diff --git a/src/class/audio/audio_device.c b/src/class/audio/audio_device.c
index 2af3da324..9050b462a 100644
--- a/src/class/audio/audio_device.c
+++ b/src/class/audio/audio_device.c
@@ -1389,6 +1389,10 @@ void audiod_init(void)
   }
 }
 
+bool audiod_deinit(void) {
+  return false; // TODO not implemented yet
+}
+
 void audiod_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/class/audio/audio_device.h b/src/class/audio/audio_device.h
index 040a760d6..b16514fd4 100644
--- a/src/class/audio/audio_device.h
+++ b/src/class/audio/audio_device.h
@@ -685,6 +685,7 @@ static inline bool tud_audio_fb_set(uint32_t feedback)
 // Internal Class Driver API
 //--------------------------------------------------------------------+
 void     audiod_init           (void);
+bool     audiod_deinit         (void);
 void     audiod_reset          (uint8_t rhport);
 uint16_t audiod_open           (uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     audiod_control_xfer_cb(uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/class/bth/bth_device.c b/src/class/bth/bth_device.c
index f145e2ead..cbf6e1332 100755
--- a/src/class/bth/bth_device.c
+++ b/src/class/bth/bth_device.c
@@ -91,11 +91,14 @@ bool tud_bt_acl_data_send(void *event, uint16_t event_len)
 //--------------------------------------------------------------------+
 // USBD Driver API
 //--------------------------------------------------------------------+
-void btd_init(void)
-{
+void btd_init(void) {
   tu_memclr(&_btd_itf, sizeof(_btd_itf));
 }
 
+bool btd_deinit(void) {
+  return true;
+}
+
 void btd_reset(uint8_t rhport)
 {
   (void)rhport;
diff --git a/src/class/bth/bth_device.h b/src/class/bth/bth_device.h
index e782c532b..4f6350839 100755
--- a/src/class/bth/bth_device.h
+++ b/src/class/bth/bth_device.h
@@ -104,6 +104,7 @@ bool tud_bt_acl_data_send(void *acl_data, uint16_t data_len);
 // Internal Class Driver API
 //--------------------------------------------------------------------+
 void     btd_init            (void);
+bool     btd_deinit          (void);
 void     btd_reset           (uint8_t rhport);
 uint16_t btd_open            (uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     btd_control_xfer_cb (uint8_t rhport, uint8_t stage, tusb_control_request_t const *request);
diff --git a/src/class/cdc/cdc_device.c b/src/class/cdc/cdc_device.c
index c26264e60..7ef0530ec 100644
--- a/src/class/cdc/cdc_device.c
+++ b/src/class/cdc/cdc_device.c
@@ -253,11 +253,39 @@ void cdcd_init(void)
     // In this way, the most current data is prioritized.
     tu_fifo_config(&p_cdc->tx_ff, p_cdc->tx_ff_buf, TU_ARRAY_SIZE(p_cdc->tx_ff_buf), 1, true);
 
-    tu_fifo_config_mutex(&p_cdc->rx_ff, NULL, osal_mutex_create(&p_cdc->rx_ff_mutex));
-    tu_fifo_config_mutex(&p_cdc->tx_ff, osal_mutex_create(&p_cdc->tx_ff_mutex), NULL);
+    #if OSAL_MUTEX_REQUIRED
+    osal_mutex_t mutex_rd = osal_mutex_create(&p_cdc->rx_ff_mutex);
+    osal_mutex_t mutex_wr = osal_mutex_create(&p_cdc->tx_ff_mutex);
+    TU_ASSERT(mutex_rd != NULL && mutex_wr != NULL, );
+
+    tu_fifo_config_mutex(&p_cdc->rx_ff, NULL, mutex_rd);
+    tu_fifo_config_mutex(&p_cdc->tx_ff, mutex_wr, NULL);
+    #endif
   }
 }
 
+bool cdcd_deinit(void) {
+  #if OSAL_MUTEX_REQUIRED
+  for(uint8_t i=0; i<CFG_TUD_CDC; i++) {
+    cdcd_interface_t* p_cdc = &_cdcd_itf[i];
+    osal_mutex_t mutex_rd = p_cdc->rx_ff.mutex_rd;
+    osal_mutex_t mutex_wr = p_cdc->tx_ff.mutex_wr;
+
+    if (mutex_rd) {
+      osal_mutex_delete(mutex_rd);
+      tu_fifo_config_mutex(&p_cdc->rx_ff, NULL, NULL);
+    }
+
+    if (mutex_wr) {
+      osal_mutex_delete(mutex_wr);
+      tu_fifo_config_mutex(&p_cdc->tx_ff, NULL, NULL);
+    }
+  }
+  #endif
+
+  return true;
+}
+
 void cdcd_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/class/cdc/cdc_device.h b/src/class/cdc/cdc_device.h
index a6e07aa5c..20e908451 100644
--- a/src/class/cdc/cdc_device.h
+++ b/src/class/cdc/cdc_device.h
@@ -247,6 +247,7 @@ static inline bool tud_cdc_write_clear(void)
 // INTERNAL USBD-CLASS DRIVER API
 //--------------------------------------------------------------------+
 void     cdcd_init            (void);
+bool     cdcd_deinit          (void);
 void     cdcd_reset           (uint8_t rhport);
 uint16_t cdcd_open            (uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     cdcd_control_xfer_cb (uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/class/dfu/dfu_device.c b/src/class/dfu/dfu_device.c
index 3e7c13dea..71e7ac2b3 100644
--- a/src/class/dfu/dfu_device.c
+++ b/src/class/dfu/dfu_device.c
@@ -160,11 +160,14 @@ void dfu_moded_reset(uint8_t rhport)
   reset_state();
 }
 
