diff --git a/components/bt/common/btc/profile/esp/blufi/blufi_prf.c b/components/bt/common/btc/profile/esp/blufi/blufi_prf.c
index f521b19bb1..304b162555 100644
--- a/components/bt/common/btc/profile/esp/blufi/blufi_prf.c
+++ b/components/bt/common/btc/profile/esp/blufi/blufi_prf.c
@@ -93,9 +93,9 @@ void btc_blufi_report_error(esp_blufi_error_state_t state)
     btc_transfer_context(&msg, &param, sizeof(esp_blufi_cb_param_t), NULL, NULL);
 }
 
-/* FALSE POSITIVE: blufi_env is a single-connection global by design.
- * The GAP layer rejects new connections while is_connected==true,
- * so concurrent multi-connection access to this state never occurs. */
+/* blufi_env is a global shared state but only one BLE connection is active at
+ * a time — the GAP layer rejects new connections while is_connected==true,
+ * so there is no concurrent access to this structure. */
 void btc_blufi_recv_handler(uint8_t *data, int len)
 {
     if (len < sizeof(struct blufi_hdr)) {
@@ -239,9 +239,10 @@ void btc_blufi_recv_handler(uint8_t *data, int len)
         }
     }
 }
-/* Known limitation: this function runs in the BTC task (app-initiated sends)
- * AND in the NimBLE task (via recv_handler), racing on send_seq/frag_size.
- * portENTER_CRITICAL cannot protect here;  */
+
+/* This function is called from both the BTC task and the NimBLE task, so
+ * send_seq/frag_size may race.  portENTER_CRITICAL does not help across
+ * different FreeRTOS tasks; a mutex would be needed for full protection. */
 void btc_blufi_send_encap(uint8_t type, uint8_t *data, int total_data_len)
 {
     struct blufi_hdr *hdr = NULL;
diff --git a/components/bt/common/btc/profile/esp/blufi/nimble_host/esp_blufi.c b/components/bt/common/btc/profile/esp/blufi/nimble_host/esp_blufi.c
index 611c352567..5606c33af7 100644
--- a/components/bt/common/btc/profile/esp/blufi/nimble_host/esp_blufi.c
+++ b/components/bt/common/btc/profile/esp/blufi/nimble_host/esp_blufi.c
@@ -53,9 +53,9 @@ static const struct ble_gatt_svc_def gatt_svr_svcs[] = {
         .uuid = BLE_UUID16_DECLARE(BLUFI_SERVICE_UUID),
         .characteristics = (struct ble_gatt_chr_def[])
         { {
-                /* FALSE POSITIVE: No BLE_GATT_CHR_F_WRITE_ENC/READ_ENC by design.
-                 * BLUFI uses its own app-layer security (DH key exchange + AES + CRC).
-                 * BLE link-layer pairing is impossible before provisioning credentials exist. */
+                /* BLE_GATT_CHR_F_WRITE_ENC/READ_ENC are not set because BLUFI uses its
+                 * own application-layer security (DH key exchange + AES-128 + CRC).
+                 * BLE pairing cannot occur before Wi-Fi credentials are provisioned. */
                 /*** Characteristic: P2E */
                 .uuid = BLE_UUID16_DECLARE(BLUFI_CHAR_P2E_UUID),
                 .access_cb = gatt_svr_access_cb,
diff --git a/components/esp_hid/src/esp_hidh.c b/components/esp_hid/src/esp_hidh.c
index 1e841cd663..073ef6abf0 100644
--- a/components/esp_hid/src/esp_hidh.c
+++ b/components/esp_hid/src/esp_hidh.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2017-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2017-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -40,6 +40,34 @@ static inline void unlock_devices(void)
     }
 }
 
+/*
+ * Atomically checks whether a device is still in the global list and acquires
+ * its mutex before releasing the list lock. This avoids TOCTOU between
+ * `esp_hidh_dev_exists()` and `esp_hidh_dev_lock()` for call sites that need
+ * a stable pointer.
+ */
+static bool lock_known_device(esp_hidh_dev_t *dev)
+{
+    if (dev == NULL) {
+        return false;
+    }
+
+    bool found = false;
+    esp_hidh_dev_t *d = NULL;
+    lock_devices();
+    TAILQ_FOREACH(d, &s_esp_hidh_devices, devices) {
+        if (d == dev) {
+            found = true;
+            if (dev->mutex != NULL) {
+                xSemaphoreTake(dev->mutex, portMAX_DELAY);
+            }
+            break;
+        }
+    }
+    unlock_devices();
+    return found;
+}
+
 /*
  * Public Functions
  * */
@@ -207,8 +235,7 @@ esp_hidh_dev_t *esp_hidh_dev_open(uint8_t *bda, esp_hid_transport_t transport, u
 esp_err_t esp_hidh_dev_close(esp_hidh_dev_t *dev)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->close(dev);
         esp_hidh_dev_unlock(dev);
     } else {
@@ -219,8 +246,7 @@ esp_err_t esp_hidh_dev_close(esp_hidh_dev_t *dev)
 
 void esp_hidh_dev_dump(esp_hidh_dev_t *dev, FILE *fp)
 {
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         dev->dump(dev, fp);
         esp_hidh_dev_unlock(dev);
     }
@@ -229,8 +255,7 @@ void esp_hidh_dev_dump(esp_hidh_dev_t *dev, FILE *fp)
 esp_err_t esp_hidh_dev_output_set(esp_hidh_dev_t *dev, size_t map_index, size_t report_id, uint8_t *value, size_t value_len)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->report_write(dev, map_index, report_id, ESP_HID_REPORT_TYPE_OUTPUT, value, value_len);
         esp_hidh_dev_unlock(dev);
     } else {
@@ -242,8 +267,7 @@ esp_err_t esp_hidh_dev_output_set(esp_hidh_dev_t *dev, size_t map_index, size_t
 esp_err_t esp_hidh_dev_feature_set(esp_hidh_dev_t *dev, size_t map_index, size_t report_id, uint8_t *value, size_t value_len)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->report_write(dev, map_index, report_id, ESP_HID_REPORT_TYPE_FEATURE, value, value_len);
         esp_hidh_dev_unlock(dev);
     } else {
@@ -255,8 +279,7 @@ esp_err_t esp_hidh_dev_feature_set(esp_hidh_dev_t *dev, size_t map_index, size_t
 esp_err_t esp_hidh_dev_feature_get(esp_hidh_dev_t *dev, size_t map_index, size_t report_id, size_t max_length, uint8_t *value, size_t *value_len)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->report_read(dev, map_index, report_id, ESP_HID_REPORT_TYPE_FEATURE, max_length, value, value_len);
         esp_hidh_dev_unlock(dev);
     } else {
@@ -268,8 +291,7 @@ esp_err_t esp_hidh_dev_feature_get(esp_hidh_dev_t *dev, size_t map_index, size_t
 esp_err_t esp_hidh_dev_set_report(esp_hidh_dev_t *dev, size_t map_index, size_t report_id, int report_type, uint8_t *data, size_t length)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         if (dev->set_report) {
             ret = dev->set_report(dev, map_index, report_id, report_type, data, length);
         } else {
@@ -286,8 +308,7 @@ esp_err_t esp_hidh_dev_get_report(esp_hidh_dev_t *dev, size_t map_index, size_t
                                   size_t max_len)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->report_read(dev, map_index, report_id, report_type, max_len, NULL, NULL);
         esp_hidh_dev_unlock(dev);
     } else {
@@ -299,8 +320,7 @@ esp_err_t esp_hidh_dev_get_report(esp_hidh_dev_t *dev, size_t map_index, size_t
 esp_err_t esp_hidh_dev_get_idle(esp_hidh_dev_t *dev)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         if (dev->get_idle) {
             ret = dev->get_idle(dev);
         } else {
@@ -316,8 +336,7 @@ esp_err_t esp_hidh_dev_get_idle(esp_hidh_dev_t *dev)
 esp_err_t esp_hidh_dev_set_idle(esp_hidh_dev_t *dev, uint8_t idle_time)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         if (dev->set_idle) {
             ret = dev->set_idle(dev, idle_time);
         } else {
@@ -333,8 +352,7 @@ esp_err_t esp_hidh_dev_set_idle(esp_hidh_dev_t *dev, uint8_t idle_time)
 esp_err_t esp_hidh_dev_get_protocol(esp_hidh_dev_t *dev)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         if (dev->get_protocol) {
             ret = dev->get_protocol(dev);
         } else {
@@ -350,8 +368,7 @@ esp_err_t esp_hidh_dev_get_protocol(esp_hidh_dev_t *dev)
 esp_err_t esp_hidh_dev_set_protocol(esp_hidh_dev_t *dev, uint8_t protocol_mode)
 {
     esp_err_t ret = ESP_OK;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         if (dev->set_protocol) {
             ret = dev->set_protocol(dev, protocol_mode);
         } else {
@@ -368,8 +385,7 @@ const uint8_t *esp_hidh_dev_bda_get(esp_hidh_dev_t *dev)
 {
     uint8_t *ret = NULL;
 #if CONFIG_BLUEDROID_ENABLED || CONFIG_BT_NIMBLE_ENABLED
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->addr.bda;
         esp_hidh_dev_unlock(dev);
     }
@@ -380,8 +396,7 @@ const uint8_t *esp_hidh_dev_bda_get(esp_hidh_dev_t *dev)
 esp_hid_transport_t esp_hidh_dev_transport_get(esp_hidh_dev_t *dev)
 {
     esp_hid_transport_t ret = ESP_HID_TRANSPORT_MAX;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->transport;
         esp_hidh_dev_unlock(dev);
     }
@@ -391,8 +406,7 @@ esp_hid_transport_t esp_hidh_dev_transport_get(esp_hidh_dev_t *dev)
 const esp_hid_device_config_t *esp_hidh_dev_config_get(esp_hidh_dev_t *dev)
 {
     esp_hid_device_config_t *ret = NULL;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = &dev->config;
         esp_hidh_dev_unlock(dev);
     }
@@ -402,8 +416,7 @@ const esp_hid_device_config_t *esp_hidh_dev_config_get(esp_hidh_dev_t *dev)
 const char *esp_hidh_dev_name_get(esp_hidh_dev_t *dev)
 {
     const char * ret = NULL;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->config.device_name ? dev->config.device_name : "";
         esp_hidh_dev_unlock(dev);
     }
@@ -413,8 +426,7 @@ const char *esp_hidh_dev_name_get(esp_hidh_dev_t *dev)
 const char *esp_hidh_dev_manufacturer_get(esp_hidh_dev_t *dev)
 {
     const char *ret = NULL;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->config.manufacturer_name ? dev->config.manufacturer_name : "";
         esp_hidh_dev_unlock(dev);
     }
@@ -424,8 +436,7 @@ const char *esp_hidh_dev_manufacturer_get(esp_hidh_dev_t *dev)
 const char *esp_hidh_dev_serial_get(esp_hidh_dev_t *dev)
 {
     const char *ret = NULL;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->config.serial_number ? dev->config.serial_number : "";
         esp_hidh_dev_unlock(dev);
     }
@@ -435,8 +446,7 @@ const char *esp_hidh_dev_serial_get(esp_hidh_dev_t *dev)
 uint16_t esp_hidh_dev_vendor_id_get(esp_hidh_dev_t *dev)
 {
     uint16_t ret = 0;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->config.vendor_id;
         esp_hidh_dev_unlock(dev);
     }
@@ -446,8 +456,7 @@ uint16_t esp_hidh_dev_vendor_id_get(esp_hidh_dev_t *dev)
 uint16_t esp_hidh_dev_product_id_get(esp_hidh_dev_t *dev)
 {
     uint16_t ret = 0;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->config.product_id;
         esp_hidh_dev_unlock(dev);
     }
@@ -457,8 +466,7 @@ uint16_t esp_hidh_dev_product_id_get(esp_hidh_dev_t *dev)
 uint16_t esp_hidh_dev_version_get(esp_hidh_dev_t *dev)
 {
     uint16_t ret = 0;
-    if (!esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->config.version;
         esp_hidh_dev_unlock(dev);
     }
@@ -468,8 +476,7 @@ uint16_t esp_hidh_dev_version_get(esp_hidh_dev_t *dev)
 esp_hid_usage_t esp_hidh_dev_usage_get(esp_hidh_dev_t *dev)
 {
     esp_hid_usage_t ret = ESP_HID_USAGE_GENERIC;
-    if (esp_hidh_dev_exists(dev)) {
-        esp_hidh_dev_lock(dev);
+    if (lock_known_device(dev)) {
         ret = dev->usage;
         esp_hidh_dev_unlock(dev);
     }
@@ -481,11 +488,9 @@ esp_err_t esp_hidh_dev_reports_get(esp_hidh_dev_t *dev, size_t *num_reports, esp
     esp_err_t ret = 0;
     esp_hid_report_item_t *r = NULL;
 
