diff --git a/drivers/usb/common/Makefile b/drivers/usb/common/Makefile
index 3bedbf2..7eacc90 100644
--- a/drivers/usb/common/Makefile
+++ b/drivers/usb/common/Makefile
@@ -4,5 +4,8 @@
 #
 
 obj-$(CONFIG_$(SPL_)DM_USB) += common.o
+obj-$(CONFIG_USB_MUSB_HOST) += usb_urb.o
+obj-$(CONFIG_USB_MUSB_GADGET) += usb_urb.o
+obj-$(CONFIG_USB_R8A66597_HCD) += usb_urb.o
 obj-$(CONFIG_USB_EHCI_FSL) += fsl-dt-fixup.o fsl-errata.o
 obj-$(CONFIG_USB_XHCI_FSL) += fsl-dt-fixup.o fsl-errata.o
diff --git a/drivers/usb/common/usb_urb.c b/drivers/usb/common/usb_urb.c
new file mode 100644
index 0000000..be3b6b9
--- /dev/null
+++ b/drivers/usb/common/usb_urb.c
@@ -0,0 +1,160 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * Common code for usb urb handling, based on the musb-new code
+ *
+ * Copyright 2021 Linaro, Rui Miguel Silva <rui.silva@linaro.org>
+ *
+ */
+
+#include <dm/device.h>
+#include <dm/device_compat.h>
+#include <linux/usb/usb_urb_compat.h>
+
+#include <time.h>
+#include <usb.h>
+
+#if CONFIG_IS_ENABLED(DM_USB)
+struct usb_device *usb_dev_get_parent(struct usb_device *udev)
+{
+	struct udevice *parent = udev->dev->parent;
+
+	/*
+	 * When called from usb-uclass.c: usb_scan_device() udev->dev points
+	 * to the parent udevice, not the actual udevice belonging to the
+	 * udev as the device is not instantiated yet.
+	 *
+	 * If dev is an usb-bus, then we are called from usb_scan_device() for
+	 * an usb-device plugged directly into the root port, return NULL.
+	 */
+	if (device_get_uclass_id(udev->dev) == UCLASS_USB)
+		return NULL;
+
+	/*
+	 * If these 2 are not the same we are being called from
+	 * usb_scan_device() and udev itself is the parent.
+	 */
+	if (dev_get_parent_priv(udev->dev) != udev)
+		return udev;
+
+	/* We are being called normally, use the parent pointer */
+	if (device_get_uclass_id(parent) == UCLASS_USB_HUB)
+		return dev_get_parent_priv(parent);
+
+	return NULL;
+}
+#else
+struct usb_device *usb_dev_get_parent(struct usb_device *udev)
+{
+	return udev->parent;
+}
+#endif
+
+static void usb_urb_complete(struct urb *urb)
+{
+	urb->dev->status &= ~USB_ST_NOT_PROC;
+	urb->dev->act_len = urb->actual_length;
+
+	if (urb->status == -EINPROGRESS)
+		urb->status = 0;
+}
+
+void usb_urb_fill(struct urb *urb, struct usb_host_endpoint *hep,
+		  struct usb_device *dev, int endpoint_type,
+		  unsigned long pipe, void *buffer, int len,
+		  struct devrequest *setup, int interval)
+{
+	int epnum = usb_pipeendpoint(pipe);
+	int is_in = usb_pipein(pipe);
+	u16 maxpacketsize = is_in ? dev->epmaxpacketin[epnum] :
+					dev->epmaxpacketout[epnum];
+
+	memset(urb, 0, sizeof(struct urb));
+	memset(hep, 0, sizeof(struct usb_host_endpoint));
+	INIT_LIST_HEAD(&hep->urb_list);
+	INIT_LIST_HEAD(&urb->urb_list);
+	urb->ep = hep;