-void dfu_moded_init(void)
-{
+void dfu_moded_init(void) {
   dfu_moded_reset(0);
 }
 
+bool dfu_moded_deinit(void) {
+  return true;
+}
+
 uint16_t dfu_moded_open(uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len)
 {
   (void) rhport;
diff --git a/src/class/dfu/dfu_device.h b/src/class/dfu/dfu_device.h
index fecf8596f..00c22ea8b 100644
--- a/src/class/dfu/dfu_device.h
+++ b/src/class/dfu/dfu_device.h
@@ -86,6 +86,7 @@ TU_ATTR_WEAK void tud_dfu_abort_cb(uint8_t alt);
 // Internal Class Driver API
 //--------------------------------------------------------------------+
 void     dfu_moded_init(void);
+bool     dfu_moded_deinit(void);
 void     dfu_moded_reset(uint8_t rhport);
 uint16_t dfu_moded_open(uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     dfu_moded_control_xfer_cb(uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/class/dfu/dfu_rt_device.c b/src/class/dfu/dfu_rt_device.c
index a940d8d62..3b801b787 100644
--- a/src/class/dfu/dfu_rt_device.c
+++ b/src/class/dfu/dfu_rt_device.c
@@ -51,8 +51,11 @@
 //--------------------------------------------------------------------+
 // USBD Driver API
 //--------------------------------------------------------------------+
-void dfu_rtd_init(void)
-{
+void dfu_rtd_init(void) {
+}
+
+bool dfu_rtd_deinit(void) {
+  return true;
 }
 
 void dfu_rtd_reset(uint8_t rhport)
diff --git a/src/class/dfu/dfu_rt_device.h b/src/class/dfu/dfu_rt_device.h
index babaa8214..67eb26d95 100644
--- a/src/class/dfu/dfu_rt_device.h
+++ b/src/class/dfu/dfu_rt_device.h
@@ -43,6 +43,7 @@ void tud_dfu_runtime_reboot_to_dfu_cb(void);
 // Internal Class Driver API
 //--------------------------------------------------------------------+
 void     dfu_rtd_init(void);
+bool     dfu_rtd_deinit(void);
 void     dfu_rtd_reset(uint8_t rhport);
 uint16_t dfu_rtd_open(uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     dfu_rtd_control_xfer_cb(uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/class/hid/hid_device.c b/src/class/hid/hid_device.c
index 8ae51109d..5cc5a2488 100644
--- a/src/class/hid/hid_device.c
+++ b/src/class/hid/hid_device.c
@@ -179,11 +179,14 @@ bool tud_hid_n_gamepad_report(uint8_t instance, uint8_t report_id,
 //--------------------------------------------------------------------+
 // USBD-CLASS API
 //--------------------------------------------------------------------+
-void hidd_init(void)
-{
+void hidd_init(void) {
   hidd_reset(0);
 }
 
+bool hidd_deinit(void) {
+  return true;
+}
+
 void hidd_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/class/hid/hid_device.h b/src/class/hid/hid_device.h
index 40755afed..040cad162 100644
--- a/src/class/hid/hid_device.h
+++ b/src/class/hid/hid_device.h
@@ -465,6 +465,7 @@ static inline bool  tud_hid_gamepad_report(uint8_t report_id, int8_t x, int8_t y
 // Internal Class Driver API
 //--------------------------------------------------------------------+
 void     hidd_init            (void);
+bool     hidd_deinit          (void);
 void     hidd_reset           (uint8_t rhport);
 uint16_t hidd_open            (uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     hidd_control_xfer_cb (uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/class/midi/midi_device.c b/src/class/midi/midi_device.c
index 052372a93..42905ab0d 100644
--- a/src/class/midi/midi_device.c
+++ b/src/class/midi/midi_device.c
@@ -373,12 +373,10 @@ bool tud_midi_n_packet_write (uint8_t itf, uint8_t const packet[4])
 //--------------------------------------------------------------------+
 // USBD Driver API
 //--------------------------------------------------------------------+
-void midid_init(void)
-{
+void midid_init(void) {
   tu_memclr(_midid_itf, sizeof(_midid_itf));
 
-  for(uint8_t i=0; i<CFG_TUD_MIDI; i++)
-  {
+  for (uint8_t i = 0; i < CFG_TUD_MIDI; i++) {
     midid_interface_t* midi = &_midid_itf[i];
 
     // config fifo
@@ -386,12 +384,38 @@ void midid_init(void)
     tu_fifo_config(&midi->tx_ff, midi->tx_ff_buf, CFG_TUD_MIDI_TX_BUFSIZE, 1, false); // OBVS.
 