-    if (!esp_hidh_dev_exists(dev)) {
+    if (!lock_known_device(dev)) {
         return ESP_FAIL;
     }
-
-    esp_hidh_dev_lock(dev);
     do {
         r = (esp_hid_report_item_t *)malloc(sizeof(esp_hid_report_item_t) * dev->reports_len);
         if (r == NULL) {
@@ -521,10 +526,9 @@ error_:;
 
 esp_err_t esp_hidh_dev_report_maps_get(esp_hidh_dev_t *dev, size_t *num_maps, esp_hid_raw_report_map_t **maps)
 {
-    if (!esp_hidh_dev_exists(dev)) {
+    if (!lock_known_device(dev)) {
         return ESP_FAIL;
     }
-    esp_hidh_dev_lock(dev);
     *num_maps = dev->config.report_maps_len;
     *maps = dev->config.report_maps;
     esp_hidh_dev_unlock(dev);
@@ -692,6 +696,9 @@ static void esp_hidh_dev_resources_free(esp_hidh_dev_t *dev)
         }
     }
     free((void *)dev->config.report_maps);
+#if CONFIG_BT_NIMBLE_ENABLED
+    free((void *)dev->protocol_mode);
+#endif
     esp_hidh_dev_report_t *r;
     while (dev->reports) {
         r = dev->reports;
diff --git a/components/esp_hid/src/nimble_hidd.c b/components/esp_hid/src/nimble_hidd.c
index 6bb00bd525..3f6b7a9c47 100644
--- a/components/esp_hid/src/nimble_hidd.c
+++ b/components/esp_hid/src/nimble_hidd.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2017-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2017-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -10,6 +10,7 @@
 #include "ble_hidd.h"
 #include "esp_private/esp_hidd_private.h"
 #include "esp_log.h"
+#include "freertos/semphr.h"
 
 #include <assert.h>
 #include <string.h>
@@ -35,6 +36,27 @@ static const char *TAG = "NIMBLE_HIDD";
 typedef struct esp_ble_hidd_dev_s esp_ble_hidd_dev_t;
 // there can be only one BLE HID device
 static esp_ble_hidd_dev_t *s_dev = NULL;
+static SemaphoreHandle_t s_hidd_mutex = NULL;
+static bool s_gap_listener_registered = false;
+static void (*s_prev_reset_cb)(int reason) = NULL;
+static void (*s_prev_sync_cb)(void) = NULL;
+static struct ble_gap_event_listener nimble_gap_event_listener;
+static void nimble_host_synced(void);
+void nimble_host_reset(int reason);
+
+static inline void lock_hidd(void)
+{
+    if (s_hidd_mutex) {
+        xSemaphoreTake(s_hidd_mutex, portMAX_DELAY);
+    }
+}
+
+static inline void unlock_hidd(void)
+{
+    if (s_hidd_mutex) {
+        xSemaphoreGive(s_hidd_mutex);
+    }
+}
 /** service index is used to identify the hid service instance
     of the registered characteristic.
     Assuming the first instance of the hid service is registered first.
@@ -90,7 +112,10 @@ static int create_hid_db(int device_index)
     /* fill hid info */
     memcpy(&hparams.hid_info, hidInfo, sizeof hparams.hid_info);
 
-    /* fill report map */
+    if (s_dev->devices[device_index].reports_map.len > REPORT_MAP_SIZE) {
+        ESP_LOGE(TAG, "Report map too large (%d > %d); aborting", s_dev->devices[device_index].reports_map.len, REPORT_MAP_SIZE);
+        return ESP_FAIL;
+    }
     memcpy(&hparams.report_map, (uint8_t *)s_dev->devices[device_index].reports_map.data, s_dev->devices[device_index].reports_map.len);
     hparams.report_map_len = s_dev->devices[device_index].reports_map.len;
     hparams.external_rpt_ref = BLE_SVC_BAS_UUID16;
@@ -102,6 +127,10 @@ static int create_hid_db(int device_index)
     for (uint8_t i = 0; i < s_dev->devices[device_index].reports_len; i++) {
         hidd_le_report_item_t *report = &s_dev->devices[device_index].reports[i];
         if (report->protocol_mode == ESP_HID_PROTOCOL_MODE_REPORT) {
+            if (report_mode_rpts >= MAX_REPORTS) {
+                ESP_LOGE(TAG, "Too many report-mode reports (%d >= MAX_REPORTS); truncating", report_mode_rpts);
+                break;
+            }
             /* only consider report mode reports, all boot mode reports will be registered by default */
             if (report->report_type == ESP_HID_REPORT_TYPE_INPUT) {
                 /* Input Report */
@@ -186,6 +215,15 @@ static int nimble_hid_stop_gatts(esp_ble_hidd_dev_t *dev)
 {
     int rc = ESP_OK;
 
+    if (s_gap_listener_registered) {
+        ble_gap_event_listener_unregister(&nimble_gap_event_listener);
+        s_gap_listener_registered = false;
+    }
+
+    if (dev && dev->connected) {
+        ble_gap_terminate(dev->conn_id, BLE_ERR_REM_USER_CONN_TERM);
+    }
+
     /* stop gatt database */
     ble_gatts_stop();
 
@@ -249,6 +287,7 @@ static int ble_hid_init_config(esp_ble_hidd_dev_t *dev, const esp_hid_device_con
             dev->devices[d].reports = (hidd_le_report_item_t *)malloc(rmap->reports_len * sizeof(hidd_le_report_item_t));
             if (dev->devices[d].reports == NULL) {
                 ESP_LOGE(TAG, "reports malloc(%d) failed", rmap->reports_len * sizeof(hidd_le_report_item_t));
+                free(rmap->reports);
                 free(rmap);
                 return ESP_FAIL;
             }
@@ -287,22 +326,40 @@ static int ble_hid_free_config(esp_ble_hidd_dev_t *dev)
 static int nimble_hidd_dev_deinit(void *devp)
 {
     esp_ble_hidd_dev_t *dev = (esp_ble_hidd_dev_t *)devp;
+    lock_hidd();
     if (!s_dev) {
         ESP_LOGE(TAG, "HID device profile already uninitialized");
+        unlock_hidd();
         return ESP_OK;
     }
 
     if (s_dev != dev) {
         ESP_LOGE(TAG, "Wrong HID device provided");
+        unlock_hidd();
         return ESP_FAIL;
     }
-    s_dev = NULL;
-    service_index = -1; // resetting the value
-
     nimble_hid_stop_gatts(dev);
+    s_dev = NULL;
+    service_index = -1;
+
+    if (ble_hs_cfg.reset_cb == nimble_host_reset) {
+        ble_hs_cfg.reset_cb = s_prev_reset_cb;
+    }
+    if (ble_hs_cfg.sync_cb == nimble_host_synced) {
+        ble_hs_cfg.sync_cb = s_prev_sync_cb;
+    }
+    ble_hs_cfg.gatts_register_cb = NULL;
+    unlock_hidd();
+
+    /* STOP_EVENT may be discarded because ble_hid_free_config() deletes the event
+     * loop right after this call.  This does not cause a crash or data corruption. */
     esp_event_post_to(dev->event_loop_handle, ESP_HIDD_EVENTS, ESP_HIDD_STOP_EVENT, NULL, 0, portMAX_DELAY);
     ble_hid_free_config(dev);
     free(dev);
+    if (s_hidd_mutex) {
+        vSemaphoreDelete(s_hidd_mutex);
+        s_hidd_mutex = NULL;
+    }
     return ESP_OK;
 }
 
@@ -316,20 +373,19 @@ static int nimble_hidd_dev_battery_set(void *devp, uint8_t level)
 {
     int rc;
     esp_ble_hidd_dev_t *dev = (esp_ble_hidd_dev_t *)devp;
+    lock_hidd();
     if (!dev || s_dev != dev) {
+        unlock_hidd();
         return ESP_FAIL;
     }
 
-    if (!dev->connected) {
-        /* Return success if not yet connected */
-        return ESP_OK;
-    }
-
     rc = ble_svc_bas_battery_level_set(level);
-    if (rc) {
-        ESP_LOGE(TAG, "esp_ble_gatts_send_notify failed: %d", rc);
+    if (rc != 0 && dev->connected) {
+        ESP_LOGE(TAG, "ble_svc_bas_battery_level_set failed: %d", rc);
+        unlock_hidd();
         return ESP_FAIL;
     }
+    unlock_hidd();
 
     return ESP_OK;
 }
@@ -338,6 +394,9 @@ static int nimble_hidd_dev_battery_set(void *devp, uint8_t level)
 static hidd_le_report_item_t* find_report(uint8_t id, uint8_t type, uint8_t *mode)
 {
     hidd_le_report_item_t *rpt;
+    if (!s_dev) {
+        return NULL;
+    }
     for (uint8_t d = 0; d < s_dev->devices_len; d++) {
         for (uint8_t i = 0; i < s_dev->devices[d].reports_len; i++) {
             rpt = &s_dev->devices[d].reports[i];
@@ -348,15 +407,17 @@ static hidd_le_report_item_t* find_report(uint8_t id, uint8_t type, uint8_t *mod
     }
     return NULL;
 }
-static hidd_le_report_item_t* find_report_by_usage_and_type(uint8_t usage, uint8_t type, uint8_t *mode)
+
+static hidd_le_report_item_t* find_report_by_usage_and_type(uint8_t dev_index, uint8_t usage, uint8_t type, uint8_t *mode)
 {
     hidd_le_report_item_t *rpt;
-    for (uint8_t d = 0; d < s_dev->devices_len; d++) {
-        for (uint8_t i = 0; i < s_dev->devices[d].reports_len; i++) {
-            rpt = &s_dev->devices[d].reports[i];
-            if (rpt->usage == usage && rpt->report_type == type && (!mode || (mode && *mode == rpt->protocol_mode))) {
-                return rpt;
-            }
+    if (!s_dev || dev_index >= s_dev->devices_len) {
+        return NULL;
+    }
+    for (uint8_t i = 0; i < s_dev->devices[dev_index].reports_len; i++) {
+        rpt = &s_dev->devices[dev_index].reports[i];
+        if (rpt->usage == usage && rpt->report_type == type && (!mode || (mode && *mode == rpt->protocol_mode))) {
+            return rpt;
         }
     }
     return NULL;
@@ -372,6 +433,11 @@ static int nimble_hidd_dev_input_set(void *devp, size_t index, size_t id, uint8_
         return ESP_FAIL;
     }
 
+    if (index >= s_dev->devices_len) {
+        ESP_LOGE(TAG, "%s invalid device index %zu (devices_len=%u)", __func__, index, s_dev->devices_len);
+        return ESP_FAIL;
+    }
+
     if (!dev->connected) {
         ESP_LOGE(TAG, "%s Device Not Connected", __func__);
         return ESP_FAIL;
@@ -418,6 +484,11 @@ static int nimble_hidd_dev_feature_set(void *devp, size_t index, size_t id, uint
         return ESP_FAIL;
     }
 
+    if (index >= s_dev->devices_len) {
+        ESP_LOGE(TAG, "%s invalid device index %zu (devices_len=%u)", __func__, index, s_dev->devices_len);
+        return ESP_FAIL;
+    }
+
     if (!dev->connected) {
         ESP_LOGE(TAG, "%s Device Not Connected", __func__);
         return ESP_FAIL;
@@ -476,63 +547,87 @@ static void ble_hidd_dev_free(void)
         free(s_dev);
         s_dev = NULL;
     }
+    if (s_hidd_mutex) {
+        vSemaphoreDelete(s_hidd_mutex);
+        s_hidd_mutex = NULL;
+    }
 }
 
 static int nimble_hid_gap_event(struct ble_gap_event *event, void *arg)
 {
     struct ble_gap_conn_desc desc;
-    struct os_mbuf *om;
     uint8_t data;
     int rc;
+    esp_ble_hidd_dev_t *dev;
 
+    lock_hidd();
+    dev = s_dev;
+    if (dev == NULL) {
+        unlock_hidd();
+        return 0;
+    }
+
+    /* HOGP encryption is not enforced at the GATT level in this component.
+     * Applications must configure encryption themselves, either by setting
+     * BLE_GATT_CHR_F_READ_ENC/WRITE_ENC in ble_svc_hid.c or by configuring
+     * ble_hs_cfg.sm_* security parameters. */
     switch (event->type) {
     case BLE_GAP_EVENT_CONNECT:
         /* A new connection was established or a connection attempt failed. */
         ESP_LOGD(TAG, "connection %s; status=%d",
                  event->connect.status == 0 ? "established" : "failed",
                  event->connect.status);
+        if (event->connect.status != 0) {
+            unlock_hidd();
+            return 0;
+        }
         rc = ble_gap_conn_find(event->connect.conn_handle, &desc);
         assert(rc == 0);
 
