diff --git a/Documentation/devicetree/bindings/usb/nvidia,tegra-xudc.yaml b/Documentation/devicetree/bindings/usb/nvidia,tegra-xudc.yaml
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+++ b/Documentation/devicetree/bindings/usb/nvidia,tegra-xudc.yaml
@@ -0,0 +1,190 @@
+# SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause)
+%YAML 1.2
+---
+$id: "http://devicetree.org/schemas/usb/nvidia,tegra-xudc.yaml#"
+$schema: "http://devicetree.org/meta-schemas/core.yaml#"
+
+title: Device tree binding for NVIDIA Tegra XUSB device mode controller (XUDC)
+
+description:
+  The Tegra XUDC controller supports both USB 2.0 HighSpeed/FullSpeed and
+  USB 3.0 SuperSpeed protocols.
+
+maintainers:
+  - Nagarjuna Kristam <nkristam@nvidia.com>
+  - JC Kuo <jckuo@nvidia.com>
+  - Thierry Reding <treding@nvidia.com>
+
+properties:
+  compatible:
+    items:
+      - enum:
+          - nvidia,tegra210-xudc # For Tegra210
+          - nvidia,tegra186-xudc # For Tegra186
+
+  reg:
+    minItems: 2
+    maxItems: 3
+    items:
+      - description: XUSB device controller registers
+      - description: XUSB device PCI Config registers
+      - description: XUSB device registers.
+
+  reg-names:
+    minItems: 2
+    maxItems: 3
+    items:
+      - const: base
+      - const: fpci
+      - const: ipfs
+
+  interrupts:
+    maxItems: 1
+    description: Must contain the XUSB device interrupt.
+
+  clocks:
+    minItems: 4
+    maxItems: 5
+    items:
+      - description: Clock to enable core XUSB dev clock.
+      - description: Clock to enable XUSB super speed clock.
+      - description: Clock to enable XUSB super speed dev clock.
+      - description: Clock to enable XUSB high speed dev clock.
+      - description: Clock to enable XUSB full speed dev clock.
+
+  clock-names:
+    minItems: 4
+    maxItems: 5
+    items:
+     - const: dev
+     - const: ss
+     - const: ss_src
+     - const: fs_src
+     - const: hs_src
+
+  power-domains:
+    maxItems: 2
+    items:
+      - description: XUSBB(device) power-domain
+      - description: XUSBA(superspeed) power-domain
+
+  power-domain-names:
+    maxItems: 2
+    items:
+      - const: dev
+      - const: ss
+
+  nvidia,xusb-padctl:
+    $ref: /schemas/types.yaml#/definitions/phandle-array
+    description:
+      phandle to the XUSB pad controller that is used to configure the USB pads
+      used by the XUDC controller.
+
+  phys:
+    minItems: 1
+    description:
+      Must contain an entry for each entry in phy-names.
+      See ../phy/phy-bindings.txt for details.
+
+  phy-names:
+    minItems: 1
+    items:
+      - const: usb2-0
+      - const: usb2-1
+      - const: usb2-2
+      - const: usb2-3
+      - const: usb3-0
+      - const: usb3-1
+      - const: usb3-2
+      - const: usb3-3
+
+  avddio-usb-supply:
+    description: PCIe/USB3 analog logic power supply. Must supply 1.05 V.
+
+  hvdd-usb-supply:
+    description: USB controller power supply. Must supply 3.3 V.
+
+required:
+  - compatible
+  - reg
+  - reg-names
+  - interrupts
+  - clocks
+  - clock-names
+  - power-domains
+  - power-domain-names
+  - nvidia,xusb-padctl
+  - phys
+  - phy-names
+
+allOf:
+  - if:
+      properties:
+        compatible:
+          contains:
+            enum:
+              - nvidia,tegra210-xudc
+    then:
+      properties:
+        reg:
+          minItems: 3
+        reg-names:
+          minItems: 3
+        clocks:
+          minItems: 5
+        clock-names:
+          minItems: 5
+      required:
+        - avddio-usb-supply
+        - hvdd-usb-supply
+
+  - if:
+      properties:
+        compatible:
+          contains:
+            enum:
+              - nvidia,tegra186-xudc
+    then:
+      properties:
+        reg:
+          maxItems: 2
+        reg-names:
+          maxItems: 2
+        clocks:
+          maxItems: 4
+        clock-names:
+          maxItems: 4
+
+examples:
+  - |
+    #include <dt-bindings/clock/tegra210-car.h>
+    #include <dt-bindings/gpio/tegra-gpio.h>
+    #include <dt-bindings/interrupt-controller/arm-gic.h>
+
+    usb@700d0000 {
+        compatible = "nvidia,tegra210-xudc";
+        reg = <0x0 0x700d0000 0x0 0x8000>,
+              <0x0 0x700d8000 0x0 0x1000>,
+              <0x0 0x700d9000 0x0 0x1000>;
+        reg-names = "base", "fpci", "ipfs";
+
+        interrupts = <GIC_SPI 44 IRQ_TYPE_LEVEL_HIGH>;
+
+        clocks = <&tegra_car TEGRA210_CLK_XUSB_DEV>,
+                 <&tegra_car TEGRA210_CLK_XUSB_SS>,
+                 <&tegra_car TEGRA210_CLK_XUSB_SSP_SRC>,
+                 <&tegra_car TEGRA210_CLK_XUSB_FS_SRC>,
+                 <&tegra_car TEGRA210_CLK_XUSB_HS_SRC>;
+        clock-names = "dev", "ss", "ss_src", "fs_src", "hs_src";
+
+        power-domains = <&pd_xusbdev>, <&pd_xusbss>;
+        power-domain-names = "dev", "ss";
+
+        nvidia,xusb-padctl = <&padctl>;
+
+        phys = <&micro_b>;
+        phy-names = "usb2-0";
+
+        avddio-usb-supply = <&vdd_pex_1v05>;
+        hvdd-usb-supply = <&vdd_3v3_sys>;
+    };