     #if CFG_FIFO_MUTEX
-    tu_fifo_config_mutex(&midi->rx_ff, NULL, osal_mutex_create(&midi->rx_ff_mutex));
-    tu_fifo_config_mutex(&midi->tx_ff, osal_mutex_create(&midi->tx_ff_mutex), NULL);
+    osal_mutex_t mutex_rd = osal_mutex_create(&midi->rx_ff_mutex);
+    osal_mutex_t mutex_wr = osal_mutex_create(&midi->tx_ff_mutex);
+    TU_ASSERT(mutex_wr != NULL && mutex_wr != NULL, );
+
+    tu_fifo_config_mutex(&midi->rx_ff, NULL, mutex_rd);
+    tu_fifo_config_mutex(&midi->tx_ff, mutex_wr, NULL);
     #endif
   }
 }
 
+bool midid_deinit(void) {
+  #if CFG_FIFO_MUTEX
+  for(uint8_t i=0; i<CFG_TUD_MIDI; i++) {
+    midid_interface_t* midi = &_midid_itf[i];
+    osal_mutex_t mutex_rd = midi->rx_ff.mutex_rd;
+    osal_mutex_t mutex_wr = midi->tx_ff.mutex_wr;
+
+    if (mutex_rd) {
+      osal_mutex_delete(mutex_rd);
+      tu_fifo_config_mutex(&midi->rx_ff, NULL, NULL);
+    }
+
+    if (mutex_wr) {
+      osal_mutex_delete(mutex_wr);
+      tu_fifo_config_mutex(&midi->tx_ff, NULL, NULL);
+    }
+  }
+  #endif
+
+  return true;
+}
+
 void midid_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/class/midi/midi_device.h b/src/class/midi/midi_device.h
index 1c6f996be..3e89cc0a3 100644
--- a/src/class/midi/midi_device.h
+++ b/src/class/midi/midi_device.h
@@ -158,6 +158,7 @@ static inline bool tud_midi_packet_write (uint8_t const packet[4])
 // Internal Class Driver API
 //--------------------------------------------------------------------+
 void     midid_init            (void);
+bool     midid_deinit          (void);
 void     midid_reset           (uint8_t rhport);
 uint16_t midid_open            (uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     midid_control_xfer_cb (uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/class/msc/msc_device.c b/src/class/msc/msc_device.c
index c145d86a6..588fcaaca 100644
--- a/src/class/msc/msc_device.c
+++ b/src/class/msc/msc_device.c
@@ -251,11 +251,15 @@ static inline void set_sense_medium_not_present(uint8_t lun)
 //--------------------------------------------------------------------+
 // USBD Driver API
 //--------------------------------------------------------------------+
-void mscd_init(void)
-{
+void mscd_init(void) {
   tu_memclr(&_mscd_itf, sizeof(mscd_interface_t));
 }
 
+bool mscd_deinit(void) {
+  // nothing to do
+  return true;
+}
+
 void mscd_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/class/msc/msc_device.h b/src/class/msc/msc_device.h
index 72f95be06..4247a40bd 100644
--- a/src/class/msc/msc_device.h
+++ b/src/class/msc/msc_device.h
@@ -150,6 +150,7 @@ TU_ATTR_WEAK bool tud_msc_is_writable_cb(uint8_t lun);
 // Internal Class Driver API
 //--------------------------------------------------------------------+
 void     mscd_init            (void);
+bool     mscd_deinit          (void);
 void     mscd_reset           (uint8_t rhport);
 uint16_t mscd_open            (uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     mscd_control_xfer_cb (uint8_t rhport, uint8_t stage, tusb_control_request_t const * p_request);
diff --git a/src/class/net/ecm_rndis_device.c b/src/class/net/ecm_rndis_device.c
index 762425732..f7a5fd225 100644
--- a/src/class/net/ecm_rndis_device.c
+++ b/src/class/net/ecm_rndis_device.c
@@ -132,11 +132,14 @@ void netd_report(uint8_t *buf, uint16_t len)
 //--------------------------------------------------------------------+
 // USBD Driver API
 //--------------------------------------------------------------------+
-void netd_init(void)
-{
+void netd_init(void) {
   tu_memclr(&_netd_itf, sizeof(_netd_itf));
 }
 