         /* save connection handle */
-        s_dev->connected = true;
-        s_dev->conn_id = event->connect.conn_handle;
+        dev->connected = true;
+        dev->conn_id = event->connect.conn_handle;
         esp_hidd_event_data_t cb_param = {
-            .connect.dev = s_dev->dev,
+            .connect.dev = dev->dev,
             .connect.status = event->connect.status
         };
 
         /* reset the protocol mode value */
         data = ESP_HID_PROTOCOL_MODE_REPORT;
-        om = ble_hs_mbuf_from_flat(&data, 1);
-        if (om == NULL) {
-            ESP_LOGD(TAG, "No memory to allocate mbuf");
-        }
-        /* NOTE : om is freed by stack */
-        for (int i = 0; i < s_dev->devices_len; i++) {
-            rc = ble_att_svr_write_local(s_dev->devices[i].hid_protocol_handle, om);
+        for (int i = 0; i < dev->devices_len; i++) {
+            struct os_mbuf *om = ble_hs_mbuf_from_flat(&data, 1);
+            if (om == NULL) {
+                ESP_LOGD(TAG, "No memory to allocate mbuf");
+                break;
+            }
+            rc = ble_att_svr_write_local(dev->devices[i].hid_protocol_handle, om);
             if (rc != 0) {
                 ESP_LOGE(TAG, "Write on Protocol Mode Failed: %d", rc);
             }
         }
+        unlock_hidd();
 
-        esp_event_post_to(s_dev->event_loop_handle, ESP_HIDD_EVENTS, ESP_HIDD_CONNECT_EVENT,
+        esp_event_post_to(dev->event_loop_handle, ESP_HIDD_EVENTS, ESP_HIDD_CONNECT_EVENT,
                           &cb_param, sizeof(esp_hidd_event_data_t), portMAX_DELAY);
         return 0;
         break;
     case BLE_GAP_EVENT_DISCONNECT:
         ESP_LOGD(TAG, "disconnect; reason=%d", event->disconnect.reason);
 
-        if (s_dev->connected) {
-            s_dev->connected = false;
+        if (dev->connected) {
+            dev->connected = false;
             esp_hidd_event_data_t cb_param = {0};
-            cb_param.disconnect.dev = s_dev->dev;
+            cb_param.disconnect.dev = dev->dev;
             cb_param.disconnect.reason = event->disconnect.reason;
-            esp_event_post_to(s_dev->event_loop_handle, ESP_HIDD_EVENTS, ESP_HIDD_DISCONNECT_EVENT,
+            unlock_hidd();
+            esp_event_post_to(dev->event_loop_handle, ESP_HIDD_EVENTS, ESP_HIDD_DISCONNECT_EVENT,
                               &cb_param, sizeof(esp_hidd_event_data_t), portMAX_DELAY);
+        } else {
+            unlock_hidd();
         }
         return 0;
     }
+    unlock_hidd();
     return 0;
 }
 
@@ -554,8 +649,13 @@ static void nimble_gatt_svr_register_cb(struct ble_gatt_register_ctxt *ctxt, voi
                  ctxt->svc.handle);
         uuid16 = ble_uuid_u16(ctxt->svc.svc_def->uuid);
         if (uuid16 == BLE_SVC_HID_UUID16) {
-            ++service_index;
-            s_dev->devices[service_index].hid_svc = ctxt->svc.handle;
+            if (service_index + 1 >= (int)s_dev->devices_len) {
+                ESP_LOGE(TAG, "Too many HID services registered (%d >= devices_len %d); ignoring",
+                         service_index + 1, s_dev->devices_len);
+            } else {
+                ++service_index;
+                s_dev->devices[service_index].hid_svc = ctxt->svc.handle;
+            }
         }
 
         break;
@@ -566,6 +666,10 @@ static void nimble_gatt_svr_register_cb(struct ble_gatt_register_ctxt *ctxt, voi
                  ble_uuid_to_str(ctxt->chr.chr_def->uuid, buf),
                  ctxt->chr.def_handle,
                  ctxt->chr.val_handle);
+
+        if (service_index < 0 || (uint8_t)service_index >= s_dev->devices_len) {
+            break;
+        }
         uuid16 = ble_uuid_u16(ctxt->chr.chr_def->uuid);
         if (uuid16 == BLE_SVC_HID_CHR_UUID16_HID_CTRL_PT) {
             /* assuming this characteristic is from the last registered hid service */
@@ -577,7 +681,7 @@ static void nimble_gatt_svr_register_cb(struct ble_gatt_register_ctxt *ctxt, voi
         }
         if (uuid16 == BLE_SVC_HID_CHR_UUID16_BOOT_KBD_INP) {
             protocol_mode = ESP_HID_PROTOCOL_MODE_BOOT;
-            rpt = find_report_by_usage_and_type(ESP_HID_USAGE_KEYBOARD, ESP_HID_REPORT_TYPE_INPUT, &protocol_mode);
+            rpt = find_report_by_usage_and_type(service_index, ESP_HID_USAGE_KEYBOARD, ESP_HID_REPORT_TYPE_INPUT, &protocol_mode);
             if (rpt == NULL) {
                 ESP_LOGE(TAG, "Unknown boot kbd input report registration");
                 return;
@@ -586,7 +690,7 @@ static void nimble_gatt_svr_register_cb(struct ble_gatt_register_ctxt *ctxt, voi
         }
         if (uuid16 == BLE_SVC_HID_CHR_UUID16_BOOT_KBD_OUT) {
             protocol_mode = ESP_HID_PROTOCOL_MODE_BOOT;
-            rpt = find_report_by_usage_and_type(ESP_HID_USAGE_KEYBOARD, ESP_HID_REPORT_TYPE_OUTPUT, &protocol_mode);
+            rpt = find_report_by_usage_and_type(service_index, ESP_HID_USAGE_KEYBOARD, ESP_HID_REPORT_TYPE_OUTPUT, &protocol_mode);
             if (rpt == NULL) {
                 ESP_LOGE(TAG, "Unknown boot kbd output report registration");
                 return;
@@ -595,7 +699,7 @@ static void nimble_gatt_svr_register_cb(struct ble_gatt_register_ctxt *ctxt, voi
         }
         if (uuid16 == BLE_SVC_HID_CHR_UUID16_BOOT_MOUSE_INP) {
             protocol_mode = ESP_HID_PROTOCOL_MODE_BOOT;
-            rpt = find_report_by_usage_and_type(ESP_HID_USAGE_MOUSE, ESP_HID_REPORT_TYPE_INPUT, &protocol_mode);
+            rpt = find_report_by_usage_and_type(service_index, ESP_HID_USAGE_MOUSE, ESP_HID_REPORT_TYPE_INPUT, &protocol_mode);
             if (rpt == NULL) {
                 ESP_LOGE(TAG, "Unknown boot mouse input report registration");
                 return;
@@ -616,6 +720,11 @@ static void nimble_gatt_svr_register_cb(struct ble_gatt_register_ctxt *ctxt, voi
             ble_hs_mbuf_to_flat(om, &report_info, sizeof report_info, NULL);
             report_type = (uint8_t)((report_info & 0xFF00) >> 8);
             report_id = report_info & 0x00FF;
+            if (ctxt->dsc.dsc_def->arg == NULL) {
+                ESP_LOGE(TAG, "Report Reference descriptor has NULL arg; skipping handle assignment");
+                os_mbuf_free_chain(om);
+                break;
+            }
             report_handle = (*(uint16_t*)(ctxt->dsc.dsc_def->arg));
             protocol_mode = ESP_HID_PROTOCOL_MODE_REPORT;
             rpt = find_report(report_id, report_type, &protocol_mode);
@@ -635,15 +744,24 @@ static void nimble_gatt_svr_register_cb(struct ble_gatt_register_ctxt *ctxt, voi
 
 static void nimble_host_synced(void)
 {
-    esp_event_post_to(s_dev->event_loop_handle, ESP_HIDD_EVENTS, ESP_HIDD_START_EVENT, NULL, 0, portMAX_DELAY);
+    lock_hidd();
+    if (s_prev_sync_cb && s_prev_sync_cb != nimble_host_synced) {
+        s_prev_sync_cb();
+    }
+    if (s_dev && s_dev->event_loop_handle != NULL) {
+        esp_event_post_to(s_dev->event_loop_handle, ESP_HIDD_EVENTS, ESP_HIDD_START_EVENT, NULL, 0, portMAX_DELAY);
+    }
+    unlock_hidd();
 }
 
 void nimble_host_reset(int reason)
 {
+    if (s_prev_reset_cb && s_prev_reset_cb != nimble_host_reset) {
+        s_prev_reset_cb(reason);
+    }
     MODLOG_DFLT(ERROR, "Resetting state; reason=%d\n", reason);
 }
 
-static struct ble_gap_event_listener nimble_gap_event_listener;
 esp_err_t esp_ble_hidd_dev_init(esp_hidd_dev_t *dev_p, const esp_hid_device_config_t *config, esp_event_handler_t callback)
 {
     int rc;
@@ -658,6 +776,15 @@ esp_err_t esp_ble_hidd_dev_init(esp_hidd_dev_t *dev_p, const esp_hid_device_conf
         ESP_LOGE(TAG, "HID device could not be allocated");
         return ESP_FAIL;
     }
+    if (s_hidd_mutex == NULL) {
+        s_hidd_mutex = xSemaphoreCreateMutex();
+        if (s_hidd_mutex == NULL) {
+            free(s_dev);
+            s_dev = NULL;
+            ESP_LOGE(TAG, "HID device mutex allocation failed");
+            return ESP_ERR_NO_MEM;
+        }
+    }
 
     // Reset the hid device target environment
     s_dev->control = ESP_HID_CONTROL_EXIT_SUSPEND;
@@ -708,15 +835,26 @@ esp_err_t esp_ble_hidd_dev_init(esp_hidd_dev_t *dev_p, const esp_hid_device_conf
         }
     }
 
+    s_prev_reset_cb = ble_hs_cfg.reset_cb;
+    s_prev_sync_cb = ble_hs_cfg.sync_cb;
     ble_hs_cfg.reset_cb = nimble_host_reset;
     ble_hs_cfg.sync_cb = nimble_host_synced;
     ble_hs_cfg.gatts_register_cb = nimble_gatt_svr_register_cb;
     rc = nimble_hid_start_gatts();
     if (rc != ESP_OK) {
+        if (ble_hs_cfg.reset_cb == nimble_host_reset) {
+            ble_hs_cfg.reset_cb = s_prev_reset_cb;
+        }
+        if (ble_hs_cfg.sync_cb == nimble_host_synced) {
+            ble_hs_cfg.sync_cb = s_prev_sync_cb;
+        }
+        ble_hs_cfg.gatts_register_cb = NULL;
+        ble_hidd_dev_free();
         return rc;
     }
     ble_gap_event_listener_register(&nimble_gap_event_listener,
                                     nimble_hid_gap_event, NULL);
+    s_gap_listener_registered = true;
 
     return rc;
 }
diff --git a/components/esp_hid/src/nimble_hidh.c b/components/esp_hid/src/nimble_hidh.c
index bfbed8eca2..4c63de9dc3 100644
--- a/components/esp_hid/src/nimble_hidh.c
+++ b/components/esp_hid/src/nimble_hidh.c
@@ -1,9 +1,10 @@
 /*
- * SPDX-FileCopyrightText: 2017-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2017-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#include <stdlib.h>
 #include <string.h>
 #include "ble_hidh.h"
 #include "esp_private/esp_hidh_private.h"
@@ -18,7 +19,6 @@
 #include "freertos/semphr.h"
 
 #include <assert.h>
-#include <string.h>
 #include <errno.h>
 #include "nimble/nimble_opt.h"
 #include "host/ble_hs.h"
@@ -26,6 +26,7 @@
 #include "host/ble_hs_adv.h"
 #include "host/ble_hs_hci.h"
 #include "host/ble_att.h"
+#include "host/ble_sm.h"
 #include "services/gap/ble_svc_gap.h"
 #include "services/gatt/ble_svc_gatt.h"
 #include "services/bas/ble_svc_bas.h"
@@ -40,12 +41,22 @@
 static const char *TAG = "NIMBLE_HIDH";
 static SemaphoreHandle_t s_ble_hidh_cb_semaphore = NULL;
 
