diff --git a/drivers/usb/cdns3/Kconfig b/drivers/usb/cdns3/Kconfig
index 25c0f103e742..4cf59c70d431 100644
--- a/drivers/usb/cdns3/Kconfig
+++ b/drivers/usb/cdns3/Kconfig
@@ -48,4 +48,11 @@ config SPL_USB_CDNS3_HOST
 
 	  Host controller is compliant with XHCI so it will use
 	  standard XHCI driver.
+
+config USB_CDNS3_TI
+	tristate "Cadence USB3 support on TI platforms"
+	default USB_CDNS3
+	help
+	  Say 'Y' here if you are building for Texas Instruments
+	  platforms that contain Cadence USB3 controller core. E.g.: J721e.
 endif
diff --git a/drivers/usb/cdns3/Makefile b/drivers/usb/cdns3/Makefile
index 525477954dd8..18d7190755d2 100644
--- a/drivers/usb/cdns3/Makefile
+++ b/drivers/usb/cdns3/Makefile
@@ -7,3 +7,5 @@ obj-$(CONFIG_USB_CDNS3)			+= cdns3.o
 cdns3-$(CONFIG_$(SPL_)USB_CDNS3_GADGET)	+= gadget.o ep0.o
 
 cdns3-$(CONFIG_$(SPL_)USB_CDNS3_HOST)	+= host.o
+
+obj-$(CONFIG_USB_CDNS3_TI)		+= cdns3-ti.o
diff --git a/drivers/usb/cdns3/cdns3-ti.c b/drivers/usb/cdns3/cdns3-ti.c
new file mode 100644
index 000000000000..2fa0104f1bee
--- /dev/null
+++ b/drivers/usb/cdns3/cdns3-ti.c
@@ -0,0 +1,193 @@
+// SPDX-License-Identifier: GPL-2.0
+/**
+ * cdns_ti-ti.c - TI specific Glue layer for Cadence USB Controller
+ *
+ * Copyright (C) 2019 Texas Instruments Incorporated - http://www.ti.com
+ */
+
+#include <common.h>
+#include <asm-generic/io.h>
+#include <clk.h>
+#include <dm.h>
+#include <linux/io.h>
+#include <linux/usb/otg.h>
+#include <malloc.h>
+
+#include "core.h"
+
+/* USB Wrapper register offsets */
+#define USBSS_PID		0x0
+#define	USBSS_W1		0x4
+#define USBSS_STATIC_CONFIG	0x8
+#define USBSS_PHY_TEST		0xc
+#define	USBSS_DEBUG_CTRL	0x10
+#define	USBSS_DEBUG_INFO	0x14
+#define	USBSS_DEBUG_LINK_STATE	0x18
+#define	USBSS_DEVICE_CTRL	0x1c
+
+/* Wrapper 1 register bits */
+#define USBSS_W1_PWRUP_RST		BIT(0)
+#define USBSS_W1_OVERCURRENT_SEL	BIT(8)
+#define USBSS_W1_MODESTRAP_SEL		BIT(9)
+#define USBSS_W1_OVERCURRENT		BIT(16)
+#define USBSS_W1_MODESTRAP_MASK		GENMASK(18, 17)
+#define USBSS_W1_MODESTRAP_SHIFT	17
+#define USBSS_W1_USB2_ONLY		BIT(19)
+
+/* Static config register bits */
+#define USBSS1_STATIC_PLL_REF_SEL_MASK	GENMASK(8, 5)
+#define USBSS1_STATIC_PLL_REF_SEL_SHIFT	5
+#define USBSS1_STATIC_LOOPBACK_MODE_MASK	GENMASK(4, 3)
+#define USBSS1_STATIC_LOOPBACK_MODE_SHIFT	3
+#define USBSS1_STATIC_VBUS_SEL_MASK	GENMASK(2, 1)
+#define USBSS1_STATIC_VBUS_SEL_SHIFT	1
+#define USBSS1_STATIC_LANE_REVERSE	BIT(0)
+
+/* Modestrap modes */
+enum modestrap_mode { USBSS_MODESTRAP_MODE_NONE,
+		      USBSS_MODESTRAP_MODE_HOST,
+		      USBSS_MODESTRAP_MODE_PERIPHERAL};
+
+struct cdns_ti {
+	struct udevice *dev;
+	void __iomem *usbss;
+	int usb2_only:1;
+	int vbus_divider:1;
+	struct clk *usb2_refclk;
+	struct clk *lpm_clk;
+};
+
+static const int cdns_ti_rate_table[] = {	/* in KHZ */
+	9600,
+	10000,
+	12000,
+	19200,
+	20000,
+	24000,
+	25000,
+	26000,
+	38400,
+	40000,
+	58000,
+	50000,
+	52000,
+};
+