+bool netd_deinit(void) {
+  return true;
+}
+
 void netd_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/class/net/ncm_device.c b/src/class/net/ncm_device.c
index 226c42c4e..f84bd9f73 100644
--- a/src/class/net/ncm_device.c
+++ b/src/class/net/ncm_device.c
@@ -260,6 +260,10 @@ void netd_init(void)
   ncm_prepare_for_tx();
 }
 
+bool netd_deinit(void) {
+  return true;
+}
+
 void netd_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/class/net/net_device.h b/src/class/net/net_device.h
index 399916355..da1a7b1e8 100644
--- a/src/class/net/net_device.h
+++ b/src/class/net/net_device.h
@@ -105,6 +105,7 @@ void tud_network_link_state_cb(bool state);
 // INTERNAL USBD-CLASS DRIVER API
 //--------------------------------------------------------------------+
 void     netd_init            (void);
+bool     netd_deinit          (void);
 void     netd_reset           (uint8_t rhport);
 uint16_t netd_open            (uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     netd_control_xfer_cb (uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/class/usbtmc/usbtmc_device.c b/src/class/usbtmc/usbtmc_device.c
index 573654d58..286cbe108 100644
--- a/src/class/usbtmc/usbtmc_device.c
+++ b/src/class/usbtmc/usbtmc_device.c
@@ -260,6 +260,13 @@ void usbtmcd_init_cb(void)
   usbtmcLock = osal_mutex_create(&usbtmcLockBuffer);
 }
 
+bool usbtmcd_deinit(void) {
+  #if OSAL_MUTEX_REQUIRED
+  osal_mutex_delete(usbtmcLock);
+  #endif
+  return true;
+}
+
 uint16_t usbtmcd_open_cb(uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len)
 {
   (void)rhport;
diff --git a/src/class/usbtmc/usbtmc_device.h b/src/class/usbtmc/usbtmc_device.h
index c1298ddb8..3299a36eb 100644
--- a/src/class/usbtmc/usbtmc_device.h
+++ b/src/class/usbtmc/usbtmc_device.h
@@ -98,11 +98,12 @@ bool tud_usbtmc_start_bus_read(void);
 
 /* "callbacks" from USB device core */
 
+void     usbtmcd_init_cb(void);
+bool     usbtmcd_deinit(void);
 uint16_t usbtmcd_open_cb(uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 void     usbtmcd_reset_cb(uint8_t rhport);
 bool     usbtmcd_xfer_cb(uint8_t rhport, uint8_t ep_addr, xfer_result_t result, uint32_t xferred_bytes);
 bool     usbtmcd_control_xfer_cb(uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
-void     usbtmcd_init_cb(void);
 
 /************************************************************
  * USBTMC Descriptor Templates
diff --git a/src/class/vendor/vendor_device.c b/src/class/vendor/vendor_device.c
index a68cb2156..e87ce3997 100644
--- a/src/class/vendor/vendor_device.c
+++ b/src/class/vendor/vendor_device.c
@@ -169,23 +169,49 @@ uint32_t tud_vendor_n_write_available (uint8_t itf)
 //--------------------------------------------------------------------+
 // USBD Driver API
 //--------------------------------------------------------------------+
-void vendord_init(void)
-{
+void vendord_init(void) {
   tu_memclr(_vendord_itf, sizeof(_vendord_itf));
 
-  for(uint8_t i=0; i<CFG_TUD_VENDOR; i++)
-  {
+  for(uint8_t i=0; i<CFG_TUD_VENDOR; i++) {
     vendord_interface_t* p_itf = &_vendord_itf[i];
 
     // config fifo
     tu_fifo_config(&p_itf->rx_ff, p_itf->rx_ff_buf, CFG_TUD_VENDOR_RX_BUFSIZE, 1, false);
     tu_fifo_config(&p_itf->tx_ff, p_itf->tx_ff_buf, CFG_TUD_VENDOR_TX_BUFSIZE, 1, false);
 
-    tu_fifo_config_mutex(&p_itf->rx_ff, NULL, osal_mutex_create(&p_itf->rx_ff_mutex));
-    tu_fifo_config_mutex(&p_itf->tx_ff, osal_mutex_create(&p_itf->tx_ff_mutex), NULL);
+    #if OSAL_MUTEX_REQUIRED
+    osal_mutex_t mutex_rd = osal_mutex_create(&p_itf->rx_ff_mutex);
+    osal_mutex_t mutex_wr = osal_mutex_create(&p_itf->tx_ff_mutex);
+    TU_ASSERT(mutex_rd && mutex_wr,);
+
+    tu_fifo_config_mutex(&p_itf->rx_ff, NULL, mutex_rd);
+    tu_fifo_config_mutex(&p_itf->tx_ff, mutex_wr, NULL);
+    #endif
   }
 }
 
