udc_not_initialized

    Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/udc/src/main.c:493: udc_driver_test_test_udc_not_initialized: (err not equal to -EALREADY)
Not failed to shutdown UDC
 FAIL - test_udc_not_initialized in 0.016 seconds
===================================================================
TESTSUITE udc_driver_test failed.

------ TESTSUITE SUMMARY START ------

SUITE FAIL -   0.00% [udc_driver_test]: pass = 0, fail = 6, skip = 0, total = 6 duration = 0.087 seconds
 - FAIL - [udc_driver_test.test_udc_enabled] duration = 0.017 seconds
 - FAIL - [udc_driver_test.test_udc_ep_buf] duration = 0.013 seconds
 - FAIL - [udc_driver_test.test_udc_ep_int] duration = 0.013 seconds
 - FAIL - [udc_driver_test.test_udc_ep_iso] duration = 0.013 seconds
 - FAIL - [udc_driver_test.test_udc_initialized] duration = 0.015 seconds
 - FAIL - [udc_driver_test.test_udc_not_initialized] duration = 0.016 seconds

------ TESTSUITE SUMMARY END ------

===================================================================
RunID: 2e20f08a2071b288c2bfa48dc32cad19
PROJECT EXECUTION FAILED

Environment (please complete the following information):

• OS: Ubuntu (WSL2)
• Toolchain Zephyr SDK
• Commit SHA: 3142c51

Additional context

Patch posted as #85024