> kernel: musb_h_ep0_irq 1067: no URB for end 0

> kernel: usb 1-1: device descriptor read/64,
error -110

Some devices are flakey about device descriptor reads.
Note "-110" is "-ETIMEDOUT".  The code in usbcore to
read descriptors has all sorts of logic to handle flakey
descriptor reporting from USB peripherals, and the first
place such things show up is usually device descriptors.
Root causes are normally peripheral bugs, but it's also
possible the MUSB code might need tweaking.
  
  

> 
  I see some comments in musb/musb_host.c for ‘no
URB for
> end
0’, saying this should never happen.


where "should" is the operative word ... not "can".  Butit's clearly happening 
to you ... 
 
     
  My question is how to fix this error. 

No suggestions, sorry; but you have TWO errors, soI'd debug them one at a time.

 - Dave

 
  
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