ADB is enabled by default, you can access the device directly via adb:

$ adb kill-server
$ adb devices
* daemon not running; starting now at tcp:5037
* daemon started successfully
 
List of devices attached
12036c819990    device
 
$ adb shell
root@Khadas:/#

You can dynamically switch USB functions by writing to /tmp/.usb_config and restarting the usbdevice service.

• Enable RNDIS

echo usb_rndis_en > /tmp/.usb_config
sudo usbdevice restart

• Enable ACM

echo usb_acm_en > /tmp/.usb_config
sudo usbdevice restart

• Enable UAC

echo usb_uac_en > /tmp/.usb_config
sudo usbdevice restart

• Enable UVC

echo usb_uvc_en > /tmp/.usb_config
sudo usbdevice restart

After enabling UVC, run:

uvc-gadget rockchip/functions/uvc.0 -d /dev/videoX

Note: Replace X with the actual video node number.

• Enable UMS

echo usb_ums_en > /tmp/.usb_config
sudo mkdir -p /userdata/
dd if=/dev/zero of=/userdata/ums_shared.img bs=1M count=1024

UMS mode requires the empty ums_shared.img file (1GB in the example above), which will be recognized as a storage drive by the host system.

After enabling RNDIS, configure the IP address manually. For example, set the device IP to 192.168.35.100:

sudo ifconfig usb0 192.168.35.100 up

Also configure the IP on the host PC, for example 192.168.35.110.

Test the network connection:

ping -I usb0 192.168.35.110