diff --git a/src/portable/synopsys/dwc2/hcd_dwc2.c b/src/portable/synopsys/dwc2/hcd_dwc2.c
index e4ab16d9d4..fa4e226297 100644
--- a/src/portable/synopsys/dwc2/hcd_dwc2.c
+++ b/src/portable/synopsys/dwc2/hcd_dwc2.c
@@ -32,19 +32,19 @@
 #error DWC2 require either CFG_TUH_DWC2_SLAVE_ENABLE or CFG_TUH_DWC2_DMA_ENABLE to be enabled
 #endif
 
-// Debug level for DWC2
-#define DWC2_DEBUG    2
-
 #include "host/hcd.h"
 #include "host/usbh.h"
 #include "dwc2_common.h"
 
-// Max number of endpoints application can open, can be larger than DWC2_CHANNEL_COUNT_MAX
-#ifndef CFG_TUH_DWC2_ENDPOINT_MAX
-#define CFG_TUH_DWC2_ENDPOINT_MAX 16
-#endif
+  // Debug level for DWC2
+  #define DWC2_DEBUG 2
+
+  // Max number of endpoints application can open, can be larger than DWC2_CHANNEL_COUNT_MAX
+  #ifndef CFG_TUH_DWC2_ENDPOINT_MAX
+    #define CFG_TUH_DWC2_ENDPOINT_MAX 16u
+  #endif
 
-#define DWC2_CHANNEL_COUNT_MAX    16 // absolute max channel count
+  #define DWC2_CHANNEL_COUNT_MAX 16u // absolute max channel count
 TU_VERIFY_STATIC(CFG_TUH_DWC2_ENDPOINT_MAX <= 255, "currently only use 8-bit for index");
 
 enum {
@@ -79,7 +79,8 @@ typedef struct {
     uint32_t speed           : 2;
     uint32_t next_pid        : 2; // PID for next transfer
     uint32_t next_do_ping    : 1; // Do PING for next transfer if possible (highspeed OUT)
-    // uint32_t : 9;
+    uint32_t closing         : 1; // endpoint is closing
+    // uint32_t : 8;
   };
 
   uint32_t uframe_countdown; // micro-frame count down to transfer for periodic, only need 18-bit
@@ -96,6 +97,7 @@ typedef struct {
     uint8_t err_count : 3;
     uint8_t period_split_nyet_count : 3;
     uint8_t halted_nyet : 1;
+    uint8_t closing : 1; // closing channel
   };
   uint8_t result;
 
@@ -195,8 +197,21 @@ TU_ATTR_ALWAYS_INLINE static inline void channel_dealloc(dwc2_regs_t* dwc2, uint
 }
 
 TU_ATTR_ALWAYS_INLINE static inline bool channel_disable(const dwc2_regs_t* dwc2, dwc2_channel_t* channel) {
-  // disable also require request queue
-  TU_ASSERT(req_queue_avail(dwc2, channel_is_periodic(channel->hcchar)));
+  const bool is_period = channel_is_periodic(channel->hcchar);
+  if (dma_host_enabled(dwc2)) {
+    // In buffer DMA or external DMA mode:
+    // - Channel disable must not be programmed for non-split periodic channels. At the end of the next uframe/frame (in
+    //   the worst case), the controller generates a channel halted and disables the channel automatically.
+    // - For split enabled channels (both non-periodic and periodic), channel disable must not be programmed randomly.
+    //   However, channel disable can be programmed for specific scenarios such as NAK and FrmOvrn.
+    if (is_period && (channel->hcsplt & HCSPLT_SPLITEN)) {
+      return true;
+    }
+  } else {
+    while (0 == req_queue_avail(dwc2, is_period)) {
+      // blocking wait for request queue available
+    }
+  }
   channel->hcintmsk |= HCINT_HALTED;
   channel->hcchar |= HCCHAR_CHDIS | HCCHAR_CHENA; // must set both CHDIS and CHENA
   return true;
@@ -204,7 +219,9 @@ TU_ATTR_ALWAYS_INLINE static inline bool channel_disable(const dwc2_regs_t* dwc2
 
 // attempt to send IN token to receive data
 TU_ATTR_ALWAYS_INLINE static inline bool channel_send_in_token(const dwc2_regs_t* dwc2, dwc2_channel_t* channel) {
-  TU_ASSERT(req_queue_avail(dwc2, channel_is_periodic(channel->hcchar)));
+  while (0 == req_queue_avail(dwc2, channel_is_periodic(channel->hcchar))) {
+    // blocking wait for request queue available
+  }
   channel->hcchar |= HCCHAR_CHENA;
   return true;
 }
@@ -237,13 +254,37 @@ TU_ATTR_ALWAYS_INLINE static inline uint8_t edpt_alloc(void) {
   return TUSB_INDEX_INVALID_8;
 }
 
