I grepped the kernel source for "gadget zero":
$ git grep "gadget zero"drivers/usb/core/otg_whitelist.h:/* gadget zero, for testing */
drivers/usb/gadget/amd5536udc.c: /* call gadget zero with setup d
drivers/usb/gadget/amd5536udc.c: /* call gadget zero with setup d
drivers/usb/gadget/pch_udc.c: /* call gadget zero with setup data received */
drivers/usb/gadget/pxa27x_udc.c: /* Endpoints for gadget zero */
drivers/usb/misc/usbtest.c: .name = "Linux gadget zero",
Not so much of info we can find, but since this is not i.mx related the best place to ask about this topic is the linux-usb@vger.kernel.org mailing list.