diff --git a/drivers/i2c/busses/i2c-pxa.c b/drivers/i2c/busses/i2c-pxa.c
index 1d7648242749..76f79b68cef8 100644
--- a/drivers/i2c/busses/i2c-pxa.c
+++ b/drivers/i2c/busses/i2c-pxa.c
@@ -265,6 +265,9 @@ struct pxa_i2c {
 	u32			hs_mask;
 
 	struct i2c_bus_recovery_info recovery;
+	struct pinctrl		*pinctrl;
+	struct pinctrl_state	*pinctrl_default;
+	struct pinctrl_state	*pinctrl_recovery;
 };
 
 #define _IBMR(i2c)	((i2c)->reg_ibmr)
@@ -1299,12 +1302,13 @@ static void i2c_pxa_prepare_recovery(struct i2c_adapter *adap)
 	 */
 	gpiod_set_value(i2c->recovery.scl_gpiod, ibmr & IBMR_SCLS);
 	gpiod_set_value(i2c->recovery.sda_gpiod, ibmr & IBMR_SDAS);
+
+	WARN_ON(pinctrl_select_state(i2c->pinctrl, i2c->pinctrl_recovery));
 }
 
 static void i2c_pxa_unprepare_recovery(struct i2c_adapter *adap)
 {
 	struct pxa_i2c *i2c = adap->algo_data;
-	struct i2c_bus_recovery_info *bri = adap->bus_recovery_info;
 	u32 isr;
 
 	/*
@@ -1318,7 +1322,7 @@ static void i2c_pxa_unprepare_recovery(struct i2c_adapter *adap)
 		i2c_pxa_do_reset(i2c);
 	}
 
-	WARN_ON(pinctrl_select_state(bri->pinctrl, bri->pins_default));
+	WARN_ON(pinctrl_select_state(i2c->pinctrl, i2c->pinctrl_default));
 
 	dev_dbg(&i2c->adap.dev, "recovery: IBMR 0x%08x ISR 0x%08x\n",
 	        readl(_IBMR(i2c)), readl(_ISR(i2c)));
@@ -1340,20 +1344,76 @@ static int i2c_pxa_init_recovery(struct pxa_i2c *i2c)
 	if (IS_ENABLED(CONFIG_I2C_PXA_SLAVE))
 		return 0;
 
-	bri->pinctrl = devm_pinctrl_get(dev);
-	if (PTR_ERR(bri->pinctrl) == -ENODEV) {
-		bri->pinctrl = NULL;
+	i2c->pinctrl = devm_pinctrl_get(dev);
+	if (PTR_ERR(i2c->pinctrl) == -ENODEV)
+		i2c->pinctrl = NULL;
+	if (IS_ERR(i2c->pinctrl))
+		return PTR_ERR(i2c->pinctrl);
+
+	if (!i2c->pinctrl)
+		return 0;
+
+	i2c->pinctrl_default = pinctrl_lookup_state(i2c->pinctrl,
+						    PINCTRL_STATE_DEFAULT);
+	i2c->pinctrl_recovery = pinctrl_lookup_state(i2c->pinctrl, "recovery");
+
+	if (IS_ERR(i2c->pinctrl_default) || IS_ERR(i2c->pinctrl_recovery)) {
+		dev_info(dev, "missing pinmux recovery information: %ld %ld\n",
+			 PTR_ERR(i2c->pinctrl_default),
+			 PTR_ERR(i2c->pinctrl_recovery));
+		return 0;
+	}
+
+	/*
+	 * Claiming GPIOs can influence the pinmux state, and may glitch the
+	 * I2C bus. Do this carefully.
+	 */
+	bri->scl_gpiod = devm_gpiod_get(dev, "scl", GPIOD_OUT_HIGH_OPEN_DRAIN);
+	if (bri->scl_gpiod == ERR_PTR(-EPROBE_DEFER))
+		return -EPROBE_DEFER;
+	if (IS_ERR(bri->scl_gpiod)) {
+		dev_info(dev, "missing scl gpio recovery information: %pe\n",
+			 bri->scl_gpiod);
+		return 0;
+	}
+
+	/*
+	 * We have SCL. Pull SCL low and wait a bit so that SDA glitches
+	 * have no effect.
+	 */
+	gpiod_direction_output(bri->scl_gpiod, 0);
+	udelay(10);
+	bri->sda_gpiod = devm_gpiod_get(dev, "sda", GPIOD_OUT_HIGH_OPEN_DRAIN);
+
+	/* Wait a bit in case of a SDA glitch, and then release SCL. */
+	udelay(10);
+	gpiod_direction_output(bri->scl_gpiod, 1);
+
+	if (bri->sda_gpiod == ERR_PTR(-EPROBE_DEFER))
+		return -EPROBE_DEFER;
+
+	if (IS_ERR(bri->sda_gpiod)) {
+		dev_info(dev, "missing sda gpio recovery information: %pe\n",
+			 bri->sda_gpiod);
 		return 0;
 	}
-	if (IS_ERR(bri->pinctrl))
-		return PTR_ERR(bri->pinctrl);
 
 	bri->prepare_recovery = i2c_pxa_prepare_recovery;
 	bri->unprepare_recovery = i2c_pxa_unprepare_recovery;
+	bri->recover_bus = i2c_generic_scl_recovery;
 
 	i2c->adap.bus_recovery_info = bri;
 
-	return 0;
+	/*
+	 * Claiming GPIOs can change the pinmux state, which confuses the
+	 * pinctrl since pinctrl's idea of the current setting is unaffected
+	 * by the pinmux change caused by claiming the GPIO. Work around that
+	 * by switching pinctrl to the GPIO state here. We do it this way to
+	 * avoid glitching the I2C bus.
+	 */
+	pinctrl_select_state(i2c->pinctrl, i2c->pinctrl_recovery);
+
+	return pinctrl_select_state(i2c->pinctrl, i2c->pinctrl_default);
 }
 
 static int i2c_pxa_probe(struct platform_device *dev)