diff --git a/drivers/usb/cdns3/Makefile b/drivers/usb/cdns3/Makefile
index 083676c7748f..d4ccfb49d844 100644
--- a/drivers/usb/cdns3/Makefile
+++ b/drivers/usb/cdns3/Makefile
@@ -1,7 +1,7 @@
 obj-$(CONFIG_USB_CDNS3)			+= cdns3.o
 obj-$(CONFIG_USB_CDNS3_PCI_WRAP)	+= cdns3-pci.o
 
-cdns3-y					:= core.o
+cdns3-y					:= core.o drd.o
 cdns3-$(CONFIG_USB_CDNS3_GADGET)	+= gadget.o
 cdns3-$(CONFIG_USB_CDNS3_HOST)		+= host.o
 cdns3-pci-y		 		:= cdns3-pci-wrap.o
diff --git a/drivers/usb/cdns3/core.c b/drivers/usb/cdns3/core.c
index 727136235957..20ae9e76940e 100644
--- a/drivers/usb/cdns3/core.c
+++ b/drivers/usb/cdns3/core.c
@@ -18,6 +18,7 @@
 #include "core.h"
 #include "host-export.h"
 #include "gadget-export.h"
+#include "drd.h"
 
 static inline struct cdns3_role_driver *cdns3_role(struct cdns3 *cdns)
 {
@@ -70,8 +71,10 @@ static void cdns3_set_role(struct cdns3 *cdns, enum cdns3_roles role)
 static enum cdns3_roles cdns3_get_role(struct cdns3 *cdns)
 {
 	if (cdns->roles[CDNS3_ROLE_HOST] && cdns->roles[CDNS3_ROLE_GADGET]) {
-		//TODO: implements selecting device/host mode
-		return CDNS3_ROLE_HOST;
+		if (cdns3_is_host(cdns))
+			return CDNS3_ROLE_HOST;
+		if (cdns3_is_device(cdns))
+			return CDNS3_ROLE_GADGET;
 	}
 	return cdns->roles[CDNS3_ROLE_HOST]
 		? CDNS3_ROLE_HOST
@@ -141,6 +144,12 @@ static irqreturn_t cdns3_irq(int irq, void *data)
 		return IRQ_HANDLED;
 	}
 
+	if (cdns->dr_mode == USB_DR_MODE_OTG) {
+		ret = cdns3_drd_irq(cdns);
+		if (ret == IRQ_HANDLED)
+			return ret;
+	}
+
 	/* Handle device/host interrupt */
 	if (cdns->role != CDNS3_ROLE_END)
 		ret = cdns3_role(cdns)->irq(cdns);
@@ -202,12 +211,8 @@ static void cdns3_role_switch(struct work_struct *work)
 	bool device, host;
 
 	cdns = container_of(work, struct cdns3, role_switch_wq);
-
-	//TODO: implements this functions.
-	//host = cdns3_is_host(cdns);
-	//device = cdns3_is_device(cdns);
-	host = 1;
-	device = 0;
+	host = cdns3_is_host(cdns);
+	device = cdns3_is_device(cdns);
 
 	if (host) {
 		if (cdns->roles[CDNS3_ROLE_HOST])
@@ -286,6 +291,7 @@ static int cdns3_probe(struct platform_device *pdev)
 	if (ret)
 		goto err3;
 
+	ret = cdns3_drd_probe(cdns);
 	if (ret)
 		goto err3;
 
