diff --git a/drivers/usb/dwc3/core.h b/drivers/usb/dwc3/core.h
index 44f1364d1682..f234dac3e832 100644
--- a/drivers/usb/dwc3/core.h
+++ b/drivers/usb/dwc3/core.h
@@ -729,6 +729,7 @@ struct dwc3_ep {
 #define DWC3_EP_FIRST_STREAM_PRIMED	BIT(10)
 #define DWC3_EP_PENDING_CLEAR_STALL	BIT(11)
 #define DWC3_EP_TXFIFO_RESIZED		BIT(12)
+#define DWC3_EP_DELAY_STOP             BIT(13)
 
 	/* This last one is specific to EP0 */
 #define DWC3_EP0_DIR_IN		BIT(31)
diff --git a/drivers/usb/dwc3/ep0.c b/drivers/usb/dwc3/ep0.c
index 658739410992..1064be5518f6 100644
--- a/drivers/usb/dwc3/ep0.c
+++ b/drivers/usb/dwc3/ep0.c
@@ -271,6 +271,7 @@ void dwc3_ep0_out_start(struct dwc3 *dwc)
 {
 	struct dwc3_ep			*dep;
 	int				ret;
+	int                             i;
 
 	complete(&dwc->ep0_in_setup);
 
@@ -279,6 +280,19 @@ void dwc3_ep0_out_start(struct dwc3 *dwc)
 			DWC3_TRBCTL_CONTROL_SETUP, false);
 	ret = dwc3_ep0_start_trans(dep);
 	WARN_ON(ret < 0);
+	for (i = 2; i < DWC3_ENDPOINTS_NUM; i++) {
+		struct dwc3_ep *dwc3_ep;
+
+		dwc3_ep = dwc->eps[i];
+		if (!dwc3_ep)
+			continue;
+
+		if (!(dwc3_ep->flags & DWC3_EP_DELAY_STOP))
+			continue;
+
+		dwc3_ep->flags &= ~DWC3_EP_DELAY_STOP;
+		dwc3_stop_active_transfer(dwc3_ep, true, true);
+	}
 }
 
 static struct dwc3_ep *dwc3_wIndex_to_dep(struct dwc3 *dwc, __le16 wIndex_le)
diff --git a/drivers/usb/dwc3/gadget.c b/drivers/usb/dwc3/gadget.c
index 93759e839267..ebb6deac2bd0 100644
--- a/drivers/usb/dwc3/gadget.c
+++ b/drivers/usb/dwc3/gadget.c
@@ -1874,6 +1874,7 @@ static int __dwc3_gadget_ep_queue(struct dwc3_ep *dep, struct dwc3_request *req)
 	 */
 	if ((dep->flags & DWC3_EP_END_TRANSFER_PENDING) ||
 	    (dep->flags & DWC3_EP_WEDGE) ||
+	    (dep->flags & DWC3_EP_DELAY_STOP) ||
 	    (dep->flags & DWC3_EP_STALL)) {
 		dep->flags |= DWC3_EP_DELAY_START;
 		return 0;
@@ -2008,6 +2009,16 @@ static int dwc3_gadget_ep_dequeue(struct usb_ep *ep,
 		if (r == req) {
 			struct dwc3_request *t;
 
+			/*
+			 * If a Setup packet is received but yet to DMA out, the controller will
+			 * not process the End Transfer command of any endpoint. Polling of its
+			 * DEPCMD.CmdAct may block setting up TRB for Setup packet, causing a
+			 * timeout. Delay issuing the End Transfer command until the Setup TRB is
+			 * prepared.
+			 */
+			if (dwc->ep0state != EP0_SETUP_PHASE && !dwc->delayed_status)
+				dep->flags |= DWC3_EP_DELAY_STOP;
+
 			/* wait until it is processed */
 			dwc3_stop_active_transfer(dep, true, true);
 
@@ -2089,7 +2100,8 @@ int __dwc3_gadget_ep_set_halt(struct dwc3_ep *dep, int value, int protocol)
 		if (!list_empty(&dep->started_list))
 			dep->flags |= DWC3_EP_DELAY_START;
 
-		if (dep->flags & DWC3_EP_END_TRANSFER_PENDING) {
+		if (dep->flags & DWC3_EP_END_TRANSFER_PENDING ||
+		    (dep->flags & DWC3_EP_DELAY_STOP)) {
 			dep->flags |= DWC3_EP_PENDING_CLEAR_STALL;
 			return 0;
 		}
@@ -3585,6 +3597,7 @@ void dwc3_stop_active_transfer(struct dwc3_ep *dep, bool force,
 	int ret;
 
 	if (!(dep->flags & DWC3_EP_TRANSFER_STARTED) ||
+	    (dep->flags & DWC3_EP_DELAY_STOP) ||
 	    (dep->flags & DWC3_EP_END_TRANSFER_PENDING))
 		return;
 
diff --git a/drivers/usb/dwc3/gadget.h b/drivers/usb/dwc3/gadget.h
index 77df4b6d6c13..f763380e672e 100644
--- a/drivers/usb/dwc3/gadget.h
+++ b/drivers/usb/dwc3/gadget.h
@@ -116,6 +116,7 @@ int dwc3_gadget_ep0_queue(struct usb_ep *ep, struct usb_request *request,
 		gfp_t gfp_flags);
 int __dwc3_gadget_ep_set_halt(struct dwc3_ep *dep, int value, int protocol);
 void dwc3_ep0_send_delayed_status(struct dwc3 *dwc);
+void dwc3_stop_active_transfer(struct dwc3_ep *dep, bool force, bool interrupt);
 
 /**
  * dwc3_gadget_ep_get_transfer_index - Gets transfer index from HW