ENGR00292902 ARM:imx6: Add USB gadget driver imx_udc to support Android fastboot

Android fastboot leans on the USB gadget driver to communicate with host. Porting
the imx_udc driver from v2009.08 with two changes: adding resource/memory release
APIs and replacing the uncached memory with cache flush&invalidate operations.

Pins and Clocks initialization are added to support boards:
mx6qdlsabresd, mx6qdlsabreauto, mx6slevk

Signed-off-by: Ye.Li <B37916@freescale.com>

14 files changed, 2431 insertions, 3 deletions

diff --git a/arch/arm/cpu/armv7/mx6/soc.c b/arch/arm/cpu/armv7/mx6/soc.c
index 7984775..011463d 100644
--- a/arch/arm/cpu/armv7/mx6/soc.c
+++ b/arch/arm/cpu/armv7/mx6/soc.c
@@ -37,7 +37,10 @@
 #include <libfdt.h>
 #include <stdbool.h>
 #include <asm/arch/mxc_hdmi.h>
-#include <asm/arch/crm_regs.h>
+#ifdef CONFIG_IMX_UDC
+#include <asm/arch/mx6_usbphy.h>
+#include <usb/imx_udc.h>
+#endif
 
 struct scu_regs {
 	u32	ctrl;
@@ -862,3 +865,49 @@ void imx_setup_hdmi(void)
 	}
 }
 #endif
+
+#ifdef CONFIG_IMX_UDC
+void set_usboh3_clk(void)
+{
+	udc_pins_setting();
+}
+
+void set_usb_phy1_clk(void)
+{
+	/* make sure pll3 is enable here */
+	writel((BM_ANADIG_USB1_CHRG_DETECT_EN_B |
+		BM_ANADIG_USB1_CHRG_DETECT_CHK_CHRG_B),
+		ANATOP_BASE_ADDR + HW_ANADIG_USB1_CHRG_DETECT_SET);
+
+	writel(BM_ANADIG_USB1_PLL_480_CTRL_EN_USB_CLKS,
+		ANATOP_BASE_ADDR + HW_ANADIG_USB1_PLL_480_CTRL_SET);
+}
+void enable_usb_phy1_clk(unsigned char enable)
+{
+	if (enable)
+		writel(BM_USBPHY_CTRL_CLKGATE,
+			USB_PHY0_BASE_ADDR + HW_USBPHY_CTRL_CLR);
+	else
+		writel(BM_USBPHY_CTRL_CLKGATE,
+			USB_PHY0_BASE_ADDR + HW_USBPHY_CTRL_SET);
+}
+
+void reset_usb_phy1(void)
+{
+	/* Reset USBPHY module */
+	u32 temp;
+	temp = readl(USB_PHY0_BASE_ADDR + HW_USBPHY_CTRL);
+	temp |= BM_USBPHY_CTRL_SFTRST;
+	writel(temp, USB_PHY0_BASE_ADDR + HW_USBPHY_CTRL);
+	udelay(10);
+
+	/* Remove CLKGATE and SFTRST */
+	temp = readl(USB_PHY0_BASE_ADDR + HW_USBPHY_CTRL);
+	temp &= ~(BM_USBPHY_CTRL_CLKGATE | BM_USBPHY_CTRL_SFTRST);
+	writel(temp, USB_PHY0_BASE_ADDR + HW_USBPHY_CTRL);
+	udelay(10);
+
+	/* Power up the PHY */
+	writel(0, USB_PHY0_BASE_ADDR + HW_USBPHY_PWD);
+}
+#endif
diff --git a/arch/arm/imx-common/iomux-v3.c b/arch/arm/imx-common/iomux-v3.c
index 08fad78..cc097b8 100644
--- a/arch/arm/imx-common/iomux-v3.c
+++ b/arch/arm/imx-common/iomux-v3.c
@@ -4,7 +4,7 @@
  * Copyright (C) 2009 by Jan Weitzel Phytec Messtechnik GmbH,
  *                       <armlinux@phytec.de>
  *
- * Copyright (C) 2004-2011 Freescale Semiconductor, Inc.
+ * Copyright (C) 2004-2013 Freescale Semiconductor, Inc.
  *
  * This program is free software; you can redistribute it and/or
  * modify it under the terms of the GNU General Public License
@@ -69,3 +69,18 @@ int imx_iomux_v3_setup_multiple_pads(iomux_v3_cfg_t const *pad_list,
 	}
 	return 0;
 }
+
+void mxc_iomux_set_gpr_register(int group, int start_bit,
+					int num_bits, int value)
+{
+	int i = 0;
+	u32 reg;
+	reg = readl(base + group * 4);
+	while (num_bits) {
+		reg &= ~(1<<(start_bit + i));
+		i++;
+		num_bits--;
+	}
+	reg |= (value << start_bit);
+	writel(reg, base + group * 4);
+}
diff --git a/arch/arm/include/asm/arch-mx6/crm_regs.h b/arch/arm/include/asm/arch-mx6/crm_regs.h
index 08ac80b..3292683 100644
--- a/arch/arm/include/asm/arch-mx6/crm_regs.h
+++ b/arch/arm/include/asm/arch-mx6/crm_regs.h
@@ -627,6 +627,11 @@ struct mxc_ccm_reg {
 #define BF_ANADIG_PLL_SYS_DIV_SELECT(v)  \
 	(((v) << 0) & BM_ANADIG_PLL_SYS_DIV_SELECT)
 
+#define HW_ANADIG_USB1_PLL_480_CTRL (0x00000010)
+#define HW_ANADIG_USB1_PLL_480_CTRL_SET (0x00000014)
+#define HW_ANADIG_USB1_PLL_480_CTRL_CLR (0x00000018)
+#define HW_ANADIG_USB1_PLL_480_CTRL_TOG (0x0000001c)
+
 #define BM_ANADIG_USB1_PLL_480_CTRL_LOCK 0x80000000
 #define BP_ANADIG_USB1_PLL_480_CTRL_RSVD1      17
 #define BM_ANADIG_USB1_PLL_480_CTRL_RSVD1 0x7FFE0000
diff --git a/arch/arm/include/asm/arch-mx6/imx-regs.h b/arch/arm/include/asm/arch-mx6/imx-regs.h
index 3a55c7a..8d8edac 100644
--- a/arch/arm/include/asm/arch-mx6/imx-regs.h
+++ b/arch/arm/include/asm/arch-mx6/imx-regs.h
@@ -228,6 +228,12 @@
 #define IP2APB_USBPHY1_BASE_ADDR    (AIPS2_OFF_BASE_ADDR + 0x78000)
 #define IP2APB_USBPHY2_BASE_ADDR    (AIPS2_OFF_BASE_ADDR + 0x7C000)
 
+#ifdef CONFIG_MX6SL
+#define OTG_BASE_ADDR               USBO2H_USB_BASE_ADDR
+#else
+#define OTG_BASE_ADDR               USBOH3_USB_BASE_ADDR
+#endif
+
 #define CHIP_REV_1_0                 0x10
 #define CHIP_REV_1_1                 0x11
 #define CHIP_REV_1_2                 0x12
diff --git a/arch/arm/include/asm/arch-mx6/mx6_usbphy.h b/arch/arm/include/asm/arch-mx6/mx6_usbphy.h
new file mode 100644
index 0000000..7be2a83
--- /dev/null
+++ b/arch/arm/include/asm/arch-mx6/mx6_usbphy.h
@@ -0,0 +1,499 @@
+/*
+ * Freescale USBPHY Register Definitions
+ *
+ * Copyright 2008-2013 Freescale Semiconductor, Inc. All Rights Reserved.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
+ *
+ * This file is created by xml file. Don't Edit it.
+ *
+ * Xml Revision: 1.2
+ * Template revision: 1.3
+ */
+
+#ifndef __ASM_ARCH_MX6_MX6_USBPHY_H__
+#define __ASM_ARCH_MX6_MX6_USBPHY_H__
+
+#define HW_USBPHY_PWD	(0x00000000)
+#define HW_USBPHY_PWD_SET	(0x00000004)
+#define HW_USBPHY_PWD_CLR	(0x00000008)
+#define HW_USBPHY_PWD_TOG	(0x0000000c)
+
+#define BP_USBPHY_PWD_RSVD2      21
+#define BM_USBPHY_PWD_RSVD2 0xFFE00000
+#define BF_USBPHY_PWD_RSVD2(v) \
+	(((v) << 21) & BM_USBPHY_PWD_RSVD2)
+#define BM_USBPHY_PWD_RXPWDRX 0x00100000
+#define BM_USBPHY_PWD_RXPWDDIFF 0x00080000
+#define BM_USBPHY_PWD_RXPWD1PT1 0x00040000
+#define BM_USBPHY_PWD_RXPWDENV 0x00020000
+#define BP_USBPHY_PWD_RSVD1      13
+#define BM_USBPHY_PWD_RSVD1 0x0001E000
+#define BF_USBPHY_PWD_RSVD1(v)  \
+	(((v) << 13) & BM_USBPHY_PWD_RSVD1)
+#define BM_USBPHY_PWD_TXPWDV2I 0x00001000
+#define BM_USBPHY_PWD_TXPWDIBIAS 0x00000800
+#define BM_USBPHY_PWD_TXPWDFS 0x00000400
+#define BP_USBPHY_PWD_RSVD0      0
+#define BM_USBPHY_PWD_RSVD0 0x000003FF
+#define BF_USBPHY_PWD_RSVD0(v)  \
+	(((v) << 0) & BM_USBPHY_PWD_RSVD0)
+
+#define HW_USBPHY_TX	(0x00000010)
+#define HW_USBPHY_TX_SET	(0x00000014)
+#define HW_USBPHY_TX_CLR	(0x00000018)
+#define HW_USBPHY_TX_TOG	(0x0000001c)
+
+#define BP_USBPHY_TX_RSVD5      29
+#define BM_USBPHY_TX_RSVD5 0xE0000000
+#define BF_USBPHY_TX_RSVD5(v) \
+	(((v) << 29) & BM_USBPHY_TX_RSVD5)
+#define BP_USBPHY_TX_USBPHY_TX_EDGECTRL      26
+#define BM_USBPHY_TX_USBPHY_TX_EDGECTRL 0x1C000000
+#define BF_USBPHY_TX_USBPHY_TX_EDGECTRL(v)  \
+	(((v) << 26) & BM_USBPHY_TX_USBPHY_TX_EDGECTRL)
+#define BM_USBPHY_TX_USBPHY_TX_SYNC_INVERT 0x02000000
+#define BM_USBPHY_TX_USBPHY_TX_SYNC_MUX 0x01000000
+#define BP_USBPHY_TX_RSVD4      22
+#define BM_USBPHY_TX_RSVD4 0x00C00000
+#define BF_USBPHY_TX_RSVD4(v)  \
+	(((v) << 22) & BM_USBPHY_TX_RSVD4)
+#define BM_USBPHY_TX_TXENCAL45DP 0x00200000
+#define BM_USBPHY_TX_RSVD3 0x00100000
+#define BP_USBPHY_TX_TXCAL45DP      16
+#define BM_USBPHY_TX_TXCAL45DP 0x000F0000
+#define BF_USBPHY_TX_TXCAL45DP(v)  \
+	(((v) << 16) & BM_USBPHY_TX_TXCAL45DP)
+#define BP_USBPHY_TX_RSVD2      14
+#define BM_USBPHY_TX_RSVD2 0x0000C000
+#define BF_USBPHY_TX_RSVD2(v)  \
+	(((v) << 14) & BM_USBPHY_TX_RSVD2)
+#define BM_USBPHY_TX_TXENCAL45DN 0x00002000
+#define BM_USBPHY_TX_RSVD1 0x00001000
+#define BP_USBPHY_TX_TXCAL45DN      8
+#define BM_USBPHY_TX_TXCAL45DN 0x00000F00
+#define BF_USBPHY_TX_TXCAL45DN(v)  \
+	(((v) << 8) & BM_USBPHY_TX_TXCAL45DN)
+#define BP_USBPHY_TX_RSVD0      4
+#define BM_USBPHY_TX_RSVD0 0x000000F0
+#define BF_USBPHY_TX_RSVD0(v)  \
+	(((v) << 4) & BM_USBPHY_TX_RSVD0)
+#define BP_USBPHY_TX_D_CAL      0
+#define BM_USBPHY_TX_D_CAL 0x0000000F
+#define BF_USBPHY_TX_D_CAL(v)  \
+	(((v) << 0) & BM_USBPHY_TX_D_CAL)
+
+#define HW_USBPHY_RX	(0x00000020)
+#define HW_USBPHY_RX_SET	(0x00000024)
+#define HW_USBPHY_RX_CLR	(0x00000028)
+#define HW_USBPHY_RX_TOG	(0x0000002c)
+
+#define BP_USBPHY_RX_RSVD2      23
+#define BM_USBPHY_RX_RSVD2 0xFF800000
+#define BF_USBPHY_RX_RSVD2(v) \
+	(((v) << 23) & BM_USBPHY_RX_RSVD2)
+#define BM_USBPHY_RX_RXDBYPASS 0x00400000
+#define BP_USBPHY_RX_RSVD1      7
+#define BM_USBPHY_RX_RSVD1 0x003FFF80
+#define BF_USBPHY_RX_RSVD1(v)  \
+	(((v) << 7) & BM_USBPHY_RX_RSVD1)
+#define BP_USBPHY_RX_DISCONADJ      4
+#define BM_USBPHY_RX_DISCONADJ 0x00000070
+#define BF_USBPHY_RX_DISCONADJ(v)  \
+	(((v) << 4) & BM_USBPHY_RX_DISCONADJ)
+#define BM_USBPHY_RX_RSVD0 0x00000008
+#define BP_USBPHY_RX_ENVADJ      0
+#define BM_USBPHY_RX_ENVADJ 0x00000007
+#define BF_USBPHY_RX_ENVADJ(v)  \
+	(((v) << 0) & BM_USBPHY_RX_ENVADJ)
+
+#define HW_USBPHY_CTRL	(0x00000030)
+#define HW_USBPHY_CTRL_SET	(0x00000034)
+#define HW_USBPHY_CTRL_CLR	(0x00000038)
+#define HW_USBPHY_CTRL_TOG	(0x0000003c)
+
+#define BM_USBPHY_CTRL_SFTRST 0x80000000
+#define BM_USBPHY_CTRL_CLKGATE 0x40000000
+#define BM_USBPHY_CTRL_UTMI_SUSPENDM 0x20000000
+#define BM_USBPHY_CTRL_HOST_FORCE_LS_SE0 0x10000000
+#define BM_USBPHY_CTRL_OTG_ID_VALUE 0x08000000
+#define BM_USBPHY_CTRL_ENAUTOSET_USBCLKS 0x04000000
+#define BM_USBPHY_CTRL_ENAUTOCLR_USBCLKGATE 0x02000000
+#define BM_USBPHY_CTRL_FSDLL_RST_EN 0x01000000
+#define BM_USBPHY_CTRL_ENVBUSCHG_WKUP 0x00800000
+#define BM_USBPHY_CTRL_ENIDCHG_WKUP 0x00400000
+#define BM_USBPHY_CTRL_ENDPDMCHG_WKUP 0x00200000
+#define BM_USBPHY_CTRL_ENAUTOCLR_PHY_PWD 0x00100000
+#define BM_USBPHY_CTRL_ENAUTOCLR_CLKGATE 0x00080000
