diff --git a/drivers/rpmsg/rpmsg_ping.c b/drivers/rpmsg/rpmsg_ping.c
index 883392a4a2..852f57ad07 100644
--- a/drivers/rpmsg/rpmsg_ping.c
+++ b/drivers/rpmsg/rpmsg_ping.c
@@ -42,7 +42,8 @@
 #define RPMSG_PING_SEND             1
 #define RPMSG_PING_SEND_CHECK       2
 #define RPMSG_PING_SEND_NOACK       3
-#define RPMSG_PING_ACK              4
+#define RPMSG_PING_SEND_ACK         4
+#define RPMSG_PING_ACK              5
 #define RPMSG_PING_CHECK_DATA       0xee
 
 /****************************************************************************
@@ -93,6 +94,11 @@ static int rpmsg_ping_ept_cb(FAR struct rpmsg_endpoint *ept,
       msg->cmd = RPMSG_PING_ACK;
       rpmsg_send(ept, msg, len);
     }
+  else if (msg->cmd == RPMSG_PING_SEND_ACK)
+    {
+      msg->cmd = RPMSG_PING_ACK;
+      rpmsg_send(ept, msg, sizeof(*msg));
+    }
   else if (msg->cmd == RPMSG_PING_ACK)
     {
       nxsem_post(sem);
@@ -122,7 +128,19 @@ static int rpmsg_ping_once(FAR struct rpmsg_endpoint *ept,
     {
       sem_t sem;
 
-      msg->cmd = (ack == 1)? RPMSG_PING_SEND : RPMSG_PING_SEND_CHECK;
+      if (ack == 1)
+        {
+          msg->cmd = RPMSG_PING_SEND;
+        }
+      else if (ack == 2)
+        {
+          msg->cmd = RPMSG_PING_SEND_CHECK;
+        }
+      else
+        {
+          msg->cmd = RPMSG_PING_SEND_ACK;
+        }
+
       msg->len    = len;
       msg->cookie = (uintptr_t)&sem;