-// Find a endpoint that is opened previously with hcd_edpt_open()
+TU_ATTR_ALWAYS_INLINE static inline void edpt_dealloc(hcd_endpoint_t *edpt) {
+  edpt->hcchar_bm.enable = 0;
+}
+
+// close an opened endpoint
+static void edpt_close(dwc2_regs_t *dwc2, uint8_t ep_id) {
+  hcd_endpoint_t *edpt = &_hcd_data.edpt[ep_id];
+  edpt->closing        = 1; // mark endpoint as closing
+
+  // disable active channel belong to this endpoint
+  for (uint8_t ch_id = 0; ch_id < DWC2_CHANNEL_COUNT_MAX; ch_id++) {
+    hcd_xfer_t *xfer = &_hcd_data.xfer[ch_id];
+    if (xfer->allocated && xfer->ep_id == ep_id) {
+      dwc2_channel_t *channel = &dwc2->channel[ch_id];
+      xfer->closing           = 1;
+      channel_disable(dwc2, channel);
+      return; // only 1 active channel per endpoint
+    }
+  }
+
+  edpt_dealloc(edpt); // no active channel, safe to de-alloc now
+}
+
+// Find an endpoint that is opened previously with hcd_edpt_open()
 // Note: EP0 is bidirectional
 TU_ATTR_ALWAYS_INLINE static inline uint8_t edpt_find_opened(uint8_t dev_addr, uint8_t ep_num, uint8_t ep_dir) {
   for (uint8_t i = 0; i < (uint8_t)CFG_TUH_DWC2_ENDPOINT_MAX; i++) {
-    const dwc2_channel_char_t* hcchar_bm = &_hcd_data.edpt[i].hcchar_bm;
-    if (hcchar_bm->enable && hcchar_bm->dev_addr == dev_addr &&
-        hcchar_bm->ep_num == ep_num && (ep_num == 0 || hcchar_bm->ep_dir == ep_dir)) {
+    const hcd_endpoint_t     *edpt      = &_hcd_data.edpt[i];
+    const dwc2_channel_char_t hcchar_bm = edpt->hcchar_bm;
+    if (hcchar_bm.enable && hcchar_bm.dev_addr == dev_addr && hcchar_bm.ep_num == ep_num &&
+        (ep_num == 0 || hcchar_bm.ep_dir == ep_dir)) {
       return i;
     }
   }
@@ -456,11 +497,11 @@ tusb_speed_t hcd_port_speed_get(uint8_t rhport) {
 
 // HCD closes all opened endpoints belong to this device
 void hcd_device_close(uint8_t rhport, uint8_t dev_addr) {
-  (void) rhport;
-  for (uint8_t i = 0; i < (uint8_t) CFG_TUH_DWC2_ENDPOINT_MAX; i++) {
-    hcd_endpoint_t* edpt = &_hcd_data.edpt[i];
+  dwc2_regs_t* dwc2 = DWC2_REG(rhport);
+  for (uint8_t ep_id = 0; ep_id < CFG_TUH_DWC2_ENDPOINT_MAX; ep_id++) {
+    const hcd_endpoint_t *edpt = &_hcd_data.edpt[ep_id];
     if (edpt->hcchar_bm.enable && edpt->hcchar_bm.dev_addr == dev_addr) {
-      tu_memclr(edpt, sizeof(hcd_endpoint_t));
+      edpt_close(dwc2, ep_id);
     }
   }
 }
@@ -520,8 +561,15 @@ bool hcd_edpt_open(uint8_t rhport, uint8_t dev_addr, const tusb_desc_endpoint_t*
 }
 
 bool hcd_edpt_close(uint8_t rhport, uint8_t daddr, uint8_t ep_addr) {
-  (void) rhport; (void) daddr; (void) ep_addr;
-  return false; // TODO not implemented yet
+  dwc2_regs_t  *dwc2   = DWC2_REG(rhport);
+  const uint8_t ep_num = tu_edpt_number(ep_addr);
+  const uint8_t ep_dir = tu_edpt_dir(ep_addr);
+  const uint8_t ep_id  = edpt_find_opened(daddr, ep_num, ep_dir);
+  TU_ASSERT(ep_id < CFG_TUH_DWC2_ENDPOINT_MAX);
+
+  edpt_close(dwc2, ep_id);
+
+  return true;
 }
 
 // clean up channel after part of transfer is done but the whole urb is not complete
@@ -590,8 +638,7 @@ static bool channel_xfer_start(dwc2_regs_t* dwc2, uint8_t ch_id) {
   channel->hcint = 0xFFFFFFFFU; // clear all channel interrupts
 
   if (dma_host_enabled(dwc2)) {
-    uint32_t hcintmsk = HCINT_HALTED;
-    channel->hcintmsk = hcintmsk;
+    channel->hcintmsk = HCINT_HALTED;
     dwc2->haintmsk |= TU_BIT(ch_id);
 
     channel->hcdma = (uint32_t) edpt->buffer;
@@ -646,7 +693,6 @@ static bool edpt_xfer_kickoff(dwc2_regs_t* dwc2, uint8_t ep_id) {
   return channel_xfer_start(dwc2, ch_id);
 }
 
