Worked on the espressif/openocd-esp32 repository to address a critical stability issue in the CMSIS-DAP USB bulk driver. Focused on debugging and embedded systems, the developer fixed a memory freeing race condition by ensuring all pending USB transfers complete before resources are released during the cmsis_dap_usb_close process. This solution, implemented in C using libusb_handle_events_timeout_completed, prevents segmentation faults and unstable closes that previously affected USB-CMSIS-DAP workflows. The work improved the reliability of ESP32 debugging sessions by reducing crash risk during USB close operations, demonstrating careful attention to concurrency and resource management in embedded C programming and USB driver development.