diff --git a/Documentation/usb/raw-gadget.rst b/Documentation/usb/raw-gadget.rst
index 9e78cb858f86..42bd446d72b2 100644
--- a/Documentation/usb/raw-gadget.rst
+++ b/Documentation/usb/raw-gadget.rst
@@ -27,11 +27,7 @@ differences are:
 3. Raw Gadget provides a way to select a UDC device/driver to bind to,
    while GadgetFS currently binds to the first available UDC.
 
-4. Raw Gadget uses predictable endpoint names (handles) across different
-   UDCs (as long as UDCs have enough endpoints of each required transfer
-   type).
-
-5. Raw Gadget has ioctl-based interface instead of a filesystem-based one.
+4. Raw Gadget has ioctl-based interface instead of a filesystem-based one.
 
 Userspace interface
 ~~~~~~~~~~~~~~~~~~~
diff --git a/drivers/usb/gadget/legacy/raw_gadget.c b/drivers/usb/gadget/legacy/raw_gadget.c
index 7b241992ad5a..cbf4b0572188 100644
--- a/drivers/usb/gadget/legacy/raw_gadget.c
+++ b/drivers/usb/gadget/legacy/raw_gadget.c
@@ -7,6 +7,7 @@
  */
 
 #include <linux/compiler.h>
+#include <linux/ctype.h>
 #include <linux/debugfs.h>
 #include <linux/delay.h>
 #include <linux/kref.h>
@@ -123,8 +124,6 @@ static void raw_event_queue_destroy(struct raw_event_queue *queue)
 
 struct raw_dev;
 
-#define USB_RAW_MAX_ENDPOINTS 32
-
 enum ep_state {
 	STATE_EP_DISABLED,
 	STATE_EP_ENABLED,
@@ -134,6 +133,7 @@ struct raw_ep {
 	struct raw_dev		*dev;
 	enum ep_state		state;
 	struct usb_ep		*ep;
+	u8			addr;
 	struct usb_request	*req;
 	bool			urb_queued;
 	bool			disabling;
@@ -168,7 +168,8 @@ struct raw_dev {
 	bool				ep0_out_pending;
 	bool				ep0_urb_queued;
 	ssize_t				ep0_status;
-	struct raw_ep			eps[USB_RAW_MAX_ENDPOINTS];
+	struct raw_ep			eps[USB_RAW_EPS_NUM_MAX];
+	int				eps_num;
 
 	struct completion		ep0_done;
 	struct raw_event_queue		queue;
@@ -202,7 +203,7 @@ static void dev_free(struct kref *kref)
 		usb_ep_free_request(dev->gadget->ep0, dev->req);
 	}
 	raw_event_queue_destroy(&dev->queue);
-	for (i = 0; i < USB_RAW_MAX_ENDPOINTS; i++) {
+	for (i = 0; i < USB_RAW_EPS_NUM_MAX; i++) {
 		if (dev->eps[i].state != STATE_EP_ENABLED)
 			continue;
 		usb_ep_disable(dev->eps[i].ep);
@@ -249,12 +250,26 @@ static void gadget_ep0_complete(struct usb_ep *ep, struct usb_request *req)
 	complete(&dev->ep0_done);
 }
 
+static u8 get_ep_addr(const char *name)
+{
+	/* If the endpoint has fixed function (named as e.g. "ep12out-bulk"),
+	 * parse the endpoint address from its name. We deliberately use
+	 * deprecated simple_strtoul() function here, as the number isn't
+	 * followed by '\0' nor '\n'.
