diff --git a/arch/arm/mach-tegra/Kconfig b/arch/arm/mach-tegra/Kconfig
index 48a387c..0b2852c 100644
--- a/arch/arm/mach-tegra/Kconfig
+++ b/arch/arm/mach-tegra/Kconfig
@@ -52,6 +52,19 @@
 
 endchoice
 
+config TEGRA_DISCONNECT_UDC_ON_BOOT
+	bool "Disconnect USB device mode controller on boot"
+	default y
+	help
+	  When loading U-Boot into RAM over USB protocols using tools such as
+	  tegrarcm or L4T's exec-uboot.sh/tegraflash.py, Tegra's USB device
+	  mode controller is initialized and enumerated by the host PC running
+	  the tool. Unfortunately, these tools do not shut down the USB
+	  controller before executing the downloaded code, and so the host PC
+	  does not "de-enumerate" the USB device. This option shuts down the
+	  USB controller when U-Boot boots to avoid leaving a stale USB device
+	  present.
+
 config SYS_MALLOC_F_LEN
 	default 0x1800
 
diff --git a/arch/arm/mach-tegra/board2.c b/arch/arm/mach-tegra/board2.c
index a650abd..60e19c8 100644
--- a/arch/arm/mach-tegra/board2.c
+++ b/arch/arm/mach-tegra/board2.c
@@ -34,8 +34,8 @@
 #ifdef CONFIG_TEGRA_CLOCK_SCALING
 #include <asm/arch/emc.h>
 #endif
-#ifdef CONFIG_USB_EHCI_TEGRA
 #include <asm/arch-tegra/usb.h>
+#ifdef CONFIG_USB_EHCI_TEGRA
 #include <usb.h>
 #endif
 #ifdef CONFIG_TEGRA_MMC
@@ -201,6 +201,14 @@
 
 int board_early_init_f(void)
 {
+#if defined(CONFIG_TEGRA_DISCONNECT_UDC_ON_BOOT)
+#define USBCMD_FS2 (1 << 15)
+	{
+		struct usb_ctlr *usbctlr = (struct usb_ctlr *)0x7d000000;
+		writel(USBCMD_FS2, &usbctlr->usb_cmd);
+	}
+#endif
+
 	/* Do any special system timer/TSC setup */
 #if defined(CONFIG_TEGRA_SUPPORT_NON_SECURE)
 	if (!tegra_cpu_is_non_secure())