-// Submit a transfer, when complete hcd_event_xfer_complete() must be invoked
 bool hcd_edpt_xfer(uint8_t rhport, uint8_t dev_addr, uint8_t ep_addr, uint8_t * buffer, uint16_t buflen) {
   dwc2_regs_t* dwc2 = DWC2_REG(rhport);
   const uint8_t ep_num = tu_edpt_number(ep_addr);
@@ -654,7 +700,8 @@ bool hcd_edpt_xfer(uint8_t rhport, uint8_t dev_addr, uint8_t ep_addr, uint8_t *
 
   uint8_t ep_id = edpt_find_opened(dev_addr, ep_num, ep_dir);
   TU_ASSERT(ep_id < CFG_TUH_DWC2_ENDPOINT_MAX);
-  hcd_endpoint_t* edpt = &_hcd_data.edpt[ep_id];
+  hcd_endpoint_t *edpt = &_hcd_data.edpt[ep_id];
+  TU_VERIFY(edpt->closing == 0); // skip if endpoint is closing
 
   edpt->buffer = buffer;
   edpt->buflen = buflen;
@@ -945,6 +992,8 @@ static bool handle_channel_in_slave(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t h
       is_done = true;
     } else if (xfer->err_count == HCD_XFER_ERROR_MAX) {
       xfer->result = XFER_RESULT_FAILED;
+      is_done      = true;
+    } else if (xfer->closing) {
       is_done = true;
     } else {
       // got here due to NAK or NYET
@@ -1006,6 +1055,8 @@ static bool handle_channel_out_slave(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t
     } else if (xfer->err_count == HCD_XFER_ERROR_MAX) {
       xfer->result = XFER_RESULT_FAILED;
       is_done = true;
+    } else if (xfer->closing) {
+      is_done = true;
     } else {
       // Got here due to NAK or NYET
       TU_ASSERT(channel_xfer_start(dwc2, ch_id));
@@ -1122,6 +1173,10 @@ static bool handle_channel_in_dma(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t hci
       // retry start-split in next binterval
       channel_xfer_in_retry(dwc2, ch_id, hcint);
     }
+
+    if (xfer->closing) {
+      is_done = true;
+    }
   }
 
   return is_done;
@@ -1182,6 +1237,10 @@ static bool handle_channel_out_dma(dwc2_regs_t* dwc2, uint8_t ch_id, uint32_t hc
         channel->hcchar |= HCCHAR_CHENA;
       }
     }
+
+    if (xfer->closing) {
+      is_done = true;
+    }
   } else if (hcint & HCINT_ACK) {
     xfer->err_count = 0;
     channel->hcintmsk &= ~HCINT_ACK;
@@ -1226,12 +1285,17 @@ static void handle_channel_irq(uint8_t rhport, bool in_isr) {
         } else {
           is_done = handle_channel_in_slave(dwc2, ch_id, hcint);
         }
-        #endif
+  #endif
       }
 
       if (is_done) {
-        const uint8_t ep_addr = tu_edpt_addr(hcchar.ep_num, hcchar.ep_dir);
-        hcd_event_xfer_complete(hcchar.dev_addr, ep_addr, xfer->xferred_bytes, (xfer_result_t)xfer->result, in_isr);
+        if (xfer->closing) {
+          hcd_endpoint_t *edpt = &_hcd_data.edpt[xfer->ep_id];
+          edpt_dealloc(edpt);
+        } else {
+          const uint8_t ep_addr = tu_edpt_addr(hcchar.ep_num, hcchar.ep_dir);
+          hcd_event_xfer_complete(hcchar.dev_addr, ep_addr, xfer->xferred_bytes, (xfer_result_t)xfer->result, in_isr);
+        }
         channel_dealloc(dwc2, ch_id);
       }
     }
@@ -1250,16 +1314,18 @@ static bool handle_sof_irq(uint8_t rhport, bool in_isr) {
   const uint32_t ucount = (hprt_speed_get(dwc2) == TUSB_SPEED_HIGH ? 1 : 8);
 
   for(uint8_t ep_id = 0; ep_id < CFG_TUH_DWC2_ENDPOINT_MAX; ep_id++) {
-    hcd_endpoint_t* edpt = &_hcd_data.edpt[ep_id];
-    if (edpt->hcchar_bm.enable && channel_is_periodic(edpt->hcchar) && edpt->uframe_countdown > 0) {
-      edpt->uframe_countdown -= tu_min32(ucount, edpt->uframe_countdown);
-      if (edpt->uframe_countdown == 0) {
-        if (!edpt_xfer_kickoff(dwc2, ep_id)) {
-          edpt->uframe_countdown = ucount; // failed to start, try again next frame
+    hcd_endpoint_t *edpt = &_hcd_data.edpt[ep_id];
+    if (edpt->closing == 0) {
+      if (edpt->hcchar_bm.enable && channel_is_periodic(edpt->hcchar) && edpt->uframe_countdown > 0) {
+        edpt->uframe_countdown -= tu_min32(ucount, edpt->uframe_countdown);
+        if (edpt->uframe_countdown == 0) {
+          if (!edpt_xfer_kickoff(dwc2, ep_id)) {
+            edpt->uframe_countdown = ucount; // failed to start, try again next frame
+          }
         }
-      }
 
-      more_isr = true;
+        more_isr = true;
+      }
     }
   }