diff --git a/drivers/usb/cdns3/drd.c b/drivers/usb/cdns3/drd.c
new file mode 100644
index 000000000000..5d988432edb8
--- /dev/null
+++ b/drivers/usb/cdns3/drd.c
@@ -0,0 +1,219 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Cadence USBSS DRD Driver.
+ *
+ * Copyright (C) 2018 Cadence.
+ *
+ * Author: Pawel Laszczak <pawell@cadence.com
+ *
+ */
+#include <linux/kernel.h>
+#include <linux/interrupt.h>
+#include <linux/delay.h>
+#include <linux/usb/otg.h>
+
+#include "gadget.h"
+#include "drd.h"
+
+/**
+ * cdns3_set_mode - change mode of OTG Core
+ * @cdns: pointer to context structure
+ * @mode: selected mode from cdns_role
+ */
+void cdns3_set_mode(struct cdns3 *cdns, u32 mode)
+{
+	u32 reg;
+
+	switch (mode) {
+	case CDNS3_ROLE_GADGET:
+		dev_info(cdns->dev, "Set controller to Gadget mode\n");
+		writel(OTGCMD_DEV_BUS_REQ | OTGCMD_OTG_DIS,
+		       &cdns->otg_regs->cmd);
+		break;
+	case CDNS3_ROLE_HOST:
+		dev_info(cdns->dev, "Set controller to Host mode\n");
+		writel(OTGCMD_HOST_BUS_REQ | OTGCMD_OTG_DIS,
+		       &cdns->otg_regs->cmd);
+		break;
+	case CDNS3_ROLE_OTG:
+		dev_info(cdns->dev, "Set controller to OTG mode\n");
+		reg = readl(&cdns->otg_regs->ctrl1);
+		reg |= OTGCTRL1_IDPULLUP;
+		writel(reg, &cdns->otg_regs->ctrl1);
+
+		/* wait until valid ID (ID_VALUE) can be sampled (50ms). */
+		mdelay(50);
+		break;
+	default:
+		dev_err(cdns->dev, "Unsupported mode of operation %d\n", mode);
+		return;
+	}
+}
+
+static int cdns3_otg_get_id(struct cdns3 *cdns)
+{
+	int id;
+
+	id = readl(&cdns->otg_regs->sts) & OTGSTS_ID_VALUE;
+	dev_dbg(cdns->dev, "OTG ID: %d", id);
+	return id;
+}
+
+int cdns3_is_host(struct cdns3 *cdns)
+{
+	if (cdns->dr_mode == USB_DR_MODE_HOST)
+		return 1;
+
+	return 0;
+}
+
+int cdns3_is_device(struct cdns3 *cdns)
+{
+	if (cdns->dr_mode == USB_DR_MODE_PERIPHERAL)
+		return 1;
+
+	return 0;
+}
+
+/**
+ * cdns3_otg_disable_irq - Disable all OTG interrupts
+ * @cdns: Pointer to controller context structure
+ */
+static void cdns3_otg_disable_irq(struct cdns3 *cdns)
+{
+	writel(0, &cdns->otg_regs->ien);
+}
+
+/**
+ * cdns3_otg_enable_irq - enable id and sess_valid interrupts
+ * @cdns: Pointer to controller context structure
+ */
+static void cdns3_otg_enable_irq(struct cdns3 *cdns)
+{
+	writel(OTGIEN_ID_CHANGE_INT | OTGIEN_VBUSVALID_RISE_INT |
+	       OTGIEN_VBUSVALID_FALL_INT, &cdns->otg_regs->ien);
+}
+
+/**
+ * cdns3_drd_init - initialize drd controller
+ * @cdns: Pointer to controller context structure
+ *
+ * Returns 0 on success otherwise negative errno
+ */
+static void cdns3_drd_init(struct cdns3 *cdns)
+{
+	cdns3_otg_disable_irq(cdns);
+	/* clear all interrupts */
+	writel(~0, &cdns->otg_regs->ivect);
+
+	cdns3_set_mode(cdns, CDNS3_ROLE_OTG);
+
+	cdns3_otg_enable_irq(cdns);
+}
+
+/**
+ * cdns3_core_init_mode - initialize mode of operation
+ * @cdns: Pointer to controller context structure
+ *
+ * Returns 0 on success otherwise negative errno