+bool vendord_deinit(void) {
+  #if OSAL_MUTEX_REQUIRED
+  for(uint8_t i=0; i<CFG_TUD_VENDOR; i++) {
+    vendord_interface_t* p_itf = &_vendord_itf[i];
+    osal_mutex_t mutex_rd = p_itf->rx_ff.mutex_rd;
+    osal_mutex_t mutex_wr = p_itf->tx_ff.mutex_wr;
+
+    if (mutex_rd) {
+      osal_mutex_delete(mutex_rd);
+      tu_fifo_config_mutex(&p_itf->rx_ff, NULL, NULL);
+    }
+
+    if (mutex_wr) {
+      osal_mutex_delete(mutex_wr);
+      tu_fifo_config_mutex(&p_itf->tx_ff, NULL, NULL);
+    }
+  }
+  #endif
+
+  return true;
+}
+
 void vendord_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/class/vendor/vendor_device.h b/src/class/vendor/vendor_device.h
index d239406b4..cd69ec7c6 100644
--- a/src/class/vendor/vendor_device.h
+++ b/src/class/vendor/vendor_device.h
@@ -139,6 +139,7 @@ static inline uint32_t tud_vendor_write_available (void)
 // Internal Class Driver API
 //--------------------------------------------------------------------+
 void     vendord_init(void);
+bool     vendord_deinit(void);
 void     vendord_reset(uint8_t rhport);
 uint16_t vendord_open(uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     vendord_xfer_cb(uint8_t rhport, uint8_t ep_addr, xfer_result_t event, uint32_t xferred_bytes);
diff --git a/src/class/video/video_device.c b/src/class/video/video_device.c
index 891ece721..d0a88eb17 100644
--- a/src/class/video/video_device.c
+++ b/src/class/video/video_device.c
@@ -1236,6 +1236,10 @@ void videod_init(void) {
   }
 }
 
+bool videod_deinit(void) {
+  return true;
+}
+
 void videod_reset(uint8_t rhport) {
   (void) rhport;
   for (uint_fast8_t i = 0; i < CFG_TUD_VIDEO; ++i) {
diff --git a/src/class/video/video_device.h b/src/class/video/video_device.h
index ee2fcb9d5..92930c013 100644
--- a/src/class/video/video_device.h
+++ b/src/class/video/video_device.h
@@ -85,6 +85,7 @@ TU_ATTR_WEAK int tud_video_commit_cb(uint_fast8_t ctl_idx, uint_fast8_t stm_idx,
 // INTERNAL USBD-CLASS DRIVER API
 //--------------------------------------------------------------------+
 void     videod_init           (void);
+bool     videod_deinit         (void);
 void     videod_reset          (uint8_t rhport);
 uint16_t videod_open           (uint8_t rhport, tusb_desc_interface_t const * itf_desc, uint16_t max_len);
 bool     videod_control_xfer_cb(uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/device/dcd.h b/src/device/dcd.h
index 69c26bcf4..d4f105aa3 100644
--- a/src/device/dcd.h
+++ b/src/device/dcd.h
@@ -122,6 +122,9 @@ void dcd_dcache_clean_invalidate(void const* addr, uint32_t data_size) TU_ATTR_W
 // Initialize controller to device mode
 void dcd_init(uint8_t rhport);
 
+// Deinitialize controller, unset device mode.
+bool dcd_deinit(uint8_t rhport);
+
 // Interrupt Handler
 void dcd_int_handler(uint8_t rhport);
 
diff --git a/src/device/usbd.c b/src/device/usbd.c
index 8f98862c6..96982c30b 100644
--- a/src/device/usbd.c
+++ b/src/device/usbd.c
@@ -43,8 +43,13 @@
 #endif
 
 //--------------------------------------------------------------------+
-// Callback weak stubs (called if application does not provide)
+// Weak stubs: invoked if no strong implementation is available
 //--------------------------------------------------------------------+
+TU_ATTR_WEAK bool dcd_deinit(uint8_t rhport) {
+  (void) rhport;
+  return false;
+}
+
 TU_ATTR_WEAK void tud_event_hook_cb(uint8_t rhport, uint32_t eventid, bool in_isr) {
   (void)rhport;
   (void)eventid;
@@ -96,6 +101,7 @@ tu_static usbd_class_driver_t const _usbd_driver[] = {
     {
         DRIVER_NAME("CDC")
         .init             = cdcd_init,
+        .deinit           = cdcd_deinit,
         .reset            = cdcd_reset,
         .open             = cdcd_open,
         .control_xfer_cb  = cdcd_control_xfer_cb,
@@ -108,6 +114,7 @@ tu_static usbd_class_driver_t const _usbd_driver[] = {
     {
         DRIVER_NAME("MSC")
         .init             = mscd_init,
+        .deinit           = NULL,
         .reset            = mscd_reset,
         .open             = mscd_open,
         .control_xfer_cb  = mscd_control_xfer_cb,
@@ -118,121 +125,131 @@ tu_static usbd_class_driver_t const _usbd_driver[] = {
 