+	 */
+	if (isdigit(name[2]))
+		return simple_strtoul(&name[2], NULL, 10);
+	/* Otherwise the endpoint is configurable (named as e.g. "ep-a"). */
+	return USB_RAW_EP_ADDR_ANY;
+}
+
 static int gadget_bind(struct usb_gadget *gadget,
 			struct usb_gadget_driver *driver)
 {
-	int ret = 0;
+	int ret = 0, i = 0;
 	struct raw_dev *dev = container_of(driver, struct raw_dev, driver);
 	struct usb_request *req;
+	struct usb_ep *ep;
 	unsigned long flags;
 
 	if (strcmp(gadget->name, dev->udc_name) != 0)
@@ -273,6 +288,13 @@ static int gadget_bind(struct usb_gadget *gadget,
 	dev->req->context = dev;
 	dev->req->complete = gadget_ep0_complete;
 	dev->gadget = gadget;
+	gadget_for_each_ep(ep, dev->gadget) {
+		dev->eps[i].ep = ep;
+		dev->eps[i].addr = get_ep_addr(ep->name);
+		dev->eps[i].state = STATE_EP_DISABLED;
+		i++;
+	}
+	dev->eps_num = i;
 	spin_unlock_irqrestore(&dev->lock, flags);
 
 	/* Matches kref_put() in gadget_unbind(). */
@@ -555,7 +577,7 @@ static void *raw_alloc_io_data(struct usb_raw_ep_io *io, void __user *ptr,
 
 	if (copy_from_user(io, ptr, sizeof(*io)))
 		return ERR_PTR(-EFAULT);
-	if (io->ep >= USB_RAW_MAX_ENDPOINTS)
+	if (io->ep >= USB_RAW_EPS_NUM_MAX)
 		return ERR_PTR(-EINVAL);
 	if (!usb_raw_io_flags_valid(io->flags))
 		return ERR_PTR(-EINVAL);
@@ -682,52 +704,30 @@ static int raw_ioctl_ep0_read(struct raw_dev *dev, unsigned long value)
 	return ret;
 }
 
-static bool check_ep_caps(struct usb_ep *ep,
-				struct usb_endpoint_descriptor *desc)
-{
-	switch (usb_endpoint_type(desc)) {
-	case USB_ENDPOINT_XFER_ISOC:
-		if (!ep->caps.type_iso)
-			return false;
-		break;
-	case USB_ENDPOINT_XFER_BULK:
-		if (!ep->caps.type_bulk)
-			return false;
-		break;
-	case USB_ENDPOINT_XFER_INT:
-		if (!ep->caps.type_int)
-			return false;
-		break;
-	default:
-		return false;
-	}
-
-	if (usb_endpoint_dir_in(desc) && !ep->caps.dir_in)
-		return false;
-	if (usb_endpoint_dir_out(desc) && !ep->caps.dir_out)
-		return false;
-
-	return true;
-}
-
 static int raw_ioctl_ep_enable(struct raw_dev *dev, unsigned long value)
 {
 	int ret = 0, i;
 	unsigned long flags;
-	struct usb_endpoint_descriptor *desc;
-	struct usb_ep *ep = NULL;
+	struct usb_raw_ep_descs *descs;
+	struct usb_endpoint_descriptor *ep_desc;
+	struct usb_ss_ep_comp_descriptor *comp_desc = NULL;
+	struct raw_ep *ep;
 
-	desc = memdup_user((void __user *)value, sizeof(*desc));
-	if (IS_ERR(desc))
-		return PTR_ERR(desc);
+	descs = memdup_user((void __user *)value, sizeof(*descs));
+	if (IS_ERR(descs))
+		return PTR_ERR(descs);
+
+	ep_desc = &descs->ep;
+	if (descs->comp.bLength != 0)
+		comp_desc = &descs->comp;
 
 	/*
 	 * Endpoints with a maxpacket length of 0 can cause crashes in UDC
 	 * drivers.
