diff --git a/core/usbh_core.c b/core/usbh_core.c
index 03ed3b9..406a5c3 100644
--- a/core/usbh_core.c
+++ b/core/usbh_core.c
@@ -227,21 +227,13 @@ static int parse_config_descriptor(struct usbh_hubport *hport, struct usb_config
                     cur_alt_setting = intf_desc->bAlternateSetting;
                     cur_ep_num = intf_desc->bNumEndpoints;
                     cur_ep = 0;
-                    if (cur_iface > (CONFIG_USBHOST_MAX_INTERFACES - 1)) {
-                        USB_LOG_ERR("Interface num overflow\r\n");
-                        while (1) {
-                        }
-                    }
-                    if (cur_alt_setting > (CONFIG_USBHOST_MAX_INTF_ALTSETTINGS - 1)) {
-                        USB_LOG_ERR("Interface altsetting num overflow\r\n");
-                        while (1) {
-                        }
-                    }
-                    if (cur_ep_num > CONFIG_USBHOST_MAX_ENDPOINTS) {
-                        USB_LOG_ERR("Endpoint num overflow\r\n");
-                        while (1) {
-                        }
-                    }
+
+                    USB_ASSERT_MSG(cur_iface < CONFIG_USBHOST_MAX_INTERFACES,
+                                   "Interface num %d overflow", cur_iface);
+                    USB_ASSERT_MSG(cur_alt_setting < CONFIG_USBHOST_MAX_INTF_ALTSETTINGS,
+                                   "Interface altsetting num %d overflow", cur_alt_setting);
+                    USB_ASSERT_MSG(cur_ep_num <= CONFIG_USBHOST_MAX_ENDPOINTS,
+                                   "Endpoint num %d overflow", cur_ep_num);
 #if 0
                     USB_LOG_DBG("Interface Descriptor:\r\n");
                     USB_LOG_DBG("bLength: 0x%02x            \r\n", intf_desc->bLength);
diff --git a/port/dwc2/usb_dc_dwc2.c b/port/dwc2/usb_dc_dwc2.c
index 229acd3..d3b33a5 100644
--- a/port/dwc2/usb_dc_dwc2.c
+++ b/port/dwc2/usb_dc_dwc2.c
@@ -538,11 +538,7 @@ int usb_dc_init(uint8_t busid)
     USB_LOG_INFO("dwc2 has %d endpoints and dfifo depth(32-bit words) is %d, default config: %d endpoints\r\n", endpoints, (USB_OTG_GLB->GHWCFG3 >> 16), CONFIG_USBDEV_EP_NUM);
     USB_LOG_INFO("=================================\r\n");
 
-    if (endpoints < CONFIG_USBDEV_EP_NUM) {
-        USB_LOG_ERR("dwc2 has less endpoints than config, please check\r\n");
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(endpoints >= CONFIG_USBDEV_EP_NUM, "dwc2 has less endpoints than config, please check");
 
     USB_OTG_DEV->DCTL |= USB_OTG_DCTL_SDIS;
 
@@ -591,11 +587,7 @@ int usb_dc_init(uint8_t busid)
                            USB_OTG_GINTMSK_USBSUSPM | USB_OTG_GINTMSK_WUIM;
 
 #ifdef CONFIG_USB_DWC2_DMA_ENABLE
-    if (((USB_OTG_GLB->GHWCFG2 & (0x3U << 3)) >> 3) != 2) {
-        USB_LOG_ERR("This dwc2 version does not support dma mode, so stop working\r\n");
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(((USB_OTG_GLB->GHWCFG2 & (0x3U << 3)) >> 3) == 2, "This dwc2 version does not support dma mode, so stop working");
 
     USB_OTG_DEV->DCFG &= ~USB_OTG_DCFG_DESCDMA;
     USB_OTG_GLB->GAHBCFG &= ~USB_OTG_GAHBCFG_HBSTLEN;
@@ -643,18 +635,9 @@ int usb_dc_init(uint8_t busid)
     fifo_num += CONFIG_USB_DWC2_TX8_FIFO_SIZE;
 #endif
 
