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I never assumed it was a regression and that USB worked on RDU1 board
before, so I never tried to see if this was a regression. I can only
tell you that it hangs as soon as any PORTSC registers are accessed.

Hang at register access usually means that module that owns the
register is not clocked.

On RDU1, call to usb_phy_init() actually calls usb_gen_phy_init() that does
regulator_enable() for &vusb_reg and clk_prepare_enable() for &clk_26M_usb.  I
thing some of these two is actually needed to avoid hang on register access.

Fabio, would you please check both regulator and clock for ULPI PHY are on at imx51bbg?

Peter