 	 */
-	if (usb_endpoint_maxp(desc) == 0) {
+	if (usb_endpoint_maxp(ep_desc) == 0) {
 		dev_dbg(dev->dev, "fail, bad endpoint maxpacket\n");
-		kfree(desc);
+		kfree(descs);
 		return -EINVAL;
 	}
 
@@ -743,41 +743,38 @@ static int raw_ioctl_ep_enable(struct raw_dev *dev, unsigned long value)
 		goto out_free;
 	}
 
-	for (i = 0; i < USB_RAW_MAX_ENDPOINTS; i++) {
-		if (dev->eps[i].state == STATE_EP_ENABLED)
+	for (i = 0; i < dev->eps_num; i++) {
+		ep = &dev->eps[i];
+		if (ep->state != STATE_EP_DISABLED)
 			continue;
-		break;
-	}
-	if (i == USB_RAW_MAX_ENDPOINTS) {
-		dev_dbg(&dev->gadget->dev,
-				"fail, no device endpoints available\n");
-		ret = -EBUSY;
-		goto out_free;
-	}
-
-	gadget_for_each_ep(ep, dev->gadget) {
-		if (ep->enabled)
+		if (ep->addr != usb_endpoint_num(ep_desc) &&
+				ep->addr != USB_RAW_EP_ADDR_ANY)
 			continue;
-		if (!check_ep_caps(ep, desc))
+		if (!usb_gadget_ep_match_desc(dev->gadget, ep->ep,
+							ep_desc, comp_desc))
 			continue;
-		ep->desc = desc;
-		ret = usb_ep_enable(ep);
+		/* Gadget subsystem requires us to assign only a pointer to the
+		 * endpoint descriptor here, but technically we store pointer
+		 * to a usb_raw_ep_descs struct with both ep and comp
+		 * descriptors to be later freed by raw_ioctl_ep_disable().
+		 */
+		ep->ep->desc = ep_desc;
+		ret = usb_ep_enable(ep->ep);
 		if (ret < 0) {
 			dev_err(&dev->gadget->dev,
 				"fail, usb_ep_enable returned %d\n", ret);
 			goto out_free;
 		}
-		dev->eps[i].req = usb_ep_alloc_request(ep, GFP_ATOMIC);
-		if (!dev->eps[i].req) {
+		ep->req = usb_ep_alloc_request(ep->ep, GFP_ATOMIC);
+		if (!ep->req) {
 			dev_err(&dev->gadget->dev,
 				"fail, usb_ep_alloc_request failed\n");
-			usb_ep_disable(ep);
+			usb_ep_disable(ep->ep);
 			ret = -ENOMEM;
 			goto out_free;
 		}
-		dev->eps[i].ep = ep;
-		dev->eps[i].state = STATE_EP_ENABLED;
-		ep->driver_data = &dev->eps[i];
+		ep->state = STATE_EP_ENABLED;
+		ep->ep->driver_data = ep;
 		ret = i;
 		goto out_unlock;
 	}
@@ -786,7 +783,7 @@ static int raw_ioctl_ep_enable(struct raw_dev *dev, unsigned long value)
 	ret = -EBUSY;
 
 out_free:
-	kfree(desc);
+	kfree(descs);
 out_unlock:
 	spin_unlock_irqrestore(&dev->lock, flags);
 	return ret;
@@ -796,9 +793,9 @@ static int raw_ioctl_ep_disable(struct raw_dev *dev, unsigned long value)
 {
 	int ret = 0, i = value;
 	unsigned long flags;
-	const void *desc;
+	const void *descs;
 
-	if (i < 0 || i >= USB_RAW_MAX_ENDPOINTS)
+	if (i < 0 || i >= USB_RAW_EPS_NUM_MAX)
 		return -EINVAL;
 
 	spin_lock_irqsave(&dev->lock, flags);
@@ -836,10 +833,10 @@ static int raw_ioctl_ep_disable(struct raw_dev *dev, unsigned long value)
 
 	spin_lock_irqsave(&dev->lock, flags);
 	usb_ep_free_request(dev->eps[i].ep, dev->eps[i].req);
-	desc = dev->eps[i].ep->desc;
+	descs = dev->eps[i].ep->desc;
 	dev->eps[i].ep = NULL;
 	dev->eps[i].state = STATE_EP_DISABLED;
-	kfree(desc);
+	kfree(descs);