+#define BM_USBPHY_CTRL_ENAUTO_PWRON_PLL 0x00040000
+#define BM_USBPHY_CTRL_WAKEUP_IRQ 0x00020000
+#define BM_USBPHY_CTRL_ENIRQWAKEUP 0x00010000
+#define BM_USBPHY_CTRL_ENUTMILEVEL3 0x00008000
+#define BM_USBPHY_CTRL_ENUTMILEVEL2 0x00004000
+#define BM_USBPHY_CTRL_DATA_ON_LRADC 0x00002000
+#define BM_USBPHY_CTRL_DEVPLUGIN_IRQ 0x00001000
+#define BM_USBPHY_CTRL_ENIRQDEVPLUGIN 0x00000800
+#define BM_USBPHY_CTRL_RESUME_IRQ 0x00000400
+#define BM_USBPHY_CTRL_ENIRQRESUMEDETECT 0x00000200
+#define BM_USBPHY_CTRL_RESUMEIRQSTICKY 0x00000100
+#define BM_USBPHY_CTRL_ENOTGIDDETECT 0x00000080
+#define BM_USBPHY_CTRL_OTG_ID_CHG_IRQ 0x00000040
+#define BM_USBPHY_CTRL_DEVPLUGIN_POLARITY 0x00000020
+#define BM_USBPHY_CTRL_ENDEVPLUGINDETECT 0x00000010
+#define BM_USBPHY_CTRL_HOSTDISCONDETECT_IRQ 0x00000008
+#define BM_USBPHY_CTRL_ENIRQHOSTDISCON 0x00000004
+#define BM_USBPHY_CTRL_ENHOSTDISCONDETECT 0x00000002
+#define BM_USBPHY_CTRL_ENOTG_ID_CHG_IRQ 0x00000001
+
+#define HW_USBPHY_STATUS	(0x00000040)
+
+#define BP_USBPHY_STATUS_RSVD4      11
+#define BM_USBPHY_STATUS_RSVD4 0xFFFFF800
+#define BF_USBPHY_STATUS_RSVD4(v) \
+	(((v) << 11) & BM_USBPHY_STATUS_RSVD4)
+#define BM_USBPHY_STATUS_RESUME_STATUS 0x00000400
+#define BM_USBPHY_STATUS_RSVD3 0x00000200
+#define BM_USBPHY_STATUS_OTGID_STATUS 0x00000100
+#define BM_USBPHY_STATUS_RSVD2 0x00000080
+#define BM_USBPHY_STATUS_DEVPLUGIN_STATUS 0x00000040
+#define BP_USBPHY_STATUS_RSVD1      4
+#define BM_USBPHY_STATUS_RSVD1 0x00000030
+#define BF_USBPHY_STATUS_RSVD1(v)  \
+	(((v) << 4) & BM_USBPHY_STATUS_RSVD1)
+#define BM_USBPHY_STATUS_HOSTDISCONDETECT_STATUS 0x00000008
+#define BP_USBPHY_STATUS_RSVD0      0
+#define BM_USBPHY_STATUS_RSVD0 0x00000007
+#define BF_USBPHY_STATUS_RSVD0(v)  \
+	(((v) << 0) & BM_USBPHY_STATUS_RSVD0)
+
+#define HW_USBPHY_DEBUG	(0x00000050)
+#define HW_USBPHY_DEBUG_SET	(0x00000054)
+#define HW_USBPHY_DEBUG_CLR	(0x00000058)
+#define HW_USBPHY_DEBUG_TOG	(0x0000005c)
+
+#define BM_USBPHY_DEBUG_RSVD3 0x80000000
+#define BM_USBPHY_DEBUG_CLKGATE 0x40000000
+#define BM_USBPHY_DEBUG_HOST_RESUME_DEBUG 0x20000000
+#define BP_USBPHY_DEBUG_SQUELCHRESETLENGTH      25
+#define BM_USBPHY_DEBUG_SQUELCHRESETLENGTH 0x1E000000
+#define BF_USBPHY_DEBUG_SQUELCHRESETLENGTH(v)  \
+	(((v) << 25) & BM_USBPHY_DEBUG_SQUELCHRESETLENGTH)
+#define BM_USBPHY_DEBUG_ENSQUELCHRESET 0x01000000
+#define BP_USBPHY_DEBUG_RSVD2      21
+#define BM_USBPHY_DEBUG_RSVD2 0x00E00000
+#define BF_USBPHY_DEBUG_RSVD2(v)  \
+	(((v) << 21) & BM_USBPHY_DEBUG_RSVD2)
+#define BP_USBPHY_DEBUG_SQUELCHRESETCOUNT      16
+#define BM_USBPHY_DEBUG_SQUELCHRESETCOUNT 0x001F0000
+#define BF_USBPHY_DEBUG_SQUELCHRESETCOUNT(v)  \
+	(((v) << 16) & BM_USBPHY_DEBUG_SQUELCHRESETCOUNT)
+#define BP_USBPHY_DEBUG_RSVD1      13
+#define BM_USBPHY_DEBUG_RSVD1 0x0000E000
+#define BF_USBPHY_DEBUG_RSVD1(v)  \
+	(((v) << 13) & BM_USBPHY_DEBUG_RSVD1)
+#define BM_USBPHY_DEBUG_ENTX2RXCOUNT 0x00001000
+#define BP_USBPHY_DEBUG_TX2RXCOUNT      8
+#define BM_USBPHY_DEBUG_TX2RXCOUNT 0x00000F00
+#define BF_USBPHY_DEBUG_TX2RXCOUNT(v)  \
+	(((v) << 8) & BM_USBPHY_DEBUG_TX2RXCOUNT)
+#define BP_USBPHY_DEBUG_RSVD0      6
+#define BM_USBPHY_DEBUG_RSVD0 0x000000C0
+#define BF_USBPHY_DEBUG_RSVD0(v)  \
+	(((v) << 6) & BM_USBPHY_DEBUG_RSVD0)
+#define BP_USBPHY_DEBUG_ENHSTPULLDOWN      4
+#define BM_USBPHY_DEBUG_ENHSTPULLDOWN 0x00000030
+#define BF_USBPHY_DEBUG_ENHSTPULLDOWN(v)  \
+	(((v) << 4) & BM_USBPHY_DEBUG_ENHSTPULLDOWN)
+#define BP_USBPHY_DEBUG_HSTPULLDOWN      2
+#define BM_USBPHY_DEBUG_HSTPULLDOWN 0x0000000C
+#define BF_USBPHY_DEBUG_HSTPULLDOWN(v)  \
+	(((v) << 2) & BM_USBPHY_DEBUG_HSTPULLDOWN)
+#define BM_USBPHY_DEBUG_DEBUG_INTERFACE_HOLD 0x00000002
+#define BM_USBPHY_DEBUG_OTGIDPIOLOCK 0x00000001
+
+#define HW_USBPHY_DEBUG0_STATUS	(0x00000060)
+
+#define BP_USBPHY_DEBUG0_STATUS_SQUELCH_COUNT      26
+#define BM_USBPHY_DEBUG0_STATUS_SQUELCH_COUNT 0xFC000000
+#define BF_USBPHY_DEBUG0_STATUS_SQUELCH_COUNT(v) \
+	(((v) << 26) & BM_USBPHY_DEBUG0_STATUS_SQUELCH_COUNT)
+#define BP_USBPHY_DEBUG0_STATUS_UTMI_RXERROR_FAIL_COUNT      16
+#define BM_USBPHY_DEBUG0_STATUS_UTMI_RXERROR_FAIL_COUNT 0x03FF0000
+#define BF_USBPHY_DEBUG0_STATUS_UTMI_RXERROR_FAIL_COUNT(v)  \
+	(((v) << 16) & BM_USBPHY_DEBUG0_STATUS_UTMI_RXERROR_FAIL_COUNT)
+#define BP_USBPHY_DEBUG0_STATUS_LOOP_BACK_FAIL_COUNT      0
+#define BM_USBPHY_DEBUG0_STATUS_LOOP_BACK_FAIL_COUNT 0x0000FFFF
+#define BF_USBPHY_DEBUG0_STATUS_LOOP_BACK_FAIL_COUNT(v)  \
+	(((v) << 0) & BM_USBPHY_DEBUG0_STATUS_LOOP_BACK_FAIL_COUNT)
+
+#define HW_USBPHY_DEBUG1	(0x00000070)
+#define HW_USBPHY_DEBUG1_SET	(0x00000074)
+#define HW_USBPHY_DEBUG1_CLR	(0x00000078)
+#define HW_USBPHY_DEBUG1_TOG	(0x0000007c)
+
+#define BP_USBPHY_DEBUG1_RSVD1      15
+#define BM_USBPHY_DEBUG1_RSVD1 0xFFFF8000
+#define BF_USBPHY_DEBUG1_RSVD1(v) \
+	(((v) << 15) & BM_USBPHY_DEBUG1_RSVD1)
+#define BP_USBPHY_DEBUG1_ENTAILADJVD      13
+#define BM_USBPHY_DEBUG1_ENTAILADJVD 0x00006000
+#define BF_USBPHY_DEBUG1_ENTAILADJVD(v)  \
+	(((v) << 13) & BM_USBPHY_DEBUG1_ENTAILADJVD)
+#define BM_USBPHY_DEBUG1_ENTX2TX 0x00001000
+#define BP_USBPHY_DEBUG1_RSVD0      4
+#define BM_USBPHY_DEBUG1_RSVD0 0x00000FF0
+#define BF_USBPHY_DEBUG1_RSVD0(v)  \
+	(((v) << 4) & BM_USBPHY_DEBUG1_RSVD0)
+#define BP_USBPHY_DEBUG1_DBG_ADDRESS      0
+#define BM_USBPHY_DEBUG1_DBG_ADDRESS 0x0000000F
+#define BF_USBPHY_DEBUG1_DBG_ADDRESS(v)  \
+	(((v) << 0) & BM_USBPHY_DEBUG1_DBG_ADDRESS)
+
+#define HW_USBPHY_VERSION	(0x00000080)
+
+#define BP_USBPHY_VERSION_MAJOR      24
+#define BM_USBPHY_VERSION_MAJOR 0xFF000000
+#define BF_USBPHY_VERSION_MAJOR(v) \
+	(((v) << 24) & BM_USBPHY_VERSION_MAJOR)
+#define BP_USBPHY_VERSION_MINOR      16
+#define BM_USBPHY_VERSION_MINOR 0x00FF0000
+#define BF_USBPHY_VERSION_MINOR(v)  \
+	(((v) << 16) & BM_USBPHY_VERSION_MINOR)
+#define BP_USBPHY_VERSION_STEP      0
+#define BM_USBPHY_VERSION_STEP 0x0000FFFF
+#define BF_USBPHY_VERSION_STEP(v)  \
+	(((v) << 0) & BM_USBPHY_VERSION_STEP)
+
+#define HW_USBPHY_IP	(0x00000090)
+#define HW_USBPHY_IP_SET	(0x00000094)
+#define HW_USBPHY_IP_CLR	(0x00000098)
+#define HW_USBPHY_IP_TOG	(0x0000009c)
+
+#define BP_USBPHY_IP_RSVD1      25
+#define BM_USBPHY_IP_RSVD1 0xFE000000
+#define BF_USBPHY_IP_RSVD1(v) \
+	(((v) << 25) & BM_USBPHY_IP_RSVD1)
+#define BP_USBPHY_IP_DIV_SEL      23
+#define BM_USBPHY_IP_DIV_SEL 0x01800000
+#define BF_USBPHY_IP_DIV_SEL(v)  \
+	(((v) << 23) & BM_USBPHY_IP_DIV_SEL)
+#define BV_USBPHY_IP_DIV_SEL__DEFAULT   0x0
+#define BV_USBPHY_IP_DIV_SEL__LOWER     0x1
+#define BV_USBPHY_IP_DIV_SEL__LOWEST    0x2
+#define BV_USBPHY_IP_DIV_SEL__UNDEFINED 0x3
+#define BP_USBPHY_IP_LFR_SEL      21
+#define BM_USBPHY_IP_LFR_SEL 0x00600000
+#define BF_USBPHY_IP_LFR_SEL(v)  \
+	(((v) << 21) & BM_USBPHY_IP_LFR_SEL)
+#define BV_USBPHY_IP_LFR_SEL__DEFAULT   0x0
+#define BV_USBPHY_IP_LFR_SEL__TIMES_2   0x1
+#define BV_USBPHY_IP_LFR_SEL__TIMES_05  0x2
+#define BV_USBPHY_IP_LFR_SEL__UNDEFINED 0x3
+#define BP_USBPHY_IP_CP_SEL      19
+#define BM_USBPHY_IP_CP_SEL 0x00180000
+#define BF_USBPHY_IP_CP_SEL(v)  \
+	(((v) << 19) & BM_USBPHY_IP_CP_SEL)
+#define BV_USBPHY_IP_CP_SEL__DEFAULT   0x0
+#define BV_USBPHY_IP_CP_SEL__TIMES_2   0x1
+#define BV_USBPHY_IP_CP_SEL__TIMES_05  0x2
+#define BV_USBPHY_IP_CP_SEL__UNDEFINED 0x3
+#define BM_USBPHY_IP_TSTI_TX_DP 0x00040000
+#define BM_USBPHY_IP_TSTI_TX_DM 0x00020000
+#define BM_USBPHY_IP_ANALOG_TESTMODE 0x00010000
+#define BP_USBPHY_IP_RSVD0      3
+#define BM_USBPHY_IP_RSVD0 0x0000FFF8
+#define BF_USBPHY_IP_RSVD0(v)  \
+	(((v) << 3) & BM_USBPHY_IP_RSVD0)
+#define BM_USBPHY_IP_EN_USB_CLKS 0x00000004
+#define BM_USBPHY_IP_PLL_LOCKED 0x00000002
+#define BM_USBPHY_IP_PLL_POWER 0x00000001
+
+/* The register definition for usbphy which includes at usb core's register set
+ * (from USB_CORE_BASE + 0x800)
+ */
+#define USB_CTRL			USBOTHER_REG(0x00)	/* USB OTG Control register */
+#define USB_H1_CTRL			USBOTHER_REG(0x04)	/* USB H1 Control register */
+#define USB_H2_CTRL			USBOTHER_REG(0x08)	/* USB H2 Control register */
+#define USB_H3_CTRL			USBOTHER_REG(0x0c)	/* USB H3 Control register */
+
+/* USB Host2 HSIC Control Register */
+#define USB_UH2_HSIC_CTRL		USBOTHER_REG(0x10)
+
+/* USB Host3 HSIC Control Register */
+#define USB_UH3_HSIC_CTRL		USBOTHER_REG(0x14)
+
+/* OTG UTMI PHY Control 0 Register */
+#define USB_OTG_PHY_CTRL_0		USBOTHER_REG(0x18)
+
+/* OTG UTMI PHY Control 1 Register */
+#define USB_H1_PHY_CTRL_0		USBOTHER_REG(0x1c)
+
+/* USB Host2 HSIC DLL Configuration Register 1 */
+#define USB_UH2_HSIC_DLL_CFG1		USBOTHER_REG(0x20)
+
+/* USB Host2 HSIC DLL Configuration Register 2 */
+#define USB_UH2_HSIC_DLL_CFG2		USBOTHER_REG(0x24)
+
+/* USB Host2 HSIC DLL Configuration Register 3 */
+#define USB_UH2_HSIC_DLL_CFG3		USBOTHER_REG(0x28)
+
+/* USB Host3 HSIC DLL Configuration Register 1 */
+#define USB_UH3_HSIC_DLL_CFG1		USBOTHER_REG(0x30)
+
+/* USB Host3 HSIC DLL Configuration Register 2 */
+#define USB_UH3_HSIC_DLL_CFG2		USBOTHER_REG(0x34)
+
+/* USB Host3 HSIC DLL Configuration Register 3 */
+#define USB_UH3_HSIC_DLL_CFG3		USBOTHER_REG(0x38)
+
+/*
+ * register bits
+ */
+
+/* USBCTRL */
+#define UCTRL_OSIC_MASK		(3 << 29)	/* OTG  Serial Interface Config: */
+#define UCTRL_OSIC_DU6		(0 << 29)	/* Differential/unidirectional 6 wire */
+#define UCTRL_OSIC_DB4		(1 << 29)	/* Differential/bidirectional  4 wire */
+#define UCTRL_OSIC_SU6		(2 << 29)	/* single-ended/unidirectional 6 wire */
