The guide below shows you how to build USB drivers & boot the board and then run some example configurations (Host, Device, OTG mode of PS USB controller ) on Versal platform.
The steps below use PetaLinux and assume you have some knowledge of using PetaLinux.

Introduction

The USB controller can be configured as host, device, or on-the-go (OTG).
The core is compliant to USB 2.0 specification and supports high, full, and low-speed modes in all configurations.
In host mode, the USB controller is compliant with the Intel XHCI specification. In device mode, it supports up to 12 end points.
The universal low peripheral interface (ULPI) is used to connect the controller to an external PHY operating up to 480 Mb/s.
Versal supports only USB 2.0 protocol.
Provided below test cases are proven on vck190-es1 board with 2021.1 release.

ZynqMP Vs Versal USB controller support

Peripheral	Zynq UltraScale+ MPSoC	Versal Adaptive SoC
USB 3.0 (host, device, dual-role device)	2 controllers	N/A
Usb 2.0 (host, device, on-the-go)	2 controllers	1 controller

Hardware Setup

Boards: VCK190-ES1 Board

Host Machine: Linux Machine with USB ports (OR) Windows Machine

Software Setup

Linux Kernel image with xHCI Host enabled (static) and Mass Storage Gadget created as static or dynamic

Boot image for initial FSBL sequence
Device tree with DWC USB DWC3_DUAL mode enabled

Petalinux build steps

source <PATH TO PETALINUX INSTALLATION>/petalinux-v2021.1-final/settings.sh
petalinux-create -t project -s <PATH to BSP>/xilinx-vck190-es1-v2021.1-final.bsp
petalinux-config
petalinux-build
petalinux-package --boot --plm --psmfw --u-boot --dtb

Host Mode

USB HOST mode Jumper settings

Note: Need to short the J300 Jumper for Host Mode

Jumper 1-2 –--- short (The shield for the USB 2.0 type-A connector (J308) can be tied to GND by a jumper on header J300 pins 1-2 (default))

Kernel Configuration

By enabling the above we need to see the below mentioned Kconfig parameter enabled

CONFIG_USB_DWC3 = y
CONFIG_USB_DWC3=y
CONFIG_USB_DWC3_DUAL_ROLE=y
CONFIG_USB_DWC3_OF_SIMPLE=y
# USB HID support
CONFIG_USB_HID=y
# CONFIG_HID_PID is not set
# CONFIG_USB_HIDDEV is not set
CONFIG_USB_OHCI_LITTLE_ENDIAN=y
CONFIG_USB_SUPPORT=y
CONFIG_USB_COMMON=y
CONFIG_USB_ARCH_HAS_HCD=y
CONFIG_USB=y
CONFIG_USB_ANNOUNCE_NEW_DEVICES=y

# Miscellaneous USB options
CONFIG_USB_DEFAULT_PERSIST=y
CONFIG_USB_OTG=y
CONFIG_USB_OTG_FSM=y
CONFIG_USB_XHCI_HCD=y
CONFIG_USB_XHCI_PLATFORM=y

CONFIG_USB_STORAGE=y

# USB Physical Layer drivers

CONFIG_USB_PHY=y
CONFIG_USB_GADGET=y
CONFIG_USB_GADGET_DEBUG_FS=y
CONFIG_USB_GADGET_VBUS_DRAW=2
CONFIG_USB_GADGET_STORAGE_NUM_BUFFERS=2

CONFIG_USB_LIBCOMPOSITE=y
CONFIG_USB_U_ETHER=y
CONFIG_USB_F_RNDIS=y
CONFIG_USB_F_MASS_STORAGE=y
CONFIG_USB_F_FS=y
CONFIG_USB_F_UVC=y
CONFIG_USB_F_HID=y
CONFIG_USB_CONFIGFS=y
CONFIG_USB_CONFIGFS_RNDIS=y
CONFIG_USB_CONFIGFS_MASS_STORAGE=y
CONFIG_USB_CONFIGFS_F_FS=y
CONFIG_USB_CONFIGFS_F_HID=y
CONFIG_USB_CONFIGFS_F_UVC=y

Device Tree

Edit the following file and make the following changes.

“<path to petalinux project >/project-spec/meta-user/recipes-bsp/device-tree/files/system-user.dtsi"

After the build is finished, we should see below device tree changes in system.dts file once after converting system.dtb to sytem.dts using " dtc -I dtb -O dts -o system.dts system.dtb" command.

Note: dtc command by default not available on host side , please install using the “sudo apt-get install device-tree-compiler” command.

Test Procedure

Connect the USB 3.0/2.0 pendrive to USB 2.0 capable board and see it getting detected in /dev/sd<x>.

Logs

Once Linux boots the below highlighted prints should be visible when we connected the mass storage device

root@xilinx-vck190-es1-2021.1 :~#root@xilinx-vck190-es1-2021.1 :~#
[ 40.344230] usb 1-1: new high-speed USB device number 2 using xhci-hcd
[ 40.497113] usb 1-1: New USB device found, idVendor=8564, idProduct=1000, bcdDevice=11.00
[ 40.505293] usb 1-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 40.512428] usb 1-1: Product: Mass Storage Device
[ 40.517134] usb 1-1: Manufacturer: JetFlash
[ 40.521315] usb 1-1: SerialNumber: 152RHUF276CIFPSR
[ 40.526966] usb-storage 1-1:1.0: USB Mass Storage device detected
[ 40.533570] scsi host0: usb-storage 1-1:1.0
[ 41.949684] scsi 0:0:0:0: Direct-Access JetFlash Transcend 32GB 1100 PQ: 0 ANSI: 6
[ 41.960284] sd 0:0:0:0: [sda] 59725824 512-byte logical blocks: (30.6 GB/28.5 GiB)

Xilinx Wiki

Building Linux usb device drivers with 2021.1

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