diff --git a/src/portable/raspberrypi/rp2040/dcd_rp2040.c b/src/portable/raspberrypi/rp2040/dcd_rp2040.c
index e084478e04..42add3167f 100644
--- a/src/portable/raspberrypi/rp2040/dcd_rp2040.c
+++ b/src/portable/raspberrypi/rp2040/dcd_rp2040.c
@@ -83,7 +83,7 @@ static void _hw_endpoint_alloc(struct hw_endpoint *ep, uint8_t transfer_type)
 
   assert(((uintptr_t )next_buffer_ptr & 0b111111u) == 0);
   uint dpram_offset = hw_data_offset(ep->hw_data_buf);
-  assert(hw_data_offset(next_buffer_ptr) <= USB_DPRAM_MAX);
+  hard_assert(hw_data_offset(next_buffer_ptr) <= USB_DPRAM_MAX);
 
   pico_info("  Alloced %d bytes at offset 0x%x (0x%p)\r\n", size, dpram_offset, ep->hw_data_buf);
 
@@ -93,7 +93,6 @@ static void _hw_endpoint_alloc(struct hw_endpoint *ep, uint8_t transfer_type)
   *ep->endpoint_control = reg;
 }
 
-#if 0 // todo unused
 static void _hw_endpoint_close(struct hw_endpoint *ep)
 {
     // Clear hardware registers and then zero the struct
@@ -103,6 +102,21 @@ static void _hw_endpoint_close(struct hw_endpoint *ep)
     *ep->buffer_control = 0;
     // Clear any endpoint state
     memset(ep, 0, sizeof(struct hw_endpoint));
+
+    // Reclaim buffer space if all endpoints are closed
+    bool reclaim_buffers = true;
+    for ( uint8_t i = 1; i < USB_MAX_ENDPOINTS; i++ )
+    {
+        if (hw_endpoint_get_by_num(i, TUSB_DIR_OUT)->hw_data_buf != NULL || hw_endpoint_get_by_num(i, TUSB_DIR_IN)->hw_data_buf != NULL)
+        {
+            reclaim_buffers = false;
+            break;
+        }
+    }
+    if (reclaim_buffers)
+    {
+        next_buffer_ptr = &usb_dpram->epx_data[0];
+    }
 }
 
 static void hw_endpoint_close(uint8_t ep_addr)
@@ -110,7 +124,6 @@ static void hw_endpoint_close(uint8_t ep_addr)
     struct hw_endpoint *ep = hw_endpoint_get_by_addr(ep_addr);
     _hw_endpoint_close(ep);
 }
-#endif
 
 static void hw_endpoint_init(uint8_t ep_addr, uint16_t wMaxPacketSize, uint8_t transfer_type)
 {
@@ -224,6 +237,8 @@ static void reset_non_control_endpoints(void)
 
   // clear non-control hw endpoints
   tu_memclr(hw_endpoints[1], sizeof(hw_endpoints) - 2*sizeof(hw_endpoint_t));
+
+  // reclaim buffer space
   next_buffer_ptr = &usb_dpram->epx_data[0];
 }
 
@@ -232,6 +247,14 @@ static void dcd_rp2040_irq(void)
     uint32_t const status = usb_hw->ints;
     uint32_t handled = 0;
 
+    // xfer events are handled before setup req. So if a transfer completes immediately
+    // before closing the EP, the events will be delivered in same order.
+    if (status & USB_INTS_BUFF_STATUS_BITS)
+    {
+        handled |= USB_INTS_BUFF_STATUS_BITS;
+        hw_handle_buff_status();
+    }
+
     if (status & USB_INTS_SETUP_REQ_BITS)
     {
         handled |= USB_INTS_SETUP_REQ_BITS;
@@ -245,12 +268,6 @@ static void dcd_rp2040_irq(void)
         usb_hw_clear->sie_status = USB_SIE_STATUS_SETUP_REC_BITS;
     }
 
-    if (status & USB_INTS_BUFF_STATUS_BITS)
-    {
-        handled |= USB_INTS_BUFF_STATUS_BITS;
-        hw_handle_buff_status();
-    }
-
 #if FORCE_VBUS_DETECT == 0
     // Since we force VBUS detect On, device will always think it is connected and
     // couldn't distinguish between disconnect and suspend
@@ -479,10 +496,9 @@ void dcd_edpt_clear_stall(uint8_t rhport, uint8_t ep_addr)
 void dcd_edpt_close (uint8_t rhport, uint8_t ep_addr)
 {
     (void) rhport;
-    (void) ep_addr;
 
-    // usbd.c says: In progress transfers on this EP may be delivered after this call
     pico_trace("dcd_edpt_close %02x\n", ep_addr);
+    hw_endpoint_close(ep_addr);
 }
 
 void dcd_int_handler(uint8_t rhport)
diff --git a/src/portable/raspberrypi/rp2040/rp2040_usb.c b/src/portable/raspberrypi/rp2040/rp2040_usb.c
index c9e2f6b266..9d833e65f1 100644
--- a/src/portable/raspberrypi/rp2040/rp2040_usb.c
+++ b/src/portable/raspberrypi/rp2040/rp2040_usb.c
@@ -294,7 +294,7 @@ bool hw_endpoint_xfer_continue(struct hw_endpoint *ep)
   // Part way through a transfer
   if (!ep->active)
   {
-    panic("Can't continue xfer on inactive ep %d %s", tu_edpt_number(ep->ep_addr), ep_dir_string);
+    panic("Can't continue xfer on inactive ep %d %s", tu_edpt_number(ep->ep_addr), ep_dir_string[tu_edpt_dir(ep->ep_addr)]);
   }
 
   // Update EP struct from hardware state