+#define UCTRL_OSIC_SB3		(3 << 29)	/* single-ended/bidirectional  3 wire */
+#define UCTRL_OUIE		(1 << 28)	/* OTG ULPI intr enable */
+#define UCTRL_OBPVAL_RXDP	(1 << 26)	/* OTG RxDp status in bypass mode */
+#define UCTRL_OBPVAL_RXDM	(1 << 25)	/* OTG RxDm status in bypass mode */
+#define UCTRL_OPM		(1 << 24)	/* OTG power mask */
+#define UCTRL_O_PWR_POL	(1 << 24)	/* OTG power pin polarity */
+#define UCTRL_H2WIR		(1 << 17)	/* HOST2 wakeup intr request received */
+#define UCTRL_H2SIC_MASK	(3 << 21)	/* HOST2 Serial Interface Config: */
+#define UCTRL_H2SIC_DU6		(0 << 21)	/* Differential/unidirectional 6 wire */
+#define UCTRL_H2SIC_DB4		(1 << 21)	/* Differential/bidirectional  4 wire */
+#define UCTRL_H2SIC_SU6		(2 << 21)	/* single-ended/unidirectional 6 wire */
+#define UCTRL_H2SIC_SB3		(3 << 21)	/* single-ended/bidirectional  3 wire */
+#define UCTRL_H2UIE		(1 << 8)	/* HOST2 ULPI intr enable */
+#define UCTRL_H2WIE		(1 << 7)	/* HOST2 wakeup intr enable */
+#define UCTRL_H2PP		0	/* Power Polarity for uh2 */
+#define UCTRL_H2PM		(1 << 4)	/* HOST2 power mask */
+#define UCTRL_H2OVBWK_EN	(1 << 6) /* OTG VBUS Wakeup Enable */
+#define UCTRL_H2OIDWK_EN	(1 << 5) /* OTG ID Wakeup Enable */
+
+#define UCTRL_H1WIR		(1 << 15)	/* HOST1 wakeup intr request received */
+#define UCTRL_H1SIC_MASK	(3 << 13)	/* HOST1 Serial Interface Config: */
+#define UCTRL_H1SIC_DU6		(0 << 13)	/* Differential/unidirectional 6 wire */
+#define UCTRL_H1SIC_DB4		(1 << 13)	/* Differential/bidirectional  4 wire */
+#define UCTRL_H1SIC_SU6		(2 << 13)	/* single-ended/unidirectional 6 wire */
+#define UCTRL_H1SIC_SB3		(3 << 13)	/* single-ended/bidirectional  3 wire */
+#define UCTRL_OLOCKD		(1 << 13)	/* otg lock disable */
+#define UCTRL_H2LOCKD		(1 << 12)	/* HOST2 lock disable */
+#define UCTRL_H1UIE		(1 << 12)	/* Host1 ULPI interrupt enable */
+
+#define UCTRL_PP                (1 << 11)       /* power polarity bit */
+#define UCTRL_H1WIE		(1 << 11)	/* HOST1 wakeup intr enable */
+#define UCTRL_H1BPVAL_RXDP	(1 << 10)	/* HOST1 RxDp status in bypass mode */
+#define UCTRL_XCSO              (1 << 10)       /* Xcvr Clock Select for OTG port */
+#define UCTRL_H1BPVAL_RXDM	(1 <<  9)	/* HOST1 RxDm status in bypass mode */
+#define UCTRL_XCSH2             (1 <<  9)       /* Xcvr Clock Select for Host port */
+#define UCTRL_H1PM		(1 <<  8)	/* HOST1 power mask */
+#define UCTRL_IP_PULIDP         (1 <<  8)       /* Ipp_Puimpel_Pullup_Dp */
+
+#define UCTRL_IP_PUE_UP         (1 <<  7)       /* ipp_pue_pullup_dp */
+#define UCTRL_IP_PUE_DOWN       (1 <<  6)       /* ipp_pue_pulldwn_dpdm */
+#define UCTRL_H2DT		(1 <<  5)	/* HOST2 TLL disabled */
+#define UCTRL_H1DT		(1 <<  4)	/* HOST1 TLL disabled */
+#define UCTRL_USBTE             (1 <<  4)       /* USBT Transceiver enable */
+#define UCTRL_OCPOL             (1 <<  3)       /* OverCurrent Polarity */
+#define UCTRL_OCE               (1 <<  2)       /* OverCurrent Enable */
+#define UCTRL_H2OCPOL		(1 <<  2)       /* OverCurrent Polarity of Host2 */
+#define UCTRL_H2OCS             (1 <<  1)       /* Host OverCurrent State */
+#define UCTRL_BPE		(1 <<  0)	/* bypass mode enable */
+#define UCTRL_OTD		(1 <<  0)	/* OTG TLL Disable */
+#define UCTRL_OOCS              (1 <<  0)       /* OTG OverCurrent State */
+
+/* OTG_MIRROR */
+#define OTGM_SESEND		(1 << 4)	/* B device session end */
+#define OTGM_VBUSVAL		(1 << 3)	/* Vbus valid */
+#define OTGM_BSESVLD		(1 << 2)	/* B session Valid */
+#define OTGM_ASESVLD		(1 << 1)	/* A session Valid */
+#define OTGM_IDIDG		(1 << 0)	/* OTG ID pin status */
+				/* 1=high: Operate as B-device */
+				/* 0=low : Operate as A-device */
+
+/* USB_PHY_CTRL_FUNC */
+/* PHY control0 Register Bit Masks */
+#define USB_UTMI_PHYCTRL_CONF2	(1 << 26)
+
+#define USB_UTMI_PHYCTRL_UTMI_ENABLE (1 << 24)
+#define USB_UTMI_PHYCTRL_CHGRDETEN (1 << 24)  /* Enable Charger Detector */
+#define USB_UTMI_PHYCTRL_CHGRDETON (1 << 23)  /* Charger Detector Power On Control */
+#define USB_UTMI_PHYCTRL_OC_POL	(1 << 9)	/* OTG Polarity of Overcurrent */
+#define USB_UTMI_PHYCTRL_OC_DIS	(1 << 8)	/* OTG Disable Overcurrent Event */
+#define USB_UH1_OC_DIS	(1 << 5)		/* UH1 Disable Overcurrent Event */
+#define USB_UH1_OC_POL	(1 << 6)		/* UH1 Polarity of OC,Low active */
+/* USB_PHY_CTRL_FUNC2*/
+#define USB_UTMI_PHYCTRL2_PLLDIV_MASK		0x3
+#define USB_UTMI_PHYCTRL2_PLLDIV_SHIFT		0
+#define USB_UTMI_PHYCTRL2_HSDEVSEL_MASK		0x3
+#define USB_UTMI_PHYCTRL2_HSDEVSEL_SHIFT	19
+
+/* USB_CTRL_1 */
+#define USB_CTRL_UH1_EXT_CLK_EN			(1 << 25)
+#define USB_CTRL_UH2_EXT_CLK_EN			(1 << 26)
+#define USB_CTRL_UH2_CLK_FROM_ULPI_PHY  	(1 << 2)
+/* ULPIVIEW register bits */
+#define ULPIVW_OFF		(0x170)
+#define ULPIVW_WU		(1 << 31)	/* Wakeup */
+#define ULPIVW_RUN		(1 << 30)	/* read/write run */
+#define ULPIVW_WRITE		(1 << 29)	/* 0=read  1=write */
+#define ULPIVW_SS		(1 << 27)	/* SyncState */
+#define ULPIVW_PORT_MASK	0x07	/* Port field */
+#define ULPIVW_PORT_SHIFT	24
+#define ULPIVW_ADDR_MASK	0xFF	/* data address field */
+#define ULPIVW_ADDR_SHIFT	16
+#define ULPIVW_RDATA_MASK	0xFF	/* read data field */
+#define ULPIVW_RDATA_SHIFT	8
+#define ULPIVW_WDATA_MASK	0xFF	/* write data field */
+#define ULPIVW_WDATA_SHIFT	0
+
+/* USB Clock on/off Control Register */
+#define OTG_AHBCLK_OFF          (0x1<<17)      /* 1: OFF */
+#define H1_AHBCLK_OFF           (0x1<<18)      /* 1: OFF */
+
+/* mx6q's register bit begins*/
+
+/* OTG CTRL - H3 CTRL */
+#define UCTRL_OWIR		(1 << 31)	/* OTG wakeup intr request received */
+/* bit 18 - bit 30 is reserved at mx6q */
+#define UCTRL_WKUP_VBUS_EN	(1 << 17)	/* OTG wake-up on VBUS change enable */
+#define UCTRL_WKUP_ID_EN	(1 << 16)	/* OTG wake-up on ID change enable */
+#define UCTRL_WKUP_SW		(1 << 15)	/* OTG Software Wake-up */
+#define UCTRL_WKUP_SW_EN	(1 << 14)	/* OTG Software Wake-up enable */
+#define UCTRL_UTMI_ON_CLOCK	(1 << 13)	/* Force OTG UTMI PHY clock output on
+										     even if suspend mode */
+#define UCTRL_SUSPENDM		(1 << 12)	/* Force OTG UTMI PHY Suspend */
+#define UCTRL_RESET		(1 << 11)	/* Force OTG UTMI PHY Reset */
+#define UCTRL_OWIE		(1 << 10)	/* OTG wakeup intr request received */
+#define UCTRL_PM		(1 << 9)	/* OTG Power Mask */
+#define UCTRL_OVER_CUR_POL	(1 << 8)	/* OTG Polarity of Overcurrent */
+#define UCTRL_OVER_CUR_DIS	(1 << 7)	/* Disable OTG Overcurrent Detection */
+/* bit 0 - bit 6 is reserved at mx6q */
+
+/* Host2/3 HSIC Ctrl */
+#define CLK_VLD		(1 << 31)	/* Indicating whether HSIC clock is valid */
+#define HSIC_EN		(1 << 12)	/* HSIC enable */
+#define HSIC_CLK_ON		(1 << 11)	/* Force HSIC module 480M clock on,
+						 * even when in Host is in suspend mode
+						 */
+/* OTG/HOST1 Phy Ctrl */
+#define PHY_UTMI_CLK_VLD	(1 << 31) /* Indicating whether OTG UTMI PHY Clock Valid */
+
+#define NOP_XCVR		(0xffffffff)	/* Indicate it is no usb phy */
+#endif /* __ARCH_ARM___USBPHY_H */
diff --git a/arch/arm/include/asm/arch-mx6/mx6q_pins.h b/arch/arm/include/asm/arch-mx6/mx6q_pins.h
index 02a40d4..ec16e1d 100644
--- a/arch/arm/include/asm/arch-mx6/mx6q_pins.h
+++ b/arch/arm/include/asm/arch-mx6/mx6q_pins.h
@@ -739,6 +739,7 @@ enum {
 	MX6_PAD_ENET_REF_CLK__GPIO_1_23	= IOMUX_PAD(0x04E8, 0x01D4, 5, 0x0000, 0, 0),
 	MX6_PAD_ENET_REF_CLK__SPDIF_SRCLK	= IOMUX_PAD(0x04E8, 0x01D4, 6, 0x0000, 0, 0),
 	MX6_PAD_ENET_REF_CLK__USBPHY1_RX_SQH	= IOMUX_PAD(0x04E8, 0x01D4, 7, 0x0000, 0, 0),
+	MX6_PAD_ENET_RX_ER__ANATOP_USBOTG_ID	= IOMUX_PAD(0x04EC, 0x01D8, 0, 0x0000, 0, 0),
 	MX6_PAD_ENET_RX_ER__ENET_RX_ER		= IOMUX_PAD(0x04EC, 0x01D8, 1, 0x0000, 0, 0),
 	MX6_PAD_ENET_RX_ER__ESAI1_HCKR		= IOMUX_PAD(0x04EC, 0x01D8, 2, 0x0864, 0, 0),
 	MX6_PAD_ENET_RX_ER__SPDIF_IN1		= IOMUX_PAD(0x04EC, 0x01D8, 3, 0x0914, 1, 0),
@@ -997,6 +998,7 @@ enum {
 	MX6_PAD_GPIO_1__ESAI1_SCKR		= IOMUX_PAD(0x05F4, 0x0224, 0, 0x086C, 1, 0),
 	MX6_PAD_GPIO_1__WDOG2_WDOG_B		= IOMUX_PAD(0x05F4, 0x0224, 1, 0x0000, 0, 0),
 	MX6_PAD_GPIO_1__KPP_ROW_5		= IOMUX_PAD(0x05F4, 0x0224, 2, 0x08F4, 0, 0),
+	MX6_PAD_GPIO_1__USBOTG_ID		= IOMUX_PAD(0x05F4, 0x0224, 3, 0x0000, 0, 0),
 	MX6_PAD_GPIO_1__PWM2_PWMO		= IOMUX_PAD(0x05F4, 0x0224, 4, 0x0000, 0, 0),
 	MX6_PAD_GPIO_1__GPIO_1_1		= IOMUX_PAD(0x05F4, 0x0224, 5, 0x0000, 0, 0),
 	MX6_PAD_GPIO_1__USDHC1_CD		= IOMUX_PAD(0x05F4, 0x0224, 6, 0x0000, 0, 0),
diff --git a/arch/arm/include/asm/arch-mx6/mx6sl_pins.h b/arch/arm/include/asm/arch-mx6/mx6sl_pins.h
index df8f04d..c3a553a 100644
--- a/arch/arm/include/asm/arch-mx6/mx6sl_pins.h
+++ b/arch/arm/include/asm/arch-mx6/mx6sl_pins.h
@@ -83,5 +83,6 @@ enum {
 	MX6_PAD_EPDC_SDCE0__GPIO_1_27				= IOMUX_PAD(0x03F0, 0x0100, 5, 0x0000, 0, 0),
 	MX6_PAD_EPDC_SDCE1__GPIO_1_28				= IOMUX_PAD(0x03F4, 0x0104, 5, 0x0000, 0, 0),
 	MX6_PAD_EPDC_SDCE2__GPIO_1_29				= IOMUX_PAD(0x03F8, 0x0108, 5, 0x0000, 0, 0),
+	MX6_PAD_EPDC_PWRCOM__ANATOP_USBOTG1_ID      = IOMUX_PAD(0x03D0, 0x00E0, 4, 0x05DC, 0, 0),
 };
 #endif	/* __ASM_ARCH_MX6_MX6SL_PINS_H__ */
diff --git a/arch/arm/include/asm/imx-common/iomux-v3.h b/arch/arm/include/asm/imx-common/iomux-v3.h
index c34bb76..9591997 100644
--- a/arch/arm/include/asm/imx-common/iomux-v3.h
+++ b/arch/arm/include/asm/imx-common/iomux-v3.h
@@ -3,7 +3,7 @@
  * Copyright (C) 2009 by Jan Weitzel Phytec Messtechnik GmbH,
  *			<armlinux@phytec.de>
  *
- * Copyright (C) 2011 Freescale Semiconductor, Inc.
+ * Copyright (C) 2011-2013 Freescale Semiconductor, Inc.