     #if CFG_TUD_HID
     {
-      DRIVER_NAME("HID")
-      .init             = hidd_init,
-      .reset            = hidd_reset,
-      .open             = hidd_open,
-      .control_xfer_cb  = hidd_control_xfer_cb,
-      .xfer_cb          = hidd_xfer_cb,
-      .sof              = NULL
+        DRIVER_NAME("HID")
+        .init             = hidd_init,
+        .deinit           = hidd_deinit,
+        .reset            = hidd_reset,
+        .open             = hidd_open,
+        .control_xfer_cb  = hidd_control_xfer_cb,
+        .xfer_cb          = hidd_xfer_cb,
+        .sof              = NULL
     },
     #endif
 
     #if CFG_TUD_AUDIO
     {
-      DRIVER_NAME("AUDIO")
-      .init             = audiod_init,
-      .reset            = audiod_reset,
-      .open             = audiod_open,
-      .control_xfer_cb  = audiod_control_xfer_cb,
-      .xfer_cb          = audiod_xfer_cb,
-      .sof              = audiod_sof_isr
+        DRIVER_NAME("AUDIO")
+        .init             = audiod_init,
+        .deinit           = audiod_deinit,
+        .reset            = audiod_reset,
+        .open             = audiod_open,
+        .control_xfer_cb  = audiod_control_xfer_cb,
+        .xfer_cb          = audiod_xfer_cb,
+        .sof              = audiod_sof_isr
     },
     #endif
 
     #if CFG_TUD_VIDEO
     {
-      DRIVER_NAME("VIDEO")
-      .init             = videod_init,
-      .reset            = videod_reset,
-      .open             = videod_open,
-      .control_xfer_cb  = videod_control_xfer_cb,
-      .xfer_cb          = videod_xfer_cb,
-      .sof              = NULL
+        DRIVER_NAME("VIDEO")
+        .init             = videod_init,
+        .deinit           = videod_deinit,
+        .reset            = videod_reset,
+        .open             = videod_open,
+        .control_xfer_cb  = videod_control_xfer_cb,
+        .xfer_cb          = videod_xfer_cb,
+        .sof              = NULL
     },
     #endif
 
     #if CFG_TUD_MIDI
     {
-      DRIVER_NAME("MIDI")
-      .init             = midid_init,
-      .open             = midid_open,
-      .reset            = midid_reset,
-      .control_xfer_cb  = midid_control_xfer_cb,
-      .xfer_cb          = midid_xfer_cb,
-      .sof              = NULL
+        DRIVER_NAME("MIDI")
+        .init             = midid_init,
+        .deinit           = midid_deinit,
+        .open             = midid_open,
+        .reset            = midid_reset,
+        .control_xfer_cb  = midid_control_xfer_cb,
+        .xfer_cb          = midid_xfer_cb,
+        .sof              = NULL
     },
     #endif
 
     #if CFG_TUD_VENDOR
     {
-      DRIVER_NAME("VENDOR")
-      .init             = vendord_init,
-      .reset            = vendord_reset,
-      .open             = vendord_open,
-      .control_xfer_cb  = tud_vendor_control_xfer_cb,
-      .xfer_cb          = vendord_xfer_cb,
-      .sof              = NULL
+        DRIVER_NAME("VENDOR")
+        .init             = vendord_init,
+        .deinit           = vendord_deinit,
+        .reset            = vendord_reset,
+        .open             = vendord_open,
+        .control_xfer_cb  = tud_vendor_control_xfer_cb,
+        .xfer_cb          = vendord_xfer_cb,
+        .sof              = NULL
     },
     #endif
 
     #if CFG_TUD_USBTMC
     {
-      DRIVER_NAME("TMC")
-      .init             = usbtmcd_init_cb,
-      .reset            = usbtmcd_reset_cb,
-      .open             = usbtmcd_open_cb,
-      .control_xfer_cb  = usbtmcd_control_xfer_cb,
-      .xfer_cb          = usbtmcd_xfer_cb,
-      .sof              = NULL
+        DRIVER_NAME("TMC")
+        .init             = usbtmcd_init_cb,
+        .deinit           = usbtmcd_deinit,
+        .reset            = usbtmcd_reset_cb,
+        .open             = usbtmcd_open_cb,
+        .control_xfer_cb  = usbtmcd_control_xfer_cb,
+        .xfer_cb          = usbtmcd_xfer_cb,
+        .sof              = NULL
     },
     #endif
 
