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DM365 how to use USB for u-boot & Linux console in either host/device mode?

We have a DM365 based design with a need to redirect our console from the std UART0 to USB.

The HW design current has the USB_ID pin pulled hi for device mode. My understanding is that to enable USB console, the DM365 USB should be in host mode, is this correct? Can this still work if the ID pin is pulled hi?

The current response from a host PC is this

Jan 13 08:53:08 ThinkPad-T430 kernel: [166810.904758] usb 3-2: new high-speed USB device number 35 using xhci_hcd
Jan 13 08:53:08 ThinkPad-T430 kernel: [166810.904878] usb 3-2: Device not responding to set address.
Jan 13 08:53:08 ThinkPad-T430 kernel: [166811.108967] usb 3-2: Device not responding to set address.
Jan 13 08:53:08 ThinkPad-T430 kernel: [166811.312990] usb 3-2: device not accepting address 35, error -71
Jan 13 08:53:08 ThinkPad-T430 kernel: [166811.425081] usb 3-2: new high-speed USB device number 36 using xhci_hcd
Jan 13 08:53:08 ThinkPad-T430 kernel: [166811.425197] usb 3-2: Device not responding to set address.
Jan 13 08:53:09 ThinkPad-T430 kernel: [166811.629280] usb 3-2: Device not responding to set address.
Jan 13 08:53:09 ThinkPad-T430 kernel: [166811.833309] usb 3-2: device not accepting address 36, error -71
Jan 13 08:53:09 ThinkPad-T430 kernel: [166811.833402] hub 3-0:1.0: unable to enumerate USB device on port 2

Additionally can the USB console be enabled for a DM365 when it's in device mode?

BTW, the kernel has enabled USB host mode and these modules load.

root@dm365: lsmod
Module                  Size  Used by
usbserial              23712  0
davinci                 3692  0
cppi_dma               10197  1 davinci
nop_usb_xceiv           1694  1 davinci
musb_hdrc              46890  2 davinci,cppi_dma
usbcore               115304  2 usbserial,musb_hdrc
wl18xx                 80750  0
wlcore                168285  1 wl18xx
mac80211              316303  2 wl18xx,wlcore
ipv6                  227367  13 mac80211
cfg80211              179977  3 wl18xx,wlcore,mac80211
wlcore_sdio             3726  0
compat                 16307  5 wl18xx,wlcore,mac80211,cfg80211,wlcore_sdio

root@dm365:~# lsusb -t
/:  Bus 01.Port 1: Dev 1, class="root_hub", Driver=musb-hdrc/1p, 480M

root@DM365:~# ls /dev/ttyU*
ls: /dev/ttyU*: No such file or directory

Thanks, Tom