+	urb->complete = usb_urb_complete;
+	urb->status = -EINPROGRESS;
+	urb->dev = dev;
+	urb->pipe = pipe;
+	urb->transfer_buffer = buffer;
+	urb->transfer_dma = (unsigned long)buffer;
+	urb->transfer_buffer_length = len;
+	urb->setup_packet = (unsigned char *)setup;
+
+	urb->ep->desc.wMaxPacketSize = __cpu_to_le16(maxpacketsize);
+	urb->ep->desc.bmAttributes = endpoint_type;
+	urb->ep->desc.bEndpointAddress = ((is_in ? USB_DIR_IN : USB_DIR_OUT) |
+					  epnum);
+	urb->ep->desc.bInterval = interval;
+}
+
+int usb_urb_submit(struct usb_hcd *hcd, struct urb *urb)
+{
+	const struct usb_urb_ops *ops = hcd->urb_ops;
+	unsigned long timeout;
+	int ret;
+
+	if (!ops)
+		return -EINVAL;
+
+	ret = ops->urb_enqueue(hcd, urb, 0);
+	if (ret < 0) {
+		printf("Failed to enqueue URB to controller\n");
+		return ret;
+	}
+
+	timeout = get_timer(0) + USB_TIMEOUT_MS(urb->pipe);
+	do {
+		if (ctrlc())
+			return -EIO;
+		ops->isr(0, hcd);
+	} while (urb->status == -EINPROGRESS && get_timer(0) < timeout);
+
+	if (urb->status == -EINPROGRESS)
+		ops->urb_dequeue(hcd, urb, -ETIME);
+
+	return urb->status;
+}
+
+int usb_urb_submit_control(struct usb_hcd *hcd, struct urb *urb,
+			   struct usb_host_endpoint *hep,
+			   struct usb_device *dev, unsigned long pipe,
+			   void *buffer, int len, struct devrequest *setup,
+			   int interval, enum usb_device_speed speed)
+{
+	const struct usb_urb_ops *ops = hcd->urb_ops;
+
+	usb_urb_fill(urb, hep, dev, USB_ENDPOINT_XFER_CONTROL, pipe, buffer,
+		     len, setup, 0);
+
+	/* Fix speed for non hub-attached devices */
+	if (!usb_dev_get_parent(dev)) {
+		dev->speed = speed;
+		if (ops->hub_control)
+			return ops->hub_control(hcd, dev, pipe, buffer, len,
+						setup);
+	}
+
+	return usb_urb_submit(hcd, urb);
+}
+
+int usb_urb_submit_bulk(struct usb_hcd *hcd, struct urb *urb,
+			struct usb_host_endpoint *hep, struct usb_device *dev,
+			unsigned long pipe, void *buffer, int len)
+{
+	usb_urb_fill(urb, hep, dev, USB_ENDPOINT_XFER_BULK, pipe, buffer, len,
+		     NULL, 0);
+
+	return usb_urb_submit(hcd, urb);
+}
+
+int usb_urb_submit_irq(struct usb_hcd *hcd, struct urb *urb,
+		       struct usb_host_endpoint *hep, struct usb_device *dev,
+		       unsigned long pipe, void *buffer, int len, int interval)
+{
+	usb_urb_fill(urb, hep, dev, USB_ENDPOINT_XFER_INT, pipe, buffer, len,
+		     NULL, interval);
+
+	return usb_urb_submit(hcd, urb);
+}
diff --git a/drivers/usb/host/r8a66597-hcd.c b/drivers/usb/host/r8a66597-hcd.c
index f1fc93f..3ccbc16 100644
--- a/drivers/usb/host/r8a66597-hcd.c
+++ b/drivers/usb/host/r8a66597-hcd.c
@@ -14,6 +14,7 @@
 #include <dm/device_compat.h>
 #include <linux/delay.h>
 #include <linux/iopoll.h>
+#include <linux/usb/usb_urb_compat.h>
 #include <power/regulator.h>
 