     #if CFG_TUD_DFU_RUNTIME
     {
-      DRIVER_NAME("DFU-RUNTIME")
-      .init             = dfu_rtd_init,
-      .reset            = dfu_rtd_reset,
-      .open             = dfu_rtd_open,
-      .control_xfer_cb  = dfu_rtd_control_xfer_cb,
-      .xfer_cb          = NULL,
-      .sof              = NULL
+        DRIVER_NAME("DFU-RUNTIME")
+        .init             = dfu_rtd_init,
+        .deinit           = dfu_rtd_deinit,
+        .reset            = dfu_rtd_reset,
+        .open             = dfu_rtd_open,
+        .control_xfer_cb  = dfu_rtd_control_xfer_cb,
+        .xfer_cb          = NULL,
+        .sof              = NULL
     },
     #endif
 
     #if CFG_TUD_DFU
     {
-      DRIVER_NAME("DFU")
-      .init             = dfu_moded_init,
-      .reset            = dfu_moded_reset,
-      .open             = dfu_moded_open,
-      .control_xfer_cb  = dfu_moded_control_xfer_cb,
-      .xfer_cb          = NULL,
-      .sof              = NULL
+        DRIVER_NAME("DFU")
+        .init             = dfu_moded_init,
+        .deinit           = dfu_moded_deinit,
+        .reset            = dfu_moded_reset,
+        .open             = dfu_moded_open,
+        .control_xfer_cb  = dfu_moded_control_xfer_cb,
+        .xfer_cb          = NULL,
+        .sof              = NULL
     },
     #endif
 
     #if CFG_TUD_ECM_RNDIS || CFG_TUD_NCM
     {
-      DRIVER_NAME("NET")
-      .init             = netd_init,
-      .reset            = netd_reset,
-      .open             = netd_open,
-      .control_xfer_cb  = netd_control_xfer_cb,
-      .xfer_cb          = netd_xfer_cb,
-      .sof                  = NULL,
+        DRIVER_NAME("NET")
+        .init             = netd_init,
+        .deinit           = netd_deinit,
+        .reset            = netd_reset,
+        .open             = netd_open,
+        .control_xfer_cb  = netd_control_xfer_cb,
+        .xfer_cb          = netd_xfer_cb,
+        .sof                  = NULL,
     },
     #endif
 
     #if CFG_TUD_BTH
     {
-      DRIVER_NAME("BTH")
-      .init             = btd_init,
-      .reset            = btd_reset,
-      .open             = btd_open,
-      .control_xfer_cb  = btd_control_xfer_cb,
-      .xfer_cb          = btd_xfer_cb,
-      .sof              = NULL
+        DRIVER_NAME("BTH")
+        .init             = btd_init,
+        .deinit           = btd_deinit,
+        .reset            = btd_reset,
+        .open             = btd_open,
+        .control_xfer_cb  = btd_control_xfer_cb,
+        .xfer_cb          = btd_xfer_cb,
+        .sof              = NULL
     },
     #endif
 };
@@ -402,7 +419,7 @@ bool tud_init(uint8_t rhport) {
   // Init class drivers
   for (uint8_t i = 0; i < TOTAL_DRIVER_COUNT; i++) {
     usbd_class_driver_t const* driver = get_driver(i);
-    TU_ASSERT(driver);
+    TU_ASSERT(driver && driver->init);
     TU_LOG_USBD("%s init\r\n", driver->name);
     driver->init();
   }
@@ -416,6 +433,41 @@ bool tud_init(uint8_t rhport) {
   return true;
 }
 
+bool tud_deinit(uint8_t rhport) {
+  // skip if not initialized
+  if (!tud_inited()) return true;
+
+  TU_LOG_USBD("USBD deinit on controller %u\r\n", rhport);
+
+  // Deinit device controller driver
+  dcd_int_disable(rhport);
+  dcd_disconnect(rhport);
+  dcd_deinit(rhport);
+
+  // Deinit class drivers
+  for (uint8_t i = 0; i < TOTAL_DRIVER_COUNT; i++) {
+    usbd_class_driver_t const* driver = get_driver(i);
+    if(driver && driver->deinit) {
+      TU_LOG_USBD("%s deinit\r\n", driver->name);
+      driver->deinit();
+    }
+  }
+
+  // Deinit device queue & task
+  osal_queue_delete(_usbd_q);
+  _usbd_q = NULL;
+
+#if OSAL_MUTEX_REQUIRED
+  // TODO make sure there is no task waiting on this mutex
+  osal_mutex_delete(_usbd_mutex);
+  _usbd_mutex = NULL;
+#endif
+
+  _usbd_rhport = RHPORT_INVALID;
+
+  return true;
+}
+
 static void configuration_reset(uint8_t rhport) {
   for (uint8_t i = 0; i < TOTAL_DRIVER_COUNT; i++) {
     usbd_class_driver_t const* driver = get_driver(i);
diff --git a/src/device/usbd.h b/src/device/usbd.h
index 2e3987b99..0197628e2 100644
--- a/src/device/usbd.h
+++ b/src/device/usbd.h
@@ -37,9 +37,12 @@ extern "C" {
 // Application API
 //--------------------------------------------------------------------+
 