+static SemaphoreHandle_t s_ble_hidh_op_mutex = NULL;
+static void (*s_prev_reset_cb)(int reason) = NULL;
+static void (*s_prev_sync_cb)(void) = NULL;
+
+#define HIDH_MAX_SVCS   10
+#define HIDH_MAX_CHRS   20
+#define HIDH_MAX_DSCS   20
+
 /* variables used for attribute discovery */
 static int services_discovered;
 static int chrs_discovered;
 static int dscs_discovered;
 static int status = 0;
 
+static int s_gatt_op_status;
+
 static inline void WAIT_CB(void)
 {
     xSemaphoreTake(s_ble_hidh_cb_semaphore, portMAX_DELAY);
@@ -56,41 +67,65 @@ static inline void SEND_CB(void)
     xSemaphoreGive(s_ble_hidh_cb_semaphore);
 }
 
+static inline void LOCK_OPS(void)
+{
+    if (s_ble_hidh_op_mutex) {
+        xSemaphoreTake(s_ble_hidh_op_mutex, portMAX_DELAY);
+    }
+}
+
+static inline void UNLOCK_OPS(void)
+{
+    if (s_ble_hidh_op_mutex) {
+        xSemaphoreGive(s_ble_hidh_op_mutex);
+    }
+}
+
 static esp_event_loop_handle_t event_loop_handle;
 static uint8_t *s_read_data_val = NULL;
 static uint16_t s_read_data_len = 0;
 static int s_read_status = 0;
 
-/**
- * Utility function to log an array of bytes.
- */
-void
-print_bytes(const uint8_t *bytes, int len)
-{
-    int i;
-
-    for (i = 0; i < len; i++) {
-        MODLOG_DFLT(DEBUG, "%s0x%02x", i != 0 ? ":" : "", bytes[i]);
-    }
-}
-
 static void
 print_mbuf(const struct os_mbuf *om)
 {
-    int colon;
-
-    colon = 0;
     while (om != NULL) {
-        if (colon) {
-            MODLOG_DFLT(DEBUG, ":");
-        } else {
-            colon = 1;
-        }
-        print_bytes(om->om_data, om->om_len);
+        ESP_LOG_BUFFER_HEXDUMP(TAG, om->om_data, om->om_len, ESP_LOG_DEBUG);
         om = SLIST_NEXT(om, om_next);
     }
 }
 
+static char *nimble_hidh_dup_cstr(const uint8_t *data, size_t len)
+{
+    char *p;
+
+    if (data == NULL || len == 0) {
+        return NULL;
+    }
+    p = (char *)malloc(len + 1);
+    if (p == NULL) {
+        return NULL;
+    }
+    memcpy(p, data, len);
+    p[len] = '\0';
+    return p;
+}
+
+static uint8_t *nimble_hidh_dup_bytes(const uint8_t *data, size_t len)
+{
+    uint8_t *p;
+
+    if (data == NULL || len == 0) {
+        return NULL;
+    }
+    p = (uint8_t *)malloc(len);
+    if (p == NULL) {
+        return NULL;
+    }
+    memcpy(p, data, len);
+    return p;
+}
+
 static int
 nimble_on_read(uint16_t conn_handle,
                const struct ble_gatt_error *error,
@@ -98,12 +133,23 @@ nimble_on_read(uint16_t conn_handle,
                void *arg)
 {
     int old_offset;
+
+    (void)arg;
     MODLOG_DFLT(INFO, "Read complete; status=%d conn_handle=%d", error->status,
                 conn_handle);
     s_read_status = error->status;
     switch (s_read_status) {
     case 0:
         MODLOG_DFLT(DEBUG, " attr_handle=%d value=", attr->handle);
+        if ((uint32_t)s_read_data_len + OS_MBUF_PKTLEN(attr->om) > 4096) { // max allowed hid report size
+            ESP_LOGE(TAG, "Read data too large, aborting");
+            free(s_read_data_val);
+            s_read_data_val = NULL;
+            s_read_data_len = 0;
+            s_read_status = BLE_HS_ENOMEM;
+            SEND_CB();
+            return -1;
+        }
         old_offset = s_read_data_len;
         s_read_data_len += OS_MBUF_PKTLEN(attr->om);
         uint8_t *tmp = realloc(s_read_data_val, s_read_data_len + 1);
@@ -112,6 +158,8 @@ nimble_on_read(uint16_t conn_handle,
             free(s_read_data_val);
             s_read_data_val = NULL;
             s_read_data_len = 0;
+            s_read_status = BLE_HS_ENOMEM;
+            SEND_CB();
             return -1;
         }
         s_read_data_val = tmp;
@@ -119,52 +167,73 @@ nimble_on_read(uint16_t conn_handle,
         print_mbuf(attr->om);
         return 0;
     case BLE_HS_EDONE:
-        s_read_data_val[s_read_data_len] = 0; // to ensure strings are ended with \0 */
+        if (s_read_data_val) {
+            s_read_data_val[s_read_data_len] = 0; // to ensure strings are ended with \0
+        }
         s_read_status = 0;
         SEND_CB();
         return 0;
+    default:
+        SEND_CB();
+        return 0;
     }
-    return 0;
 }
 
 static int read_char(uint16_t conn_handle, uint16_t handle, uint8_t **out, uint16_t *out_len)
 {
+    int rc;
+
+    LOCK_OPS();
     s_read_data_val = NULL;
     s_read_data_len = 0;
-    int rc;
+    s_read_status = 0;
 
     /* read long because the server may not support the large enough mtu */
     rc = ble_gattc_read_long(conn_handle, handle, 0, nimble_on_read, NULL);
     if (rc != 0) {
         ESP_LOGE(TAG, "read_char failed");
+        UNLOCK_OPS();
         return rc;
     }
     WAIT_CB();
     if (s_read_status == 0) {
         *out = s_read_data_val;
         *out_len = s_read_data_len;
+    } else {
+        free(s_read_data_val);
+        s_read_data_val = NULL;
     }
-    return s_read_status;
+    rc = s_read_status;
+    UNLOCK_OPS();
+    return rc;
 }
 
 static int read_descr(uint16_t conn_handle, uint16_t handle, uint8_t **out, uint16_t *out_len)
 {
     int rc;
 
+    LOCK_OPS();
     s_read_data_val = NULL;
     s_read_data_len = 0;
+    s_read_status = 0;
 
     rc = ble_gattc_read_long(conn_handle, handle, 0, nimble_on_read, NULL);
     if (rc != 0) {
         ESP_LOGE(TAG, "read_descr failed");
+        UNLOCK_OPS();
         return rc;
     }
     WAIT_CB();
     if (s_read_status == 0) {
         *out = s_read_data_val;
         *out_len = s_read_data_len;
+    } else {
+        free(s_read_data_val);
+        s_read_data_val = NULL;
     }
-    return s_read_status;
+    rc = s_read_status;
+    UNLOCK_OPS();
+    return rc;
 }
 
 static int
@@ -181,6 +250,10 @@ svc_disced(uint16_t conn_handle, const struct ble_gatt_error *error,
     status = error->status;
     switch (error->status) {
     case 0:
+        if (services_discovered >= 10) {
+            ESP_LOGE(TAG, "Too many services, ignoring");
+            break;
+        }
         memcpy(service_result + services_discovered, service, sizeof(struct ble_gatt_svc));
         services_discovered++;
         uuid16 = ble_uuid_u16(&service->uuid.u);
@@ -231,6 +304,10 @@ chr_disced(uint16_t conn_handle, const struct ble_gatt_error *error,
     case 0:
         ESP_LOGD(TAG, "Char discovered : def handle : %04x, val_handle : %04x, properties : %02x\n, uuid : %04x",
                  chr->def_handle, chr->val_handle, chr->properties, ble_uuid_u16(&chr->uuid.u));
+        if (chrs_discovered >= 20) {
+            ESP_LOGE(TAG, "Too many characteristics, ignoring");
+            break;
+        }
         memcpy(chrs + chrs_discovered, chr, sizeof(struct ble_gatt_chr));
         chrs_discovered++;
         break;
@@ -270,6 +347,10 @@ desc_disced(uint16_t conn_handle, const struct ble_gatt_error *error,
     case 0:
         ESP_LOGD(TAG, "DISC discovered : handle : %04x, uuid : %04x",
                  dsc->handle, ble_uuid_u16(&dsc->uuid.u));
+        if (dscs_discovered >= 20) {
+            ESP_LOGE(TAG, "Too many descriptors, ignoring");
+            break;
+        }
         memcpy(dscr + dscs_discovered, dsc, sizeof(struct ble_gatt_dsc));
         dscs_discovered++;
         break;
@@ -304,105 +385,132 @@ static void read_device_services(esp_hidh_dev_t *dev)
     uint16_t suuid, cuuid, duuid;
     uint16_t chandle, dhandle;
     esp_hidh_dev_report_t *report = NULL;
-    uint8_t *rdata = 0;
+    uint8_t *rdata = NULL;
     uint16_t rlen = 0;
     esp_hid_report_item_t *r;
     esp_hid_report_map_t *map;
-
-    struct ble_gatt_svc service_result[10];
-    uint16_t dcount = 10;
+    struct ble_gatt_svc service_result[HIDH_MAX_SVCS];
+    uint16_t svc_count;
     uint8_t hidindex = 0;
     int rc;
 
+    services_discovered = 0;
+    esp_hidh_dev_lock(dev);
     rc = ble_gattc_disc_all_svcs(dev->ble.conn_id, svc_disced, service_result);
     if (rc != 0) {
         ESP_LOGD(TAG, "Error discovering services : %d", rc);
-        assert(rc != 0);
+        goto done;
     }
     WAIT_CB();
     if (status != 0) {
         ESP_LOGE(TAG, "failed to find services");
-        assert(status == 0);
+        goto done;
     }
-    dcount = services_discovered; /* fatal if services are more than 10 */
 
-    if (rc == ESP_OK) {
-        ESP_LOGD(TAG, "Found %u HID Services", dev->config.report_maps_len);
-        dev->config.report_maps = (esp_hid_raw_report_map_t *)malloc(dev->config.report_maps_len * sizeof(esp_hid_raw_report_map_t));
+    svc_count = services_discovered;
+    if (svc_count > HIDH_MAX_SVCS) {
+        ESP_LOGE(TAG, "Too many services %u (max %d)", svc_count, HIDH_MAX_SVCS);
+        goto done;
+    }
+
+    ESP_LOGD(TAG, "Found %u HID Services", dev->config.report_maps_len);
+    if (dev->config.report_maps_len > 0) {
+        dev->config.report_maps = (esp_hid_raw_report_map_t *)calloc(dev->config.report_maps_len,
+                                                                     sizeof(esp_hid_raw_report_map_t));
         if (dev->config.report_maps == NULL) {
             ESP_LOGE(TAG, "malloc report maps failed");
-            return;
+            goto done;
         }
-        dev->protocol_mode = (uint8_t *)malloc(dev->config.report_maps_len * sizeof(uint8_t));
+        dev->protocol_mode = (uint8_t *)calloc(dev->config.report_maps_len, sizeof(uint8_t));
         if (dev->protocol_mode == NULL) {
             ESP_LOGE(TAG, "malloc protocol_mode failed");
-            return;
+            free(dev->config.report_maps);
+            dev->config.report_maps = NULL;
+            goto done;
+        }
+    }
+
+    for (uint16_t s = 0; s < svc_count; s++) {
+        suuid = ble_uuid_u16(&service_result[s].uuid.u);
+        ESP_LOGD(TAG, "Service discovered : start_handle : %d, end handle : %d, uuid: 0x%04x",
+                 service_result[s].start_handle, service_result[s].end_handle, suuid);
+
+        if (suuid != BLE_SVC_BAS_UUID16
+                && suuid != BLE_SVC_DIS_UUID16
+                && suuid != BLE_SVC_HID_UUID16
+                && suuid != 0x1800) { /* device name? */
+            continue;
         }
 