 #include "r8a66597.h"
@@ -24,35 +25,6 @@
 #define R8A66597_DPRINT(...)
 #endif
 
-static inline struct usb_device *usb_dev_get_parent(struct usb_device *udev)
-{
-	struct udevice *parent = udev->dev->parent;
-
-	/*
-	 * When called from usb-uclass.c: usb_scan_device() udev->dev points
-	 * to the parent udevice, not the actual udevice belonging to the
-	 * udev as the device is not instantiated yet.
-	 *
-	 * If dev is an usb-bus, then we are called from usb_scan_device() for
-	 * an usb-device plugged directly into the root port, return NULL.
-	 */
-	if (device_get_uclass_id(udev->dev) == UCLASS_USB)
-		return NULL;
-
-	/*
-	 * If these 2 are not the same we are being called from
-	 * usb_scan_device() and udev itself is the parent.
-	 */
-	if (dev_get_parent_priv(udev->dev) != udev)
-		return udev;
-
-	/* We are being called normally, use the parent pointer */
-	if (device_get_uclass_id(parent) == UCLASS_USB_HUB)
-		return dev_get_parent_priv(parent);
-
-	return NULL;
-}
-
 static void get_hub_data(struct usb_device *dev, u16 *hub_devnum, u16 *hubport)
 {
 	struct usb_device *parent = usb_dev_get_parent(dev);
diff --git a/drivers/usb/musb-new/musb_core.c b/drivers/usb/musb-new/musb_core.c
index 18d9bc8..fc7af74 100644
--- a/drivers/usb/musb-new/musb_core.c
+++ b/drivers/usb/musb-new/musb_core.c
@@ -89,9 +89,9 @@
 #include <linux/usb/ch9.h>
 #include <linux/usb/gadget.h>
 #include <linux/usb/musb.h>
+#include <linux/usb/usb_urb_compat.h>
 #include <asm/io.h>
 #include "linux-compat.h"
-#include "usb-compat.h"
 #endif
 
 #include "musb_core.h"
diff --git a/drivers/usb/musb-new/musb_host.c b/drivers/usb/musb-new/musb_host.c
index acb2d40..e5905d9 100644
--- a/drivers/usb/musb-new/musb_host.c
+++ b/drivers/usb/musb-new/musb_host.c
@@ -26,8 +26,8 @@
 #include <dm/device_compat.h>
 #include <usb.h>
 #include <linux/bug.h>
+#include <linux/usb/usb_urb_compat.h>
 #include "linux-compat.h"
-#include "usb-compat.h"
 #endif
 
 #include "musb_core.h"
diff --git a/drivers/usb/musb-new/musb_host.h b/drivers/usb/musb-new/musb_host.h
index afc8fa3..5a604bd 100644
--- a/drivers/usb/musb-new/musb_host.h
+++ b/drivers/usb/musb-new/musb_host.h
@@ -10,7 +10,7 @@
 #ifndef _MUSB_HOST_H
 #define _MUSB_HOST_H
 #ifdef __UBOOT__
-#include "usb-compat.h"
+#include <linux/usb/usb_urb_compat.h>
 #endif
 
 static inline struct usb_hcd *musb_to_hcd(struct musb *musb)
diff --git a/drivers/usb/musb-new/musb_uboot.c b/drivers/usb/musb-new/musb_uboot.c
index 61ff68d..d186fac 100644
--- a/drivers/usb/musb-new/musb_uboot.c
+++ b/drivers/usb/musb-new/musb_uboot.c
@@ -8,10 +8,10 @@
 #include <linux/errno.h>
 #include <linux/usb/ch9.h>
 #include <linux/usb/gadget.h>
+#include <linux/usb/usb_urb_compat.h>
 
 #include <usb.h>
 #include "linux-compat.h"
-#include "usb-compat.h"
 #include "musb_core.h"
 #include "musb_host.h"
 #include "musb_gadget.h"
@@ -453,39 +453,3 @@
 
 	return *musbp;
 }
-
-#if CONFIG_IS_ENABLED(DM_USB)
-struct usb_device *usb_dev_get_parent(struct usb_device *udev)
-{
-	struct udevice *parent = udev->dev->parent;
-
-	/*
-	 * When called from usb-uclass.c: usb_scan_device() udev->dev points
-	 * to the parent udevice, not the actual udevice belonging to the
-	 * udev as the device is not instantiated yet.
-	 *
-	 * If dev is an usb-bus, then we are called from usb_scan_device() for
-	 * an usb-device plugged directly into the root port, return NULL.
-	 */
-	if (device_get_uclass_id(udev->dev) == UCLASS_USB)
-		return NULL;
-
-	/*
-	 * If these 2 are not the same we are being called from
-	 * usb_scan_device() and udev itself is the parent.
-	 */
-	if (dev_get_parent_priv(udev->dev) != udev)
-		return udev;
-
-	/* We are being called normally, use the parent pointer */
-	if (device_get_uclass_id(parent) == UCLASS_USB_HUB)
-		return dev_get_parent_priv(parent);
-
-	return NULL;
-}
-#else
-struct usb_device *usb_dev_get_parent(struct usb_device *udev)
-{
-	return udev->parent;
-}
-#endif
diff --git a/drivers/usb/musb-new/musb_uboot.h b/drivers/usb/musb-new/musb_uboot.h
index 18282ef..6b162f0 100644
--- a/drivers/usb/musb-new/musb_uboot.h
+++ b/drivers/usb/musb-new/musb_uboot.h
@@ -8,8 +8,8 @@
 #define __MUSB_UBOOT_H__
 