  *
  * This program is free software; you can redistribute it and/or
  * modify it under the terms of the GNU General Public License
@@ -100,5 +100,10 @@ typedef u64 iomux_v3_cfg_t;
 int imx_iomux_v3_setup_pad(iomux_v3_cfg_t pad);
 int imx_iomux_v3_setup_multiple_pads(iomux_v3_cfg_t const *pad_list,
 				     unsigned count);
+/*
+* Set bits for general purpose registers
+*/
+void mxc_iomux_set_gpr_register(int group, int start_bit,
+					 int num_bits, int value);
 
 #endif	/* __MACH_IOMUX_V3_H__*/
diff --git a/board/freescale/mx6qsabreauto/mx6qsabreauto.c b/board/freescale/mx6qsabreauto/mx6qsabreauto.c
index 45891f5..4073542 100644
--- a/board/freescale/mx6qsabreauto/mx6qsabreauto.c
+++ b/board/freescale/mx6qsabreauto/mx6qsabreauto.c
@@ -791,3 +791,18 @@ int checkboard(void)
 
 	return 0;
 }
+
+#ifdef CONFIG_IMX_UDC
+iomux_v3_cfg_t const otg_udc_pads[] = {
+	(MX6_PAD_ENET_RX_ER__ANATOP_USBOTG_ID | MUX_PAD_CTRL(NO_PAD_CTRL)),
+};
+void udc_pins_setting(void)
+{
+	imx_iomux_v3_setup_multiple_pads(otg_udc_pads,
+		ARRAY_SIZE(otg_udc_pads));
+
+	/*set daisy chain for otg_pin_id on 6q. for 6dl, this bit is reserved*/
+    mxc_iomux_set_gpr_register(1, 13, 1, 0);
+}
+
+#endif /*CONFIG_IMX_UDC*/
diff --git a/board/freescale/mx6qsabresd/mx6qsabresd.c b/board/freescale/mx6qsabresd/mx6qsabresd.c
index 22dc1bc..4a014da 100644
--- a/board/freescale/mx6qsabresd/mx6qsabresd.c
+++ b/board/freescale/mx6qsabresd/mx6qsabresd.c
@@ -1075,3 +1075,18 @@ int checkboard(void)
 
 	return 0;
 }
+
+#ifdef CONFIG_IMX_UDC
+iomux_v3_cfg_t const otg_udc_pads[] = {
+	(MX6_PAD_ENET_RX_ER__ANATOP_USBOTG_ID | MUX_PAD_CTRL(NO_PAD_CTRL)),
+};
+void udc_pins_setting(void)
+{
+	imx_iomux_v3_setup_multiple_pads(otg_udc_pads,
+			ARRAY_SIZE(otg_udc_pads));
+
+	/*set daisy chain for otg_pin_id on 6q. for 6dl, this bit is reserved*/
+    mxc_iomux_set_gpr_register(1, 13, 1, 0);
+}
+
+#endif /*CONFIG_IMX_UDC*/
diff --git a/board/freescale/mx6slevk/mx6slevk.c b/board/freescale/mx6slevk/mx6slevk.c
index 334c49f..b393698 100644
--- a/board/freescale/mx6slevk/mx6slevk.c
+++ b/board/freescale/mx6slevk/mx6slevk.c
@@ -631,3 +631,14 @@ int checkboard(void)
 
 	return 0;
 }
+
+#ifdef CONFIG_IMX_UDC
+iomux_v3_cfg_t const otg_udc_pads[] = {
+	(MX6_PAD_EPDC_PWRCOM__ANATOP_USBOTG1_ID | MUX_PAD_CTRL(NO_PAD_CTRL)),
+};
+void udc_pins_setting(void)
+{
+	imx_iomux_v3_setup_multiple_pads(otg_udc_pads,
+			ARRAY_SIZE(otg_udc_pads));
+}
+#endif /*CONFIG_IMX_UDC*/
diff --git a/drivers/usb/gadget/Makefile b/drivers/usb/gadget/Makefile
index e545b6b..d679879 100644
--- a/drivers/usb/gadget/Makefile
+++ b/drivers/usb/gadget/Makefile
@@ -53,6 +53,7 @@ COBJS-$(CONFIG_OMAP1510) += omap1510_udc.o
 COBJS-$(CONFIG_OMAP1610) += omap1510_udc.o
 COBJS-$(CONFIG_MPC885_FAMILY) += mpc8xx_udc.o
 COBJS-$(CONFIG_CPU_PXA27X) += pxa27x_udc.o
+COBJS-$(CONFIG_IMX_UDC) += imx_udc.o
 endif
 endif
 
diff --git a/drivers/usb/gadget/imx_udc.c b/drivers/usb/gadget/imx_udc.c
new file mode 100644
index 0000000..b95dc38
--- /dev/null
+++ b/drivers/usb/gadget/imx_udc.c
@@ -0,0 +1,1210 @@
+/*
+ * Copyright (C) 2010-2013 Freescale Semiconductor, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+#include <common.h>
+#include <asm/io.h>
+#include <asm/types.h>
+#include <malloc.h>
+#include <command.h>
+#include <asm/errno.h>
+#include <usbdevice.h>
+#include <usb/imx_udc.h>
+
+#include "ep0.h"
+
+#ifdef DEBUG
+#define DBG(x...) printf(x)
+#else
+#define DBG(x...) do {} while (0)
+#endif
+
+#define mdelay(n) udelay((n)*1000)
+
+#define EP_TQ_ITEM_SIZE 16
+
+#define inc_index(x) (x = ((x+1) % EP_TQ_ITEM_SIZE))
+
+#define ep_is_in(e, tx) ((e == 0) ? (mxc_udc.ep0_dir == USB_DIR_IN) : tx)
+
+#define USB_RECIP_MASK	    0x03
+#define USB_TYPE_MASK	    (0x03 << 5)
+#define USB_MEM_ALIGN_BYTE  4096
+#define USB_DEV_DQH_ALIGN   64
+#define USB_DEV_DTD_ALIGN   64
+
+/*fixed the dtd buffer to 4096 bytes, even it could be 20KB*/
+#define USB_DEV_DTD_MAX_BUFFER_SIZE 4096
+
+#define CACHE_ALIGNED_END(start, length) \
+	(ALIGN((uint32_t)start + length, ARCH_DMA_MINALIGN))
+
+struct mxc_ep_t{
+	int epnum;
+	int dir;
+	int max_pkt_size;
+	struct usb_endpoint_instance *epi;
+	struct ep_queue_item *ep_dtd[EP_TQ_ITEM_SIZE];
+	int index; /* to index the free tx tqi */
+	int done;  /* to index the complete rx tqi */
+	struct ep_queue_item *tail; /* last item in the dtd chain */
+	struct ep_queue_head *ep_qh;
+} ;
+
+struct mxc_udc_ctrl{
+	int    max_ep;
+	int    ep0_dir;
+	int    setaddr;
+	struct ep_queue_head *ep_qh;
+	struct mxc_ep_t *mxc_ep;
+	u32    qh_unaligned;
+};
+
+static int usb_highspeed;
+static int usb_inited;
+static struct mxc_udc_ctrl mxc_udc;
+static struct usb_device_instance *udc_device;
+static struct urb *ep0_urb;
+/*
+ * malloc an aligned memory
+ * unaligned_addr: return a unaligned address for memory free
+ * size   : memory size
+ * align  : alignment for this memroy
+ * return : aligned address(NULL when malloc failt)
+*/
+static void *malloc_aligned_buffer(u32 *unaligned_addr,
+	int size, int align)
+{
+	int msize = (size + align  - 1);
+	u32 vir, vir_align;
+
+	/* force the allocated memory size to be aligned with min cache operation unit.
+	*   So it is safe to flush/invalidate the cache.
+	*/
+	msize = (msize + ARCH_DMA_MINALIGN - 1) / ARCH_DMA_MINALIGN;
+	msize = msize * ARCH_DMA_MINALIGN;
+
+	vir = (u32)malloc(msize);
+	memset((void *)vir, 0, msize);
+	vir_align = (vir + align - 1) & (~(align - 1));
+	*unaligned_addr = vir;
+
+	DBG("alloc aligned vir addr %x\n", vir_align);
+	return (void *)vir_align;
+}
+
+int is_usb_disconnected()
+{
+	int ret = 0;
+
+	ret = readl(USB_OTGSC) & OTGSC_B_SESSION_VALID ? 0 : 1;
+	return ret;
+}
+
+static int mxc_init_usb_qh(void)
+{
+	int size;
+	memset(&mxc_udc, 0, sizeof(mxc_udc));
+	mxc_udc.max_ep = (readl(USB_DCCPARAMS) & DCCPARAMS_DEN_MASK) * 2;
+	DBG("udc max ep = %d\n", mxc_udc.max_ep);
+	size = mxc_udc.max_ep * sizeof(struct ep_queue_head);
+	mxc_udc.ep_qh = malloc_aligned_buffer(&mxc_udc.qh_unaligned,
+					     size, USB_MEM_ALIGN_BYTE);
+	if (!mxc_udc.ep_qh) {
+		printf("malloc ep qh dma buffer failure\n");
+		return -1;
+	}
+	memset(mxc_udc.ep_qh, 0, size);
+
+	/*flush cache to physical memory*/
+	flush_dcache_range((unsigned long)mxc_udc.ep_qh,
+		CACHE_ALIGNED_END(mxc_udc.ep_qh, size));
+
+	writel(virt_to_phys(mxc_udc.ep_qh) & 0xfffff800, USB_ENDPOINTLISTADDR);
+	return 0;
+}
+
+static int mxc_destroy_usb_qh(void)
+{
+	if (mxc_udc.ep_qh && mxc_udc.qh_unaligned) {
+		free((void *)mxc_udc.qh_unaligned);
+		mxc_udc.ep_qh = 0;
+		mxc_udc.qh_unaligned = 0;
+		mxc_udc.max_ep = 0;
+	}
+
+	return 0;
+}
+
+static int mxc_init_ep_struct(void)
+{
+	int i;
+
+	DBG("init mxc ep\n");
+	mxc_udc.mxc_ep = malloc(mxc_udc.max_ep * sizeof(struct mxc_ep_t));
+	if (!mxc_udc.mxc_ep) {
+		printf("malloc ep struct failure\n");
+		return -1;
+	}
+	memset((void *)mxc_udc.mxc_ep, 0,
+		sizeof(struct mxc_ep_t) * mxc_udc.max_ep);
+	for (i = 0; i < mxc_udc.max_ep / 2; i++) {
+		struct mxc_ep_t *ep;
+		ep  = mxc_udc.mxc_ep + i * 2;
+		ep->epnum = i;
+		ep->index = ep->done = 0;
+		ep->dir = USB_RECV;  /* data from host to device */
+		ep->ep_qh = &mxc_udc.ep_qh[i * 2];
+
+		ep  = mxc_udc.mxc_ep + (i * 2 + 1);
+		ep->epnum = i;
+		ep->index = ep->done = 0;
+		ep->dir = USB_SEND;  /* data to host from device */
+		ep->ep_qh = &mxc_udc.ep_qh[(i * 2 + 1)];
+	}
+	return 0;
+}
+
+static int mxc_destroy_ep_struct(void)
+{
+	if (mxc_udc.mxc_ep) {
+		free(mxc_udc.mxc_ep);
+		mxc_udc.mxc_ep = 0;
+	}
+	return 0;
+}
+
+static int mxc_init_ep_dtd(u8 index)
+{
+	struct mxc_ep_t *ep;
+	u32 unaligned_addr;
+	int i;
+
+	if (index >= mxc_udc.max_ep)
+		DBG("%s ep %d is not valid\n", __func__, index);
+
+	ep = mxc_udc.mxc_ep + index;
+	for (i = 0; i < EP_TQ_ITEM_SIZE; i++) {
+		ep->ep_dtd[i] = malloc_aligned_buffer(&unaligned_addr,
+			    sizeof(struct ep_queue_item), USB_DEV_DTD_ALIGN);
+		ep->ep_dtd[i]->item_unaligned_addr = unaligned_addr;
+
+		if (NULL == ep->ep_dtd[i]) {
+			printf("%s malloc tq item failure\n", __func__);
+
+			/*free other already allocated dtd*/
+			while (i) {
+				i--;
+				free((void *)(ep->ep_dtd[i]->item_unaligned_addr));
+				ep->ep_dtd[i] = 0;
+			}
+			return -1;
+		}
+	}
+	return 0;
+}
+
+static int mxc_destroy_ep_dtd(u8 index)
+{
+	struct mxc_ep_t *ep;
+	int i;
+
+	if (index >= mxc_udc.max_ep)
+		DBG("%s ep %d is not valid\n", __func__, index);
+
+	ep = mxc_udc.mxc_ep + index;
+	for (i = 0; i < EP_TQ_ITEM_SIZE; i++) {
+		if (ep->ep_dtd[i]) {
+			free((void *)(ep->ep_dtd[i]->item_unaligned_addr));
+			ep->ep_dtd[i] = 0;
+		}
+	}
+
+	return 0;
+}
+
+static void mxc_ep_qh_setup(u8 ep_num, u8 dir, u8 ep_type,
+				 u32 max_pkt_len, u32 zlt, u8 mult)
+{
+	struct ep_queue_head *p_qh = mxc_udc.ep_qh + (2 * ep_num + dir);
+	u32 tmp = 0;
+
+	tmp = max_pkt_len << 16;
+	switch (ep_type) {
+	case USB_ENDPOINT_XFER_CONTROL:
+		tmp |= (1 << 15);
+		break;
+	case USB_ENDPOINT_XFER_ISOC:
+		tmp |= (mult << 30);
+		break;
+	case USB_ENDPOINT_XFER_BULK:
+	case USB_ENDPOINT_XFER_INT:
+		break;
+	default:
+		DBG("error ep type is %d\n", ep_type);
+		return;
+	}
+	if (zlt)
+		tmp |= (1<<29);
+
+	p_qh->config = tmp;
+
+	/*flush qh's config field to physical memory*/
+	flush_dcache_range((unsigned long)p_qh,
+		CACHE_ALIGNED_END(p_qh, sizeof(struct ep_queue_head)));
+}
+
+static void mxc_ep_setup(u8 ep_num, u8 dir, u8 ep_type)
+{
+	u32 epctrl = 0;
+	epctrl = readl(USB_ENDPTCTRL(ep_num));
+	if (dir) {
+		if (ep_num)
+			epctrl |= EPCTRL_TX_DATA_TOGGLE_RST;
+		epctrl |= EPCTRL_TX_ENABLE;
+		epctrl |= ((u32)(ep_type) << EPCTRL_TX_EP_TYPE_SHIFT);
+	} else {
+		if (ep_num)
+			epctrl |= EPCTRL_RX_DATA_TOGGLE_RST;
+		epctrl |= EPCTRL_RX_ENABLE;
+		epctrl |= ((u32)(ep_type) << EPCTRL_RX_EP_TYPE_SHIFT);
+	}
+	writel(epctrl, USB_ENDPTCTRL(ep_num));
+}
+
+static void mxc_ep_destroy(u8 ep_num, u8 dir)
+{
+	u32 epctrl = 0;
+	epctrl = readl(USB_ENDPTCTRL(ep_num));
+	if (dir)
+		epctrl &= ~EPCTRL_TX_ENABLE;
+	else
+		epctrl &= ~EPCTRL_RX_ENABLE;
+
+	writel(epctrl, USB_ENDPTCTRL(ep_num));
+}
+
+
+static void mxc_tqi_init_page(struct ep_queue_item *tqi)
+{
+	tqi->page0 = virt_to_phys((void *)(tqi->page_vir));
+	tqi->page1 = tqi->page0 + 0x1000;
+	tqi->page2 = tqi->page1 + 0x1000;
+	tqi->page3 = tqi->page2 + 0x1000;
+	tqi->page4 = tqi->page3 + 0x1000;
+}
+
+static int mxc_malloc_ep0_ptr(struct mxc_ep_t *ep)
+{
+	int i;
+	struct ep_queue_item *tqi;