 	dev->eps[i].disabling = false;
 
 out_unlock:
@@ -1027,6 +1024,64 @@ static int raw_ioctl_vbus_draw(struct raw_dev *dev, unsigned long value)
 	return ret;
 }
 
+static void fill_ep_caps(struct usb_ep_caps *caps,
+				struct usb_raw_ep_caps *raw_caps)
+{
+	raw_caps->type_control = caps->type_control;
+	raw_caps->type_iso = caps->type_iso;
+	raw_caps->type_bulk = caps->type_bulk;
+	raw_caps->type_int = caps->type_int;
+	raw_caps->dir_in = caps->dir_in;
+	raw_caps->dir_out = caps->dir_out;
+}
+
+static void fill_ep_limits(struct usb_ep *ep, struct usb_raw_ep_limits *limits)
+{
+	limits->maxpacket_limit = ep->maxpacket_limit;
+	limits->max_streams = ep->max_streams;
+	limits->maxburst = ep->maxburst;
+}
+
+static int raw_ioctl_eps_info(struct raw_dev *dev, unsigned long value)
+{
+	int ret = 0, i;
+	unsigned long flags;
+	struct usb_raw_eps_info info;
+	struct raw_ep *ep;
+
+	spin_lock_irqsave(&dev->lock, flags);
+	if (dev->state != STATE_DEV_RUNNING) {
+		dev_dbg(dev->dev, "fail, device is not running\n");
+		ret = -EINVAL;
+		spin_unlock_irqrestore(&dev->lock, flags);
+		goto out;
+	}
+	if (!dev->gadget) {
+		dev_dbg(dev->dev, "fail, gadget is not bound\n");
+		ret = -EBUSY;
+		spin_unlock_irqrestore(&dev->lock, flags);
+		goto out;
+	}
+
+	memset(&info, 0, sizeof(info));
+	for (i = 0; i < dev->eps_num; i++) {
+		ep = &dev->eps[i];
+		strscpy(&info.eps[i].name[0], ep->ep->name,
+				USB_RAW_EP_NAME_MAX);
+		info.eps[i].addr = ep->addr;
+		fill_ep_caps(&ep->ep->caps, &info.eps[i].caps);
+		fill_ep_limits(ep->ep, &info.eps[i].limits);
+	}
+	ret = dev->eps_num;
+	spin_unlock_irqrestore(&dev->lock, flags);
+
+	if (copy_to_user((void __user *)value, &info, sizeof(info)))
+		ret = -EFAULT;
+
+out:
+	return ret;
+}
+
 static long raw_ioctl(struct file *fd, unsigned int cmd, unsigned long value)
 {
 	struct raw_dev *dev = fd->private_data;
@@ -1069,6 +1124,9 @@ static long raw_ioctl(struct file *fd, unsigned int cmd, unsigned long value)
 	case USB_RAW_IOCTL_VBUS_DRAW:
 		ret = raw_ioctl_vbus_draw(dev, value);
 		break;
+	case USB_RAW_IOCTL_EPS_INFO:
+		ret = raw_ioctl_eps_info(dev, value);
+		break;
 	default:
 		ret = -EINVAL;
 	}
diff --git a/include/uapi/linux/usb/raw_gadget.h b/include/uapi/linux/usb/raw_gadget.h
index 8544802b25bd..6ae626d17f0c 100644
--- a/include/uapi/linux/usb/raw_gadget.h
+++ b/include/uapi/linux/usb/raw_gadget.h
@@ -93,6 +93,75 @@ struct usb_raw_ep_io {
 	__u8		data[0];
 };
 
+/*
+ * struct usb_raw_ep_descs - argument for USB_RAW_IOCTL_EP_ENABLE ioctl.
+ * @ep: Endpoint descriptor.
+ * @comp: SuperSpeed Endpoint Companion descriptor.
+ *
+ * Both of these descriptors are only used by the gadget subsystem including
+ * the UDC driver and don't affect the descriptors that are sent to the host.
+ * However, the user must make sure that the host and the gadget sides agree
+ * on the used endpoint parameters (such as e.g. endpoint addresses).
