3 files changed, 20 insertions, 11 deletions
diff --git a/os/hal/dox/usb.dox b/os/hal/dox/usb.dox
index c31a8f274..b71a75186 100644
--- a/os/hal/dox/usb.dox
+++ b/os/hal/dox/usb.dox
@@ -44,7 +44,7 @@
     uninit [label="USB_UNINIT", style="bold"];
     ready [label="USB_READY\nClock Enabled"];
     selected [label="\nUSB_SELECTED\naddress\nassigned"];
-    configured [label="\nUSB_ACTIVE\nconfiguration\nselected"];
+    active [label="\nUSB_ACTIVE\nconfiguration\nselected"];
 
     uninit -> stop [label=" usbInit()", constraint=false];
     stop -> stop [label="\nusbStop()"];
@@ -53,12 +53,14 @@
     ready -> ready [label="\n\nusbStart()"];
     ready -> ready [label="\nSUSPEND/WAKEUP\n>event_cb<"];
     ready -> selected [label="\nSET_ADDRESS\n>event_cb<"];
+    selected -> stop [label="\nusbStop()"];
     selected -> ready [label="\nUSB RESET\n>event_cb<"];
     selected -> selected [label="\nSUSPEND/WAKEUP\n>event_cb<\n\nValid EP0 Message\n>requests_hook_cb<\n\nGET DESCRIPTOR\n>get_descriptor_cb<"];
-    selected -> configured [label="\nSET_CONF(n)\n>event_cb<"];
-    configured -> selected [label="\nSET_CONF(0)\n>event_cb<"];
-    configured -> configured [label="\nSUSPEND/WAKEUP\n>event_cb<\n\nValid EP0 Message\n>requests_hook_cb<\n\nGET DESCRIPTOR\n>get_descriptor_cb<\n\nEndpoints Activity\n >in_cb< or >out_cb<"];
-    configured -> ready [label="\nUSB RESET\n>event_cb<"];
+    selected -> active [label="\nSET_CONF(n)\n>event_cb<"];
+    active -> stop [label="\nusbStop()"];
+    active -> selected [label="\nSET_CONF(0)\n>event_cb<"];
+    active -> active [label="\nSUSPEND/WAKEUP\n>event_cb<\n\nValid EP0 Message\n>requests_hook_cb<\n\nGET DESCRIPTOR\n>get_descriptor_cb<\n\nEndpoints Activity\n >in_cb< or >out_cb<"];
+    active -> ready [label="\nUSB RESET\n>event_cb<"];
   }
  * @enddot
  * @else
@@ -73,7 +75,7 @@
     uninit [label="USB_UNINIT", style="bold"];
     ready [label="USB_READY\nClock Enabled"];
     selected [label="\nUSB_SELECTED\naddress\nassigned"];
-    configured [label="\nUSB_ACTIVE\nconfiguration\nselected"];
+    active [label="\nUSB_ACTIVE\nconfiguration\nselected"];
 
     uninit -> stop [label=" usbInit()", constraint=false];
     stop -> stop [label="\nusbStop()"];
@@ -82,12 +84,14 @@
     ready -> ready [label="\n\nusbStart()"];
     ready -> ready [label="\nSUSPEND/WAKEUP\n>event_cb<"];
     ready -> selected [label="\nSET_ADDRESS\n>event_cb<"];
+    selected -> stop [label="\nusbStop()"];
     selected -> ready [label="\nUSB RESET\n>event_cb<"];
     selected -> selected [label="\nSUSPEND/WAKEUP\n>event_cb<\n\nValid EP0 Message\n>requests_hook_cb<\n\nGET DESCRIPTOR\n>get_descriptor_cb<"];
-    selected -> configured [label="\nSET_CONF(n)\n>event_cb<"];
-    configured -> selected [label="\nSET_CONF(0)\n>event_cb<"];
-    configured -> configured [label="\nSUSPEND/WAKEUP\n>event_cb<\n\nValid EP0 Message\n>requests_hook_cb<\n\nGET DESCRIPTOR\n>get_descriptor_cb<\n\nEndpoints Activity\n >in_cb< >out_cb< >setup_cb<"];
-    configured -> ready [label="\nUSB RESET\n>event_cb<"];
+    selected -> active [label="\nSET_CONF(n)\n>event_cb<"];
+    active -> stop [label="\nusbStop()"];
+    active -> selected [label="\nSET_CONF(0)\n>event_cb<"];
+    active -> active [label="\nSUSPEND/WAKEUP\n>event_cb<\n\nValid EP0 Message\n>requests_hook_cb<\n\nGET DESCRIPTOR\n>get_descriptor_cb<\n\nEndpoints Activity\n >in_cb< or >out_cb<"];
+    active -> ready [label="\nUSB RESET\n>event_cb<"];
   }
  * @enddot
  * @endif
diff --git a/os/hal/platforms/STM32/OTGv1/usb_lld.c b/os/hal/platforms/STM32/OTGv1/usb_lld.c
index 3e50ccfe5..f6287a49c 100644
--- a/os/hal/platforms/STM32/OTGv1/usb_lld.c
+++ b/os/hal/platforms/STM32/OTGv1/usb_lld.c
@@ -927,6 +927,10 @@ void usb_lld_stop(USBDriver *usbp) {
   /* If in ready state then disables the USB clock.*/
   if (usbp->state != USB_STOP) {
 
+    /* Disabling all endpoints in case the driver has been stopped while
+       active.*/
+    otg_disable_ep(usbp);
+
     usbp->txpending = 0;
 
     otgp->DAINTMSK   = 0;
diff --git a/os/hal/src/usb.c b/os/hal/src/usb.c
index 1e7c35121..9c3825910 100644
--- a/os/hal/src/usb.c
+++ b/os/hal/src/usb.c
@@ -282,7 +282,8 @@ void usbStop(USBDriver *usbp) {
   chDbgCheck(usbp != NULL, "usbStop");
 
   chSysLock();
-  chDbgAssert((usbp->state == USB_STOP) || (usbp->state == USB_READY),
+  chDbgAssert((usbp->state == USB_STOP) || (usbp->state == USB_READY) ||
+              (usbp->state == USB_SELECTED) || (usbp->state == USB_ACTIVE),
               "usbStop(), #1", "invalid state");
   usb_lld_stop(usbp);
   usbp->state = USB_STOP;