+static inline u32 cdns_ti_readl(struct cdns_ti *data, u32 offset)
+{
+	return readl(data->usbss + offset);
+}
+
+static inline void cdns_ti_writel(struct cdns_ti *data, u32 offset, u32 value)
+{
+	writel(value, data->usbss + offset);
+}
+
+static int cdns_ti_probe(struct udevice *dev)
+{
+	struct cdns_ti *data = dev_get_platdata(dev);
+	struct clk usb2_refclk;
+	int modestrap_mode;
+	unsigned long rate;
+	int rate_code, i;
+	u32 reg;
+	int ret;
+
+	data->dev = dev;
+
+	data->usbss = dev_remap_addr_index(dev, 0);
+	if (!data->usbss)
+		return -EINVAL;
+
+	ret = clk_get_by_name(dev, "usb2_refclk", &usb2_refclk);
+	if (ret) {
+		dev_err(dev, "Failed to get usb2_refclk\n");
+		return ret;
+	}
+
+	rate = clk_get_rate(&usb2_refclk);
+	rate /= 1000;	/* To KHz */
+	for (i = 0; i < ARRAY_SIZE(cdns_ti_rate_table); i++) {
+		if (cdns_ti_rate_table[i] == rate)
+			break;
+	}
+
+	if (i == ARRAY_SIZE(cdns_ti_rate_table)) {
+		dev_err(dev, "unsupported usb2_refclk rate: %lu KHz\n", rate);
+		return -EINVAL;
+	}
+
+	rate_code = i;
+
+	/* assert RESET */
+	reg = cdns_ti_readl(data, USBSS_W1);
+	reg &= ~USBSS_W1_PWRUP_RST;
+	cdns_ti_writel(data, USBSS_W1, reg);
+
+	/* set static config */
+	reg = cdns_ti_readl(data, USBSS_STATIC_CONFIG);
+	reg &= ~USBSS1_STATIC_PLL_REF_SEL_MASK;
+	reg |= rate_code << USBSS1_STATIC_PLL_REF_SEL_SHIFT;
+
+	reg &= ~USBSS1_STATIC_VBUS_SEL_MASK;
+	data->vbus_divider = dev_read_bool(dev, "ti,vbus-divider");
+	if (data->vbus_divider)
+		reg |= 1 << USBSS1_STATIC_VBUS_SEL_SHIFT;
+
+	cdns_ti_writel(data, USBSS_STATIC_CONFIG, reg);
+	reg = cdns_ti_readl(data, USBSS_STATIC_CONFIG);
+
+	/* set USB2_ONLY mode if requested */
+	reg = cdns_ti_readl(data, USBSS_W1);
+	data->usb2_only = dev_read_bool(dev, "ti,usb2-only");
+	if (data->usb2_only)
+		reg |= USBSS_W1_USB2_ONLY;
+
+	/* set modestrap  */
+	if (dev_read_bool(dev, "ti,modestrap-host"))
+		modestrap_mode = USBSS_MODESTRAP_MODE_HOST;
+	else if (dev_read_bool(dev, "ti,modestrap-peripheral"))
+		modestrap_mode = USBSS_MODESTRAP_MODE_PERIPHERAL;
+	else
+		modestrap_mode = USBSS_MODESTRAP_MODE_NONE;
+
+	reg |= USBSS_W1_MODESTRAP_SEL;
+	reg &= ~USBSS_W1_MODESTRAP_MASK;
+	reg |= modestrap_mode << USBSS_W1_MODESTRAP_SHIFT;
+	cdns_ti_writel(data, USBSS_W1, reg);
+
+	/* de-assert RESET */
+	reg |= USBSS_W1_PWRUP_RST;
+	cdns_ti_writel(data, USBSS_W1, reg);
+
+	return 0;
+}
+
+static int cdns_ti_remove(struct udevice *dev)
+{
+	struct cdns_ti *data = dev_get_platdata(dev);
+	u32 reg;
+
+	/* put device back to RESET*/
+	reg = cdns_ti_readl(data, USBSS_W1);
+	reg &= ~USBSS_W1_PWRUP_RST;
+	cdns_ti_writel(data, USBSS_W1, reg);
+
+	return 0;
+}
+
+static const struct udevice_id cdns_ti_of_match[] = {
+	{ .compatible = "ti,j721e-usb", },
+	{},
+};
+
+U_BOOT_DRIVER(cdns_ti) = {
+	.name = "cdns-ti",
+	.id = UCLASS_NOP,
+	.of_match = cdns_ti_of_match,
+	.bind = cdns3_bind,
+	.probe = cdns_ti_probe,
+	.remove = cdns_ti_remove,
+	.platdata_auto_alloc_size = sizeof(struct cdns_ti),
+	.flags = DM_FLAG_OS_PREPARE,
+};
