According to the imx51_defconfig file you have enabled USB HOST1, HOST2 and OTG port and also the Gadget for the OTG port. This is not the recommended configuration for it. Can you please change your KCONFIG to be something like this:
#
# USB Host Controller Drivers
#
# CONFIG_USB_C67X00_HCD is not set
CONFIG_USB_EHCI_HCD=y
CONFIG_USB_EHCI_ARC=y
CONFIG_USB_EHCI_ARC_H1=y
# CONFIG_USB_EHCI_ARC_H2 is not set
# CONFIG_USB_EHCI_ARC_OTG is not set
# CONFIG_USB_STATIC_IRAM is not set
CONFIG_USB_EHCI_ROOT_HUB_TT=y
# CONFIG_USB_EHCI_TT_NEWSCHED is not set
# CONFIG_USB_ISP116X_HCD is not set
# CONFIG_USB_SL811_HCD is not set
# CONFIG_USB_R8A66597_HCD is not set
# CONFIG_USB_HWA_HCD is not set
# CONFIG_USB_GADGET_MUSB_HDRC is not set
According to the imx51_defconfig file you have enabled USB HOST1, HOST2 and OTG port and also the Gadget for the OTG port. This is not the recommended configuration for it. Can you please change your KCONFIG to be something like this:
# USB_C67X00_ HCD is not set USB_EHCI_ HCD=y USB_EHCI_ ARC=y USB_EHCI_ ARC_H1= y USB_EHCI_ ARC_H2 is not set USB_EHCI_ ARC_OTG is not set USB_STATIC_ IRAM is not set USB_EHCI_ ROOT_HUB_ TT=y USB_EHCI_ TT_NEWSCHED is not set USB_ISP116X_ HCD is not set USB_SL811_ HCD is not set USB_R8A66597_ HCD is not set USB_GADGET_ MUSB_HDRC is not set
# USB Host Controller Drivers
#
# CONFIG_
CONFIG_
CONFIG_
CONFIG_
# CONFIG_
# CONFIG_
# CONFIG_
CONFIG_
# CONFIG_
# CONFIG_
# CONFIG_
# CONFIG_
# CONFIG_USB_HWA_HCD is not set
# CONFIG_