arm64: dts: ti: k3-am625-phyboard-lyra-rdk: Add USB-C

The USB-C PD manages plug orientation, power delivery, and our endpoint
for the USB interface. Add this node and include its endpoint.

Configure USB0 for role-switching and wire it to our USB-C PD endpoint.
Signed-off-by: Garrett Giordano <ggiordano@phytec.com>
Reviewed-by: Wadim Egorov <w.egorov@phytec.de>
Link: https://lore.kernel.org/r/20240425152558.485763-1-ggiordano@phytec.comSigned-off-by: Nishanth Menon <nm@ti.com>

arch/arm64/boot/dts/ti/k3-am625-phyboard-lyra-rdk.dts

@@ -348,6 +348,24 @@ gpio_exp: gpio-expander@21 {
 				  "GPIO6_ETH1_USER_RESET", "GPIO7_AUDIO_USER_RESET";
 	};
 
+	usb-pd@22 {
+		compatible = "ti,tps6598x";
+		reg = <0x22>;
+
+		connector {
+			compatible = "usb-c-connector";
+			label = "USB-C";
+			self-powered;
+			data-role = "dual";
+			power-role = "sink";
+			port {
+				usb_con_hs: endpoint {
+					remote-endpoint = <&typec_hs>;
+				};
+			};
+		};
+	};
+
 	sii9022: bridge-hdmi@39 {
 		compatible = "sil,sii9022";
 		reg = <0x39>;
@@ -449,7 +467,13 @@ &usbss1 {
 };
 
 &usb0 {
-	dr_mode = "peripheral";
+	usb-role-switch;
+
+	port {
+		typec_hs: endpoint {
+			remote-endpoint = <&usb_con_hs>;
+		};
+	};
 };
 
 &usb1 {