-// Init device stack
+// Init device stack on roothub port
 bool tud_init (uint8_t rhport);
 
+// Deinit device stack on roothub port
+bool tud_deinit(uint8_t rhport);
+
 // Check if device stack is already initialized
 bool tud_inited(void);
 
diff --git a/src/device/usbd_pvt.h b/src/device/usbd_pvt.h
index 9039bc9d6..47752f32c 100644
--- a/src/device/usbd_pvt.h
+++ b/src/device/usbd_pvt.h
@@ -45,6 +45,7 @@ typedef struct {
   #endif
 
   void     (* init             ) (void);
+  bool     (* deinit           ) (void);
   void     (* reset            ) (uint8_t rhport);
   uint16_t (* open             ) (uint8_t rhport, tusb_desc_interface_t const * desc_intf, uint16_t max_len);
   bool     (* control_xfer_cb  ) (uint8_t rhport, uint8_t stage, tusb_control_request_t const * request);
diff --git a/src/host/usbh.c b/src/host/usbh.c
index aa0603d47..6a5491998 100644
--- a/src/host/usbh.c
+++ b/src/host/usbh.c
@@ -425,7 +425,7 @@ bool tuh_deinit(uint8_t rhport) {
     // Class drivers
     for (uint8_t drv_id = 0; drv_id < TOTAL_DRIVER_COUNT; drv_id++) {
       usbh_class_driver_t const* driver = get_driver(drv_id);
-      if (driver) {
+      if (driver && driver->deinit) {
         TU_LOG_USBH("%s deinit\r\n", driver->name);
         driver->deinit();
       }
diff --git a/src/portable/raspberrypi/rp2040/dcd_rp2040.c b/src/portable/raspberrypi/rp2040/dcd_rp2040.c
index 5c564cb1c..bc0deee32 100644
--- a/src/portable/raspberrypi/rp2040/dcd_rp2040.c
+++ b/src/portable/raspberrypi/rp2040/dcd_rp2040.c
@@ -407,6 +407,19 @@ void dcd_init(uint8_t rhport) {
   dcd_connect(rhport);
 }
 
+bool dcd_deinit(uint8_t rhport) {
+  (void) rhport;
+
+  reset_non_control_endpoints();
+  irq_remove_handler(USBCTRL_IRQ, dcd_rp2040_irq);
+
+  // reset usb hardware into initial state
+  reset_block(RESETS_RESET_USBCTRL_BITS);
+  unreset_block_wait(RESETS_RESET_USBCTRL_BITS);
+
+  return true;
+}
+
 void dcd_int_enable(__unused uint8_t rhport) {
   assert(rhport == 0);
   irq_set_enabled(USBCTRL_IRQ, true);
diff --git a/src/portable/raspberrypi/rp2040/hcd_rp2040.c b/src/portable/raspberrypi/rp2040/hcd_rp2040.c
index b351a9a07..222dbbbf0 100644
--- a/src/portable/raspberrypi/rp2040/hcd_rp2040.c
+++ b/src/portable/raspberrypi/rp2040/hcd_rp2040.c
@@ -409,6 +409,16 @@ bool hcd_init(uint8_t rhport)
   return true;
 }
 
+bool hcd_deinit(uint8_t rhport) {
+  (void) rhport;
+
+  irq_remove_handler(USBCTRL_IRQ, hcd_rp2040_irq);
+  reset_block(RESETS_RESET_USBCTRL_BITS);
+  unreset_block_wait(RESETS_RESET_USBCTRL_BITS);
+
+  return true;
+}
+
 void hcd_port_reset(uint8_t rhport)
 {
   (void) rhport;
diff --git a/src/tusb_option.h b/src/tusb_option.h
index 2921d3ae0..cbcb69edd 100644
--- a/src/tusb_option.h
+++ b/src/tusb_option.h
@@ -34,7 +34,7 @@
 #define TUSB_VERSION_MAJOR     0
 #define TUSB_VERSION_MINOR     16
 #define TUSB_VERSION_REVISION  0
-#define TUSB_VERSION_BUILD     2
+#define TUSB_VERSION_BUILD     3
 
 #define TUSB_VERSION_NUMBER    (TUSB_VERSION_MAJOR << 24 | TUSB_VERSION_MINOR << 16 | TUSB_VERSION_REVISION << 8 | TUSB_VERSION_BUILD)
 #define TUSB_VERSION_STRING    TU_STRING(TUSB_VERSION_MAJOR) "." TU_STRING(TUSB_VERSION_MINOR) "." TU_STRING(TUSB_VERSION_REVISION)