diff --git a/port/musb/usb_hc_musb.c b/port/musb/usb_hc_musb.c
index 51887883..26a284be 100644
--- a/port/musb/usb_hc_musb.c
+++ b/port/musb/usb_hc_musb.c
@@ -630,6 +630,21 @@ int usbh_pipe_alloc(usbh_pipe_t *pipe, const struct usbh_endpoint_cfg *ep_cfg)
 
 int usbh_pipe_free(usbh_pipe_t pipe)
 {
+    struct musb_pipe *ppipe;
+    struct usbh_urb *urb;
+
+    ppipe = (struct musb_pipe *)pipe;
+
+    if (!ppipe) {
+        return -EINVAL;
+    }
+
+    urb = ppipe->urb;
+
+    if (urb) {
+        usbh_kill_urb(urb);
+    }
+
     return 0;
 }
 
@@ -704,6 +719,20 @@ errout_timeout:
 
 int usbh_kill_urb(struct usbh_urb *urb)
 {
+    struct musb_pipe *pipe;
+
+    pipe = urb->pipe;
+
+    if (!urb || !pipe) {
+        return -EINVAL;
+    }
+
+    if (pipe->waiter) {
+        pipe->waiter = false;
+        urb->errorcode = -ESHUTDOWN;
+        usb_osal_sem_give(pipe->waitsem);
+    }
+
     return 0;
 }