diff --git a/drivers/usb/gadget/udc/tegra-xudc.c b/drivers/usb/gadget/udc/tegra-xudc.c
index 634c2c1..6ddb974 100644
--- a/drivers/usb/gadget/udc/tegra-xudc.c
+++ b/drivers/usb/gadget/udc/tegra-xudc.c
@@ -477,8 +477,8 @@ struct tegra_xudc {
 
 	struct clk_bulk_data *clks;
 
-	enum usb_role device_mode;
-	struct usb_role_switch *usb_role_sw;
+	enum usb_role role;
+	bool device_mode;
 	struct work_struct usb_role_sw_work;
 
 	struct phy *usb3_phy;
@@ -596,6 +596,8 @@ static void tegra_xudc_device_mode_on(struct tegra_xudc *xudc)
 {
 	int err;
 
+	if (xudc->device_mode)
+		return;
 	pm_runtime_get_sync(xudc->dev);
 
 	err = phy_power_on(xudc->utmi_phy);
@@ -610,7 +612,8 @@ static void tegra_xudc_device_mode_on(struct tegra_xudc *xudc)
 
 	tegra_xusb_padctl_set_vbus_override(xudc->padctl, true);
 
-	xudc->device_mode = USB_ROLE_DEVICE;
+	xudc->device_mode = true;
+
 }
 
 static void tegra_xudc_device_mode_off(struct tegra_xudc *xudc)
@@ -619,6 +622,9 @@ static void tegra_xudc_device_mode_off(struct tegra_xudc *xudc)
 	u32 pls, val;
 	int err;
 
+	if (!xudc->device_mode)
+		return;
+
 	dev_dbg(xudc->dev, "device mode off\n");
 
 	connected = !!(xudc_readl(xudc, PORTSC) & PORTSC_CCS);
@@ -643,7 +649,7 @@ static void tegra_xudc_device_mode_off(struct tegra_xudc *xudc)
 		xudc_writel(xudc, val, PORTSC);
 	}
 
-	xudc->device_mode = USB_ROLE_NONE;
+	xudc->device_mode = false;
 
 	/* Wait for disconnect event. */
 	if (connected)
@@ -668,31 +674,13 @@ static void tegra_xudc_usb_role_sw_work(struct work_struct *work)
 	struct tegra_xudc *xudc = container_of(work, struct tegra_xudc,
 					       usb_role_sw_work);
 
-	if (!xudc->usb_role_sw ||
-		usb_role_switch_get_role(xudc->usb_role_sw) == USB_ROLE_DEVICE)
+	if (xudc->role == USB_ROLE_DEVICE)
 		tegra_xudc_device_mode_on(xudc);
 	else
 		tegra_xudc_device_mode_off(xudc);
 
 }
 
-static int tegra_xudc_usb_role_sw_set(struct device *dev, enum usb_role role)
-{
-	struct tegra_xudc *xudc = dev_get_drvdata(dev);
-	unsigned long flags;
-
-	dev_dbg(dev, "%s role is %d\n", __func__, role);
-
-	spin_lock_irqsave(&xudc->lock, flags);
-
-	if (!xudc->suspended)
-		schedule_work(&xudc->usb_role_sw_work);
-
-	spin_unlock_irqrestore(&xudc->lock, flags);
-
-	return 0;
-}
-
 static void tegra_xudc_plc_reset_work(struct work_struct *work)
 {
 	struct delayed_work *dwork = to_delayed_work(work);
@@ -729,8 +717,7 @@ static void tegra_xudc_port_reset_war_work(struct work_struct *work)
 
 	spin_lock_irqsave(&xudc->lock, flags);
 
-	if ((xudc->device_mode == USB_ROLE_DEVICE)
-			      && xudc->wait_for_sec_prc) {
+	if (xudc->device_mode && xudc->wait_for_sec_prc) {
 		pls = (xudc_readl(xudc, PORTSC) & PORTSC_PLS_MASK) >>
 			PORTSC_PLS_SHIFT;
 		dev_dbg(xudc->dev, "pls = %x\n", pls);
@@ -3457,7 +3444,6 @@ static int tegra_xudc_probe(struct platform_device *pdev)
 {
 	struct tegra_xudc *xudc;
 	struct resource *res;
-	struct usb_role_switch_desc role_sx_desc = { 0 };
 	unsigned int i;
 	int err;
 
@@ -3587,23 +3573,10 @@ static int tegra_xudc_probe(struct platform_device *pdev)
 	INIT_DELAYED_WORK(&xudc->port_reset_war_work,
 				tegra_xudc_port_reset_war_work);
 
-	if (of_property_read_bool(xudc->dev->of_node, "usb-role-switch")) {
-		role_sx_desc.set = tegra_xudc_usb_role_sw_set;
-		role_sx_desc.fwnode = dev_fwnode(xudc->dev);
-
-		xudc->usb_role_sw = usb_role_switch_register(xudc->dev,
-							&role_sx_desc);
-		if (IS_ERR(xudc->usb_role_sw)) {
-			err = PTR_ERR(xudc->usb_role_sw);
-			dev_err(xudc->dev, "Failed to register USB role SW: %d",
-					   err);
-			goto free_eps;
-		}
-	} else {
-		/* Set the mode as device mode and this keeps phy always ON */
-		dev_info(xudc->dev, "Set usb role to device mode always");
-		schedule_work(&xudc->usb_role_sw_work);
-	}
+	/* Set the mode as device mode and this keeps phy always ON */
+	dev_info(xudc->dev, "Set usb role to device mode always");
+	xudc->role = USB_ROLE_DEVICE;
+	schedule_work(&xudc->usb_role_sw_work);
 
 	pm_runtime_enable(&pdev->dev);
 
@@ -3643,11 +3616,7 @@ static int tegra_xudc_remove(struct platform_device *pdev)
 	pm_runtime_get_sync(xudc->dev);
 
 	cancel_delayed_work(&xudc->plc_reset_work);
-
-	if (xudc->usb_role_sw) {
-		usb_role_switch_unregister(xudc->usb_role_sw);
-		cancel_work_sync(&xudc->usb_role_sw_work);
-	}
+	cancel_work_sync(&xudc->usb_role_sw_work);
 
 	usb_del_gadget_udc(&xudc->gadget);
 
