Note for bisection: it looks like it works fine as of tag stable-4.2 .

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https://bugs.launchpad.net/bugs/1892604

Title:
  qemu-system-arm: ../hw/usb/hcd-dwc2.c:666: dwc2_glbreg_read: Assertion
  `addr <= GINTSTS2' failed.

Status in QEMU:
  New

Bug description:
  When trying to run the 2016-05-27 Raspbian image on the emulated
  raspi2 platform, the system boots but shortly after the login prompt
  QEMU (master; commit ID ca489cd037e4d50dc6c40570a167504ad7e5a521) dies
  with:

  qemu-system-arm: ../hw/usb/hcd-dwc2.c:666: dwc2_glbreg_read: Assertion
  `addr <= GINTSTS2' failed.

  Steps to reproduce:

  1. Get the image: wget
  
http://downloads.raspberrypi.org/raspbian/images/raspbian-2016-05-31/2016-05-27
  -raspbian-jessie.zip

  2. Extract the kernel image and DTB:

  sudo losetup -f --show -P 2016-05-27-raspbian-jessie.img
  sudo mkdir /mnt/rpi
  sudo mount /dev/loop11p1 /mnt/rpi/
  cp /mnt/rpi/kernel7.img .                                                     
                                                                                
                                                                                
                                                    
  cp /mnt/rpi/bcm2709-rpi-2-b.dtb .                                             
                                                                                
                                                                                
                                                    
  sudo umount /mnt/rpi 
  sudo losetup -d /dev/loop11 

  3. Run QEMU:
  qemu-system-arm -M raspi2 -m 1G -dtb bcm2709-rpi-2-b.dtb -kernel kernel7.img 
-append "rw earlyprintk loglevel=8 console=ttyAMA0,115200 dwc_otg.lpm_enable=0 
root=/dev/mmcblk0p2" -sd 2016-05-27-raspbian-jessie.img -smp 4 -serial stdio 
-display none

  A few seconds after the login prompt is displayed, QEMU will exit with
  the assertion failure.

  I also tried changing all of the asserts to if statements that (for
  MMIO reads) returned 0 and (for writes) just returned, but this
  resulted in a non-responsive system.

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