Tool/software:
As in the TRM, VBUS<4.4 generate VBUS error interrupt.
After then VBUS error interrupt, doesn't response to USB flash inserting, detaching anymore, need to power cycle the board to recover.
How to recover in software, no need power cycle?
for example, which register to reset, etc....
Further experiments:
If keep VBUS=4.2V, insert/detach MSC U flash can always successful, but if has voltage drop during insertion even drop to 4.6V, also trigger VBUS error and result can't recover.
The Yellow line is VBUS, drop to 4.6V during inserting MSC U flash.