• Download clang based toolchain from https://github.com/espressif/llvm-project/releases/
• Extract toolchain and add its bin directory to your PATH environment variable

  export PATH=</path/to/distro>/esp-clang/bin:$PATH

• Set IDF_TOOLCHAIN environment variable:

  export IDF_TOOLCHAIN=clang

• Clean and build

  idf.py fullclean
  idf.py build
  

Note: In esp/esp-idf/components/usb/hcd_dwc.c, update lines 1096-1104 to:

bailout: 
{   
    struct pipe_obj *pipe = NULL;
    TAILQ_FOREACH(pipe, &port->pipes_idle_tailq, tailq_entry) {
        usb_dwc_hal_chan_set_ep_char(port->hal, pipe->chan_obj, &pipe->ep_char);
    }
}
exit:
    return ret;