The following series of patches along with [1], fix usb boot modes on AM654 IDK board.
[1] - https://patchwork.ozlabs.org/project/uboot/list/?series=300845
Aswath Govindraju (3): arm: dts: k3-am654-r5-base-board: Fix the dt properties in usb0 instance arm: mach-k3: am6_init: Fix the path and value's length in the fixup performed for usb boot configs: am65_evm_r5_usb*_defconfig: Sync the checks for size of image and stack from generic r5 defconfig
arch/arm/dts/k3-am654-r5-base-board-u-boot.dtsi | 2 +- arch/arm/dts/k3-am654-r5-base-board.dts | 1 + arch/arm/mach-k3/am6_init.c | 4 ++-- configs/am65x_evm_r5_usbdfu_defconfig | 5 +++++ configs/am65x_evm_r5_usbmsc_defconfig | 5 +++++ 5 files changed, 14 insertions(+), 3 deletions(-)