2 files changed, 19 insertions, 3 deletions
diff --git a/src/device/usbd.c b/src/device/usbd.c
index 36b9c7cff..167a053e2 100644
--- a/src/device/usbd.c
+++ b/src/device/usbd.c
@@ -466,8 +466,10 @@ bool tud_task_event_ready(void)
     }
     @endcode
  */
-void tud_task (void)
+void tud_task_ext(uint32_t timeout_ms, bool in_isr)
 {
+  (void) in_isr; // not implemented yet
+
   // Skip if stack is not initialized
   if ( !tusb_inited() ) return;
 
@@ -475,7 +477,7 @@ void tud_task (void)
   while (1)
   {
     dcd_event_t event;
-    if ( !osal_queue_receive(_usbd_q, &event, 1) ) return;
+    if ( !osal_queue_receive(_usbd_q, &event, timeout_ms) ) return;
 
 #if CFG_TUSB_DEBUG >= 2
     if (event.event_id == DCD_EVENT_SETUP_RECEIVED) TU_LOG2("\r\n"); // extra line for setup
@@ -592,6 +594,11 @@ void tud_task (void)
         TU_BREAKPOINT();
       break;
     }
+
+#if CFG_TUSB_OS != OPT_OS_NONE && CFG_TUSB_OS != OPT_OS_PICO
+    // return if there is no more events, for application to run other background
+    if (osal_queue_empty(_usbd_q)) return;
+#endif
   }
 }
 
diff --git a/src/device/usbd.h b/src/device/usbd.h
index b2bf8ba9d..30373abb9 100644
--- a/src/device/usbd.h
+++ b/src/device/usbd.h
@@ -43,8 +43,17 @@ bool tud_init (uint8_t rhport);
 // Check if device stack is already initialized
 bool tud_inited(void);
 
+// Task function should be called in main/rtos loop, extended version of tud_task()
+// - timeout_ms: millisecond to wait, zero = no wait, 0xFFFFFFFF = wait forever
+// - in_isr: if function is called in ISR
+void tud_task_ext(uint32_t timeout_ms, bool in_isr);
+
 // Task function should be called in main/rtos loop
-void tud_task (void);
+TU_ATTR_ALWAYS_INLINE static inline
+void tud_task (void)
+{
+  tud_task_ext(OSAL_TIMEOUT_WAIT_FOREVER, false);
+}
 
 // Check if there is pending events need proccessing by tud_task()
 bool tud_task_event_ready(void);