diff --git a/os/hal/platforms/STM32/OTGv1/usb_lld.c b/os/hal/platforms/STM32/OTGv1/usb_lld.c
index f6287a49c..4af75ccd2 100644
--- a/os/hal/platforms/STM32/OTGv1/usb_lld.c
+++ b/os/hal/platforms/STM32/OTGv1/usb_lld.c
@@ -128,11 +128,15 @@ static void usb_lld_wakeup_pump(USBDriver *usbp) {
 static void otg_core_reset(USBDriver *usbp) {
   stm32_otg_t *otgp = usbp->otg;
 
+  halPolledDelay(32);
+
   /* Core reset and delay of at least 3 PHY cycles.*/
   otgp->GRSTCTL = GRSTCTL_CSRST;
   while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0)
     ;
+
   halPolledDelay(12);
+
   /* Wait AHB idle condition.*/
   while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)
     ;
diff --git a/readme.txt b/readme.txt
index 4317f462f..a37766a09 100644
--- a/readme.txt
+++ b/readme.txt
@@ -89,6 +89,8 @@
 *****************************************************************************
 
 *** 2.7.0 ***
+- FIX: Fixed timing issue in the STM32 OTGv1 USB driver (bug #436)(backported
+  to 2.6.2).
 - FIX: Fixed possible unalignment in GCC Cortex-M scatter files (bug #430)
   (backported to 2.6.2 and 2.4.6).
 - FIX: Fixed PAL driver documentation error (bug #427)(backported to 2.6.1