Linux: Does the AM5728 USB 3.0 support OTG mode

Hi user4205571,

No, AM5728 USB do not support OTG mode. This is stated in AM572x DM and TRM:

In AM572x DM - Table 3-1. Device Comparison
In AM572x TRM - section 24.7.1.2 Unsupported Features

And in below wiki:

processors.wiki.ti.com/.../Linux_Core_DWC3_User's_Guide

We do support DRD (Dual Role Device) functionality in which a single port can be either a USB Host or a USB Device, but we do not support dynamic role reversal.

Regards,
Pavel