Hi Igor
I know usb speed is detected automatically during enumeration (state of D+/D- lines).
I see in the IMX8 datasheet(USBx_nPORTSC1 register bit of PFSC ) and the Chipidea /core.c:654 driver file that the configuration port is supported only at full speed connection.But,I don't see information in the IMX8 USB register instructions about configuring only low speed connections. 

Does USB OTG support driver configuration to connect only at low speeds?
Best regards
xianbao