+	int max_pkt_size = USB_MAX_CTRL_PAYLOAD;
+
+	ep->max_pkt_size = max_pkt_size;
+	for (i = 0; i < EP_TQ_ITEM_SIZE; i++) {
+		tqi = ep->ep_dtd[i];
+		tqi->page_vir = (u32)malloc_aligned_buffer(&tqi->page_unaligned,
+						    max_pkt_size,
+						    USB_MEM_ALIGN_BYTE);
+		if ((void *)tqi->page_vir == NULL) {
+			printf("malloc ep's dtd bufer failure, i=%d\n", i);
+			return -1;
+		}
+		mxc_tqi_init_page(tqi);
+
+		/*flush dtd's config field to physical memory*/
+		flush_dcache_range((unsigned long)tqi,
+			CACHE_ALIGNED_END(tqi, sizeof(struct ep_queue_item)));
+	}
+	return 0;
+}
+
+static int mxc_free_ep0_ptr(struct mxc_ep_t *ep)
+{
+	int i;
+	struct ep_queue_item *tqi;
+	for (i = 0; i < EP_TQ_ITEM_SIZE; i++) {
+		tqi = ep->ep_dtd[i];
+		if (tqi->page_vir) {
+			free((void *)(tqi->page_unaligned));
+			tqi->page_vir = 0;
+			tqi->page_unaligned = 0;
+			tqi->page0 = 0;
+			tqi->page1 = 0;
+			tqi->page2 = 0;
+			tqi->page3 = 0;
+			tqi->page4 = 0;
+
+			/*flush dtd's config field to physical memory*/
+			flush_dcache_range((unsigned long)tqi,
+				CACHE_ALIGNED_END(tqi, sizeof(struct ep_queue_item)));
+		}
+	}
+
+	return 0;
+}
+
+static void ep0_setup(void)
+{
+	mxc_ep_qh_setup(0, USB_RECV, USB_ENDPOINT_XFER_CONTROL,
+			    USB_MAX_CTRL_PAYLOAD, 0, 0);
+	mxc_ep_qh_setup(0, USB_SEND, USB_ENDPOINT_XFER_CONTROL,
+			    USB_MAX_CTRL_PAYLOAD, 0, 0);
+	mxc_ep_setup(0, USB_RECV, USB_ENDPOINT_XFER_CONTROL);
+	mxc_ep_setup(0, USB_SEND, USB_ENDPOINT_XFER_CONTROL);
+	mxc_init_ep_dtd(0 * 2 + USB_RECV);
+	mxc_init_ep_dtd(0 * 2 + USB_SEND);
+	mxc_malloc_ep0_ptr(mxc_udc.mxc_ep + (USB_RECV));
+	mxc_malloc_ep0_ptr(mxc_udc.mxc_ep + (USB_SEND));
+}
+
+static void ep0_destroy(void)
+{
+	mxc_ep_destroy(0, USB_RECV);
+	mxc_ep_destroy(0, USB_SEND);
+	mxc_free_ep0_ptr(mxc_udc.mxc_ep + (USB_RECV));
+	mxc_free_ep0_ptr(mxc_udc.mxc_ep + (USB_SEND));
+	mxc_destroy_ep_dtd(0 * 2 + USB_RECV);
+	mxc_destroy_ep_dtd(0 * 2 + USB_SEND);
+}
+
+static int mxc_tqi_is_busy(struct ep_queue_item *tqi)
+{
+	/* bit 7 is set by software when send, clear by controller
+	   when finish */
+	/*Invalidate cache to gain dtd content from physical memory*/
+	invalidate_dcache_range((unsigned long)tqi,
+		CACHE_ALIGNED_END(tqi, sizeof(struct ep_queue_item)));
+	return tqi->info & (1 << 7);
+}
+
+static int mxc_ep_xfer_is_working(struct mxc_ep_t *ep, u32 in)
+{
+	/* in: means device -> host */
+	u32 bitmask = 1 << (ep->epnum + in * 16);
+	u32 temp, prime, tstat;
+
+	prime = (bitmask & readl(USB_ENDPTPRIME));
+	if (prime)
+		return 1;
+	do {
+		temp = readl(USB_USBCMD);
+		writel(temp|USB_CMD_ATDTW, USB_USBCMD);
+		tstat = readl(USB_ENDPTSTAT) & bitmask;
+	} while (!(readl(USB_USBCMD) & USB_CMD_ATDTW));
+	writel(temp & (~USB_CMD_ATDTW), USB_USBCMD);
+
+	if (tstat)
+		return 1;
+	return 0;
+}
+
+static void mxc_update_qh(struct mxc_ep_t *ep,
+	struct ep_queue_item *tqi, u32 in)
+{
+	/* in: means device -> host */
+	struct ep_queue_head *qh = ep->ep_qh;
+	u32 bitmask = 1 << (ep->epnum + in * 16);
+	DBG("%s, line %d, epnum=%d, in=%d\n", __func__,
+		__LINE__, ep->epnum, in);
+	qh->next_queue_item = virt_to_phys(tqi);
+	qh->info = 0;
+
+	/*flush qh''s config field to physical memory*/
+	flush_dcache_range((unsigned long)qh,
+		CACHE_ALIGNED_END(qh, sizeof(struct ep_queue_head)));
+
+	writel(bitmask, USB_ENDPTPRIME);
+}
+
+static void _dump_buf(u8 *buf, u32 len)
+{
+#ifdef DEBUG
+	char *data = (char *)buf;
+	int i;
+	for (i = 0; i < len; i++) {
+		printf("0x%02x ", data[i]);
+		if (i%16 == 15)
+			printf("\n");
+	}
+	printf("\n");
+#endif
+}
+
+static void mxc_udc_queue_update(u8 epnum,
+	u8 *data, u32 len, u32 tx)
+{
+	struct mxc_ep_t *ep;
+	struct ep_queue_item *tqi, *head, *last;
+	int send = 0;
+	int in;
+
+	head = last = NULL;
+	in = ep_is_in(epnum, tx);
+	ep = mxc_udc.mxc_ep + (epnum * 2 + in);
+	DBG("epnum = %d,  in = %d\n", epnum, in);
+	do {
+		tqi = ep->ep_dtd[ep->index];
+		DBG("%s, index = %d, tqi = %p\n", __func__, ep->index, tqi);
+		while (mxc_tqi_is_busy(tqi))
+			;
+		mxc_tqi_init_page(tqi);
+		DBG("%s, line = %d, len = %d\n", __func__, __LINE__, len);
+		inc_index(ep->index);
+		send = MIN(len, ep->max_pkt_size);
+		if (data) {
+			memcpy((void *)tqi->page_vir, (void *)data, send);
+			_dump_buf((u8 *)(tqi->page_vir), send);
+
+			flush_dcache_range((unsigned long)(tqi->page_vir),
+				CACHE_ALIGNED_END(tqi->page_vir, send));
+		}
+		if (!head)
+			last = head = tqi;
+		else {
+			last->next_item_ptr = virt_to_phys(tqi);
+			last->next_item_vir = tqi;
+			last = tqi;
+		}
+		if (!tx)
+			tqi->reserved[0] = send;
+		/* we set IOC for every dtd */
+		tqi->info = ((send << 16) | (1 << 15) | (1 << 7));
+		data += send;
+		len -= send;
+
+		flush_dcache_range((unsigned long)tqi,
+			CACHE_ALIGNED_END(tqi, sizeof(struct ep_queue_item)));
+	} while (len);
+
+	last->next_item_ptr = 0x1; /* end */
+	flush_dcache_range((unsigned long)last,
+			CACHE_ALIGNED_END(last, sizeof(struct ep_queue_item)));
+
+	if (ep->tail) {
+		ep->tail->next_item_ptr = virt_to_phys(head);
+		ep->tail->next_item_vir = head;
+		flush_dcache_range((unsigned long)(ep->tail),
+			CACHE_ALIGNED_END(ep->tail, sizeof(struct ep_queue_item)));
+
+		if (mxc_ep_xfer_is_working(ep, in)) {
+			DBG("ep is working\n");
+			goto out;
+		}
+	}
+	mxc_update_qh(ep, head, in);
+out:
+	ep->tail = last;
+}
+
+static void mxc_udc_txqueue_update(u8 ep, u8 *data, u32 len)
+{
+	printf("[SEND DATA] EP= %d, Len = 0x%x\n", ep, len);
+	_dump_buf(data, len);
+	mxc_udc_queue_update(ep, data, len, 1);
+}
+
+void mxc_udc_rxqueue_update(u8 ep, u32 len)
+{
+	mxc_udc_queue_update(ep, NULL, len, 0);
+}
+
+static void mxc_ep0_stall(void)
+{
+	u32 temp;
+	temp = readl(USB_ENDPTCTRL(0));
+	temp |= EPCTRL_TX_EP_STALL | EPCTRL_RX_EP_STALL;
+	writel(temp, USB_ENDPTCTRL(0));
+}
+
+static void mxc_usb_run(void)
+{
+	unsigned int temp = 0;
+
+	/* Enable DR irq reg */
+	temp = USB_INTR_INT_EN | USB_INTR_ERR_INT_EN
+		| USB_INTR_PTC_DETECT_EN | USB_INTR_RESET_EN
+		| USB_INTR_DEVICE_SUSPEND | USB_INTR_SYS_ERR_EN;
+
+	writel(temp, USB_USBINTR);
+
+	/* Set controller to Run */
+	temp = readl(USB_USBCMD);
+	temp |= USB_CMD_RUN_STOP;
+	writel(temp, USB_USBCMD);
+}
+
+static void mxc_usb_stop(void)
+{
+	unsigned int temp = 0;
+
+	writel(temp, USB_USBINTR);
+
+	/* Set controller to Stop */
+	temp = readl(USB_USBCMD);
+	temp &= ~USB_CMD_RUN_STOP;
+	writel(temp, USB_USBCMD);
+}
+
+static void usb_phy_init(void)
+{
+	u32 temp;
+	/* select 24M clk */
+	temp = readl(USB_PHY1_CTRL);
+	temp &= ~3;
+	temp |= 1;
+	writel(temp, USB_PHY1_CTRL);
+	/* Config PHY interface */
+	temp = readl(USB_PORTSC1);
+	temp &= ~(PORTSCX_PHY_TYPE_SEL | PORTSCX_PORT_WIDTH);
+	temp |= PORTSCX_PTW_16BIT;
+	writel(temp, USB_PORTSC1);
+	DBG("Config PHY  END\n");
+}
+
+static void usb_set_mode_device(void)
+{
+	u32 temp;
+
+	/* Set controller to stop */
+	temp = readl(USB_USBCMD);
+	temp &= ~USB_CMD_RUN_STOP;
+	writel(temp, USB_USBCMD);
+
+	while (readl(USB_USBCMD) & USB_CMD_RUN_STOP)
+		;
+	/* Do core reset */
+	temp = readl(USB_USBCMD);
+	temp |= USB_CMD_CTRL_RESET;
+	writel(temp, USB_USBCMD);
+	while (readl(USB_USBCMD) & USB_CMD_CTRL_RESET)
+		;
+	DBG("DOORE RESET END\n");
+
+#if defined(CONFIG_MX6Q) || defined(CONFIG_MX6DL) || defined(CONFIG_MX6SL)
+	reset_usb_phy1();
+#endif
+	DBG("init core to device mode\n");
+	temp = readl(USB_USBMODE);
+	temp &= ~USB_MODE_CTRL_MODE_MASK;	/* clear mode bits */
+	temp |= USB_MODE_CTRL_MODE_DEVICE;
+	/* Disable Setup Lockout */
+	temp |= USB_MODE_SETUP_LOCK_OFF;
+	writel(temp, USB_USBMODE);
+
+	temp = readl(USB_OTGSC);
+	temp |= (1<<3);
+	writel(temp, USB_OTGSC);
+	DBG("init core to device mode end\n");
+}
+
+static void usb_init_eps(void)
+{
+	u32 temp;
+	DBG("Flush begin\n");
+	temp = readl(USB_ENDPTNAKEN);
+	temp |= 0x10001;	/* clear mode bits */
+	writel(temp, USB_ENDPTNAKEN);
+	writel(readl(USB_ENDPTCOMPLETE), USB_ENDPTCOMPLETE);
+	writel(readl(USB_ENDPTSETUPSTAT), USB_ENDPTSETUPSTAT);
+	writel(0xffffffff, USB_ENDPTFLUSH);
+	DBG("FLUSH END\n");
+}
+
+static void usb_udc_init(void)
+{
+	DBG("\n************************\n");
+	DBG("         usb init start\n");
+	DBG("\n************************\n");
+
+	usb_phy_init();
+	usb_set_mode_device();
+	mxc_init_usb_qh();
+	usb_init_eps();
+	mxc_init_ep_struct();
+	ep0_setup();
+	usb_inited = 1;
+}
+
+static void usb_udc_destroy(void)
+{
+	usb_set_mode_device();
+
+	usb_inited = 0;
+
+	ep0_destroy();
+	mxc_destroy_ep_struct();
+	mxc_destroy_usb_qh();
+}
+
+void usb_shutdown(void)
+{
+	u32 temp;
+	/* disable pullup */
+	temp = readl(USB_USBCMD);
+	temp &= ~USB_CMD_RUN_STOP;
+	writel(temp, USB_USBCMD);
+	mdelay(2);
+}
+
+static void ch9getstatus(u8 request_type,
+	u16 value, u16 index, u16 length)
+{
+	u16 tmp;
+
+	if ((request_type & USB_RECIP_MASK) == USB_RECIP_DEVICE) {
+		tmp = 1 << 0; /* self powerd */
+		tmp |= 0 << 1; /* not remote wakeup able */
+	} else if ((request_type & USB_RECIP_MASK) == USB_RECIP_INTERFACE) {
+		tmp = 0;
+	} else if ((request_type & USB_RECIP_MASK) == USB_RECIP_ENDPOINT) {
+		tmp = 0;
+	}
+	mxc_udc.ep0_dir = USB_DIR_IN;
+	mxc_udc_queue_update(0, (u8 *)&tmp, 2, 0xffffffff);
+}
+
+static void mxc_udc_read_setup_pkt(struct usb_device_request *s)
+{
+	u32 temp;
+	temp = readl(USB_ENDPTSETUPSTAT);
+	writel(temp, USB_ENDPTSETUPSTAT);
+	DBG("setup stat %x\n", temp);
+	do {
+		temp = readl(USB_USBCMD);
+		temp |= USB_CMD_SUTW;
+		writel(temp, USB_USBCMD);
+
+		invalidate_dcache_range((unsigned long)(mxc_udc.mxc_ep[0].ep_qh),
+			CACHE_ALIGNED_END((mxc_udc.mxc_ep[0].ep_qh),
+				sizeof(struct ep_queue_head)));
+
+		memcpy((void *)s,
+			(void *)mxc_udc.mxc_ep[0].ep_qh->setup_data, 8);
+	} while (!(readl(USB_USBCMD) & USB_CMD_SUTW));
+
+	DBG("handle_setup s.type=%x req=%x len=%x\n",
+		s->bmRequestType, s->bRequest, s->wLength);
+	temp = readl(USB_USBCMD);
+	temp &= ~USB_CMD_SUTW;
+	writel(temp, USB_USBCMD);
+
+	DBG("[SETUP] type=%x req=%x val=%x index=%x len=%x\n",
+		s->bmRequestType, s->bRequest,
+		s->wValue, s->wIndex,
+		s->wLength);
+}
+
+static void mxc_udc_recv_setup(void)
+{
+	struct usb_device_request *s = &ep0_urb->device_request;
+
+	mxc_udc_read_setup_pkt(s);
+	if (s->wLength)	{
+		/* If has a data phase,
+		  * then prime a dtd for status stage which has zero length DATA0.
+		  * The direction of status stage should oppsite to direction of data phase.
+		  */
+		mxc_udc.ep0_dir = (s->bmRequestType & USB_DIR_IN) ?
