Orin NX kernel panic with USB OTG enabled

[danielfullmer]

With an Orin NX on a Xavier NX devkit, we get the following kernel panic, unless with disable CONFIG_USB_OTG:

[    7.454936] CPU: 6 PID: 128 Comm: kworker/6:1 Not tainted 5.10.104 #1-NixOS
[    7.454939] Hardware name: Unknown NVIDIA Orin NX Developer Kit/NVIDIA Orin NX Developer Kit, BIOS jetson-r35.2 01/01/1980
[    7.460071] tegra194-vi5 13e40000.host1x:vi1@14c00000: initialized
[    7.464392] Workqueue: events tegra_xudc_usb_role_sw_work
[    7.468020] tegra194-pcie 140a0000.pcie: Using GICv2m MSI allocator
[    7.468103] sdhci-tegra 3400000.sdhci: Got CD GPIO
[    7.470244] pstate: 60c00009 (nZCv daif +PAN +UAO -TCO BTYPE=--)
[    7.470248] pc : tegra_xudc_unpowergate+0x148/0x760
[    7.476322] irq: IRQ302: trimming hierarchy from :interrupt-controller@f400000-1
[    7.478819] lr : tegra_xudc_unpowergate+0x120/0x760
[    7.478820] sp : ffff800011debba0
[    7.478821] x29: ffff800011debba0 x28: 0000000000000000 
[    7.482029] sdhci-tegra 3400000.sdhci: wakeup init done, cdirq 291
[    7.484856] x27: ffff2e3e8265b700 x26: ffff800011debd08 
[    7.484857] x25: 0000000000000004 x24: 0000000000000001 
[    7.484858] x23: 0000000000000003 x22: ffff2e3e853c5780 
[    7.484859] x21: 0000000000000004 x20: 0000000000000000 
[    7.484861] x19: ffff2e3e853ba080 x18: 0000000000000000 
[    7.484862] x17: 0000000000000000 x16: 0000000000000000 
[    7.538932] usb 1-3: new full-speed USB device number 3 using tegra-xusb
[    7.545929] 
[    7.545929] x15: 00000000000005c0 x14: 00000000000005bd 
[    7.545931] x13: 0000000000000001 x12: 0000000000000000 
[    7.545931] x11: 0000000000000000 x10: 00000000000009d0 
[    7.545932] x9 : ffff800011deb9d0 x8 : ffff2e3e8265c130 
[    7.545933] x7 : 0000000000000006 x6 : 000000003de44752 
[    7.545934] x5 : 00000000410fd420 x4 : 0000000000f0000f 
[    7.587435] tegra194-pcie 140a0000.pcie: host bridge /pcie@140a0000 ranges:
[    7.591605] 
[    7.591606] x3 : 0000000000000000 x2 : 0000000000000000 
[    7.591607] x1 : 000000000000000f x0 : 000000000001002c 
[    7.591611] Call trace:
[    7.594953] tegra194-pcie 140a0000.pcie:       IO 0x002a100000..0x002a1fffff -> 0x002a100000
[    7.600358]  tegra_xudc_unpowergate+0x148/0x760
[    7.600362]  tegra_xudc_runtime_resume+0x24/0x30
[    7.606663] tegra194-pcie 140a0000.pcie:      MEM 0x3528000000..0x352fffffff -> 0x0040000000
[    7.612000]  pm_generic_runtime_resume+0x40/0x60
[    7.612004]  __rpm_callback+0x124/0x200
[    7.617509] tegra194-pcie 140a0000.pcie:      MEM 0x3240000000..0x3527ffffff -> 0x3240000000
[    7.622932]  rpm_callback+0x38/0xa0
[    7.622935]  rpm_resume+0x6b0/0x878
[    7.703018] usb 1-3: New USB device found, idVendor=13d3, idProduct=3549, bcdDevice= 0.00
[    7.709907]  __pm_runtime_resume+0x74/0x118
[    7.709909]  tegra_xudc_device_mode_on+0x28/0x218
[    7.709910]  tegra_xudc_usb_role_sw_work+0x3c/0xc8
[    7.709914]  process_one_work+0x1bc/0x480
[    7.709917]  worker_thread+0x158/0x4b8
[    7.714461] usb 1-3: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[    7.719006]  kthread+0x104/0x130
[    7.719009]  ret_from_fork+0x10/0x18
[    7.719011] Code: 91404000 9100b000 d50332bf 528001e1 (b9000001) 
[    7.727498] usb 1-3: Product: Bluetooth Radio
[    7.732051] ---[ end trace 552cf18bafd2d2f7 ]---