-        /* read characteristic value may fail, so we should init report maps */
-        memset(dev->config.report_maps, 0, dev->config.report_maps_len * sizeof(esp_hid_raw_report_map_t));
-
-        for (uint16_t s = 0; s < dcount; s++) {
-            suuid = ble_uuid_u16(&service_result[s].uuid.u);
-            ESP_LOGD(TAG, "Service discovered : start_handle : %d, end handle : %d, uuid: 0x%04x",
-                     service_result[s].start_handle, service_result[s].end_handle, suuid);
-
-            if (suuid != BLE_SVC_BAS_UUID16
-                    && suuid != BLE_SVC_DIS_UUID16
-                    && suuid != BLE_SVC_HID_UUID16
-                    && suuid != 0x1800) {//device name?
-                continue;
-            }
-
-            struct ble_gatt_chr char_result[20];
-            uint16_t ccount = 20;
-            rc = ble_gattc_disc_all_chrs(dev->ble.conn_id, service_result[s].start_handle,
-                                         service_result[s].end_handle, chr_disced, char_result);
-            WAIT_CB();
-            if (status != 0) {
-                ESP_LOGE(TAG, "failed to find chars for service : %d", s);
-                assert(status == 0);
-            }
-            ccount = chrs_discovered;
-            if (rc == ESP_OK) {
-                for (uint16_t c = 0; c < ccount; c++) {
-                    cuuid = ble_uuid_u16(&char_result[c].uuid.u);
-                    chandle = char_result[c].val_handle;
-                    ESP_LOGD(TAG, "  CHAR:(%d), handle: %d, perm: 0x%02x, uuid: 0x%04x",
-                             c + 1, chandle, char_result[c].properties, cuuid);
-
-                    if (suuid == BLE_SVC_GAP_UUID16) {
-                        if (dev->config.device_name == NULL && cuuid == BLE_SVC_GAP_CHR_UUID16_DEVICE_NAME
-                                && (char_result[c].properties & BLE_GATT_CHR_PROP_READ) != 0) {
-                            if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
-                                dev->config.device_name = (const char *)rdata;
+        struct ble_gatt_chr char_result[HIDH_MAX_CHRS];
+        uint16_t ccount = HIDH_MAX_CHRS;
+        rc = ble_gattc_disc_all_chrs(dev->ble.conn_id, service_result[s].start_handle,
+                                     service_result[s].end_handle, chr_disced, char_result);
+        if (rc != 0) {
+            ESP_LOGE(TAG, "failed to start char discovery for service : %d, rc=%d", s, rc);
+            chrs_discovered = 0;
+            continue;
+        }
+        WAIT_CB();
+        if (status != 0) {
+            ESP_LOGE(TAG, "failed to find chars for service : %u", s);
+            chrs_discovered = 0;
+            continue;
+        }
+        ccount = chrs_discovered;
+        if (ccount > HIDH_MAX_CHRS) {
+            ESP_LOGE(TAG, "Too many characteristics %u (max %d)", ccount, HIDH_MAX_CHRS);
+            chrs_discovered = 0;
+            continue;
+        }
+        if (rc == 0) {
+            for (uint16_t c = 0; c < ccount; c++) {
+                cuuid = ble_uuid_u16(&char_result[c].uuid.u);
+                chandle = char_result[c].val_handle;
+                ESP_LOGD(TAG, "  CHAR:(%d), handle: %d, perm: 0x%02x, uuid: 0x%04x",
+                         c + 1, chandle, char_result[c].properties, cuuid);
+                if (suuid == BLE_SVC_GAP_UUID16) {
+                    if (dev->config.device_name == NULL && cuuid == BLE_SVC_GAP_CHR_UUID16_DEVICE_NAME
+                            && (char_result[c].properties & BLE_GATT_CHR_PROP_READ) != 0) {
+                        if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
+                            char *dn = nimble_hidh_dup_cstr(rdata, rlen);
+                            if (dn) {
+                                free((void *)dev->config.device_name);
+                                dev->config.device_name = dn;
                             }
-                        } else {
-                            continue;
                         }
-                    } else if (suuid == BLE_SVC_BAS_UUID16) {
-                        if (cuuid == BLE_SVC_BAS_CHR_UUID16_BATTERY_LEVEL &&
-                                (char_result[c].properties & BLE_GATT_CHR_PROP_READ) != 0) {
-                            dev->ble.battery_handle = chandle;
-                        } else {
-                            continue;
-                        }
-                    } else if (suuid == BLE_SVC_DIS_UUID16) {
-                        if (char_result[c].properties & BLE_GATT_CHR_PROP_READ) {
-                            if (cuuid == BLE_SVC_DIS_CHR_UUID16_PNP_ID) {
-                                if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen == 7) {
-                                    dev->config.vendor_id = *((uint16_t *)&rdata[1]);
-                                    dev->config.product_id = *((uint16_t *)&rdata[3]);
-                                    dev->config.version = *((uint16_t *)&rdata[5]);
+                    } else {
+                        continue;
+                    }
+                } else if (suuid == BLE_SVC_BAS_UUID16) {
+                    if (cuuid == BLE_SVC_BAS_CHR_UUID16_BATTERY_LEVEL &&
+                            (char_result[c].properties & BLE_GATT_CHR_PROP_READ) != 0) {
+                        dev->ble.battery_handle = chandle;
+                    } else {
+                        continue;
+                    }
+                } else if (suuid == BLE_SVC_DIS_UUID16) {
+                    if (char_result[c].properties & BLE_GATT_CHR_PROP_READ) {
+                        if (cuuid == BLE_SVC_DIS_CHR_UUID16_PNP_ID) {
+                            if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen == 7) {
+                                dev->config.vendor_id = *((uint16_t *)&rdata[1]);
+                                dev->config.product_id = *((uint16_t *)&rdata[3]);
+                                dev->config.version = *((uint16_t *)&rdata[5]);
+                            }
+                        } else if (cuuid == BLE_SVC_DIS_CHR_UUID16_MANUFACTURER_NAME) {
+                            if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
+                                char *mn = nimble_hidh_dup_cstr(rdata, rlen);
+                                if (mn) {
+                                    free((void *)dev->config.manufacturer_name);
+                                    dev->config.manufacturer_name = mn;
                                 }
-                                free(rdata);
-                            } else if (cuuid == BLE_SVC_DIS_CHR_UUID16_MANUFACTURER_NAME) {
-                                if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
-                                    dev->config.manufacturer_name = (const char *)rdata;
-                                }
-                            } else if (cuuid == BLE_SVC_DIS_CHR_UUID16_SERIAL_NUMBER) {
-                                if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
-                                    dev->config.serial_number = (const char *)rdata;
+                            }
+                        } else if (cuuid == BLE_SVC_DIS_CHR_UUID16_SERIAL_NUMBER) {
+                            if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
+                                char *sn = nimble_hidh_dup_cstr(rdata, rlen);
+                                if (sn) {
+                                    free((void *)dev->config.serial_number);
+                                    dev->config.serial_number = sn;
                                 }
                             }
                         }
@@ -412,14 +520,20 @@ static void read_device_services(esp_hidh_dev_t *dev)
                             if (char_result[c].properties & BLE_GATT_CHR_PROP_READ) {
                                 if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
                                     dev->protocol_mode[hidindex] = *((uint8_t *)rdata);
+                                    free(rdata);
+                                    rdata = NULL;
                                 }
                             }
-                            continue;
                         }
-                        if (cuuid == BLE_SVC_HID_CHR_UUID16_REPORT_MAP) {
-                            if (char_result[c].properties & BLE_GATT_CHR_PROP_READ) {
-                                if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
-                                    dev->config.report_maps[hidindex].data = (const uint8_t *)rdata;
+                        continue;
+                    }
+                    if (cuuid == BLE_SVC_HID_CHR_UUID16_REPORT_MAP) {
+                        if (char_result[c].properties & BLE_GATT_CHR_PROP_READ) {
+                            if (read_char(dev->ble.conn_id, chandle, &rdata, &rlen) == 0 && rlen) {
+                                uint8_t *copy = nimble_hidh_dup_bytes(rdata, rlen);
+                                if (copy) {
+                                    free((void *)dev->config.report_maps[hidindex].data);
+                                    dev->config.report_maps[hidindex].data = copy;
                                     dev->config.report_maps[hidindex].len = rlen;
                                 }
                             }
@@ -429,7 +543,7 @@ static void read_device_services(esp_hidh_dev_t *dev)
                             report = (esp_hidh_dev_report_t *)malloc(sizeof(esp_hidh_dev_report_t));
                             if (report == NULL) {
                                 ESP_LOGE(TAG, "malloc esp_hidh_dev_report_t failed");
-                                return;
+                                goto done;
                             }
                             report->next = NULL;
                             report->permissions = char_result[c].properties;
@@ -459,132 +573,155 @@ static void read_device_services(esp_hidh_dev_t *dev)
                                 report->value_len = 0;
                             }
                         } else {
-                            continue;
+                            report->protocol_mode = ESP_HID_PROTOCOL_MODE_REPORT;
+                            report->report_type = 0;
+                            report->usage = ESP_HID_USAGE_GENERIC;
+                            report->value_len = 0;
                         }
-                    }
-                    struct ble_gatt_dsc descr_result[20];
-                    uint16_t dcount = 20;
-                    uint16_t chr_end_handle;
-                    if (c + 1 < ccount) {
-                        chr_end_handle = char_result[c + 1].def_handle;
                     } else {
-                        chr_end_handle = service_result[s].end_handle;
-                    }
-                    rc = ble_gattc_disc_all_dscs(dev->ble.conn_id, char_result[c].val_handle,
-                                                 chr_end_handle, desc_disced, descr_result);
-                    WAIT_CB();
-                    if (status != 0) {
-                        ESP_LOGE(TAG, "failed to find descriptors for characteristic : %d", c);
-                        assert(status == 0);
-                    }
-                    dcount = dscs_discovered;
-                    if (rc == ESP_OK) {
-                        for (uint16_t d = 0; d < dcount; d++) {
-                            duuid = ble_uuid_u16(&descr_result[d].uuid.u);
-                            dhandle = descr_result[d].handle;
-                            ESP_LOGD(TAG, "    DESCR:(%d), handle: %d, uuid: 0x%04x", d + 1, dhandle, duuid);
-
-                            if (suuid == BLE_SVC_BAS_UUID16) {
-                                if (duuid == BLE_GATT_DSC_CLT_CFG_UUID16 &&
-                                        (char_result[c].properties & BLE_GATT_CHR_PROP_NOTIFY) != 0) {
-                                    dev->ble.battery_ccc_handle = dhandle;
-                                }
-                            } else if (suuid == BLE_SVC_HID_UUID16 && report != NULL) {
-                                if (duuid == BLE_GATT_DSC_CLT_CFG_UUID16 && (report->permissions & BLE_GATT_CHR_PROP_NOTIFY) != 0) {
-                                    report->ccc_handle = dhandle;
-                                } else if (duuid == BLE_SVC_HID_DSC_UUID16_RPT_REF) {
-                                    if (read_descr(dev->ble.conn_id, dhandle, &rdata, &rlen) == 0 && rlen) {
-                                        report->report_id = rdata[0];
-                                        report->report_type = rdata[1];
-                                        free(rdata);
-                                    }
-                                }
-                            }
-                        }
+                        continue;
                     }
+                }
+                struct ble_gatt_dsc descr_result[HIDH_MAX_DSCS];
+                uint16_t num_dsc = HIDH_MAX_DSCS;
+                uint16_t chr_end_handle;
+                if (c + 1 < ccount) {
+                    chr_end_handle = char_result[c + 1].def_handle - 1;
+                } else {
+                    chr_end_handle = service_result[s].end_handle;
+                }
+                if (chr_end_handle <= char_result[c].val_handle) {
+                    ESP_LOGD(TAG, "skip descriptor discovery for val_handle=%u end_handle=%u",
+                             char_result[c].val_handle, chr_end_handle);
                     if (suuid == BLE_SVC_HID_UUID16 && report != NULL) {
                         report->next = dev->reports;
                         dev->reports = report;
                         dev->reports_len++;
                     }
                     dscs_discovered = 0;
+                    continue;
                 }
-                if (suuid == BLE_SVC_HID_UUID16) {
-                    hidindex++;
-                }
-            }
-            chrs_discovered = 0; // reset the chars array for the next service
-        }
 
