diff --git a/arch/arm/mach-bcm/board_bcm2835.c b/arch/arm/mach-bcm/board_bcm2835.c
index 73ec2427fbcfbecaaa17836bd4035c3dbf808689..9b6c921106b5663d4c0a06ff0aec0eda4697cc0f 100644
--- a/arch/arm/mach-bcm/board_bcm2835.c
+++ b/arch/arm/mach-bcm/board_bcm2835.c
@@ -6,6 +6,7 @@
 #include <linux/init.h>
 #include <linux/irqchip.h>
 #include <linux/of_address.h>
+#include <linux/of_fdt.h>
 #include <asm/system_info.h>
 
 #include <asm/mach/arch.h>
@@ -13,6 +14,9 @@
 
 #include "platsmp.h"
 
+#define BCM2835_USB_VIRT_BASE   0xf0980000
+#define BCM2835_USB_VIRT_MPHI   0xf0006000
+
 static void __init bcm2835_init(void)
 {
 	struct device_node *np = of_find_node_by_path("/system");
@@ -25,6 +29,70 @@ static void __init bcm2835_init(void)
 		system_serial_low = val64;
 }
 
+/*
+ * We need to map registers that are going to be accessed by the FIQ
+ * very early, before any kernel threads are spawned. Because if done
+ * later, the mapping tables are not updated instantly but lazily upon
+ * first access through a data abort handler. While that is fine
+ * when executing regular kernel code, if the first access in a specific
+ * thread happens while running FIQ code this will result in a panic.
+ *
+ * For more background see the following old mailing list thread:
+ * https://www.spinics.net/lists/arm-kernel/msg325250.html
+ */
+static int __init bcm2835_map_usb(unsigned long node, const char *uname,
+					int depth, void *data)
+{
+	struct map_desc map[2];
+	const __be32 *reg;
+	int len;
+	unsigned long p2b_offset = *((unsigned long *) data);
+
+	if (!of_flat_dt_is_compatible(node, "brcm,bcm2708-usb"))
+		return 0;
+	reg = of_get_flat_dt_prop(node, "reg", &len);
+	if (!reg || len != (sizeof(unsigned long) * 4))
+		return 0;
+
+	/* Use information about the physical addresses of the
+	 * registers from the device tree, but use legacy
+	 * iotable_init() static mapping function to map them,
+	 * as ioremap() is not functional at this stage in boot.
+	 */
+	map[0].virtual = (unsigned long) BCM2835_USB_VIRT_BASE;
+	map[0].pfn = __phys_to_pfn(be32_to_cpu(reg[0]) - p2b_offset);
+	map[0].length = be32_to_cpu(reg[1]);
+	map[0].type = MT_DEVICE;
+	map[1].virtual = (unsigned long) BCM2835_USB_VIRT_MPHI;
+	map[1].pfn = __phys_to_pfn(be32_to_cpu(reg[2]) - p2b_offset);
+	map[1].length = be32_to_cpu(reg[3]);
+	map[1].type = MT_DEVICE;
+		iotable_init(map, 2);
+
+	return 1;
+}
+
+static void __init bcm2835_map_io(void)
+{
+	const __be32 *ranges;
+	int soc, len;
+	unsigned long p2b_offset;
+
+	debug_ll_io_init();
+
+	/* Find out how to map bus to physical address first from soc/ranges */
+	soc = of_get_flat_dt_subnode_by_name(of_get_flat_dt_root(), "soc");
+	if (soc < 0)
+		return;
+	ranges = of_get_flat_dt_prop(soc, "ranges", &len);
+	if (!ranges || len < (sizeof(unsigned long) * 3))
+		return;
+	p2b_offset = be32_to_cpu(ranges[0]) - be32_to_cpu(ranges[1]);
+
+	/* Now search for bcm2708-usb node in device tree */
+	of_scan_flat_dt(bcm2835_map_usb, &p2b_offset);
+}
+
 static const char * const bcm2835_compat[] = {
 #ifdef CONFIG_ARCH_MULTI_V6
 	"brcm,bcm2835",
@@ -37,6 +105,7 @@ static const char * const bcm2835_compat[] = {
 };
 
 DT_MACHINE_START(BCM2835, "BCM2835")
+	.map_io = bcm2835_map_io,
 	.init_machine = bcm2835_init,
 	.dt_compat = bcm2835_compat,
 	.smp = smp_ops(bcm2836_smp_ops),