get hcd work esp32p4 but only in slave mode. In DMA channel's HCDMA is increased but data transfer over USB is not correct.

src/portable/synopsys/dwc2/dwc2_esp32.h

@@ -100,14 +100,15 @@ TU_ATTR_ALWAYS_INLINE static inline void dwc2_remote_wakeup_delay(void) {
 TU_ATTR_ALWAYS_INLINE static inline void dwc2_phy_init(dwc2_regs_t* dwc2, uint8_t hs_phy_type) {
   (void)dwc2;
   (void)hs_phy_type;
-  // nothing to do
+  // maybe usb_utmi_hal_init()
+
 }
 
 // MCU specific PHY update, it is called AFTER init() and core reset
 TU_ATTR_ALWAYS_INLINE static inline void dwc2_phy_update(dwc2_regs_t* dwc2, uint8_t hs_phy_type) {
   (void)dwc2;
   (void)hs_phy_type;
-  // nothing to do
+  // maybe usb_utmi_hal_disable()
 }
 
 #ifdef __cplusplus

src/portable/synopsys/dwc2/dwc2_type.h

@@ -541,13 +541,22 @@ typedef struct {
     volatile uint32_t gotgctl;          // 000 OTG Control and Status
     volatile dwc2_gotgctl_t gotgctl_bm;
   };
+  union {
     volatile uint32_t gotgint;          // 004 OTG Interrupt
+    volatile dwc2_gotgint_t gotgint_bm;
+  };
+  union {
     volatile uint32_t gahbcfg;          // 008 AHB Configuration
+    volatile dwc2_gahbcfg_t gahbcfg_bm;
+  };
   union {
     volatile uint32_t gusbcfg;          // 00c USB Configuration
     volatile dwc2_gusbcfg_t gusbcfg_bm;
   };
+  union {
     volatile uint32_t grstctl;          // 010 Reset
+    volatile dwc2_grstctl_t grstctl_bm;
+  };
     volatile uint32_t gintsts;          // 014 Interrupt
     volatile uint32_t gintmsk;          // 018 Interrupt Mask
     volatile uint32_t grxstsr;          // 01c Receive Status Debug Read