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Since you have totally different devices, I don't see much sense to map them in flat memory, and do everything at user level. I'd would have written device driver for each peripheral, and provided functions for user level to access these drivers. That would be more in spirit of true Linux, and potentially might save you few unexpected headaches. Having said that, I realize that each design is different, and might have specific requirements that don't fit in canonical model, use you own experience and utter perception of beauty while creating your design.
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