diff --git a/drivers/net/can/usb/esd_usb.c b/drivers/net/can/usb/esd_usb.c
index 9bc1824d7be6..e58f0bfa84a4 100644
--- a/drivers/net/can/usb/esd_usb.c
+++ b/drivers/net/can/usb/esd_usb.c
@@ -541,13 +541,20 @@ resubmit_urb:
 			  urb->transfer_buffer, ESD_USB_RX_BUFFER_SIZE,
 			  esd_usb_read_bulk_callback, dev);
 
+	usb_anchor_urb(urb, &dev->rx_submitted);
+
 	err = usb_submit_urb(urb, GFP_ATOMIC);
+	if (!err)
+		return;
+
+	usb_unanchor_urb(urb);
+
 	if (err == -ENODEV) {
 		for (i = 0; i < dev->net_count; i++) {
 			if (dev->nets[i])
 				netif_device_detach(dev->nets[i]->netdev);
 		}
-	} else if (err) {
+	} else {
 		dev_err(dev->udev->dev.parent,
 			"failed resubmitting read bulk urb: %pe\n", ERR_PTR(err));
 	}