+					USB_DIR_OUT : USB_DIR_IN;
+		mxc_udc_queue_update(0, NULL, 0, 0xffffffff);
+	}
+	if (ep0_recv_setup(ep0_urb)) {
+		mxc_ep0_stall();
+		return;
+	}
+	switch (s->bRequest) {
+	case USB_REQ_GET_STATUS:
+		if ((s->bmRequestType & (USB_DIR_IN | USB_TYPE_MASK)) !=
+					 (USB_DIR_IN | USB_TYPE_STANDARD))
+			break;
+		ch9getstatus(s->bmRequestType, s->wValue,
+				s->wIndex, s->wLength);
+
+		DBG("[SETUP] REQ_GET_STATUS\n");
+		return;
+	case USB_REQ_SET_ADDRESS:
+		if (s->bmRequestType != (USB_DIR_OUT |
+			    USB_TYPE_STANDARD | USB_RECIP_DEVICE))
+			break;
+		mxc_udc.setaddr = 1;
+		mxc_udc.ep0_dir = USB_DIR_IN;
+		mxc_udc_queue_update(0, NULL, 0, 0xffffffff);
+		usbd_device_event_irq(udc_device, DEVICE_ADDRESS_ASSIGNED, 0);
+		DBG("[SETUP] REQ_SET_ADDRESS\n");
+		return;
+	case USB_REQ_SET_CONFIGURATION:
+		usbd_device_event_irq(udc_device, DEVICE_CONFIGURED, 0);
+		DBG("[SETUP] REQ_SET_CONFIGURATION\n");
+	case USB_REQ_CLEAR_FEATURE:
+	case USB_REQ_SET_FEATURE:
+	{
+		int rc = -1;
+		if ((s->bmRequestType & (USB_RECIP_MASK | USB_TYPE_MASK)) ==
+				 (USB_RECIP_ENDPOINT | USB_TYPE_STANDARD))
+			rc = 0;
+		else if ((s->bmRequestType &
+			    (USB_RECIP_MASK | USB_TYPE_MASK)) ==
+			     (USB_RECIP_DEVICE | USB_TYPE_STANDARD))
+			rc = 0;
+		else
+			break;
+		if (rc == 0) {
+			mxc_udc.ep0_dir = USB_DIR_IN;
+			mxc_udc_queue_update(0, NULL, 0, 0xffffffff);
+		}
+		return;
+	}
+	default:
+		break;
+	}
+	if (s->wLength) {
+		mxc_udc.ep0_dir = (s->bmRequestType & USB_DIR_IN) ?
+					USB_DIR_IN : USB_DIR_OUT;
+		mxc_udc_queue_update(0, ep0_urb->buffer,
+				ep0_urb->actual_length, 0xffffffff);
+		ep0_urb->actual_length = 0;
+	} else {
+		mxc_udc.ep0_dir = USB_DIR_IN;
+		mxc_udc_queue_update(0, NULL, 0, 0xffffffff);
+	}
+}
+
+static int mxc_udc_tqi_empty(struct ep_queue_item *tqi)
+{
+	int ret;
+
+	invalidate_dcache_range((unsigned long)tqi,
+		CACHE_ALIGNED_END(tqi, sizeof(struct ep_queue_item)));
+
+	ret = tqi->info & (1 << 7);
+	return ret;
+}
+
+static struct usb_endpoint_instance *mxc_get_epi(u8 epnum)
+{
+	int i;
+	for (i = 0; i < udc_device->bus->max_endpoints; i++) {
+		if ((udc_device->bus->endpoint_array[i].endpoint_address &
+			 USB_ENDPOINT_NUMBER_MASK) == epnum)
+			return &udc_device->bus->endpoint_array[i];
+	}
+	return NULL;
+}
+
+static u32 _mxc_ep_recv_data(u8 epnum, struct ep_queue_item *tqi)
+{
+	struct usb_endpoint_instance *epi = mxc_get_epi(epnum);
+	struct urb *urb;
+	u32 len = 0;
+
+	if (!epi)
+		return 0;
+
+	invalidate_dcache_range((unsigned long)tqi,
+		CACHE_ALIGNED_END(tqi, sizeof(struct ep_queue_item)));
+
+	urb = epi->rcv_urb;
+	if (urb) {
+		u8 *data = urb->buffer + urb->actual_length;
+		int remain_len = (tqi->info >> 16) & (0xefff);
+		len = tqi->reserved[0] - remain_len;
+		DBG("recv len %d-%d-%d\n", len, tqi->reserved[0], remain_len);
+
+
+		invalidate_dcache_range((unsigned long)tqi->page_vir,
+			CACHE_ALIGNED_END(tqi->page_vir, len));
+		memcpy(data, (void *)tqi->page_vir, len);
+
+		_dump_buf(data, len);
+	}
+	return len;
+}
+
+static void mxc_udc_ep_recv(u8 epnum)
+{
+	struct mxc_ep_t *ep = mxc_udc.mxc_ep + (epnum * 2 + USB_RECV);
+	struct ep_queue_item *tqi;
+	while (1) {
+		u32 nbytes;
+		tqi = ep->ep_dtd[ep->done];
+		if (mxc_udc_tqi_empty(tqi))
+			break;
+		nbytes = _mxc_ep_recv_data(epnum, tqi);
+		usbd_rcv_complete(ep->epi, nbytes, 0);
+		inc_index(ep->done);
+		if (ep->done == ep->index)
+			break;
+	}
+}
+
+static void mxc_udc_handle_xfer_complete(void)
+{
+	int i;
+	u32 bitpos = readl(USB_ENDPTCOMPLETE);
+
+	writel(bitpos, USB_ENDPTCOMPLETE);
+
+	for (i = 0; i < mxc_udc.max_ep; i++) {
+		int epnum = i >> 1;
+		int dir = i % 2;
+		u32 bitmask = 1 << (epnum + 16 * dir);
+		if (!(bitmask & bitpos))
+			continue;
+		DBG("ep %d, dir %d, complete\n", epnum, dir);
+		if (!epnum) {
+			if (mxc_udc.setaddr) {
+				writel(udc_device->address << 25,
+					USB_DEVICEADDR);
+				mxc_udc.setaddr = 0;
+			}
+			continue;
+		}
+		DBG("############### dir = %d ***************\n", dir);
+		if (dir == USB_SEND)
+			continue;
+		mxc_udc_ep_recv(epnum);
+	}
+}
+
+static void usb_dev_hand_usbint(void)
+{
+	if (readl(USB_ENDPTSETUPSTAT)) {
+		DBG("recv one setup packet\n");
+		mxc_udc_recv_setup();
+	}
+	if (readl(USB_ENDPTCOMPLETE)) {
+		DBG("Dtd complete irq\n");
+		mxc_udc_handle_xfer_complete();
+	}
+}
+
+static void usb_dev_hand_reset(void)
+{
+	u32 temp;
+	temp = readl(USB_DEVICEADDR);
+	temp &= ~0xfe000000;
+	writel(temp, USB_DEVICEADDR);
+	writel(readl(USB_ENDPTSETUPSTAT), USB_ENDPTSETUPSTAT);
+	writel(readl(USB_ENDPTCOMPLETE), USB_ENDPTCOMPLETE);
+	while (readl(USB_ENDPTPRIME))
+		;
+	writel(0xffffffff, USB_ENDPTFLUSH);
+	DBG("reset-PORTSC=%x\n", readl(USB_PORTSC1));
+	usbd_device_event_irq(udc_device, DEVICE_RESET, 0);
+}
+
+void usb_dev_hand_pci(void)
+{
+	u32 speed;
+	while (readl(USB_PORTSC1) & PORTSCX_PORT_RESET)
+		;
+	speed = readl(USB_PORTSC1) & PORTSCX_PORT_SPEED_MASK;
+	switch (speed) {
+	case PORTSCX_PORT_SPEED_HIGH:
+		usb_highspeed = 2;
+		break;
+	case PORTSCX_PORT_SPEED_FULL:
+		usb_highspeed = 1;
+		break;
+	case PORTSCX_PORT_SPEED_LOW:
+		usb_highspeed = 0;
+		break;
+	default:
+		break;
+	}
+	DBG("portspeed=%d, speed = %x, PORTSC = %x\n",
+		usb_highspeed, speed, readl(USB_PORTSC1));
+}
+
+void usb_dev_hand_suspend(void)
+{
+}
+
+void mxc_irq_poll(void)
+{
+	unsigned irq_src = readl(USB_USBSTS) & readl(USB_USBINTR);
+	writel(irq_src, USB_USBSTS);
+
+	if (irq_src == 0)
+		return;
+
+	if (irq_src & USB_STS_INT)
+		usb_dev_hand_usbint();
+
+	if (irq_src & USB_STS_RESET) {
+		printf("USB_RESET\n");
+		usb_dev_hand_reset();
+	}
+	if (irq_src & USB_STS_PORT_CHANGE) {
+		printf("USB_PORT_CHANGE 0x%x\n", irq_src);
+		usb_dev_hand_pci();
+	}
+	if (irq_src & USB_STS_SUSPEND)
+		printf("USB_SUSPEND\n");
+	if (irq_src & USB_STS_ERR)
+		printf("USB_ERR\n");
+}
+
+void mxc_udc_wait_cable_insert(void)
+{
+	u32 temp;
+	int cable_connect = 1;
+
+	do {
+		udelay(50);
+
+		temp = readl(USB_OTGSC);
+		if (temp & (OTGSC_B_SESSION_VALID)) {
+			printf("USB Mini b cable Connected!\n");
+			break;
+		} else if (cable_connect == 1) {
+			printf("wait usb cable into the connector!\n");
+			cable_connect = 0;
+		}
+	} while (1);
+}
+
+void udc_disable_over_current(void)
+{
+	u32 temp;
+	temp = readl(USB_OTG_CTRL);
+	temp |= (UCTRL_OVER_CUR_POL);
+	writel(temp, USB_OTG_CTRL);
+}
+
+/*
+ * mxc_udc_init function
+ */
+int mxc_udc_init(void)
+{
+    udc_pins_setting();
+	set_usb_phy1_clk();
+	enable_usboh3_clk(1);
+#if defined(CONFIG_MX6Q) || defined(CONFIG_MX6DL) || defined(CONFIG_MX6SL)
+	udc_disable_over_current();
+#endif
+	enable_usb_phy1_clk(1);
+	usb_udc_init();
+
+	return 0;
+}
+
+/*
+ * mxc_udc_init function
+ */
+int mxc_udc_destroy(void)
+{
+	usb_udc_destroy();
+	enable_usboh3_clk(0);
+	enable_usb_phy1_clk(0);
+
+	return 0;
+}
+
+void mxc_udc_poll(void)
+{
+	mxc_irq_poll();
+}
+
+/*
+ * Functions for gadget APIs
+ */
+int udc_init(void)
+{
+	mxc_udc_init();
+	return 0;
+}
+
+int udc_destroy(void)
+{
+	udc_disable();
+	mxc_udc_destroy();
+	return 0;
+}
+
+void udc_setup_ep(struct usb_device_instance *device, u32 index,
+		    struct usb_endpoint_instance *epi)
+{
+	u8 dir, epnum, zlt, mult;
+	u8 ep_type;
+	u32 max_pkt_size;
+	int ep_addr;
+	struct mxc_ep_t *ep;
+
+	if (epi) {
+		zlt = 1;
+		mult = 0;
+		ep_addr = epi->endpoint_address;
+		epnum = ep_addr & USB_ENDPOINT_NUMBER_MASK;
+		DBG("setup ep %d\n", epnum);
+		if ((ep_addr & USB_ENDPOINT_DIR_MASK) == USB_DIR_IN) {
+			dir = USB_SEND;
+			ep_type = epi->tx_attributes;
+			max_pkt_size = epi->tx_packetSize;
+		} else {
+			dir = USB_RECV;
+			ep_type = epi->rcv_attributes;
+			max_pkt_size = epi->rcv_packetSize;
+		}
+		if (ep_type == USB_ENDPOINT_XFER_ISOC) {
+			mult = (u32)(1 + ((max_pkt_size >> 11) & 0x03));
+			max_pkt_size = max_pkt_size & 0x7ff;
+			DBG("mult = %d\n", mult);
+		}
+		ep = mxc_udc.mxc_ep + (epnum * 2 + dir);
+		ep->epi = epi;
+		if (epnum) {
+			struct ep_queue_item *tqi;
+			int i;
+
+			mxc_ep_qh_setup(epnum, dir, ep_type,
+					    max_pkt_size, zlt, mult);
+			mxc_ep_setup(epnum, dir, ep_type);
+			mxc_init_ep_dtd(epnum * 2 + dir);
+
+			/* malloc endpoint's dtd's data buffer*/
+			ep->max_pkt_size = max_pkt_size;
+			for (i = 0; i < EP_TQ_ITEM_SIZE; i++) {
+				tqi = ep->ep_dtd[i];
+				tqi->page_vir = (u32)malloc_aligned_buffer(
+					    &tqi->page_unaligned, max_pkt_size,
+					    USB_MEM_ALIGN_BYTE);
+				if ((void *)tqi->page_vir == NULL) {
+					printf("malloc dtd bufer failure\n");
+					return;
+				}
+				mxc_tqi_init_page(tqi);
+
+				flush_dcache_range((unsigned long)tqi,
+					CACHE_ALIGNED_END(tqi, sizeof(struct ep_queue_item)));
+			}
+		}
+	}
+}
+
+void udc_destroy_ep(struct usb_device_instance *device,
+		    struct usb_endpoint_instance *epi)
+{
+	struct mxc_ep_t *ep;
+	int ep_addr;
+	u8 dir, epnum;
+
+	if (epi) {
+		ep_addr = epi->endpoint_address;
+		epnum = ep_addr & USB_ENDPOINT_NUMBER_MASK;
+
+		if ((ep_addr & USB_ENDPOINT_DIR_MASK) == USB_DIR_IN)
+			dir = USB_SEND;
+		else
+			dir = USB_RECV;
+
+		ep = mxc_udc.mxc_ep + (epnum * 2 + dir);
+		ep->epi = 0;
+
+		if (epnum) {
+			struct ep_queue_item *tqi;
+			int i;
+
+			for (i = 0; i < EP_TQ_ITEM_SIZE; i++) {
+				tqi = ep->ep_dtd[i];
+				if (tqi->page_vir) {
+					free((void *)(tqi->page_unaligned));
+					tqi->page_unaligned = 0;
+					tqi->page_vir = 0;
+					tqi->page0 = 0;
+					tqi->page1 = 0;
+					tqi->page2 = 0;
+					tqi->page3 = 0;
+					tqi->page4 = 0;
+				}
+			}
+
+			mxc_destroy_ep_dtd(epnum * 2 + dir);
+			mxc_ep_destroy(epnum, dir);
+		}
+	}
+}
+
+int udc_endpoint_write(struct usb_endpoint_instance *epi)
+{
+	struct urb *urb = epi->tx_urb;
+	int ep_num = epi->endpoint_address & USB_ENDPOINT_NUMBER_MASK;
+	u8 *data = (u8 *)urb->buffer + epi->sent;
+	int n = urb->actual_length - epi->sent;
+	mxc_udc_txqueue_update(ep_num, data, n);
+	epi->last = n;
+
+	/* usbd_tx_complete will take care of updating 'sent' */
+	usbd_tx_complete(epi);
+	return 0;
+}
+
+void udc_enable(struct usb_device_instance *device)
+{
+	udc_device = device;
+	ep0_urb = usbd_alloc_urb(udc_device, udc_device->bus->endpoint_array);
+}
+
+void udc_disable(void)
+{
+	usbd_dealloc_urb(ep0_urb);
+	udc_device = NULL;
+}
+
+void udc_startup_events(struct usb_device_instance *device)
+{
+	usbd_device_event_irq(device, DEVICE_INIT, 0);
+	usbd_device_event_irq(device, DEVICE_CREATE, 0);
+	udc_enable(device);
+}
+
+void udc_irq(void)
+{
+	mxc_irq_poll();
+}
+
+void udc_connect(void)
+{
+	mxc_usb_run();
+	mxc_udc_wait_cable_insert();
+}
+
+void udc_disconnect(void)
+{
+	/* imx6 will hang if access usb register without init oh3
+	 * clock, so not access it if not init. */
+	if (usb_inited)
+		mxc_usb_stop();
+}
+
+void udc_set_nak(int epid)
+{
+}
+
+void udc_unset_nak(int epid)
+{
+}
diff --git a/include/usb/imx_udc.h b/include/usb/imx_udc.h
new file mode 100644
index 0000000..b5f314c
--- /dev/null
+++ b/include/usb/imx_udc.h
@@ -0,0 +1,594 @@
+/*
+ * Copyright (C) 2010-2013 Freescale Semiconductor, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+#ifndef _IMX_UDC_H_
+#define _IMX_UDC_H_
+
+#include <usbdevice.h>
+
+#define USB_OTGREGS_BASE	(OTG_BASE_ADDR + 0x000)
+#define USB_H1REGS_BASE		(OTG_BASE_ADDR + 0x200)
+#define USB_H2REGS_BASE		(OTG_BASE_ADDR + 0x400)
+#if (defined CONFIG_MX51 || defined CONFIG_MX50 || defined CONFIG_MX6Q \
+     || defined CONFIG_MX53 || defined CONFIG_MX6DL || defined CONFIG_MX6SL)