+ */
+struct usb_raw_ep_descs {
+	struct usb_endpoint_descriptor		ep;
+	struct usb_ss_ep_comp_descriptor	comp;
+};
+
+/* Maximum number of non-control endpoints in struct usb_raw_eps_info. */
+#define USB_RAW_EPS_NUM_MAX	30
+
+/* Maximum length of UDC endpoint name in struct usb_raw_ep_info. */
+#define USB_RAW_EP_NAME_MAX	16
+
+/* Used as addr in struct usb_raw_ep_info if endpoint accepts any address. */
+#define USB_RAW_EP_ADDR_ANY	0xff
+
+/*
+ * struct usb_raw_ep_caps - exposes endpoint capabilities from
+ *     struct usb_ep_caps.
+ */
+struct usb_raw_ep_caps {
+	__u32	type_control:1;
+	__u32	type_iso:1;
+	__u32	type_bulk:1;
+	__u32	type_int:1;
+	__u32	dir_in:1;
+	__u32	dir_out:1;
+};
+
+/*
+ * struct usb_raw_ep_limits - exposes endpoint limits from struct usb_ep.
+ */
+struct usb_raw_ep_limits {
+	__u32	maxpacket_limit;
+	__u32	max_streams;
+	__u32	maxburst;
+};
+
+/*
+ * struct usb_raw_ep_info - stores information about a gadget endpoint.
+ * @name: Name of the endpoint as it is defined in the UDC driver.
+ * @addr: Address of the endpoint that must be specified in the endpoint
+ *     descriptor passed to USB_RAW_IOCTL_EP_ENABLE ioctl.
+ * @caps: Endpoint capabilities.
+ * @limits: Endpoint limits.
+ */
+struct usb_raw_ep_info {
+	__u8				name[USB_RAW_EP_NAME_MAX];
+	__u32				addr;
+	struct usb_raw_ep_caps		caps;
+	struct usb_raw_ep_limits	limits;
+};
+
+/*
+ * struct usb_raw_eps_info - argument for USB_RAW_IOCTL_EPS_INFO ioctl.
+ * eps: Structures that store information about non-control endpoints.
+ */
+struct usb_raw_eps_info {
+	struct usb_raw_ep_info	eps[USB_RAW_EPS_NUM_MAX];
+};
+
 /*
  * Initializes a Raw Gadget instance.
  * Accepts a pointer to the usb_raw_init struct as an argument.
@@ -126,12 +195,12 @@ struct usb_raw_ep_io {
 #define USB_RAW_IOCTL_EP0_READ		_IOWR('U', 4, struct usb_raw_ep_io)
 
 /*
- * Finds an endpoint that supports the transfer type specified in the
- * descriptor and enables it.
- * Accepts a pointer to the usb_endpoint_descriptor struct as an argument.
+ * Finds an endpoint that satisfies the parameters specified in the provided
+ * descriptors (address, transfer type, etc.) and enables it.
+ * Accepts a pointer to the usb_raw_ep_descs struct as an argument.
  * Returns enabled endpoint handle on success or negative error code on failure.
  */
-#define USB_RAW_IOCTL_EP_ENABLE		_IOW('U', 5, struct usb_endpoint_descriptor)
+#define USB_RAW_IOCTL_EP_ENABLE		_IOW('U', 5, struct usb_raw_ep_descs)
 
 /* Disables specified endpoint.
  * Accepts endpoint handle as an argument.
@@ -164,4 +233,11 @@ struct usb_raw_ep_io {
  */
 #define USB_RAW_IOCTL_VBUS_DRAW		_IOW('U', 10, __u32)
 
+/* Fills in the usb_raw_eps_info structure with information about non-control
+ * endpoints available for the currently connected UDC.
+ * Returns the number of available endpoints on success or negative error code
+ * on failure.
+ */
+#define USB_RAW_IOCTL_EPS_INFO		_IOR('U', 11, struct usb_raw_eps_info)
+
 #endif /* _UAPI__LINUX_USB_RAW_GADGET_H */