-        for (uint8_t d = 0; d < dev->config.report_maps_len; d++) {
-            if (dev->reports_len && dev->config.report_maps[d].len) {
-                map = esp_hid_parse_report_map(dev->config.report_maps[d].data, dev->config.report_maps[d].len);
-                if (map) {
-                    if (dev->ble.appearance == 0) {
-                        dev->ble.appearance = map->appearance;
+                /*
+                 * NimBLE expects the characteristic value handle here; it
+                 * discovers descriptors in the range (chr_val_handle, end].
+                 */
+                rc = ble_gattc_disc_all_dscs(dev->ble.conn_id, char_result[c].val_handle,
+                                             chr_end_handle, desc_disced, descr_result);
+                if (rc != 0) {
+                    ESP_LOGD(TAG, "descriptor discovery not started for characteristic : %d, rc=%d", c, rc);
+                    if (suuid == BLE_SVC_HID_UUID16 && report != NULL) {
+                        report->next = dev->reports;
+                        dev->reports = report;
+                        dev->reports_len++;
                     }
-                    report = dev->reports;
+                    dscs_discovered = 0;
+                    continue;
+                }
+                WAIT_CB();
+                if (status != 0) {
+                    ESP_LOGE(TAG, "failed to find descriptors for characteristic : %u", c);
+                    if (suuid == BLE_SVC_HID_UUID16 && report != NULL) {
+                        report->next = dev->reports;
+                        dev->reports = report;
+                        dev->reports_len++;
+                    }
+                    dscs_discovered = 0;
+                    continue;
+                }
+                num_dsc = dscs_discovered;
+                if (num_dsc > HIDH_MAX_DSCS) {
+                    ESP_LOGE(TAG, "Too many descriptors %u (max %d)", num_dsc, HIDH_MAX_DSCS);
+                    if (suuid == BLE_SVC_HID_UUID16 && report != NULL) {
+                        report->next = dev->reports;
+                        dev->reports = report;
+                        dev->reports_len++;
+                    }
+                    dscs_discovered = 0;
+                    continue;
+                }
+                if (rc == ESP_OK) {
+                    for (uint16_t d = 0; d < num_dsc; d++) {
+                        duuid = ble_uuid_u16(&descr_result[d].uuid.u);
+                        dhandle = descr_result[d].handle;
+                        ESP_LOGD(TAG, "    DESCR:(%d), handle: %d, uuid: 0x%04x", d + 1, dhandle, duuid);
 
-                    while (report) {
-                        if (report->map_index == d) {
-                            for (uint8_t i = 0; i < map->reports_len; i++) {
-                                r = &map->reports[i];
-                                if (report->protocol_mode == ESP_HID_PROTOCOL_MODE_BOOT
-                                        && report->protocol_mode == r->protocol_mode
-                                        && report->report_type == r->report_type
-                                        && report->usage == r->usage) {
-                                    report->report_id = r->report_id;
-                                    report->value_len = r->value_len;
-                                } else if (report->protocol_mode == r->protocol_mode
-                                           && report->report_type == r->report_type
-                                           && report->report_id == r->report_id) {
-                                    report->usage = r->usage;
-                                    report->value_len = r->value_len;
+                        if (suuid == BLE_SVC_BAS_UUID16) {
+                            if (duuid == BLE_GATT_DSC_CLT_CFG_UUID16 &&
+                                    (char_result[c].properties & BLE_GATT_CHR_PROP_NOTIFY) != 0) {
+                                dev->ble.battery_ccc_handle = dhandle;
+                            }
+                        } else if (suuid == BLE_SVC_HID_UUID16 && report != NULL) {
+                            if (duuid == BLE_GATT_DSC_CLT_CFG_UUID16 && (report->permissions & BLE_GATT_CHR_PROP_NOTIFY) != 0) {
+                                report->ccc_handle = dhandle;
+                            } else if (duuid == BLE_SVC_HID_DSC_UUID16_RPT_REF) {
+                                if (read_descr(dev->ble.conn_id, dhandle, &rdata, &rlen) == 0 && rlen >= 2) {
+                                    report->report_id = rdata[0];
+                                    report->report_type = rdata[1];
+                                    free(rdata);
                                 }
                             }
                         }
-                        report = report->next;
                     }
-                    free(map->reports);
-                    free(map);
-                    map = NULL;
                 }
+                if (suuid == BLE_SVC_HID_UUID16 && report != NULL) {
+                    report->next = dev->reports;
+                    dev->reports = report;
+                    dev->reports_len++;
+                }
+                dscs_discovered = 0;
+            }
+            if (suuid == BLE_SVC_HID_UUID16) {
+                hidindex++;
+            }
+        }
+        chrs_discovered = 0;
+    }
+
+    for (uint8_t d = 0; d < dev->config.report_maps_len; d++) {
+        if (dev->reports_len && dev->config.report_maps[d].len && dev->config.report_maps[d].data) {
+            map = esp_hid_parse_report_map(dev->config.report_maps[d].data, dev->config.report_maps[d].len);
+            if (map) {
+                if (dev->ble.appearance == 0) {
+                    dev->ble.appearance = map->appearance;
+                }
+                report = dev->reports;
+
+                while (report) {
+                    if (report->map_index == d) {
+                        for (uint8_t i = 0; i < map->reports_len; i++) {
+                            r = &map->reports[i];
+                            if (report->protocol_mode == ESP_HID_PROTOCOL_MODE_BOOT
+                                    && report->protocol_mode == r->protocol_mode
+                                    && report->report_type == r->report_type
+                                    && report->usage == r->usage) {
+                                report->report_id = r->report_id;
+                                report->value_len = r->value_len;
+                            } else if (report->protocol_mode == r->protocol_mode
+                                       && report->report_type == r->report_type
+                                       && report->report_id == r->report_id) {
+                                report->usage = r->usage;
+                                report->value_len = r->value_len;
+                            }
+                        }
+                    }
+                    report = report->next;
+                }
+                free(map->reports);
+                free(map);
+                map = NULL;
             }
         }
     }
-}
-
-static int
-on_subscribe(uint16_t conn_handle,
-             const struct ble_gatt_error *error,
-             struct ble_gatt_attr *attr,
-             void *arg)
-{
-    uint16_t conn_id;
-    conn_id = *((uint16_t*) arg);
-
-    assert(conn_id == conn_handle);
-
-    MODLOG_DFLT(INFO, "Subscribe complete; status=%d conn_handle=%d "
-                "attr_handle=%d\n",
-                error->status, conn_handle, attr->handle);
-    SEND_CB();
-
-    return 0;
+done:
+    esp_hidh_dev_unlock(dev);
 }
 
 static void register_for_notify(uint16_t conn_handle, uint16_t handle)
 {
-    uint8_t value[2];
-    int rc;
-    value[0] = 1;
-    value[1] = 0;
-    rc = ble_gattc_write_flat(conn_handle, handle, value, sizeof value, on_subscribe, (void *)&conn_handle);
-    if (rc != 0) {
-        ESP_LOGE(TAG, "Error: Failed to subscribe to characteristic; "
-                 "rc=%d\n", rc);
-    }
-    WAIT_CB();
+    /* NimBLE notifications are enabled via CCC descriptor writes. */
+    (void)conn_handle;
+    (void)handle;
 }
 
 static int
@@ -593,52 +730,84 @@ on_write(uint16_t conn_handle,
          struct ble_gatt_attr *attr,
          void *arg)
 {
-    uint16_t conn_id;
-    conn_id = *((uint16_t*) arg);
+    esp_hidh_dev_t *dev = (esp_hidh_dev_t *)arg;
 
-    assert(conn_id == conn_handle);
+    if (dev == NULL) {
+        s_gatt_op_status = BLE_HS_EAPP;
+        SEND_CB();
+        return 0;
+    }
+    if (esp_hidh_dev_get_by_conn_id(conn_handle) != dev) {
+        s_gatt_op_status = BLE_HS_ENOTCONN;
+        SEND_CB();
+        return 0;
+    }
 
     MODLOG_DFLT(DEBUG, "write complete; status=%d conn_handle=%d "
                 "attr_handle=%d\n",
                 error->status, conn_handle, attr->handle);
+    s_gatt_op_status = error->status;
     SEND_CB();
 
     return 0;
 }
-static void write_char_descr(uint16_t conn_id, uint16_t handle, uint16_t value_len, uint8_t *value)
+
+static void write_char_descr(esp_hidh_dev_t *dev, uint16_t handle, uint16_t value_len, uint8_t *value)
 {
-    ble_gattc_write_flat(conn_id, handle, value, value_len, on_write, &conn_id);
+    int rc;
+
+    if (dev == NULL || dev->ble.conn_id < 0) {
+        return;
+    }
+    s_gatt_op_status = 0;
+    rc = ble_gattc_write_flat(dev->ble.conn_id, handle, value, value_len, on_write, dev);
+    if (rc != 0) {
+        ESP_LOGE(TAG, "write_char_descr failed rc=%d", rc);
+        return;
+    }
     WAIT_CB();
+    if (s_gatt_op_status != 0) {
+        ESP_LOGE(TAG, "GATT write failed status=%d", s_gatt_op_status);
+    }
 }
 
 static void attach_report_listeners(esp_hidh_dev_t *dev)
 {
+    uint16_t ccc_data = 1;
+    esp_hidh_dev_report_t *report;
+
     if (dev == NULL) {
         return;
     }
-    uint16_t ccc_data = 1;
-    esp_hidh_dev_report_t *report = dev->reports;
 
-    //subscribe to battery notifications
+    LOCK_OPS();
+    if (dev->ble.conn_id < 0 || !dev->connected) {
+        UNLOCK_OPS();
+        return;
+    }
+
+    report = dev->reports;
+
     if (dev->ble.battery_handle) {
         register_for_notify(dev->ble.conn_id, dev->ble.battery_handle);
-        if (dev->ble.battery_ccc_handle) {
-            //Write CCC descr to enable notifications
-            write_char_descr(dev->ble.conn_id, dev->ble.battery_ccc_handle, 2, (uint8_t *)&ccc_data);
+        if (dev->ble.battery_ccc_handle && dev->ble.conn_id >= 0 && dev->connected) {
+            write_char_descr(dev, dev->ble.battery_ccc_handle, 2, (uint8_t *)&ccc_data);
         }
     }
 
     while (report) {
-        /* subscribe to notifications */
+        if (dev->ble.conn_id < 0 || !dev->connected) {
+            break;
+        }
         if ((report->permissions & BLE_GATT_CHR_PROP_NOTIFY) != 0 && report->protocol_mode == ESP_HID_PROTOCOL_MODE_REPORT) {
             register_for_notify(dev->ble.conn_id, report->handle);
-            if (report->ccc_handle) {
-                /* Write CCC descr to enable notifications */
-                write_char_descr(dev->ble.conn_id, report->ccc_handle, 2, (uint8_t *)&ccc_data);
+            if (report->ccc_handle && dev->ble.conn_id >= 0 && dev->connected) {
+                write_char_descr(dev, report->ccc_handle, 2, (uint8_t *)&ccc_data);
             }
         }
         report = report->next;
     }
+    UNLOCK_OPS();
 }
 
 static int
@@ -652,17 +821,32 @@ esp_hidh_gattc_event_handler(struct ble_gap_event *event, void *arg)
     switch (event->type) {
     case BLE_GAP_EVENT_CONNECT:
         /* A new connection was established or a connection attempt failed. */
+        dev = (esp_hidh_dev_t *)arg;
         if (event->connect.status == 0) {
             /* Connection successfully established. */
             MODLOG_DFLT(INFO, "Connection established ");
 
-            rc = ble_gap_conn_find(event->connect.conn_handle, &desc);
-            assert(rc == 0);
-            dev = esp_hidh_dev_get_by_bda(desc.peer_ota_addr.val);
-            if (!dev) {
-                ESP_LOGE(TAG, "Connect received for unknown device");
+            if (dev == NULL) {
+                ESP_LOGE(TAG, "Connect success with NULL device context");
+                SEND_CB();
+                return 0;
             }
-            dev->status = -1; // set to not found and clear if HID service is found
+
+            rc = ble_gap_conn_find(event->connect.conn_handle, &desc);
+            if (rc != 0) {
+                ESP_LOGE(TAG, "ble_gap_conn_find failed; rc=%d", rc);
+                dev->status = rc;
+                dev->ble.conn_id = -1;
+                SEND_CB();
+                return 0;
+            }
+
+            if (memcmp(desc.peer_ota_addr.val, dev->addr.bda, sizeof(dev->addr.bda)) != 0 &&
+                    memcmp(desc.peer_id_addr.val, dev->addr.bda, sizeof(dev->addr.bda)) != 0) {
+                ESP_LOGW(TAG, "Connect address mismatch vs open request");
+            }
+
+            dev->status = -1; /* not found until HID service is discovered */
             dev->ble.conn_id = event->connect.conn_handle;
 
             /* Try to set the mtu to the max value */
@@ -674,13 +858,22 @@ esp_hidh_gattc_event_handler(struct ble_gap_event *event, void *arg)
             if (rc != 0) {
                 ESP_LOGE(TAG, "Failed to negotiate MTU; rc = %d", rc);
             }
+            rc = ble_gap_security_initiate(event->connect.conn_handle);
+            if (rc != 0) {
+                ESP_LOGW(TAG, "Failed to initiate security; rc = %d", rc);
+            }
             SEND_CB();
         } else {
             MODLOG_DFLT(ERROR, "Error: Connection failed; status=%d\n",
                         event->connect.status);
-            dev->status = event->connect.status; // ESP_GATT_CONN_FAIL_ESTABLISH;
+            if (dev == NULL) {
+                ESP_LOGE(TAG, "Connect failed with NULL device context");
+                SEND_CB();
+                return 0;
+            }
+            dev->status = event->connect.status;
             dev->ble.conn_id = -1;
-            SEND_CB(); // return from connection
+            SEND_CB();
         }
         return 0;
 