+#define USB_H3REGS_BASE		(OTG_BASE_ADDR + 0x600)
+#define USB_OTHERREGS_BASE	(OTG_BASE_ADDR + 0x800)
+#else
+#define USB_OTHERREGS_BASE	(OTG_BASE_ADDR + 0x600)
+#endif
+
+#define USBOTG_REG32(offset)	(USB_OTGREGS_BASE + (offset))
+#define USBOTG_REG16(offset)	(USB_OTGREGS_BASE + (offset))
+#define USBOTHER_REG(offset)	(USB_OTHERREGS_BASE + (offset))
+
+#define USB_ID               (OTG_BASE_ADDR + 0x0000)
+#define USB_HWGENERAL        (OTG_BASE_ADDR + 0x0004)
+#define USB_HWHOST           (OTG_BASE_ADDR + 0x0008)
+#define USB_HWDEVICE         (OTG_BASE_ADDR + 0x000C)
+#define USB_HWTXBUF          (OTG_BASE_ADDR + 0x0010)
+#define USB_HWRXBUF          (OTG_BASE_ADDR + 0x0014)
+#define USB_SBUSCFG          (OTG_BASE_ADDR + 0x0090)
+
+#define USB_CAPLENGTH        (OTG_BASE_ADDR + 0x0100) /* 8 bit */
+#define USB_HCIVERSION       (OTG_BASE_ADDR + 0x0102) /* 16 bit */
+#define USB_HCSPARAMS        (OTG_BASE_ADDR + 0x0104)
+#define USB_HCCPARAMS        (OTG_BASE_ADDR + 0x0108)
+#define USB_DCIVERSION       (OTG_BASE_ADDR + 0x0120) /* 16 bit */
+#define USB_DCCPARAMS        (OTG_BASE_ADDR + 0x0124)
+#define USB_USBCMD           (OTG_BASE_ADDR + 0x0140)
+#define USB_USBSTS           (OTG_BASE_ADDR + 0x0144)
+#define USB_USBINTR          (OTG_BASE_ADDR + 0x0148)
+#define USB_FRINDEX          (OTG_BASE_ADDR + 0x014C)
+#define USB_DEVICEADDR       (OTG_BASE_ADDR + 0x0154)
+#define USB_ENDPOINTLISTADDR (OTG_BASE_ADDR + 0x0158)
+#define USB_BURSTSIZE        (OTG_BASE_ADDR + 0x0160)
+#define USB_TXFILLTUNING     (OTG_BASE_ADDR + 0x0164)
+#define USB_ULPI_VIEWPORT    (OTG_BASE_ADDR + 0x0170)
+#define USB_ENDPTNAK         (OTG_BASE_ADDR + 0x0178)
+#define USB_ENDPTNAKEN       (OTG_BASE_ADDR + 0x017C)
+#define USB_PORTSC1          (OTG_BASE_ADDR + 0x0184)
+#define USB_OTGSC            (OTG_BASE_ADDR + 0x01A4)
+#define USB_USBMODE          (OTG_BASE_ADDR + 0x01A8)
+#define USB_ENDPTSETUPSTAT   (OTG_BASE_ADDR + 0x01AC)
+#define USB_ENDPTPRIME       (OTG_BASE_ADDR + 0x01B0)
+#define USB_ENDPTFLUSH       (OTG_BASE_ADDR + 0x01B4)
+#define USB_ENDPTSTAT        (OTG_BASE_ADDR + 0x01B8)
+#define USB_ENDPTCOMPLETE    (OTG_BASE_ADDR + 0x01BC)
+#define USB_ENDPTCTRL(n)     (OTG_BASE_ADDR + 0x01C0 + (4 * (n)))
+
+/*
+ * other regs (not part of ARC core)
+ */
+/* USB Control register */
+#define USBCTRL			USBOTHER_REG(0x00)
+
+/* USB OTG mirror register */
+#define USB_OTG_MIRROR		USBOTHER_REG(0x04)
+
+/* OTG UTMI PHY Function Control register */
+#define USB_PHY_CTR_FUNC	USBOTHER_REG(0x08)
+
+/* OTG UTMI PHY Function Control register */
+#define USB_PHY_CTR_FUNC2	USBOTHER_REG(0x0c)
+
+#define USB_CTRL_1		USBOTHER_REG(0x10)
+#define USBCTRL_HOST2		USBOTHER_REG(0x14)	/* USB Cotrol Register 1*/
+#define USBCTRL_HOST3		USBOTHER_REG(0x18)	/* USB Cotrol Register 1*/
+#define USBH1_PHY_CTRL0		USBOTHER_REG(0x1c)	/* USB Cotrol Register 1*/
+#define USBH1_PHY_CTRL1		USBOTHER_REG(0x20)	/* USB Cotrol Register 1*/
+
+/* USB Clock on/off Control Register */
+#define USB_CLKONOFF_CTRL       USBOTHER_REG(0x24)
+
+/* mx6x other regs */
+/* USB OTG Control register */
+#define USB_OTG_CTRL			USBOTHER_REG(0x00)
+
+/* USB H1 Control register */
+#define USB_H1_CTRL			USBOTHER_REG(0x04)
+
+/* USB H2 Control register */
+#define USB_H2_CTRL			USBOTHER_REG(0x08)
+
+/* USB H3 Control register */
+#define USB_H3_CTRL			USBOTHER_REG(0x0c)
+
+/* USB Host2 HSIC Control Register */
+#define USB_UH2_HSIC_CTRL		USBOTHER_REG(0x10)
+
+/* USB Host3 HSIC Control Register */
+#define USB_UH3_HSIC_CTRL		USBOTHER_REG(0x14)
+
+/* OTG UTMI PHY Control 0 Register */
+#define USB_OTG_PHY_CTRL_0		USBOTHER_REG(0x18)
+
+/* OTG UTMI PHY Control 1 Register */
+#define USB_H1_PHY_CTRL_0		USBOTHER_REG(0x1c)
+
+/* USB Host2 HSIC DLL Configuration Register 1 */
+#define USB_UH2_HSIC_DLL_CFG1		USBOTHER_REG(0x20)
+
+/* USB Host2 HSIC DLL Configuration Register 2 */
+#define USB_UH2_HSIC_DLL_CFG2		USBOTHER_REG(0x24)
+
+/* USB Host2 HSIC DLL Configuration Register 3 */
+#define USB_UH2_HSIC_DLL_CFG3		USBOTHER_REG(0x28)
+
+/* USB Host3 HSIC DLL Configuration Register 1 */
+#define USB_UH3_HSIC_DLL_CFG1		USBOTHER_REG(0x30)
+
+/* USB Host3 HSIC DLL Configuration Register 2 */
+#define USB_UH3_HSIC_DLL_CFG2		USBOTHER_REG(0x34)
+
+/* USB Host3 HSIC DLL Configuration Register 3 */
+#define USB_UH3_HSIC_DLL_CFG3		USBOTHER_REG(0x38)
+
+
+#define USB_PHY1_CTRL        (OTG_BASE_ADDR + 0x80C)
+#define USBCMD_RESET   2
+#define USBCMD_ATTACH  1
+
+#define USBMODE_DEVICE 2
+#define USBMODE_HOST   3
+
+struct ep_queue_head {
+	volatile unsigned int config;
+	volatile unsigned int current; /* read-only */
+
+	volatile unsigned int next_queue_item;
+	volatile unsigned int info;
+	volatile unsigned int page0;
+	volatile unsigned int page1;
+	volatile unsigned int page2;
+	volatile unsigned int page3;
+	volatile unsigned int page4;
+	volatile unsigned int reserved_0;
+
+	volatile unsigned char setup_data[8];
+	volatile unsigned int reserved[4];
+};
+
+#define CONFIG_MAX_PKT(n)     ((n) << 16)
+#define CONFIG_ZLT            (1 << 29)    /* stop on zero-len xfer */
+#define CONFIG_IOS            (1 << 15)    /* IRQ on setup */
+
+struct ep_queue_item {
+	volatile unsigned int next_item_ptr;
+	volatile unsigned int info;
+	volatile unsigned int page0;
+	volatile unsigned int page1;
+	volatile unsigned int page2;
+	volatile unsigned int page3;
+	volatile unsigned int page4;
+	unsigned int item_unaligned_addr;
+	unsigned int page_vir;
+	unsigned int page_unaligned;
+	struct ep_queue_item *next_item_vir;
+	volatile unsigned int reserved[5];
+};
+
+#define TERMINATE 1
+
+#define INFO_BYTES(n)         ((n) << 16)
+#define INFO_IOC              (1 << 15)
+#define INFO_ACTIVE           (1 << 7)
+#define INFO_HALTED           (1 << 6)
+#define INFO_BUFFER_ERROR     (1 << 5)
+#define INFO_TX_ERROR         (1 << 3)
+
+/* Device Controller Capability Parameter register */
+#define DCCPARAMS_DC				0x00000080
+#define DCCPARAMS_DEN_MASK			0x0000001f
+
+/* Frame Index Register Bit Masks */
+#define	USB_FRINDEX_MASKS			(0x3fff)
+/* USB CMD  Register Bit Masks */
+#define  USB_CMD_RUN_STOP                     (0x00000001)
+#define  USB_CMD_CTRL_RESET                   (0x00000002)
+#define  USB_CMD_PERIODIC_SCHEDULE_EN         (0x00000010)
+#define  USB_CMD_ASYNC_SCHEDULE_EN            (0x00000020)
+#define  USB_CMD_INT_AA_DOORBELL              (0x00000040)
+#define  USB_CMD_ASP                          (0x00000300)
+#define  USB_CMD_ASYNC_SCH_PARK_EN            (0x00000800)
+#define  USB_CMD_SUTW                         (0x00002000)
+#define  USB_CMD_ATDTW                        (0x00004000)
+#define  USB_CMD_ITC                          (0x00FF0000)
+
+/* bit 15,3,2 are frame list size */
+#define  USB_CMD_FRAME_SIZE_1024              (0x00000000)
+#define  USB_CMD_FRAME_SIZE_512               (0x00000004)
+#define  USB_CMD_FRAME_SIZE_256               (0x00000008)
+#define  USB_CMD_FRAME_SIZE_128               (0x0000000C)
+#define  USB_CMD_FRAME_SIZE_64                (0x00008000)
+#define  USB_CMD_FRAME_SIZE_32                (0x00008004)
+#define  USB_CMD_FRAME_SIZE_16                (0x00008008)
+#define  USB_CMD_FRAME_SIZE_8                 (0x0000800C)
+
+/* bit 9-8 are async schedule park mode count */
+#define  USB_CMD_ASP_00                       (0x00000000)
+#define  USB_CMD_ASP_01                       (0x00000100)
+#define  USB_CMD_ASP_10                       (0x00000200)
+#define  USB_CMD_ASP_11                       (0x00000300)
+#define  USB_CMD_ASP_BIT_POS                  (8)
+
+/* bit 23-16 are interrupt threshold control */
+#define  USB_CMD_ITC_NO_THRESHOLD             (0x00000000)
+#define  USB_CMD_ITC_1_MICRO_FRM              (0x00010000)
+#define  USB_CMD_ITC_2_MICRO_FRM              (0x00020000)
+#define  USB_CMD_ITC_4_MICRO_FRM              (0x00040000)
+#define  USB_CMD_ITC_8_MICRO_FRM              (0x00080000)
+#define  USB_CMD_ITC_16_MICRO_FRM             (0x00100000)
+#define  USB_CMD_ITC_32_MICRO_FRM             (0x00200000)
+#define  USB_CMD_ITC_64_MICRO_FRM             (0x00400000)
+#define  USB_CMD_ITC_BIT_POS                  (16)
+
+/* USB STS Register Bit Masks */
+#define  USB_STS_INT                          (0x00000001)
+#define  USB_STS_ERR                          (0x00000002)
+#define  USB_STS_PORT_CHANGE                  (0x00000004)
+#define  USB_STS_FRM_LST_ROLL                 (0x00000008)
+#define  USB_STS_SYS_ERR                      (0x00000010)
+#define  USB_STS_IAA                          (0x00000020)
+#define  USB_STS_RESET                        (0x00000040)
+#define  USB_STS_SOF                          (0x00000080)
+#define  USB_STS_SUSPEND                      (0x00000100)
+#define  USB_STS_HC_HALTED                    (0x00001000)
+#define  USB_STS_RCL                          (0x00002000)
+#define  USB_STS_PERIODIC_SCHEDULE            (0x00004000)
+#define  USB_STS_ASYNC_SCHEDULE               (0x00008000)
+
+/* USB INTR Register Bit Masks */
+#define  USB_INTR_INT_EN                      (0x00000001)
+#define  USB_INTR_ERR_INT_EN                  (0x00000002)
+#define  USB_INTR_PTC_DETECT_EN               (0x00000004)
+#define  USB_INTR_FRM_LST_ROLL_EN             (0x00000008)
+#define  USB_INTR_SYS_ERR_EN                  (0x00000010)
+#define  USB_INTR_ASYN_ADV_EN                 (0x00000020)
+#define  USB_INTR_RESET_EN                    (0x00000040)
+#define  USB_INTR_SOF_EN                      (0x00000080)
+#define  USB_INTR_DEVICE_SUSPEND              (0x00000100)
+
+/* Device Address bit masks */
+#define  USB_DEVICE_ADDRESS_MASK              (0xFE000000)
+#define  USB_DEVICE_ADDRESS_BIT_POS           (25)
+
+/* endpoint list address bit masks */
+#define USB_EP_LIST_ADDRESS_MASK              (0xfffff800)
+
+/* PORTSCX  Register Bit Masks */
+#define  PORTSCX_CURRENT_CONNECT_STATUS       (0x00000001)
+#define  PORTSCX_CONNECT_STATUS_CHANGE        (0x00000002)
+#define  PORTSCX_PORT_ENABLE                  (0x00000004)
+#define  PORTSCX_PORT_EN_DIS_CHANGE           (0x00000008)
+#define  PORTSCX_OVER_CURRENT_ACT             (0x00000010)
+#define  PORTSCX_OVER_CURRENT_CHG             (0x00000020)
+#define  PORTSCX_PORT_FORCE_RESUME            (0x00000040)
+#define  PORTSCX_PORT_SUSPEND                 (0x00000080)
+#define  PORTSCX_PORT_RESET                   (0x00000100)
+#define  PORTSCX_LINE_STATUS_BITS             (0x00000C00)
+#define  PORTSCX_PORT_POWER                   (0x00001000)
+#define  PORTSCX_PORT_INDICTOR_CTRL           (0x0000C000)
+#define  PORTSCX_PORT_TEST_CTRL               (0x000F0000)
+#define  PORTSCX_WAKE_ON_CONNECT_EN           (0x00100000)
+#define  PORTSCX_WAKE_ON_CONNECT_DIS          (0x00200000)
+#define  PORTSCX_WAKE_ON_OVER_CURRENT         (0x00400000)
+#define  PORTSCX_PHY_LOW_POWER_SPD            (0x00800000)
+#define  PORTSCX_PORT_FORCE_FULL_SPEED        (0x01000000)
+#define  PORTSCX_PORT_SPEED_MASK              (0x0C000000)
+#define  PORTSCX_PORT_WIDTH                   (0x10000000)
+#define  PORTSCX_PHY_TYPE_SEL                 (0xC0000000)
+
+/* bit 11-10 are line status */
+#define  PORTSCX_LINE_STATUS_SE0              (0x00000000)
+#define  PORTSCX_LINE_STATUS_JSTATE           (0x00000400)
+#define  PORTSCX_LINE_STATUS_KSTATE           (0x00000800)
+#define  PORTSCX_LINE_STATUS_UNDEF            (0x00000C00)
+#define  PORTSCX_LINE_STATUS_BIT_POS          (10)
+
+/* bit 15-14 are port indicator control */