 #include <usb.h>
+#include <linux/usb/usb_urb_compat.h>
 #include "linux-compat.h"
-#include "usb-compat.h"
 #include "musb_core.h"
 
 struct musb_host_data {
diff --git a/drivers/usb/musb-new/usb-compat.h b/drivers/usb/musb-new/usb-compat.h
deleted file mode 100644
index df68c92..0000000
--- a/drivers/usb/musb-new/usb-compat.h
+++ /dev/null
@@ -1,79 +0,0 @@
-#ifndef __USB_COMPAT_H__
-#define __USB_COMPAT_H__
-
-#include "usb.h"
-
-struct udevice;
-
-struct usb_hcd {
-	void *hcd_priv;
-};
-
-struct usb_host_endpoint {
-	struct usb_endpoint_descriptor		desc;
-	struct list_head urb_list;
-	void *hcpriv;
-};
-
-/*
- * urb->transfer_flags:
- *
- * Note: URB_DIR_IN/OUT is automatically set in usb_submit_urb().
- */
-#define URB_SHORT_NOT_OK	0x0001	/* report short reads as errors */
-#define URB_ZERO_PACKET		0x0040	/* Finish bulk OUT with short packet */
-
-struct urb;
-
-typedef void (*usb_complete_t)(struct urb *);
-
-struct urb {
-	void *hcpriv;			/* private data for host controller */
-	struct list_head urb_list;	/* list head for use by the urb's
-					 * current owner */
-	struct usb_device *dev;		/* (in) pointer to associated device */
-	struct usb_host_endpoint *ep;	/* (internal) pointer to endpoint */
-	unsigned int pipe;		/* (in) pipe information */
-	int status;			/* (return) non-ISO status */
-	unsigned int transfer_flags;	/* (in) URB_SHORT_NOT_OK | ...*/
-	void *transfer_buffer;		/* (in) associated data buffer */
-	dma_addr_t transfer_dma;	/* (in) dma addr for transfer_buffer */
-	u32 transfer_buffer_length;	/* (in) data buffer length */
-	u32 actual_length;		/* (return) actual transfer length */
-	unsigned char *setup_packet;	/* (in) setup packet (control only) */
-	int start_frame;		/* (modify) start frame (ISO) */
-	usb_complete_t complete;	/* (in) completion routine */
-};
-
-#define usb_hcd_link_urb_to_ep(hcd, urb)	({		\
-	int ret = 0;						\
-	list_add_tail(&urb->urb_list, &urb->ep->urb_list);	\
-	ret; })
-#define usb_hcd_unlink_urb_from_ep(hcd, urb)	list_del_init(&urb->urb_list)
-#define usb_hcd_check_unlink_urb(hdc, urb, status)	0
-
-static inline void usb_hcd_giveback_urb(struct usb_hcd *hcd,
-					struct urb *urb,
-					int status)
-{
-	urb->status = status;
-	if (urb->complete)
-		urb->complete(urb);
-}
-
-static inline int usb_hcd_unmap_urb_for_dma(struct usb_hcd *hcd,
-					struct urb *urb)
-{
-	/* TODO: add cache invalidation here */
-	return 0;
-}
-
-/**
- * usb_dev_get_parent() - Get the parent of a USB device
- *
- * @udev: USB struct containing information about the device
- * Return: associated device for which udev == dev_get_parent_priv(dev)
- */
-struct usb_device *usb_dev_get_parent(struct usb_device *udev);
-
-#endif /* __USB_COMPAT_H__ */