diff --git a/meta-raspberrypi/recipes-bsp/bootfiles/rpi-cmdline.bb b/meta-raspberrypi/recipes-bsp/bootfiles/rpi-cmdline.bb
index 74550ef..50c2b53 100644
--- a/meta-raspberrypi/recipes-bsp/bootfiles/rpi-cmdline.bb
+++ b/meta-raspberrypi/recipes-bsp/bootfiles/rpi-cmdline.bb
@@ -29,6 +29,13 @@
 # to enable kernel debugging.
 CMDLINE_DEBUG ?= ""
 
+# Add RNDIS capabilities (must be after rootwait)
+# example: 
+# CMDLINE_RNDIS = "modules-load=dwc2,g_ether g_ether.host_addr=<some MAC 
+# address> g_ether.dev_addr=<some MAC address>"
+# if the MAC addresses are omitted, random values will be used
+CMDLINE_RNDIS ?= ""
+
 CMDLINE = " \
     ${CMDLINE_DWC_OTG} \
     ${CMDLINE_SERIAL} \
@@ -38,6 +45,7 @@
     ${CMDLINE_LOGO} \
     ${CMDLINE_PITFT} \
     ${CMDLINE_DEBUG} \
+    ${CMDLINE_RNDIS} \
     "
 
 do_compile() {
diff --git a/meta-raspberrypi/recipes-bsp/bootfiles/rpi-config_git.bb b/meta-raspberrypi/recipes-bsp/bootfiles/rpi-config_git.bb
index 583144d..657123f 100644
--- a/meta-raspberrypi/recipes-bsp/bootfiles/rpi-config_git.bb
+++ b/meta-raspberrypi/recipes-bsp/bootfiles/rpi-config_git.bb
@@ -215,7 +215,7 @@
     fi
 
     # DWC2 USB peripheral support
-    if [ "${ENABLE_DWC2_PERIPHERAL}" = "1" ]; then
+    if ([ "${ENABLE_DWC2_PERIPHERAL}" = "1" ] && [ "${ENABLE_DWC2_OTG}" != "1" ]); then
         echo "# Enable USB peripheral mode" >> $CONFIG
         echo "dtoverlay=dwc2,dr_mode=peripheral" >> $CONFIG
     fi
@@ -225,6 +225,12 @@
         echo "# Enable USB host mode" >> $CONFIG
         echo "dtoverlay=dwc2,dr_mode=host" >> $CONFIG
     fi
+    
+    # DWC2 USB OTG support
+    if ([ "${ENABLE_DWC2_OTG}" = "1" ] && [ "${ENABLE_DWC2_PERIPHERAL}" != "1" ]); then
+        echo "# Enable USB OTG mode" >> $CONFIG
+        echo "dtoverlay=dwc2,dr_mode=otg" >> $CONFIG
+    fi
 
     # AT86RF23X support
     if [ "${ENABLE_AT86RF}" = "1" ]; then