Did you ever get an answer for this.  I followed the directions at: 
https://wiki.tizen.org/USB/Linux_USB_Layers/Configfs_Composite_Gadget/Usage_eq._to_g_hid.ko

And am now bumping into the same problem:
root@beaglebone:/home/debian/cfg/usb_gadget/g1# pwd

 

/home/debian/cfg/usb_gadget/g1 

root@beaglebone:/home/debian/cfg/usb_gadget/g1# ls 

bcdDevice bcdUSB bDeviceClass bDeviceProtocol bDeviceSubClass 
bMaxPacketSize0 configs functions idProduct idVendor os_desc strings UDC 

root@beaglebone:/home/debian/cfg/usb_gadget/g1# ls -al /sys/class/udc 

total 0 

drwxr-xr-x 2 root root 0 Jan 16 09:30 . 

drwxr-xr-x 58 root root 0 Jan 16 09:30 .. 

lrwxrwxrwx 1 root root 0 Jan 16 09:29 musb-hdrc.0.auto -> ../../devices/
platform/ocp/47400000.usb/47401400.usb/musb-hdrc.0.auto/udc/musb-hdrc.0.auto 

root@beaglebone:/home/debian/cfg/usb_gadget/g1# echo musb-hdrc.0.auto > UDC 

-su: echo: write error: Device or resource busy 

root@beaglebone:/home/debian/cfg/usb_gadget/g1# echo musb-hdrc.0 > UDC 

-su: echo: write error: No such device 

root@beaglebone:/home/debian/cfg/usb_gadget/g1# uname -r 

4.4.91-ti-r133



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