diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index 4d6f3a5ea..401b05ec0 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -42,6 +42,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Prevent bootloops when DRAM is close to being full. (#3635)
 - Fix PSRAM mapping on ESP32-S3 when the bootloader used the last page to access flash (#3637)
 - `ESP_HAL_CONFIG_STACK_GUARD_OFFSET` and `ESP_HAL_CONFIG_STACK_GUARD_VALUE` are now unstable config options (#3711)
+- Fixed MCPWM output when using USB pins (#3795)
 
 ### Removed
 
diff --git a/esp-hal/src/gpio/interconnect.rs b/esp-hal/src/gpio/interconnect.rs
index 4a2160bc4..ec39365c0 100644
--- a/esp-hal/src/gpio/interconnect.rs
+++ b/esp-hal/src/gpio/interconnect.rs
@@ -417,6 +417,7 @@ impl Signal<'_> {
                         .map(|(af, _)| *af)
                         .unwrap_or(AlternateFunction::GPIO)
                 };
+                pin.disable_usb_pads();
                 pin.set_alternate_function(af);
                 af == AlternateFunction::GPIO
             }
@@ -466,6 +467,7 @@ impl Signal<'_> {
                 .map(|(af, _)| *af)
                 .unwrap_or(AlternateFunction::GPIO)
         };
+        pin.disable_usb_pads();
         pin.set_alternate_function(af);
 
         let use_gpio_matrix = af == AlternateFunction::GPIO;
diff --git a/esp-hal/src/gpio/mod.rs b/esp-hal/src/gpio/mod.rs
index 85604e4ec..829d111c8 100644
--- a/esp-hal/src/gpio/mod.rs
+++ b/esp-hal/src/gpio/mod.rs
@@ -1642,13 +1642,7 @@ impl<'lt> AnyPin<'lt> {
         GpioBank::_0
     }
 
-    #[inline]
-    /// Resets the GPIO to a known state.
-    ///
-    /// This function needs to be called before using the GPIO pin:
-    /// - Before converting it into signals
-    /// - Before using it as an input or output
-    pub(crate) fn init_gpio(&self) {
+    pub(crate) fn disable_usb_pads(&self) {
         #[cfg(soc_has_usb_device)]
         {
             /// Workaround to make D+ and D- work when the pin is assigned to
@@ -1678,8 +1672,17 @@ impl<'lt> AnyPin<'lt> {
                 (USB_DP, $gpio:ident) => { disable_usb_pads!($gpio) };
             }
         }
+    }
 
+    #[inline]
+    /// Resets the GPIO to a known state.
+    ///
+    /// This function needs to be called before using the GPIO pin:
+    /// - Before converting it into signals
+    /// - Before using it as an input or output
+    pub(crate) fn init_gpio(&self) {
         self.set_output_enable(false);
+        self.disable_usb_pads();
 
         GPIO::regs()
             .func_out_sel_cfg(self.number() as usize)