-    if (fifo_num > (USB_OTG_GLB->GHWCFG3 >> 16)) {
-        USB_LOG_ERR("Your fifo config is overflow, please check\r\n");
-        while (1) {
-        }
-    }
-
+    USB_ASSERT_MSG(fifo_num <= (USB_OTG_GLB->GHWCFG3 >> 16), "Your fifo config is overflow, please check");
     /* xxx32 chips do not follow (USB_OTG_GLB->GHWCFG3 >> 16) if hsphy_type is zero, they use 1.25KB(320 DWORD) */
-    if ((hsphy_type == 0) && (fifo_num > 320)) {
-        USB_LOG_ERR("Your fifo config is larger than 320 , please check\r\n");
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(!((hsphy_type == 0) && (fifo_num > 320)), "Your fifo config is larger than 320 , please check");
 
     ret = dwc2_flush_txfifo(busid, 0x10U);
     ret = dwc2_flush_rxfifo(busid);
@@ -890,20 +873,15 @@ int usbd_ep_start_write(uint8_t busid, const uint8_t ep, const uint8_t *data, ui
     uint8_t ep_idx = USB_EP_GET_IDX(ep);
     uint32_t pktcnt = 0;
 
+    USB_ASSERT_MSG(!((uint32_t)data % 0x04), "dwc2 data must be 4-byte aligned");
+
     if (!data && data_len) {
         return -1;
     }
-#if 0 /* some chips have confused with this, so disable as default */
-    if (USB_OTG_INEP(ep_idx)->DIEPCTL & USB_OTG_DIEPCTL_EPENA) {
-        return -2;
-    }
-#endif
+
     if (ep_idx && !(USB_OTG_INEP(ep_idx)->DIEPCTL & USB_OTG_DIEPCTL_MPSIZ)) {
         return -3;
     }
-    if ((uint32_t)data & 0x03) {
-        return -4;
-    }
 
     g_dwc2_udc[busid].in_ep[ep_idx].xfer_buf = (uint8_t *)data;
     g_dwc2_udc[busid].in_ep[ep_idx].xfer_len = data_len;
@@ -963,20 +941,15 @@ int usbd_ep_start_read(uint8_t busid, const uint8_t ep, uint8_t *data, uint32_t
     uint8_t ep_idx = USB_EP_GET_IDX(ep);
     uint32_t pktcnt = 0;
 
+    USB_ASSERT_MSG(!((uint32_t)data % 0x04), "dwc2 data must be 4-byte aligned");
+
     if (!data && data_len) {
         return -1;
     }
-#if 0 /* some chips have confused with this, so disable as default */
-    if (USB_OTG_OUTEP(ep_idx)->DOEPCTL & USB_OTG_DOEPCTL_EPENA) {
-        return -2;
-    }
-#endif
+
     if (ep_idx && !(USB_OTG_OUTEP(ep_idx)->DOEPCTL & USB_OTG_DOEPCTL_MPSIZ)) {
         return -3;
     }
-    if (((uint32_t)data) & 0x03) {
-        return -4;
-    }
 
     g_dwc2_udc[busid].out_ep[ep_idx].xfer_buf = (uint8_t *)data;
     g_dwc2_udc[busid].out_ep[ep_idx].xfer_len = data_len;
diff --git a/port/dwc2/usb_hc_dwc2.c b/port/dwc2/usb_hc_dwc2.c
index 8c0600d..3678b40 100644
--- a/port/dwc2/usb_hc_dwc2.c
+++ b/port/dwc2/usb_hc_dwc2.c
@@ -491,17 +491,9 @@ int usb_hc_init(struct usbh_bus *bus)
 
     USB_LOG_INFO("dwc2 has %d channels and dfifo depth(32-bit words) is %d\r\n", ((USB_OTG_GLB->GHWCFG2 & (0x0f << 14)) >> 14) + 1, (USB_OTG_GLB->GHWCFG3 >> 16));
 
-    if (((USB_OTG_GLB->GHWCFG2 & (0x3U << 3)) >> 3) != 2) {
-        USB_LOG_ERR("This dwc2 version does not support dma mode, so stop working\r\n");
-        while (1) {
-        }
-    }
-
-    if ((CONFIG_USB_DWC2_RX_FIFO_SIZE + CONFIG_USB_DWC2_NPTX_FIFO_SIZE + CONFIG_USB_DWC2_PTX_FIFO_SIZE) > (USB_OTG_GLB->GHWCFG3 >> 16)) {
-        USB_LOG_ERR("Your fifo config is overflow, please check\r\n");
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(((USB_OTG_GLB->GHWCFG2 & (0x3U << 3)) >> 3) == 2, "This dwc2 version does not support dma mode, so stop working");
+    USB_ASSERT_MSG((CONFIG_USB_DWC2_RX_FIFO_SIZE + CONFIG_USB_DWC2_NPTX_FIFO_SIZE + CONFIG_USB_DWC2_PTX_FIFO_SIZE) <= (USB_OTG_GLB->GHWCFG3 >> 16),
+                   "Your fifo config is overflow, please check");
 