+#define  PORTSCX_PIC_OFF                      (0x00000000)
+#define  PORTSCX_PIC_AMBER                    (0x00004000)
+#define  PORTSCX_PIC_GREEN                    (0x00008000)
+#define  PORTSCX_PIC_UNDEF                    (0x0000C000)
+#define  PORTSCX_PIC_BIT_POS                  (14)
+
+/* bit 19-16 are port test control */
+#define  PORTSCX_PTC_DISABLE                  (0x00000000)
+#define  PORTSCX_PTC_JSTATE                   (0x00010000)
+#define  PORTSCX_PTC_KSTATE                   (0x00020000)
+#define  PORTSCX_PTC_SEQNAK                   (0x00030000)
+#define  PORTSCX_PTC_PACKET                   (0x00040000)
+#define  PORTSCX_PTC_FORCE_EN                 (0x00050000)
+#define  PORTSCX_PTC_BIT_POS                  (16)
+
+/* bit 27-26 are port speed */
+#define  PORTSCX_PORT_SPEED_FULL              (0x00000000)
+#define  PORTSCX_PORT_SPEED_LOW               (0x04000000)
+#define  PORTSCX_PORT_SPEED_HIGH              (0x08000000)
+#define  PORTSCX_PORT_SPEED_UNDEF             (0x0C000000)
+#define  PORTSCX_SPEED_BIT_POS                (26)
+
+/* OTGSC Register Bit Masks */
+#define  OTGSC_B_SESSION_VALID_IRQ_EN           (1 << 27)
+#define  OTGSC_B_SESSION_VALID_IRQ_STS          (1 << 19)
+#define  OTGSC_B_SESSION_VALID                  (1 << 11)
+
+/* bit 28 is parallel transceiver width for UTMI interface */
+#define  PORTSCX_PTW                          (0x10000000)
+#define  PORTSCX_PTW_8BIT                     (0x00000000)
+#define  PORTSCX_PTW_16BIT                    (0x10000000)
+
+/* bit 31-30 are port transceiver select */
+#define  PORTSCX_PTS_UTMI                     (0x00000000)
+#define  PORTSCX_PTS_ULPI                     (0x80000000)
+#define  PORTSCX_PTS_FSLS                     (0xC0000000)
+#define  PORTSCX_PTS_BIT_POS                  (30)
+
+/* USB MODE Register Bit Masks */
+#define  USB_MODE_CTRL_MODE_IDLE              (0x00000000)
+#define  USB_MODE_CTRL_MODE_DEVICE            (0x00000002)
+#define  USB_MODE_CTRL_MODE_HOST              (0x00000003)
+#define  USB_MODE_CTRL_MODE_MASK              0x00000003
+#define  USB_MODE_CTRL_MODE_RSV               (0x00000001)
+#define  USB_MODE_ES                          0x00000004 /* (big) Endian Sel */
+#define  USB_MODE_SETUP_LOCK_OFF              (0x00000008)
+#define  USB_MODE_STREAM_DISABLE              (0x00000010)
+/* Endpoint Flush Register */
+#define EPFLUSH_TX_OFFSET		      (0x00010000)
+#define EPFLUSH_RX_OFFSET		      (0x00000000)
+
+/* Endpoint Setup Status bit masks */
+#define  EP_SETUP_STATUS_MASK                 (0x0000003F)
+#define  EP_SETUP_STATUS_EP0		      (0x00000001)
+
+/* ENDPOINTCTRLx  Register Bit Masks */
+#define  EPCTRL_TX_ENABLE                     (0x00800000)
+#define  EPCTRL_TX_DATA_TOGGLE_RST            (0x00400000)	/* Not EP0 */
+#define  EPCTRL_TX_DATA_TOGGLE_INH            (0x00200000)	/* Not EP0 */
+#define  EPCTRL_TX_TYPE                       (0x000C0000)
+#define  EPCTRL_TX_DATA_SOURCE                (0x00020000)	/* Not EP0 */
+#define  EPCTRL_TX_EP_STALL                   (0x00010000)
+#define  EPCTRL_RX_ENABLE                     (0x00000080)
+#define  EPCTRL_RX_DATA_TOGGLE_RST            (0x00000040)	/* Not EP0 */
+#define  EPCTRL_RX_DATA_TOGGLE_INH            (0x00000020)	/* Not EP0 */
+#define  EPCTRL_RX_TYPE                       (0x0000000C)
+#define  EPCTRL_RX_DATA_SINK                  (0x00000002)	/* Not EP0 */
+#define  EPCTRL_RX_EP_STALL                   (0x00000001)
+
+/* bit 19-18 and 3-2 are endpoint type */
+#define  EPCTRL_EP_TYPE_CONTROL               (0)
+#define  EPCTRL_EP_TYPE_ISO                   (1)
+#define  EPCTRL_EP_TYPE_BULK                  (2)
+#define  EPCTRL_EP_TYPE_INTERRUPT             (3)
+#define  EPCTRL_TX_EP_TYPE_SHIFT              (18)
+#define  EPCTRL_RX_EP_TYPE_SHIFT              (2)
+
+/* SNOOPn Register Bit Masks */
+#define  SNOOP_ADDRESS_MASK                   (0xFFFFF000)
+#define  SNOOP_SIZE_ZERO                      (0x00)	/* snooping disable */
+#define  SNOOP_SIZE_4KB                       (0x0B)	/* 4KB snoop size */
+#define  SNOOP_SIZE_8KB                       (0x0C)
+#define  SNOOP_SIZE_16KB                      (0x0D)
+#define  SNOOP_SIZE_32KB                      (0x0E)
+#define  SNOOP_SIZE_64KB                      (0x0F)
+#define  SNOOP_SIZE_128KB                     (0x10)
+#define  SNOOP_SIZE_256KB                     (0x11)
+#define  SNOOP_SIZE_512KB                     (0x12)
+#define  SNOOP_SIZE_1MB                       (0x13)
+#define  SNOOP_SIZE_2MB                       (0x14)
+#define  SNOOP_SIZE_4MB                       (0x15)
+#define  SNOOP_SIZE_8MB                       (0x16)
+#define  SNOOP_SIZE_16MB                      (0x17)
+#define  SNOOP_SIZE_32MB                      (0x18)
+#define  SNOOP_SIZE_64MB                      (0x19)
+#define  SNOOP_SIZE_128MB                     (0x1A)
+#define  SNOOP_SIZE_256MB                     (0x1B)
+#define  SNOOP_SIZE_512MB                     (0x1C)
+#define  SNOOP_SIZE_1GB                       (0x1D)
+#define  SNOOP_SIZE_2GB                       (0x1E)	/* 2GB snoop size */
+
+/* pri_ctrl Register Bit Masks */
+#define  PRI_CTRL_PRI_LVL1                    (0x0000000C)
+#define  PRI_CTRL_PRI_LVL0                    (0x00000003)
+
+/* si_ctrl Register Bit Masks */
+#define  SI_CTRL_ERR_DISABLE                  (0x00000010)
+#define  SI_CTRL_IDRC_DISABLE                 (0x00000008)
+#define  SI_CTRL_RD_SAFE_EN                   (0x00000004)
+#define  SI_CTRL_RD_PREFETCH_DISABLE          (0x00000002)
+#define  SI_CTRL_RD_PREFEFETCH_VAL            (0x00000001)
+
+/* control Register Bit Masks */
+#define  USB_CTRL_IOENB                       (0x00000004)
+#define  USB_CTRL_ULPI_INT0EN                 (0x00000001)
+#define  USB_CTRL_OTG_WUIR                   (0x80000000)
+#define  USB_CTRL_OTG_WUIE                   (0x08000000)
+#define  USB_CTRL_OTG_VWUE			(0x00001000)
+#define  USB_CTRL_OTG_IWUE			(0x00100000)
+
+
+
+#define INTR_UE		      (1 << 0)
+#define INTR_UEE	      (1 << 1)
+#define INTR_PCE	      (1 << 2)
+#define INTR_SEE	      (1 << 4)
+#define INTR_URE	      (1 << 6)
+#define INTR_SRE	      (1 << 7)
+#define INTR_SLE	      (1 << 8)
+
+
+/* bits used in all the endpoint status registers */
+#define EPT_TX(n) (1 << ((n) + 16))
+#define EPT_RX(n) (1 << (n))
+
+
+#define CTRL_TXE              (1 << 23)
+#define CTRL_TXR              (1 << 22)
+#define CTRL_TXI              (1 << 21)
+#define CTRL_TXD              (1 << 17)
+#define CTRL_TXS              (1 << 16)
+#define CTRL_RXE              (1 << 7)
+#define CTRL_RXR              (1 << 6)
+#define CTRL_RXI              (1 << 5)
+#define CTRL_RXD              (1 << 1)
+#define CTRL_RXS              (1 << 0)
+
+#define CTRL_TXT_CTRL         (0 << 18)
+#define CTRL_TXT_ISOCH        (1 << 18)
+#define CTRL_TXT_BULK         (2 << 18)
+#define CTRL_TXT_INT          (3 << 18)
+
+#define CTRL_RXT_CTRL         (0 << 2)
+#define CTRL_RXT_ISOCH        (1 << 2)
+#define CTRL_RXT_BULK         (2 << 2)
+#define CTRL_RXT_INT          (3 << 2)
+
+#define USB_RECV 0
+#define USB_SEND 1
+#define USB_MAX_CTRL_PAYLOAD 64
+
+/* UDC device defines */
+#define EP0_MAX_PACKET_SIZE     USB_MAX_CTRL_PAYLOAD
+#define UDC_OUT_ENDPOINT        0x02
+#define UDC_OUT_PACKET_SIZE     USB_MAX_CTRL_PAYLOAD
+#define UDC_IN_ENDPOINT         0x03
+#define UDC_IN_PACKET_SIZE      USB_MAX_CTRL_PAYLOAD
+#define UDC_INT_ENDPOINT        0x01
+#define UDC_INT_PACKET_SIZE     USB_MAX_CTRL_PAYLOAD
+#define UDC_BULK_PACKET_SIZE    USB_MAX_CTRL_PAYLOAD
+
+/* mx6q's register bit begins*/
+
+/* OTG CTRL - H3 CTRL */
+#define UCTRL_OWIR		(1 << 31)	/* OTG wakeup intr request received */
+/* bit 18 - bit 30 is reserved at mx6q */
+#define UCTRL_WKUP_VBUS_EN	(1 << 17)	/* OTG wake-up on VBUS change enable */
+#define UCTRL_WKUP_ID_EN	(1 << 16)	/* OTG wake-up on ID change enable */
+#define UCTRL_WKUP_SW		(1 << 15)	/* OTG Software Wake-up */
+#define UCTRL_WKUP_SW_EN	(1 << 14)	/* OTG Software Wake-up enable */
+#define UCTRL_UTMI_ON_CLOCK	(1 << 13)	/* Force OTG UTMI PHY clock output
+										     on even if suspend mode */
+#define UCTRL_SUSPENDM		(1 << 12)	/* Force OTG UTMI PHY Suspend */
+#define UCTRL_RESET		(1 << 11)	/* Force OTG UTMI PHY Reset */
+#define UCTRL_OWIE		(1 << 10)	/* OTG wakeup intr request received */
+#define UCTRL_PM		(1 << 9)	/* OTG Power Mask */
+#define UCTRL_OVER_CUR_POL	(1 << 8)	/* OTG Polarity of Overcurrent */
+#define UCTRL_OVER_CUR_DIS	(1 << 7)	/* Disable OTG Overcurrent Detection */
+/* bit 0 - bit 6 is reserved at mx6q */
+
+/* Host2/3 HSIC Ctrl */
+#define CLK_VLD		(1 << 31)	/* Indicating whether HSIC clock is valid */
+#define HSIC_EN		(1 << 12)	/* HSIC enable */
+#define HSIC_CLK_ON		(1 << 11)	/* Force HSIC module 480M clock on,
+						 * even when in Host is in suspend mode
+						 */
+/* OTG/HOST1 Phy Ctrl */
+#define PHY_UTMI_CLK_VLD	(1 << 31)/* Indicating whether OTG UTMI PHY Clock Valid*/
+
+int  udc_init(void);
+
+void udc_enable(struct usb_device_instance *device);
+void udc_disable(void);
+
+void udc_connect(void);
+void udc_disconnect(void);
+
+void udc_startup_events(struct usb_device_instance *device);
+void udc_setup_ep(struct usb_device_instance *device,
+	unsigned int ep, struct usb_endpoint_instance *endpoint);
+int udc_endpoint_write(struct usb_endpoint_instance *epi);
+void udc_irq(void);
+void usb_shutdown(void);
+void mxc_udc_rxqueue_update(u8 ep, u32 len);
+int is_usb_disconnected(void);
+void reset_usb_phy1(void);
+void set_usboh3_clk(void);
+void set_usb_phy1_clk(void);
+void enable_usb_phy1_clk(unsigned char enable);
+void enable_usboh3_clk(unsigned char enable);
+void udc_pins_setting(void);
+
+/*destroy functions*/
+void udc_destroy_ep(struct usb_device_instance *device,
+		    struct usb_endpoint_instance *epi);
+int udc_destroy(void);
+
+
+#ifdef CONFIG_FASTBOOT
+
+#define EP0_OUT_INDEX    0
+#define EP0_IN_INDEX    16
+#define EP1_OUT_INDEX    1
+#define EP1_IN_INDEX    17
+#define EP2_OUT_INDEX    2
+#define EP2_IN_INDEX    18
+#define EP3_OUT_INDEX    3
+#define EP3_IN_INDEX    19
+#define EP4_OUT_INDEX    4
+#define EP4_IN_INDEX    20
+#define EP5_OUT_INDEX    5
+#define EP5_IN_INDEX    21
+#define EP6_OUT_INDEX    6
+#define EP6_IN_INDEX    22
+#define EP7_OUT_INDEX    7
+#define EP7_IN_INDEX    23
+#define EP8_OUT_INDEX    8
+#define EP8_IN_INDEX    24
+#define EP9_OUT_INDEX    9
+#define EP9_IN_INDEX    25
+#define EP10_OUT_INDEX  10
+#define EP10_IN_INDEX   26
+#define EP11_OUT_INDEX  11
+#define EP11_IN_INDEX   27
+#define EP12_OUT_INDEX  12
+#define EP12_IN_INDEX   28
+#define EP13_OUT_INDEX  13
+#define EP13_IN_INDEX   29
+#define EP14_OUT_INDEX  14
+#define EP14_IN_INDEX   30
+#define EP15_OUT_INDEX  15
+#define EP15_IN_INDEX   31
+
+#define MAX_PAKET_LEN 512
+typedef void (*EP_HANDLER_P)(u32 index, u8 *buf);
+
+int  udc_irq_handler(void);
+void udc_hal_data_init(void);
+void udc_wait_connect(void);
+void udc_run(void);
+int  udc_recv_data(u32 index, u8 *recvbuf, u32 recvlen, EP_HANDLER_P cb);
+int  udc_send_data(u32 index, u8 *buf, u32 sendlen, EP_HANDLER_P cb);
+void udc_qh_dtd_init(u32 index);
+void udc_dtd_setup(u32 index, u8 ep_type);
+void udc_qh_setup(u32 index, u8 ep_type, u32 max_pkt_len, u32 zlt, u8 mult);
+u8  *udc_get_descriptor(u8 type, u8 *plen);
+void udc_set_addr(u8 addr);
+void udc_set_configure(u8 config);
+
+#endif  /* CONFIG_FASTBOOT */
+
+#endif