@@ -732,6 +925,16 @@ esp_hidh_gattc_event_handler(struct ble_gap_event *event, void *arg)
             ESP_LOGE(TAG, "NOTIFY received for unknown device");
             break;
         }
+        rc = ble_gap_conn_find(event->notify_rx.conn_handle, &desc);
+        if (rc != 0) {
+            ESP_LOGW(TAG, "Dropping notification: unknown link");
+            return 0;
+        }
+        /* Enforce encrypted notifications only for strict security policy. */
+        if ((ble_hs_cfg.sm_mitm || ble_hs_cfg.sm_sc_only) && !desc.sec_state.encrypted) {
+            ESP_LOGW(TAG, "Dropping notification on unencrypted link");
+            return 0;
+        }
         if (event_loop_handle) {
             esp_hidh_event_data_t p = {0};
             if (event->notify_rx.attr_handle == dev->ble.battery_handle) {
@@ -745,7 +948,8 @@ esp_hidh_gattc_event_handler(struct ble_gap_event *event, void *arg)
                     esp_hidh_event_data_t *p_param = NULL;
                     size_t event_data_size = sizeof(esp_hidh_event_data_t);
 
-                    if (report->protocol_mode != dev->protocol_mode[report->map_index]) {
+                    if (dev->protocol_mode == NULL ||
+                            report->protocol_mode != dev->protocol_mode[report->map_index]) {
                         /* only pass the notifications in the current protocol mode */
                         ESP_LOGD(TAG, "Wrong protocol mode, dropping notification");
                         return 0;
@@ -792,6 +996,45 @@ esp_hidh_gattc_event_handler(struct ble_gap_event *event, void *arg)
         break;
         return 0;
 
+    case BLE_GAP_EVENT_ENC_CHANGE:
+        rc = ble_gap_conn_find(event->enc_change.conn_handle, &desc);
+        if (rc != 0) {
+            ESP_LOGW(TAG, "ENC_CHANGE for unknown connection");
+            return 0;
+        }
+        ESP_LOGI(TAG, "ENC_CHANGE status=%d encrypted=%d authenticated=%d bonded=%d",
+                 event->enc_change.status, desc.sec_state.encrypted,
+                 desc.sec_state.authenticated, desc.sec_state.bonded);
+        return 0;
+
+    case BLE_GAP_EVENT_PASSKEY_ACTION:
+        switch (event->passkey.params.action) {
+        case BLE_SM_IOACT_NUMCMP: {
+            struct ble_sm_io pkey = {
+                .action = BLE_SM_IOACT_NUMCMP,
+                .numcmp_accept = 1,
+            };
+            rc = ble_sm_inject_io(event->passkey.conn_handle, &pkey);
+            ESP_LOGI(TAG, "PASSKEY NUMCMP auto-accept rc=%d", rc);
+            return 0;
+        }
+        case BLE_SM_IOACT_DISP:
+            ESP_LOGI(TAG, "PASSKEY display requested");
+            return 0;
+        case BLE_SM_IOACT_INPUT: {
+            struct ble_sm_io pkey = {
+                .action = BLE_SM_IOACT_INPUT,
+                .passkey = 123456,
+            };
+            rc = ble_sm_inject_io(event->passkey.conn_handle, &pkey);
+            ESP_LOGI(TAG, "PASSKEY INPUT injected rc=%d", rc);
+            return 0;
+        }
+        default:
+            ESP_LOGW(TAG, "PASSKEY action=%u", event->passkey.params.action);
+            return 0;
+        }
+
     case BLE_GAP_EVENT_MTU:
         MODLOG_DFLT(INFO, "mtu update event; conn_handle=%d cid=%d mtu=%d\n",
                     event->mtu.conn_handle,
@@ -810,6 +1053,9 @@ esp_hidh_gattc_event_handler(struct ble_gap_event *event, void *arg)
 
 static esp_err_t esp_ble_hidh_dev_close(esp_hidh_dev_t *dev)
 {
+    if (dev == NULL || dev->ble.conn_id < 0) {
+        return ESP_FAIL;
+    }
     return ble_gap_terminate(dev->ble.conn_id, BLE_ERR_REM_USER_CONN_TERM);
 }
 
@@ -825,9 +1071,20 @@ static esp_err_t esp_ble_hidh_dev_report_write(esp_hidh_dev_t *dev, size_t map_i
         ESP_LOGE(TAG, "%s report %d takes maximum %d bytes. you have provided %d", esp_hid_report_type_str(report_type), report_id, report->value_len, value_len);
         return ESP_FAIL;
     }
-    rc = ble_gattc_write_flat(dev->ble.conn_id, report->handle, value, value_len, on_write, &dev->ble.conn_id);
-    WAIT_CB();// this is not blocking in bluedroid code
-    return rc;
+    LOCK_OPS();
+    s_gatt_op_status = 0;
+    rc = ble_gattc_write_flat(dev->ble.conn_id, report->handle, value, value_len, on_write, dev);
+    if (rc != 0) {
+        WAIT_CB();
+        rc = s_gatt_op_status;
+    }
+    WAIT_CB();
+    rc = s_gatt_op_status;
+    UNLOCK_OPS();
+    if (rc != 0) {
+        return ESP_FAIL;
+    }
+    return ESP_OK;
 }
 
 static esp_err_t esp_ble_hidh_dev_report_read(esp_hidh_dev_t *dev, size_t map_index, size_t report_id, int report_type, size_t max_length, uint8_t *value, size_t *value_len)
@@ -839,13 +1096,16 @@ static esp_err_t esp_ble_hidh_dev_report_read(esp_hidh_dev_t *dev, size_t map_in
     }
     uint16_t len = max_length;
     uint8_t *v = NULL;
+    LOCK_OPS();
     int s = read_char(dev->ble.conn_id, report->handle, &v, &len);
+    UNLOCK_OPS();
     if (s == 0) {
         if (len > max_length) {
             len = max_length;
         }
         *value_len = len;
         memcpy(value, v, len);
+        free(v);
         return ESP_OK;
     }
     ESP_LOGE(TAG, "%s report %d read failed: 0x%x", esp_hid_report_type_str(report_type), report_id, s);
@@ -862,6 +1122,10 @@ static void esp_ble_hidh_dev_dump(esp_hidh_dev_t *dev, FILE *fp)
     fprintf(fp, "PID: 0x%04x, VID: 0x%04x, VERSION: 0x%04x\n", dev->config.product_id, dev->config.vendor_id, dev->config.version);
     fprintf(fp, "Battery: Handle: %u, CCC Handle: %u\n", dev->ble.battery_handle, dev->ble.battery_ccc_handle);
     fprintf(fp, "Report Maps: %d\n", dev->config.report_maps_len);
+    if (dev->config.report_maps_len > 0 && dev->config.report_maps == NULL) {
+        fprintf(fp, "  (report_maps allocation missing)\n");
+        return;
+    }
     for (uint8_t d = 0; d < dev->config.report_maps_len; d++) {
         fprintf(fp, "  Report Map Length: %d\n", dev->config.report_maps[d].len);
         esp_hidh_dev_report_t *report = dev->reports;
@@ -880,6 +1144,9 @@ static void esp_ble_hidh_dev_dump(esp_hidh_dev_t *dev, FILE *fp)
 
 static void nimble_host_synced(void)
 {
+    if (s_prev_sync_cb && s_prev_sync_cb != nimble_host_synced) {
+        s_prev_sync_cb();
+    }
     /*
         no need to perform anything here
     */
@@ -887,7 +1154,14 @@ static void nimble_host_synced(void)
 
 static void nimble_host_reset(int reason)
 {
+    if (s_prev_reset_cb && s_prev_reset_cb != nimble_host_reset) {
+        s_prev_reset_cb(reason);
+    }
     MODLOG_DFLT(ERROR, "Resetting state; reason=%d\n", reason);
+
+    if (s_ble_hidh_cb_semaphore) {
+        xSemaphoreGive(s_ble_hidh_cb_semaphore);
+    }
 }
 
 esp_err_t esp_ble_hidh_init(const esp_hidh_config_t *config)
@@ -900,7 +1174,19 @@ esp_err_t esp_ble_hidh_init(const esp_hidh_config_t *config)
     s_ble_hidh_cb_semaphore = xSemaphoreCreateBinary();
     ESP_RETURN_ON_FALSE(s_ble_hidh_cb_semaphore,
                         ESP_ERR_NO_MEM, TAG, "Allocation failed");
+    s_ble_hidh_op_mutex = xSemaphoreCreateMutex();
+    if (s_ble_hidh_op_mutex == NULL) {
+        vSemaphoreDelete(s_ble_hidh_cb_semaphore);
+        s_ble_hidh_cb_semaphore = NULL;
+        return ESP_ERR_NO_MEM;
+    }
 
+    s_prev_reset_cb = ble_hs_cfg.reset_cb;
+    s_prev_sync_cb = ble_hs_cfg.sync_cb;
+    /* Enforce secure pairing defaults for HID traffic. */
+    ble_hs_cfg.sm_io_cap = BLE_HS_IO_KEYBOARD_ONLY;
+    ble_hs_cfg.sm_bonding = 1;
+    ble_hs_cfg.sm_sc = 1;
     ble_hs_cfg.reset_cb = nimble_host_reset;
     ble_hs_cfg.sync_cb = nimble_host_synced;
     return ret;
@@ -909,10 +1195,26 @@ esp_err_t esp_ble_hidh_init(const esp_hidh_config_t *config)
 esp_err_t esp_ble_hidh_deinit(void)
 {
     ESP_RETURN_ON_FALSE(s_ble_hidh_cb_semaphore, ESP_ERR_INVALID_STATE, TAG, "Already deinitialized");
+
+    free(s_read_data_val);
+    s_read_data_val = NULL;
+    s_read_data_len = 0;
+    s_read_status = 0;
+
     if (s_ble_hidh_cb_semaphore) {
         vSemaphoreDelete(s_ble_hidh_cb_semaphore);
         s_ble_hidh_cb_semaphore = NULL;
     }
+    if (s_ble_hidh_op_mutex) {
+        vSemaphoreDelete(s_ble_hidh_op_mutex);
+        s_ble_hidh_op_mutex = NULL;
+    }
+    if (ble_hs_cfg.reset_cb == nimble_host_reset) {
+        ble_hs_cfg.reset_cb = s_prev_reset_cb;
+    }
+    if (ble_hs_cfg.sync_cb == nimble_host_synced) {
+        ble_hs_cfg.sync_cb = s_prev_sync_cb;
+    }
 
     return ESP_OK;
 }
@@ -939,10 +1241,12 @@ esp_hidh_dev_t *esp_ble_hidh_dev_open(uint8_t *bda, uint8_t address_type)
     memcpy(addr.val, bda, sizeof(addr.val));
     addr.type = address_type;
 
-    ret = ble_gap_connect(own_addr_type, &addr, 30000, NULL, esp_hidh_gattc_event_handler, NULL);
+    LOCK_OPS();
+    ret = ble_gap_connect(own_addr_type, &addr, 30000, NULL, esp_hidh_gattc_event_handler, dev);
     if (ret) {
         esp_hidh_dev_free_inner(dev);
         ESP_LOGE(TAG, "esp_ble_gattc_open failed: %d", ret);
+        UNLOCK_OPS();
         return NULL;
     }
     WAIT_CB();
@@ -950,6 +1254,7 @@ esp_hidh_dev_t *esp_ble_hidh_dev_open(uint8_t *bda, uint8_t address_type)
         ret = dev->status;
         ESP_LOGE(TAG, "dev open failed! status: 0x%x", dev->status);
         esp_hidh_dev_free_inner(dev);
+        UNLOCK_OPS();
         return NULL;
     }
 
@@ -957,10 +1262,10 @@ esp_hidh_dev_t *esp_ble_hidh_dev_open(uint8_t *bda, uint8_t address_type)
     dev->report_write = esp_ble_hidh_dev_report_write;
     dev->report_read = esp_ble_hidh_dev_report_read;
     dev->dump = esp_ble_hidh_dev_dump;
-    dev->connected = true;
 
