diff --git a/XilinxProcessorIPLib/drivers/dp/src/xdp.c b/XilinxProcessorIPLib/drivers/dp/src/xdp.c
index 7ce9d974..397da57c 100644
--- a/XilinxProcessorIPLib/drivers/dp/src/xdp.c
+++ b/XilinxProcessorIPLib/drivers/dp/src/xdp.c
@@ -2967,6 +2967,20 @@ static u32 XDp_TxAuxRequestSend(XDp *InstancePtr, XDp_AuxTransaction *Request)
 	u32 Status;
 	u8 Index;
 
+	/* Ensure that any pending AUX transactions have completed. */
+	TimeoutCount = 0;
+	do {
+		Status = XDp_ReadReg(InstancePtr->Config.BaseAddr,
+							XDP_TX_REPLY_STATUS);
+
+		XDp_WaitUs(InstancePtr, 20);
+		TimeoutCount++;
+		if (TimeoutCount >= XDP_AUX_MAX_TIMEOUT_COUNT) {
+			return XST_ERROR_COUNT_MAX;
+		}
+	} while ((Status & XDP_TX_REPLY_STATUS_REQUEST_IN_PROGRESS_MASK) &&
+			(Status & XDP_TX_REPLY_STATUS_REPLY_IN_PROGRESS_MASK));
+
 	/* Set the address for the request. */
 	XDp_WriteReg(InstancePtr->Config.BaseAddr, XDP_TX_AUX_ADDRESS,
 							Request->Address);