diff --git a/src/device/usbd.c b/src/device/usbd.c
index 206b663c..78eebf76 100644
--- a/src/device/usbd.c
+++ b/src/device/usbd.c
@@ -189,11 +189,11 @@ bool tud_mounted(void)
 //--------------------------------------------------------------------+
 // USBD Task
 //--------------------------------------------------------------------+
-tusb_error_t usbd_init (void)
+bool usbd_init (void)
 {
   // Init device queue & task
   _usbd_q = osal_queue_create(&_usbd_qdef);
-  TU_VERIFY(_usbd_q, TUSB_ERROR_OSAL_QUEUE_FAILED);
+  TU_ASSERT(_usbd_q != NULL);
 
   osal_task_create(&_usbd_task_def);
 
@@ -201,10 +201,10 @@ tusb_error_t usbd_init (void)
   for (uint8_t i = 0; i < USBD_CLASS_DRIVER_COUNT; i++) usbd_class_drivers[i].init();
 
   // Init device controller driver
-  dcd_init(TUD_OPT_RHPORT);
+  TU_ASSERT(dcd_init(TUD_OPT_RHPORT));
   dcd_int_enable(TUD_OPT_RHPORT);
 
-  return TUSB_ERROR_NONE;
+  return true;
 }
 
 static void usbd_reset(uint8_t rhport)
diff --git a/src/device/usbd_pvt.h b/src/device/usbd_pvt.h
index 30f01088..cbe5017b 100644
--- a/src/device/usbd_pvt.h
+++ b/src/device/usbd_pvt.h
@@ -51,8 +51,8 @@ extern tud_desc_set_t const* usbd_desc_set;
 //--------------------------------------------------------------------+
 // INTERNAL API for stack management
 //--------------------------------------------------------------------+
-tusb_error_t usbd_init (void);
-void         usbd_task (void* param);
+bool usbd_init (void);
+void usbd_task (void* param);
 
 
 // Carry out Data and Status stage of control transfer
diff --git a/src/host/usbh.h b/src/host/usbh.h
index 22fdef16..56efb6ff 100644
--- a/src/host/usbh.h
+++ b/src/host/usbh.h
@@ -97,14 +97,11 @@ ATTR_WEAK void    tuh_device_mount_failed_cb(tusb_error_t error, tusb_desc_devic
 //--------------------------------------------------------------------+
 #ifdef _TINY_USB_SOURCE_FILE_
 
-
 void usbh_enumeration_task(void* param);
 tusb_error_t usbh_init(void);
 
 tusb_error_t usbh_control_xfer_subtask(uint8_t dev_addr, uint8_t bmRequestType, uint8_t bRequest,
                                        uint16_t wValue, uint16_t wIndex, uint16_t wLength, uint8_t* data);
-
-
 #endif
 
 #ifdef __cplusplus
diff --git a/src/tusb.c b/src/tusb.c
index 81c4907f..fe4dbb2c 100644
--- a/src/tusb.c
+++ b/src/tusb.c
@@ -47,17 +47,17 @@
 
 static bool _initialized = false;
 
-tusb_error_t tusb_init(void)
+bool tusb_init(void)
 {
   // skip if already initialized
-  if (_initialized) return TUSB_ERROR_NONE;
+  if (_initialized) return true;
 
 #if MODE_HOST_SUPPORTED
-  TU_ASSERT_ERR( usbh_init() ); // host stack init
+  TU_VERIFY( usbh_init() == TUSB_ERROR_NONE ); // init host stack
 #endif
 
 #if TUSB_OPT_DEVICE_ENABLED
-  TU_ASSERT_ERR ( usbd_init() ); // device stack init
+  TU_VERIFY ( usbd_init() ); // init device stack
 #endif
 
   _initialized = true;
diff --git a/src/tusb.h b/src/tusb.h
index c0246ccc..4f8918ce 100644
--- a/src/tusb.h
+++ b/src/tusb.h
@@ -101,16 +101,14 @@
 /** \ingroup group_application_api
  *  @{ */
 
-/** \brief Initialize the usb stack
- * \return Error Code of the \ref TUSB_ERROR enum
- * \note   Function will initialize the stack according to configuration in the configure file (tusb_config.h)
- */
-tusb_error_t tusb_init(void);
+// Initialize device/host stack according to tusb_config.h
+// return true if success
+bool tusb_init(void);
 
 #if CFG_TUSB_OS == OPT_OS_NONE
 /** \brief Run all tinyusb's internal tasks (e.g host task, device task).
  * \note   This function is only required when using no RTOS (\ref CFG_TUSB_OS == OPT_OS_NONE). All the stack functions
- *         & callback are invoked within this function, so it should be called periodically within the mainloop
+ *         & callback are invoked within this function. This should be called periodically within the mainloop
  *
     @code
     int main(void)