Follow below topic to set USB 2.0 to device mode:
https://devtalk.nvidia.com/default/topic/988640/jetson-tk1/usb-2-0-device-mode-support-on-jetson-tk1
And did below test: Test on version R21.5.
root@tegra-ubuntu:/home/ubuntu# otgdev
/sys/devices/platform/tegra-otg/enable_device:1
/sys/devices/platform/tegra-otg/enable_host:0
root@tegra-ubuntu:/home/ubuntu# modprobe g_ether
modprobe: ERROR: …/libkmod/libkmod.c:556 kmod_search_moddep() could not open moddep file ‘/lib/modules/3.10.40/modules.dep.bin’
root@tegra-ubuntu:/home/ubuntu# echo connect > /sys/devices/platform/tegra-udc.0/udc/tegra-udc.0/soft_connect
In debug console got message below:
ubuntu@tegra-ubuntu:~$
[ 598.954866] Unable to handle kernel NULL pointer dereference at virtual address 00000024
[ 598.962949] pgd = e909c000
[ 598.965648] [00000024] *pgd=a8a7d831, *pte=00000000, *ppte=00000000
[ 598.971931] Internal error: Oops: 817 [#1] PREEMPT SMP ARM
[ 598.977403] Modules linked in: gspca_ov534(O) gspca_main(O)
[ 598.982992] CPU: 0 PID: 2722 Comm: bash Tainted: G O 3.10.40 #1
[ 598.989765] task: e9de8040 ti: e849c000 task.ti: e849c000
[ 598.995159] PC is at tegra_udc_start+0x2c/0xa4
[ 598.999593] LR is at tegra_udc_start+0x28/0xa4
[ 599.004026] pc : [] lr : [] psr: 60070093
[ 599.004026] sp : e849df10 ip : 00000000 fp : 00000000
[ 599.015479] r10: ed015810 r9 : ed01d548 r8 : c0855fec
[ 599.020691] r7 : 00000001 r6 : ed01c69c r5 : 00000000 r4 : ed01c400
[ 599.027203] r3 : 00000000 r2 : ed01c69c r1 : 00000002 r0 : 20070013
[ 599.033716] Flags: nZCv IRQs off FIQs on Mode SVC_32 ISA ARM Segment user
[ 599.040922] Control: 10c5387d Table: a909c06a DAC: 00000015
[ 599.046653]
[ 599.046653] PC: 0xc04f937c:
[ 599.050910] 937c e5863010 e1a08000 e59601b0 ebfff84b e5b54008 e1550004 e244400c 0a000005
[ 599.059141] 939c e1a00004 ebfff845 e594400c e1550004 e244400c 1afffff9 e1a00007 e1a01008
[ 599.067370] 93bc eb0bf4c3 e3a00000 e5860078 e58601a8 e8bd81f0 e92d4070 e52de004 e8bd4000
[ 599.075600] 93dc e3013ffc e34c30d7 e1a05001 e5934004 e2846fa7 e1a00006 eb0bf406 e3a03000
[ 599.083827] 93fc e5853024 e58451a8 e1a01000 e1a00006 eb0bf4af e5d432ba e3530000 1a00000a
[ 599.092055] 941c e5943264 e5932408 f57ff04f e3120b01 0a000005 e59431c4 e3530000 0a000009
[ 599.100285] 943c e5933010 e3530003 0a000006 e3030be8 e5941020 e5952020 e34c00a4 eb0bd1e7
[ 599.108513] 945c e3a00000 e8bd8070 e1a00004 e3a01001 ebfffef9 eafffff4 e92d4070 e52de004
[ 599.116740]
[ 599.116740] LR: 0xc04f9378:
[ 599.120999] 9378 e3a03000 e5863010 e1a08000 e59601b0 ebfff84b e5b54008 e1550004 e244400c
[ 599.129226] 9398 0a000005 e1a00004 ebfff845 e594400c e1550004 e244400c 1afffff9 e1a00007
[ 599.137455] 93b8 e1a01008 eb0bf4c3 e3a00000 e5860078 e58601a8 e8bd81f0 e92d4070 e52de004
[ 599.145684] 93d8 e8bd4000 e3013ffc e34c30d7 e1a05001 e5934004 e2846fa7 e1a00006 eb0bf406
[ 599.153915] 93f8 e3a03000 e5853024 e58451a8 e1a01000 e1a00006 eb0bf4af e5d432ba e3530000
[ 599.162143] 9418 1a00000a e5943264 e5932408 f57ff04f e3120b01 0a000005 e59431c4 e3530000
[ 599.170371] 9438 0a000009 e5933010 e3530003 0a000006 e3030be8 e5941020 e5952020 e34c00a4
[ 599.178599] 9458 eb0bd1e7 e3a00000 e8bd8070 e1a00004 e3a01001 ebfffef9 eafffff4 e92d4070
[ 599.186830]
[ 599.186830] SP: 0xe849de90:
[ 599.191089] de90 c0cdedc0 00000000 00009600 00009600 00000000 00000002 ee01dd50 e8eb3090
[ 599.199317] deb0 c04f93fc 60070093 ffffffff e849defc c0855fec c000e858 20070013 00000002
[ 599.207546] ded0 ed01c69c 00000000 ed01c400 00000000 ed01c69c 00000001 c0855fec ed01d548
[ 599.215775] def0 ed015810 00000000 00000000 e849df10 c04f93f8 c04f93fc 60070093 ffffffff
[ 599.224002] df10 ed015808 e85d3000 00000008 c04f52e4 00000008 00000008 e8647f80 e8647f98
[ 599.232231] df30 e849df80 c01a75dc e8587900 000bac08 e849df80 00000008 e8587900 00000000
[ 599.240460] df50 00000000 c0146578 00000000 e92cbac0 00000001 00000000 00000000 000bac08
[ 599.248688] df70 00000008 e8587900 00000000 c0146c28 00000000 00000000 000cd408 00000008
[ 599.256917]
[ 599.256917] R2: 0xed01c61c:
[ 599.261175] c61c 00000000 00000000 ffffffe0 ed01c628 ed01c628 c04f6f58 ffffffe0 ed01c638
[ 599.269404] c63c ed01c638 c04f70b4 ffffffe0 ed01c648 ed01c648 c04f9304 00000001 00000000
[ 599.277633] c65c 00000000 00000000 fe200000 00000800 7d001000 00000020 00000034 00000000
[ 599.285862] c67c 00000000 00000001 00000000 00000000 00000000 00000000 0016e360 00000000
[ 599.294090] c69c 00030002 00000001 00000000 ed01c6a8 ed01c6a8 00000000 00000000 01000102
[ 599.302319] c6bc 00000100 ed0183c0 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.310548] c6dc 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.318778] c6fc 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.327005]
[ 599.327005] R4: 0xed01c380:
[ 599.331262] c380 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.339491] c3a0 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.347718] c3c0 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.355946] c3e0 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.364174] c400 c086dda4 ed013000 ed0130b4 ed013a38 00000000 00000003 00000000 00000000
[ 599.372401] c420 c086dd98 00000000 c0bdc058 ed0184c0 ed01ea40 ed015814 ed7e0254 c0bdc060
[ 599.380630] c440 edaf2640 c0c9a758 ed01d908 00000002 00000003 00000000 00000000 00000001
[ 599.388858] c460 00000000 ed01c464 ed01c464 00000000 00000000 00000000 00000000 00000000
[ 599.397088]
[ 599.397088] R6: 0xed01c61c:
[ 599.401345] c61c 00000000 00000000 ffffffe0 ed01c628 ed01c628 c04f6f58 ffffffe0 ed01c638
[ 599.409574] c63c ed01c638 c04f70b4 ffffffe0 ed01c648 ed01c648 c04f9304 00000001 00000000
[ 599.417803] c65c 00000000 00000000 fe200000 00000800 7d001000 00000020 00000034 00000000
[ 599.426029] c67c 00000000 00000001 00000000 00000000 00000000 00000000 0016e360 00000000
[ 599.434257] c69c 00030002 00000001 00000000 ed01c6a8 ed01c6a8 00000000 00000000 01000102
[ 599.442484] c6bc 00000100 ed0183c0 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.450711] c6dc 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.458937] c6fc 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.467166]
[ 599.467166] R8: 0xc0855f6c:
[ 599.471423] 5f6c 5f617267 75636573 615f6572 636f6c6c 00000000 69766564 635f6563 74616572
[ 599.479651] 5f8c 65725f65 7361656c 00000065 69766564 725f6563 6d616e65 00000065 69766564
[ 599.487880] 5fac 755f6563 6765726e 65747369 00000072 69766564 6d5f6563 0065766f 69766564
[ 599.496107] 5fcc 615f6563 00006464 5f766564 65766575 0000746e c0403e54 c0404b40 c0405f94