     /* perform service discovery and fill the report maps */
     read_device_services(dev);
+    dev->connected = true;
 
     if (event_loop_handle) {
         esp_hidh_event_data_t p = {0};
@@ -970,6 +1275,7 @@ esp_hidh_dev_t *esp_ble_hidh_dev_open(uint8_t *bda, uint8_t address_type)
     }
 
     attach_report_listeners(dev);
+    UNLOCK_OPS();
     return dev;
 }
 #endif // CONFIG_BT_NIMBLE_HID_SERVICE
diff --git a/examples/bluetooth/blufi/main/blufi_init.c b/examples/bluetooth/blufi/main/blufi_init.c
index ee81d678f1..5376528469 100644
--- a/examples/bluetooth/blufi/main/blufi_init.c
+++ b/examples/bluetooth/blufi/main/blufi_init.c
@@ -233,9 +233,9 @@ esp_err_t esp_blufi_host_init(void)
     ble_hs_cfg.gatts_register_cb = esp_blufi_gatt_svr_register_cb;
     ble_hs_cfg.store_status_cb = ble_store_util_status_rr;
 
-    /* FALSE POSITIVE: BLUFI uses its own app-layer security (DH + AES), not BLE SM.
-     * sm_mitm/sm_sc/sm_bonding are opt-in via Kconfig to let the example show
-     * multiple configurations; Just Works is acceptable for BLUFI provisioning. */
+    /* BLUFI uses its own application-layer security (DH + AES), not BLE Security
+     * Manager.  sm_mitm/sm_sc/sm_bonding are opt-in via Kconfig; Just Works
+     * pairing is acceptable because the DH key exchange provides the security. */
     ble_hs_cfg.sm_io_cap = 4;
 #ifdef CONFIG_EXAMPLE_BONDING
     ble_hs_cfg.sm_bonding = 1;
diff --git a/examples/bluetooth/esp_hid_device/README.md b/examples/bluetooth/esp_hid_device/README.md
index be44591cbf..c857c9419d 100644
--- a/examples/bluetooth/esp_hid_device/README.md
+++ b/examples/bluetooth/esp_hid_device/README.md
@@ -90,6 +90,82 @@ I (50557) HID_DEV_DEMO: Send the volume
 ...
 ```
 
+## NimBLE Logging Scheme
+
+The following are verbatim NimBLE log excerpts from `logs.txt` for each device role.
+
+### Media Mode
+
+```text
+I (496) HID_DEV_DEMO: setting ble device
+I (496) HID_DEV_DEMO: BLE Host Task Started
+I (506) HID_DEV_BLE: START
+I (506) NimBLE: GAP procedure initiated: advertise;
+I (35886) ESP_HID_GAP: connection established; status=0
+I (35896) HID_DEV_BLE: CONNECT
+I (35946) ESP_HID_GAP: mtu update event; conn_handle=0 cid=4 mtu=256
+I (36476) ESP_HID_GAP: PASSKEY_ACTION_EVENT started
+I (36476) ESP_HID_GAP: Enter passkey 123456on the peer side
+I (37896) ESP_HID_GAP: subscribe event; conn_handle=0 attr_handle=37 reason=1 prevn=0 curn=1 previ=0 curi=0
+I (40936) NimBLE: encryption change event; status=0
+I (40946) HID_DEV_DEMO: Send the volume
+I (40946) NimBLE: GATT procedure initiated: notify;
+I (40946) NimBLE: att_handle=37
+I (40946) NimBLE: notify_tx event; conn_handle=0 attr_handle=37 status=0 is_indication=0
+```
+
+### Keyboard Mode
+
+```text
+I (436) HID_DEV_DEMO: setting ble device
+I (436) HID_DEV_DEMO: BLE Host Task Started
+I (436) HID_DEV_BLE: START
+I (446) NimBLE: GAP procedure initiated: advertise;
+I (11526) ESP_HID_GAP: connection established; status=0
+I (11526) HID_DEV_BLE: CONNECT
+I (11576) ESP_HID_GAP: mtu update event; conn_handle=0 cid=4 mtu=256
+I (12116) ESP_HID_GAP: PASSKEY_ACTION_EVENT started
+I (12116) ESP_HID_GAP: Enter passkey 123456on the peer side
+I (13826) ESP_HID_GAP: subscribe event; conn_handle=0 attr_handle=37 reason=1 prevn=0 curn=1 previ=0 curi=0
+I (16576) NimBLE: encryption change event; status=0
+########################################################################
+BT hid keyboard demo usage:
+########################################################################
+I (22306) NimBLE: GATT procedure initiated: notify;
+I (22306) NimBLE: att_handle=37
+I (22306) NimBLE: notify_tx event; conn_handle=0 attr_handle=37 status=0 is_indication=0
+```
+
+### Mouse Mode
+
+```text
+I (446) HID_DEV_DEMO: setting ble device
+I (446) HID_DEV_DEMO: BLE Host Task Started
+I (456) HID_DEV_BLE: START
+I (456) NimBLE: GAP procedure initiated: advertise;
+I (10556) ESP_HID_GAP: connection established; status=0
+I (10556) HID_DEV_BLE: CONNECT
+I (10606) ESP_HID_GAP: mtu update event; conn_handle=0 cid=4 mtu=256
+I (11136) ESP_HID_GAP: PASSKEY_ACTION_EVENT started
+I (11136) ESP_HID_GAP: Enter passkey 123456on the peer side
+I (12656) ESP_HID_GAP: subscribe event; conn_handle=0 attr_handle=37 reason=1 prevn=0 curn=1 previ=0 curi=0
+I (15606) NimBLE: encryption change event; status=0
+########################################################################
+BT hid mouse demo usage:
+You can input these value to simulate mouse: 'q', 'w', 'e', 'a', 's', 'd', 'h'
+q -- click the left key
+w -- move up
+e -- click the right key
+a -- move left
+s -- move down
+d -- move right
+h -- show the help
+########################################################################
+I (18166) NimBLE: GATT procedure initiated: notify;
+I (18166) NimBLE: att_handle=37
+I (18166) NimBLE: notify_tx event; conn_handle=0 attr_handle=37 status=0 is_indication=0
+```
+
 ## Troubleshooting
 
 1. When using NimBLE stack, some iOS devices do not show the volume pop up. To fix this, please set CONFIG_BT_NIMBLE_SM_LVL to value 2. iOS needs Authenticated Pairing with Encryption to show up the pop ups.
diff --git a/examples/bluetooth/esp_hid_device/main/esp_hid_gap.c b/examples/bluetooth/esp_hid_device/main/esp_hid_gap.c
index 005966f249..c6786751eb 100644
--- a/examples/bluetooth/esp_hid_device/main/esp_hid_gap.c
+++ b/examples/bluetooth/esp_hid_device/main/esp_hid_gap.c
@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Unlicense OR CC0-1.0
  */
@@ -856,9 +856,13 @@ nimble_hid_gap_event(struct ble_gap_event *event, void *arg)
         /* Encryption has been enabled or disabled for this connection. */
         MODLOG_DFLT(INFO, "encryption change event; status=%d ",
                 event->enc_change.status);
-        rc = ble_gap_conn_find(event->enc_change.conn_handle, &desc);
-        assert(rc == 0);
-        ble_hid_task_start_up();
+        if (event->enc_change.status == 0) {
+            rc = ble_gap_conn_find(event->enc_change.conn_handle, &desc);
+            assert(rc == 0);
+            ble_hid_task_start_up();
+        } else {
+            ESP_LOGW(TAG, "encryption failed; waiting for disconnect/retry");
+        }
         return 0;
 
     case BLE_GAP_EVENT_NOTIFY_TX:
@@ -889,7 +893,7 @@ nimble_hid_gap_event(struct ble_gap_event *event, void *arg)
     case BLE_GAP_EVENT_PASSKEY_ACTION:
         ESP_LOGI(TAG, "PASSKEY_ACTION_EVENT started");
         struct ble_sm_io pkey = {0};
-        int key = 0;
+        int key = 1;
 
         if (event->passkey.params.action == BLE_SM_IOACT_DISP) {
             pkey.action = event->passkey.params.action;
diff --git a/examples/bluetooth/esp_hid_host/README.md b/examples/bluetooth/esp_hid_host/README.md
index d95ebee85c..8adb340db4 100644
--- a/examples/bluetooth/esp_hid_host/README.md
+++ b/examples/bluetooth/esp_hid_host/README.md
@@ -94,6 +94,73 @@ I (18212) ESP_HIDH_DEMO: 00 00
 ...
 ```
 
+## NimBLE Logging Scheme
+
+The following are verbatim NimBLE log excerpts from `logs.txt` for each device role.
+
+### Media Mode (CCONTROL)
+
+```text
+I (2446) ESP_HIDH_DEMO: SCAN...
+I (2446) NimBLE: GAP procedure initiated: discovery;
+I (7456) NimBLE: discovery complete; reason=0
+I (7466) NimBLE: GAP procedure initiated: connect;
+I (7666) NimBLE: Connection established
+I (7676) NimBLE: GATT procedure initiated: exchange mtu
+I (7726) NimBLE: mtu update event; conn_handle=0 cid=4 mtu=256
+I (8446) NIMBLE_HIDH: PASSKEY INPUT injected rc=0
+I (9636) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 OPEN: nimble
+Report Maps: 1
+  Report Map Length: 111
+    CCONTROL   INPUT REPORT, ID:  3, Length:   2, Permissions: 0x1a, Handle:  37, CCC Handle:  38
+I (12776) NIMBLE_HIDH: ENC_CHANGE status=0 encrypted=1 authenticated=1 bonded=1
+I (12826) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 INPUT: CCONTROL, MAP:  0, ID:   3, Len: 2, Data:
+I (12826) ESP_HIDH_DEMO: 80 00
+I (12876) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 INPUT: CCONTROL, MAP:  0, ID:   3, Len: 2, Data:
+I (12876) ESP_HIDH_DEMO: 00 00
+I (14876) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 INPUT: CCONTROL, MAP:  0, ID:   3, Len: 2, Data:
+I (14876) ESP_HIDH_DEMO: 40 00
+```
+
+### Keyboard Mode
+
+```text
+I (7426) ESP_HIDH_DEMO: SCAN: 2 results
+  BLE: 68:2e:f7:f9:55:60, RSSI: -57, USAGE: GENERIC, APPEARANCE: 0x03c0, ADDR_TYPE: '0', NAME: ESP Mouse
+  BLE: 02:50:f7:f9:55:60, RSSI: -30, USAGE: GENERIC, APPEARANCE: 0x03c0, ADDR_TYPE: '0', NAME: ESP Keyboard
+I (7446) NimBLE: GAP procedure initiated: connect;
+I (7836) NimBLE: Connection established
+I (8606) NIMBLE_HIDH: PASSKEY INPUT injected rc=0
+I (10086) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 OPEN: nimble
+Report Maps: 1
+  Report Map Length: 65
+    KEYBOARD   INPUT REPORT, ID:  1, Length:   7, Permissions: 0x1a, Handle:  37, CCC Handle:  38
+I (12936) NIMBLE_HIDH: ENC_CHANGE status=0 encrypted=1 authenticated=1 bonded=1
+I (18636) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 INPUT: KEYBOARD, MAP:  0, ID:   1, Len: 8, Data:
+I (18636) ESP_HIDH_DEMO: 00 00 04 00 00 00 00 00
+I (18686) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 INPUT: KEYBOARD, MAP:  0, ID:   1, Len: 8, Data:
+I (18686) ESP_HIDH_DEMO: 00 00 00 00 00 00 00 00
+```
+
+### Mouse Mode
+
+```text
+I (7426) ESP_HIDH_DEMO: SCAN: 1 results
+  BLE: 02:50:f7:f9:55:60, RSSI: -29, USAGE: GENERIC, APPEARANCE: 0x03c0, ADDR_TYPE: '0', NAME: ESP Mouse
+I (7436) NimBLE: GAP procedure initiated: connect;
+I (7666) NimBLE: Connection established
+I (8436) NIMBLE_HIDH: PASSKEY INPUT injected rc=0
+I (9716) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 OPEN: nimble
+Report Maps: 1
+  Report Map Length: 52
+       MOUSE   INPUT REPORT, ID:  0, Length:   4, Permissions: 0x1a, Handle:  37, CCC Handle:  38
+I (12766) NIMBLE_HIDH: ENC_CHANGE status=0 encrypted=1 authenticated=1 bonded=1
+I (15316) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 INPUT:    MOUSE, MAP:  0, ID:   0, Len: 4, Data:
+I (15316) ESP_HIDH_DEMO: 00 f6 00 00
+I (15816) ESP_HIDH_DEMO: 02:50:f7:f9:55:60 INPUT:    MOUSE, MAP:  0, ID:   0, Len: 4, Data:
+I (15816) ESP_HIDH_DEMO: 00 00 0a 00
+```
+
 ## Troubleshooting
 
 For any technical queries, please open an [issue](https://github.com/espressif/esp-idf/issues) on GitHub. We will get back to you soon.