Texas Instruments OMAP5912 Reference Manual page 1517

USB OTG Controller
4.2.3 OTG Controller Initialization
OTG controller initialization operations depend on whether or not the system
implements an On-The-Go dual-role device.
If the application implements an OTG dual-role device, follow the initialization
shown in Figure 48.
SPRU761A Universal Serial Bus (USB) 225