+ */
+static int cdns3_core_init_mode(struct cdns3 *cdns)
+{
+	int ret = 0;
+
+	switch (cdns->dr_mode) {
+	case USB_DR_MODE_PERIPHERAL:
+		cdns3_set_mode(cdns, CDNS3_ROLE_GADGET);
+		break;
+	case USB_DR_MODE_HOST:
+		cdns3_set_mode(cdns, CDNS3_ROLE_HOST);
+		break;
+	case USB_DR_MODE_OTG:
+		cdns3_drd_init(cdns);
+		break;
+	default:
+		dev_err(cdns->dev, "Unsupported mode of operation %d\n",
+			cdns->dr_mode);
+		return -EINVAL;
+	}
+
+	return ret;
+}
+
+irqreturn_t cdns3_drd_irq(struct cdns3 *cdns)
+{
+	irqreturn_t ret = IRQ_NONE;
+	u32 reg;
+
+	if (cdns->dr_mode != USB_DR_MODE_OTG)
+		return ret;
+
+	reg = readl(&cdns->otg_regs->ivect);
+	if (!reg)
+		return ret;
+
+	if (reg & OTGIEN_ID_CHANGE_INT) {
+		int id = cdns3_otg_get_id(cdns);
+
+		dev_dbg(cdns->dev, "OTG IRQ: new ID: %d\n",
+			cdns3_otg_get_id(cdns));
+
+		if (id)
+			cdns->desired_role = CDNS3_ROLE_GADGET;
+		else
+			cdns->desired_role = CDNS3_ROLE_GADGET;
+
+		queue_work(system_freezable_wq, &cdns->role_switch_wq);
+
+		ret = IRQ_HANDLED;
+	}
+
+	writel(~0, &cdns->otg_regs->ivect);
+	return IRQ_HANDLED;
+}
+
+int cdns3_drd_probe(struct cdns3 *cdns)
+{
+	enum usb_dr_mode dr_mode;
+	int ret = 0;
+	u32 state;
+
+	state = OTGSTS_STRAP(readl(&cdns->otg_regs->sts));
+
+	dr_mode = cdns->dr_mode;
+	if (state == OTGSTS_STRAP_HOST) {
+		dev_info(cdns->dev, "Controller strapped to HOST\n");
+		dr_mode = USB_DR_MODE_HOST;
+		if (cdns->dr_mode != USB_DR_MODE_HOST &&
+		    cdns->dr_mode != USB_DR_MODE_OTG)
+			ret = -EINVAL;
+	} else if (state == OTGSTS_STRAP_GADGET) {
+		dev_info(cdns->dev, "Controller strapped to HOST\n");
+		dr_mode = USB_DR_MODE_PERIPHERAL;
+		if (cdns->dr_mode != USB_DR_MODE_PERIPHERAL &&
+		    cdns->dr_mode != USB_DR_MODE_OTG)
+			ret = -EINVAL;
+	}
+
+	if (ret) {
+		dev_err(cdns->dev, "Incorrect DRD configuration\n");
+		return ret;
+	}
+
+	//Updating DR mode according to strap.
+	cdns->dr_mode = dr_mode;
+
+	dev_info(cdns->dev, "Controller Device ID: %08lx, Revision ID: %08lx\n",
+		 CDNS_RID(readl(&cdns->otg_regs->rid)),
+		 CDNS_DID(readl(&cdns->otg_regs->did)));
+
+	state = readl(&cdns->otg_regs->sts);
+	if (OTGSTS_OTG_NRDY(state) != 0) {
+		dev_err(cdns->dev, "Cadence USB3 OTG device not ready\n");
+		return -ENODEV;
+	}
+
+	ret = cdns3_core_init_mode(cdns);
+
+	return ret;
+}
diff --git a/drivers/usb/cdns3/drd.h b/drivers/usb/cdns3/drd.h
new file mode 100644
index 000000000000..85731f3b693c
--- /dev/null
+++ b/drivers/usb/cdns3/drd.h
@@ -0,0 +1,122 @@
+/* SPDX-License-Identifier: GPL-2.0 */
+/*
+ * Cadence USB3 DRD part of USBSS driver
+ *
+ * Copyright (C) 2018 Cadence.
+ *
+ * Author: Pawel Laszczak <pawell@cadence.com>
+ */
+#ifndef __LINUX_CDNS3_DRD
+#define __LINUX_CDNS3_DRD
+
+#include <linux/usb/otg.h>
+#include <linux/phy/phy.h>
+#include "core.h"
+
+/*  DRD register interface. */
+struct cdns3_otg_regs {
+	__le32 did;
+	__le32 rid;
+	__le32 capabilities;
+	__le32 reserved1;
+	__le32 cmd;
