diff --git a/arch/arm64/boot/dts/nvidia/tegra210-p2571.dts b/arch/arm64/boot/dts/nvidia/tegra210-p2571.dts
index 7f14e8a394c2..baa239a24278 100644
--- a/arch/arm64/boot/dts/nvidia/tegra210-p2571.dts
+++ b/arch/arm64/boot/dts/nvidia/tegra210-p2571.dts
@@ -1301,6 +1301,172 @@
 		};
 	};
 
+	usb@70090000 {
+		phys = <&{/padctl@7009f000/pads/usb2/lanes/usb2-0}>,
+		       <&{/padctl@7009f000/pads/usb2/lanes/usb2-1}>,
+		       <&{/padctl@7009f000/pads/usb2/lanes/usb2-2}>,
+		       <&{/padctl@7009f000/pads/usb2/lanes/usb2-3}>,
+		       <&{/padctl@7009f000/pads/pcie/lanes/pcie-6}>,
+		       <&{/padctl@7009f000/pads/pcie/lanes/pcie-5}>,
+		       <&{/padctl@7009f000/pads/pcie/lanes/pcie-0}>;
+		phy-names = "usb2-0", "usb2-1", "usb2-2", "usb2-3", "usb3-0",
+			    "usb3-1", "usb3-2";
+		dvddio-pex-supply = <&vdd_pex_1v05>;
+		hvddio-pex-supply = <&vdd_1v8>;
+		avdd-usb-supply = <&vdd_3v3_sys>;
+
+		status = "okay";
+	};
+
+	padctl@7009f000 {
+		status = "okay";
+
+		avdd-pll-utmip-supply = <&vdd_1v8>;
+		avdd-pll-uerefe-supply = <&avdd_1v05_pll>;
+		dvdd-pex-pll-supply = <&vdd_pex_1v05>;
+		hvdd-pex-pll-e-supply = <&vdd_1v8>;
+
+		pads {
+			usb2 {
+				status = "okay";
+
+				lanes {
+					micro_b: usb2-0 {
+						nvidia,function = "xusb";
+						status = "okay";
+					};
+
+					usb2-1 {
+						nvidia,function = "xusb";
+						status = "okay";
+					};
+
+					usb2-2 {
+						nvidia,function = "xusb";
+						status = "okay";
+					};
+
+					usb2-3 {
+						nvidia,function = "xusb";
+						status = "okay";
+					};
+				};
+			};
+
+			pcie {
+				status = "okay";
+
+				lanes {
+					pcie-0 {
+						nvidia,function = "usb3-ss";
+						status = "okay";
+					};
+
+					pcie-1 {
+						nvidia,function = "pcie-x4";
+						status = "okay";
+					};
+
+					pcie-2 {
+						nvidia,function = "pcie-x4";
+						status = "okay";
+					};
+
+					pcie-3 {
+						nvidia,function = "pcie-x4";
+						status = "okay";
+					};
+
+					pcie-4 {
+						nvidia,function = "pcie-x4";
+						status = "okay";
+					};
+
+					pcie-5 {
+						nvidia,function = "usb3-ss";
+						status = "okay";
+					};
+
+					pcie-6 {
+						nvidia,function = "usb3-ss";
+						status = "okay";
+					};
+				};
+			};
+
+			sata {
+				status = "okay";
+
+				lanes {
+					sata-0 {
+						nvidia,function = "sata";
+						status = "okay";
+					};
+				};
+			};
+		};
+
+		ports {
+			usb2-0 {
+				status = "okay";
+				vbus-supply = <&vdd_sys_mux>;
+				usb-role-switch;
+				mode = "otg";
+
+				connector {
+					compatible = "gpio-usb-b-connector",
+						     "usb-b-connector";
+					label = "micro-USB";
+					type = "micro";
+					vbus-gpios = <&gpio TEGRA_GPIO(Z, 0)
+						      GPIO_ACTIVE_LOW>;
+					id-gpios = <&pmic 0 GPIO_ACTIVE_HIGH>;
+				};
+			};
+
+			usb2-1 {
+				status = "okay";
+				vbus-supply = <&vdd_usb_vbus0>;
+				mode = "host";
+			};
+
+			usb2-2 {
+				status = "okay";
+				vbus-supply = <&vdd_usb_vbus1>;
+				mode = "host";
+			};
+
+			usb2-3 {
+				status = "okay";
+				vbus-supply = <&vdd_usb_vbus2>;
+				mode = "host";
+			};
+
+			usb3-0 {
+				nvidia,usb2-companion = <1>;
+				status = "okay";
+			};
+
+			usb3-1 {
+				nvidia,usb2-companion = <2>;
+				status = "okay";
+			};
+
+			usb3-2 {
+				nvidia,usb2-companion = <3>;
+				status = "okay";
+			};
+		};
+	};
+
+	usb@700d0000 {
+		status = "okay";
+		phys = <&micro_b>;
+		phy-names = "usb2-0";
+		avddio-usb-supply = <&vdd_3v3_sys>;
+		hvdd-usb-supply = <&vdd_1v8>;
+	};
+
 	fan: pwm-fan {
 		compatible = "pwm-fan";
 		pwms = <&pwm 3 45334>;
@@ -1312,6 +1478,42 @@
 		#cooling-cells = <2>;
 	};
 
+	vdd_sys_mux: regulator-vdd-sys-mux {
+		compatible = "regulator-fixed";
+		regulator-name = "VDD_SYS_MUX";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		regulator-always-on;
+		regulator-boot-on;
+	};
+
+	vdd_usb_vbus0: regulator-vdd-usb-vbus0 {
+		compatible = "regulator-fixed";
+		regulator-name = "USB_VBUS_EN0";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		gpio = <&gpio TEGRA_GPIO(CC, 4) GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+	};
+
+	vdd_usb_vbus1: regulator-vdd-usb-vbus1 {
+		compatible = "regulator-fixed";
+		regulator-name = "USB_VBUS_EN1";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		gpio = <&gpio TEGRA_GPIO(CC, 5) GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+	};
+
+	vdd_usb_vbus2: regulator-vdd-usb-vbus2 {
+		compatible = "regulator-fixed";
+		regulator-name = "USB_VBUS_EN2";
+		regulator-min-microvolt = <5000000>;
+		regulator-max-microvolt = <5000000>;
+		gpio = <&gpio TEGRA_GPIO(D, 4) GPIO_ACTIVE_HIGH>;
+		enable-active-high;
+	};
+
 	vdd_fan: regulator-vdd-fan {
 		compatible = "regulator-fixed";
 		regulator-name = "VDD_FAN";