diff --git a/os/hal/ports/STM32/LLD/OTGv1/hal_usb_lld.c b/os/hal/ports/STM32/LLD/OTGv1/hal_usb_lld.c
index 0357d1855..0b20805e0 100644
--- a/os/hal/ports/STM32/LLD/OTGv1/hal_usb_lld.c
+++ b/os/hal/ports/STM32/LLD/OTGv1/hal_usb_lld.c
@@ -140,6 +140,7 @@ static void otg_core_reset(USBDriver *usbp) {
 
   /* Core reset and delay of at least 3 PHY cycles.*/
   otgp->GRSTCTL = GRSTCTL_CSRST;
+  osalSysPolledDelayX(12);
   while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0)
     ;
 
diff --git a/readme.txt b/readme.txt
index 49f38705c..9ee1d43db 100644
--- a/readme.txt
+++ b/readme.txt
@@ -184,6 +184,8 @@
 - EX:  Updated LIS302DL to 1.1.0 (backported to 18.2.1).
 - EX:  Updated LPS25H to 1.1.0 (backported to 18.2.1).
 - EX:  Updated LSM303DLHC to 1.1.0 (backported to 18.2.1).
+- HAL: Fixed timing problem in STM32 OTGv1 driver (bug #996)
+       (backported to 18.2.2 and 17.6.5).
 - HAL: Fixed restrictive check in MMC-SPI driver (bug #995)
        (backported to 18.2.2 and 17.6.5).
 - HAL: Fixed misplaced check in STM32 ST driver (bug #994)