     USB_OTG_GLB->GAHBCFG &= ~USB_OTG_GAHBCFG_GINT;
 
@@ -763,16 +755,13 @@ int usbh_submit_urb(struct usbh_urb *urb)
     }
 
     /* dma addr must be aligned 4 bytes */
-    if ((((uint32_t)urb->setup) & 0x03) || (((uint32_t)urb->transfer_buffer) & 0x03)) {
-        return -USB_ERR_INVAL;
-    }
+    USB_ASSERT_MSG(!((uintptr_t)urb->setup % 4) && !((uintptr_t)urb->transfer_buffer % 4),
+                   "urb->setup or urb->transfer_buffer is not aligned 4 bytes");
 
 #ifdef CONFIG_USB_DCACHE_ENABLE
-    if (((uintptr_t)urb->setup % CONFIG_USB_ALIGN_SIZE) || ((uintptr_t)urb->transfer_buffer % CONFIG_USB_ALIGN_SIZE)) {
-        USB_LOG_ERR("urb buffer is not align with %d\r\n", CONFIG_USB_ALIGN_SIZE);
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(!((uintptr_t)urb->setup % CONFIG_USB_ALIGN_SIZE) &&
+                       !((uintptr_t)urb->transfer_buffer % CONFIG_USB_ALIGN_SIZE),
+                   "urb->setup or urb->transfer_buffer is not aligned %d", CONFIG_USB_ALIGN_SIZE);
 #endif
     bus = urb->hport->bus;
 
@@ -926,7 +915,7 @@ static void dwc2_inchan_irq_handler(struct usbh_bus *bus, uint8_t ch_num)
         if (chan_intstatus & USB_OTG_HCINT_XFRC) {
             urb->errorcode = 0;
 
-            uint32_t count = chan->xferlen - (USB_OTG_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_XFRSIZ);                        /* how many size has received */
+            uint32_t count = chan->xferlen - (USB_OTG_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_XFRSIZ); /* how many size has received */
             //uint32_t has_used_packets = chan->num_packets - ((USB_OTG_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_PKTCNT) >> 19); /* how many packets have used */
 
             urb->actual_length += count;
diff --git a/port/ehci/usb_hc_ehci.c b/port/ehci/usb_hc_ehci.c
index dd91544..e96a1f7 100644
--- a/port/ehci/usb_hc_ehci.c
+++ b/port/ehci/usb_hc_ehci.c
@@ -335,11 +335,7 @@ static struct ehci_qh_hw *ehci_control_urb_init(struct usbh_bus *bus, struct usb
     qtd_data = ehci_qtd_alloc(bus);
     qtd_status = ehci_qtd_alloc(bus);
 
-    if (!qtd_setup || !qtd_data || !qtd_status) {
-        USB_LOG_ERR("qtd alloc failed\r\n");
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(qtd_setup && qtd_data && qtd_status, "ctrl qtd alloc failed");
 
     ehci_qh_fill(qh,
                  urb->hport->dev_addr,
@@ -424,7 +420,6 @@ static struct ehci_qh_hw *ehci_bulk_urb_init(struct usbh_bus *bus, struct usbh_u
     struct ehci_qtd_hw *qtd = NULL;
     struct ehci_qtd_hw *first_qtd = NULL;
     struct ehci_qtd_hw *prev_qtd = NULL;
-    uint32_t qtd_num = 0;
     uint32_t xfer_len = 0;
     uint32_t token;
     size_t flags;
@@ -447,11 +442,7 @@ static struct ehci_qh_hw *ehci_bulk_urb_init(struct usbh_bus *bus, struct usbh_u
 
     while (1) {
         qtd = ehci_qtd_alloc(bus);
-        if (qtd == NULL) {
-            USB_LOG_ERR("qtd alloc failed\r\n");
-            while (1) {
-            }
-        }
+        USB_ASSERT_MSG(qtd, "bulk qtd alloc failed");
 
         if (buflen > 0x4000) {
             xfer_len = 0x4000;
@@ -490,11 +481,6 @@ static struct ehci_qh_hw *ehci_bulk_urb_init(struct usbh_bus *bus, struct usbh_u
         if (buflen == 0) {
             break;
         }
-        qtd_num++;
-
-        if (qtd_num == CONFIG_USB_EHCI_QTD_NUM) {
-            return NULL;
-        }
     }
 