+	__le32 sts;
+	__le32 state;
+	__le32 reserved2;
+	__le32 ien;
+	__le32 ivect;
+	__le32 refclk;
+	__le32 tmr;
+	__le32 reserved3[4];
+	__le32 simulate;
+	__le32 override;
+	__le32 susp_ctrl;
+	__le32 reserved4;
+	__le32 anasts;
+	__le32 adp_ramp_time;
+	__le32 ctrl1;
+	__le32 ctrl2;
+};
+
+/* CDNS_RID - bitmasks */
+#define CDNS_RID(p)			((p) & GENMASK(15, 0))
+
+/* CDNS_VID - bitmasks */
+#define CDNS_DID(p)			((p) & GENMASK(31, 0))
+
+/* OTGCMD - bitmasks */
+/* "Request the bus for Device mode. */
+#define OTGCMD_DEV_BUS_REQ	BIT(0)
+/* Request the bus for Host mode */
+#define OTGCMD_HOST_BUS_REQ		BIT(1)
+/* Enable OTG mode. */
+#define OTGCMD_OTG_EN			BIT(2)
+/* Disable OTG mode */
+#define OTGCMD_OTG_DIS			BIT(3)
+/*"Configure OTG as A-Device. */
+#define OTGCMD_A_DEV_EN			BIT(4)
+/*"Configure OTG as A-Device. */
+#define OTGCMD_A_DEV_DIS		BIT(5)
+/* Drop the bus for Device mod	e. */
+#define OTGCMD_DEV_BUS_DROP		BIT(8)
+/* Drop the bus for Host mode*/
+#define OTGCMD_HOST_BUS_DROP		BIT(9)
+/* Power Down USBSS-DEV. */
+#define OTGCMD_DEV_POWER_OFF		BIT(11)
+/* Power Down CDNSXHCI. */
+#define OTGCMD_HOST_POWER_OFF		BIT(12)
+
+/* OTGIEN - bitmasks */
+/* ID change interrupt enable */
+#define OTGIEN_ID_CHANGE_INT		BIT(0)
+/* Vbusvalid fall detected interrupt enable.*/
+#define OTGIEN_VBUSVALID_RISE_INT	BIT(4)
+/* Vbusvalid fall detected interrupt enable */
+#define OTGIEN_VBUSVALID_FALL_INT	BIT(5)
+
+/* OTGSTS - bitmasks */
+/*
+ * Current value of the ID pin. It is only valid when idpullup in
+ *  OTGCTRL1_TYPE register is set to '1'.
+ */
+#define OTGSTS_ID_VALUE			BIT(0)
+/* Current value of the vbus_valid */
+#define OTGSTS_VBUS_VALID		BIT(1)
+/* Current value of the b_sess_vld */
+#define OTGSTS_SESSION_VALID		BIT(2)
+/*Device mode is active*/
+#define OTGSTS_DEV_ACTIVE		BIT(3)
+/* Host mode is active. */
+#define OTGSTS_HOST_ACTIVE		BIT(4)
+/* OTG Controller not ready. */
+#define OTGSTS_OTG_NRDY_MASK		BIT(11)
+#define OTGSTS_OTG_NRDY(p)		((p) & OTGSTS_OTG_NRDY_MASK)
+/*
+ * Value of the strap pins.
+ * 000 - no default configuration
+ * 010 - Controller initiall configured as Host
+ * 100 - Controller initially configured as Device
+ */
+#define OTGSTS_STRAP(p)			(((p) & GENMASK(14, 12)) >> 12)
+#define OTGSTS_STRAP_NO_DEFAULT_CFG	0x00
+#define OTGSTS_STRAP_HOST_OTG		0x01
+#define OTGSTS_STRAP_HOST		0x02
+#define OTGSTS_STRAP_GADGET		0x04
+/* Host mode is turned on. */
+#define OTGSTSE_XHCI_READYF		BIT(26)
+/* "Device mode is turned on .*/
+#define OTGSTS_DEV_READY		BIT(27)
+
+/* OTGREFCLK - bitmasks */
+#define OTGREFCLK_STB_CLK_SWITCH_EN	BIT(31)
+
+/* OTGCTRL1 - bitmasks */
+#define OTGCTRL1_IDPULLUP		BIT(24)
+
+int cdns3_is_host(struct cdns3 *cdns);
+int cdns3_is_device(struct cdns3 *cdns);
+int cdns3_drd_probe(struct cdns3 *cdns);
+void cdns3_set_hw_mode(struct cdns3 *cdns, u32 mode);
+irqreturn_t cdns3_drd_irq(struct cdns3 *cdns);
+
+#endif /* __LINUX_CDNS3_DRD */