[ 599.504335] 5fec c0404af0 c0403df8 00000000 76697264 725f7265 61656c65 00006573 5f737562
[ 599.512563] 600c 5f646461 76697264 00007265 c04064a4 00000000 00000000 5f737562 65726e75
[ 599.520790] 602c 74736967 00007265 5f737562 69676572 72657473 00000000 5f737562 6f6d6572
[ 599.529018] 604c 645f6576 65766972 00000072 5f737562 6f6d6572 645f6576 63697665 00000065
[ 599.537248]
[ 599.537248] R9: 0xed01d4c8:
[ 599.541505] d4c8 00000001 00000000 ed01d6c8 c0a43560 ed01d559 00000000 00000000 00000000
[ 599.549734] d4e8 00000000 7f0e4745 c0ca6720 00000000 00000000 81240002 000023f7 00000000
[ 599.557965] d508 00000001 00000000 ed01d6c8 c09fa73c ed01d659 ed01d618 ed01d358 00000000
[ 599.566195] d528 00000000 137e7407 c0ca6730 00000000 00000000 81240002 000023f6 00000000
[ 599.574424] d548 00000003 00000001 ed01d6c8 c0a43570 ed01d659 ed01d4d8 ed01d498 00000000
[ 599.582651] d568 00000000 736050a6 c0ca6740 e8640a40 00000000 80800002 000023f5 e9075140
[ 599.590881] d588 00000001 00000000 ed01d6c8 c0a43580 ed01d358 00000000 00000000 00000000
[ 599.599109] d5a8 00000000 002931b1 c0ca6750 00000000 00000000 80800002 000023f4 00000000
[ 599.607337]
[ 599.607337] R10: 0xed015790:
[ 599.611681] 5790 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.619909] 57b0 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.628136] 57d0 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
[ 599.636366] 57f0 00000000 00000000 00000000 00000000 00000000 ed01c400 c0bdc058 ed018440
[ 599.644593] 5810 ed01e980 ed01560c ed01c434 ed01e940 edaf2640 c0c9a758 ed01d6c8 00000003
[ 599.652822] 5830 00000007 00000000 00000000 00000001 00000000 ed015844 ed015844 00000000
[ 599.661049] 5850 00000000 00000000 00000000 00000000 00000000 00000020 00000000 ed015664
[ 599.669275] 5870 ed01c48c 7fffffff 00010001 ed01587c ed01587c 00000000 00000000 00000000
[ 599.677506] Process bash (pid: 2722, stack limit = 0xe849c238)
[ 599.683324] Stack: (0xe849df10 to 0xe849e000)
[ 599.687670] df00: ed015808 e85d3000 00000008 c04f52e4
[ 599.695830] df20: 00000008 00000008 e8647f80 e8647f98 e849df80 c01a75dc e8587900 000bac08
[ 599.703991] df40: e849df80 00000008 e8587900 00000000 00000000 c0146578 00000000 e92cbac0
[ 599.712152] df60: 00000001 00000000 00000000 000bac08 00000008 e8587900 00000000 c0146c28
[ 599.720312] df80: 00000000 00000000 000cd408 00000008 000bac08 b6f27b50 00000004 c000eea4
[ 599.728472] dfa0: e849c000 c000ed00 00000008 000bac08 00000001 000bac08 00000008 00000000
[ 599.736631] dfc0: 00000008 000bac08 b6f27b50 00000004 00000008 00000000 000b5194 00000000
[ 599.744791] dfe0: 00000000 bedf9314 b6e9cc29 b6ed5c46 40070030 00000001 00000000 00000000
[ 599.752961] [] (tegra_udc_start+0x2c/0xa4) from [] (usb_udc_softconn_store+0x44/0xd4)
[ 599.762516] [] (usb_udc_softconn_store+0x44/0xd4) from [] (sysfs_write_file+0x168/0x198)
[ 599.772329] [] (sysfs_write_file+0x168/0x198) from [] (vfs_write+0xbc/0x19c)
[ 599.781100] [] (vfs_write+0xbc/0x19c) from [] (SyS_write+0x60/0x178)
[ 599.789179] [] (SyS_write+0x60/0x178) from [] (ret_fast_syscall+0x0/0x30)
[ 599.797687] Code: e2846fa7 e1a00006 eb0bf406 e3a03000 (e5853024)
[ 599.803768] —[ end trace 80715ba40268b691 ]—
[ 599.817576] note: bash[2722] exited with preempt_count 1
have any recommendation to help!