     /* update qh first qtd */
@@ -530,7 +516,6 @@ static struct ehci_qh_hw *ehci_intr_urb_init(struct usbh_bus *bus, struct usbh_u
     struct ehci_qtd_hw *qtd = NULL;
     struct ehci_qtd_hw *first_qtd = NULL;
     struct ehci_qtd_hw *prev_qtd = NULL;
-    uint32_t qtd_num = 0;
     uint32_t xfer_len = 0;
     uint32_t token;
     size_t flags;
@@ -553,11 +538,7 @@ static struct ehci_qh_hw *ehci_intr_urb_init(struct usbh_bus *bus, struct usbh_u
 
     while (1) {
         qtd = ehci_qtd_alloc(bus);
-        if (qtd == NULL) {
-            USB_LOG_ERR("qtd alloc failed\r\n");
-            while (1) {
-            }
-        }
+        USB_ASSERT_MSG(qtd, "intr qtd alloc failed");
 
         if (buflen > 0x4000) {
             xfer_len = 0x4000;
@@ -596,11 +577,6 @@ static struct ehci_qh_hw *ehci_intr_urb_init(struct usbh_bus *bus, struct usbh_u
         if (buflen == 0) {
             break;
         }
-        qtd_num++;
-
-        if (qtd_num == CONFIG_USB_EHCI_QTD_NUM) {
-            return NULL;
-        }
     }
 
     /* update qh first qtd */
@@ -1220,11 +1196,9 @@ int usbh_submit_urb(struct usbh_urb *urb)
     }
 
 #ifdef CONFIG_USB_DCACHE_ENABLE
-    if (((uintptr_t)urb->setup % CONFIG_USB_ALIGN_SIZE) || ((uintptr_t)urb->transfer_buffer % CONFIG_USB_ALIGN_SIZE)) {
-        USB_LOG_ERR("urb buffer is not align with %d\r\n", CONFIG_USB_ALIGN_SIZE);
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(!((uintptr_t)urb->setup % CONFIG_USB_ALIGN_SIZE) &&
+                       !((uintptr_t)urb->transfer_buffer % CONFIG_USB_ALIGN_SIZE),
+                   "urb->setup or urb->transfer_buffer is not aligned %d", CONFIG_USB_ALIGN_SIZE);
 #endif
     bus = urb->hport->bus;
 
diff --git a/port/musb/usb_dc_musb.c b/port/musb/usb_dc_musb.c
index 845e583..8b868e3 100644
--- a/port/musb/usb_dc_musb.c
+++ b/port/musb/usb_dc_musb.c
@@ -266,11 +266,7 @@ int usb_dc_init(uint8_t busid)
         offset = usbd_musb_fifo_config(&cfg[i], offset);
     }
 
-    if (offset > usb_get_musb_ram_size()) {
-        USB_LOG_ERR("offset:%d is overflow, please check your table\r\n", offset);
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(offset <= usb_get_musb_ram_size(), "Your fifo config is overflow, please check");
 
     /* Enable USB interrupts */
     HWREGB(USB_BASE + MUSB_IE_OFFSET) = USB_IE_RESET | USB_IE_SUSPND | USB_IE_RESUME;
diff --git a/port/musb/usb_hc_musb.c b/port/musb/usb_hc_musb.c
index c32a3b1..4dc7a4b 100644
--- a/port/musb/usb_hc_musb.c
+++ b/port/musb/usb_hc_musb.c
@@ -504,11 +504,7 @@ int usb_hc_init(struct usbh_bus *bus)
         offset = usbh_musb_fifo_config(bus, &cfg[i], offset);
     }
 
-    if (offset > usb_get_musb_ram_size()) {
-        USB_LOG_ERR("offset:%d is overflow, please check your table\r\n", offset);
-        while (1) {
-        }
-    }
+    USB_ASSERT_MSG(offset <= usb_get_musb_ram_size(), "Your fifo config is overflow, please check");
 
     /* Enable USB interrupts */
     regval = USB_IE_RESET | USB_IE_CONN | USB_IE_DISCON |