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It looks like the problem's related to the USB autosuspend. Googling "xHCI host not responding to stop endpoint command." seems to say so. I've been trying to disable the USB autosuspend but no success. I followed all possible ways described in 

 

https://unix.stackexchange.com/questions/91027/how-to-disable-usb-autosuspend-on-kernel-3-7-10-or-above

and 

https://www.kernel.org/doc/Documentation/usb/power-management.txt

 

but 

$ cat /sys/module/usbcore/parameters/autosuspend 

always returns 2

 

Board: NanoPi M4, 4GB

with Armbian_5.65_Nanopim4_Debian_stretch_default_4.4.162.7z

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