diff --git a/embassy-usb/Cargo.toml b/embassy-usb/Cargo.toml
index 1b31b6145..3ef5c5684 100644
--- a/embassy-usb/Cargo.toml
+++ b/embassy-usb/Cargo.toml
@@ -54,6 +54,7 @@ embassy-net-driver-channel = { version = "0.2.0", path = "../embassy-net-driver-
 defmt = { version = "0.3", optional = true }
 log = { version = "0.4.14", optional = true }
 heapless = "0.8"
+bitflags = "2.4.1"
 
 # for HID
 usbd-hid = { version = "0.6.0", optional = true }
diff --git a/embassy-usb/src/class/dfu/app_mode.rs b/embassy-usb/src/class/dfu/app_mode.rs
new file mode 100644
index 000000000..9ca272f0b
--- /dev/null
+++ b/embassy-usb/src/class/dfu/app_mode.rs
@@ -0,0 +1,105 @@
+use embassy_usb_driver::Driver;
+
+use crate::{
+    control::{InResponse, OutResponse, Recipient, Request as ControlRequest, RequestType},
+    Builder,
+};
+
+use super::consts::{
+    DfuAttributes, Request, State, Status, APPN_SPEC_SUBCLASS_DFU, DESC_DFU_FUNCTIONAL, DFU_PROTOCOL_RT,
+    USB_CLASS_APPN_SPEC,
+};
+
+pub trait Handler {
+    fn detach(&mut self) {}
+    fn reset(&mut self) {}
+}
+
+/// Internal state for the DFU class
+pub struct DfuState<H: Handler> {
+    handler: H,
+    state: State,
+    attrs: DfuAttributes,
+}
+
+impl<H: Handler> DfuState<H> {
+    /// Create a new DFU instance to expose a DFU interface.
+    pub fn new(handler: H, attrs: DfuAttributes) -> Self {
+        DfuState {
+            handler,
+            state: State::AppIdle,
+            attrs,
+        }
+    }
+}
+
+impl<H: Handler> crate::Handler for DfuState<H> {
+    fn reset(&mut self) {
+        self.handler.reset()
+    }
+
+    fn control_out(&mut self, req: ControlRequest, _: &[u8]) -> Option<OutResponse> {
+        if (req.request_type, req.recipient) != (RequestType::Class, Recipient::Interface) {
+            return None;
+        }
+
+        trace!("Received out request {}", req);
+
+        match Request::try_from(req.request) {
+            Ok(Request::Detach) => {
+                trace!("Received DETACH");
+                self.state = State::AppDetach;
+                self.handler.detach();
+                Some(OutResponse::Accepted)
+            }
+            _ => None,
+        }
+    }
+
+    fn control_in<'a>(&'a mut self, req: ControlRequest, buf: &'a mut [u8]) -> Option<InResponse<'a>> {
+        if (req.request_type, req.recipient) != (RequestType::Class, Recipient::Interface) {
+            return None;
+        }
+
+        trace!("Received in request {}", req);
+
+        match Request::try_from(req.request) {
+            Ok(Request::GetStatus) => {
+                buf[0..6].copy_from_slice(&[Status::Ok as u8, 0x32, 0x00, 0x00, self.state as u8, 0x00]);
+                Some(InResponse::Accepted(buf))
+            }
+            _ => None,
+        }
+    }
+}
+
+/// An implementation of the USB DFU 1.1 runtime protocol
+///
+/// This function will add a DFU interface descriptor to the provided Builder, and register the provided Control as a handler for the USB device. The USB builder can be used as normal once this is complete.
+/// The handler is responsive to DFU GetStatus and Detach commands.
+///
+/// Once a detach command, followed by a USB reset is received by the host, a magic number will be written into the bootloader state partition to indicate that
+/// it should expose a DFU device, and a software reset will be issued.
+///
+/// To apply USB DFU updates, the bootloader must be capable of recognizing the DFU magic and exposing a device to handle the full DFU transaction with the host.
+pub fn usb_dfu<'d, D: Driver<'d>, H: Handler>(builder: &mut Builder<'d, D>, state: &'d mut DfuState<H>) {
+    let mut func = builder.function(0x00, 0x00, 0x00);
+    let mut iface = func.interface();
+    let mut alt = iface.alt_setting(USB_CLASS_APPN_SPEC, APPN_SPEC_SUBCLASS_DFU, DFU_PROTOCOL_RT, None);
+    let timeout_ms = 1000;
+    alt.descriptor(
+        DESC_DFU_FUNCTIONAL,
+        &[
+            state.attrs.bits(),
+            (timeout_ms & 0xff) as u8,
+            ((timeout_ms >> 8) & 0xff) as u8,
+            0x40,
+            0x00, // 64B control buffer size for application side
+            0x10,
+            0x01, // DFU 1.1
+        ],
+    );
+
+    drop(func);
+    builder.handler(state);
+}
diff --git a/embassy-usb/src/class/dfu/consts.rs b/embassy-usb/src/class/dfu/consts.rs
new file mode 100644
index 000000000..858d75883
--- /dev/null
+++ b/embassy-usb/src/class/dfu/consts.rs
@@ -0,0 +1,101 @@
+//! USB DFU constants.
+pub(crate) const USB_CLASS_APPN_SPEC: u8 = 0xFE;
+pub(crate) const APPN_SPEC_SUBCLASS_DFU: u8 = 0x01;
+#[allow(unused)]
+pub(crate) const DFU_PROTOCOL_DFU: u8 = 0x02;
+#[allow(unused)]
+pub(crate) const DFU_PROTOCOL_RT: u8 = 0x01;
+pub(crate) const DESC_DFU_FUNCTIONAL: u8 = 0x21;
+
+#[cfg(feature = "defmt")]
+defmt::bitflags! {
+    pub struct DfuAttributes: u8 {
+        const WILL_DETACH = 0b0000_1000;
+        const MANIFESTATION_TOLERANT = 0b0000_0100;
+        const CAN_UPLOAD = 0b0000_0010;
+        const CAN_DOWNLOAD = 0b0000_0001;
+    }
+}
+
+#[cfg(not(feature = "defmt"))]
+bitflags::bitflags! {
+    /// Attributes supported by the DFU controller.
+    pub struct DfuAttributes: u8 {
+        /// Generate WillDetache sequence on bus.
+        const WILL_DETACH = 0b0000_1000;
+        /// Device can communicate during manifestation phase.
+        const MANIFESTATION_TOLERANT = 0b0000_0100;
+        /// Capable of upload.
+        const CAN_UPLOAD = 0b0000_0010;
+        /// Capable of download.
+        const CAN_DOWNLOAD = 0b0000_0001;
+    }
+}
+
+#[derive(Copy, Clone, PartialEq, Eq)]
+#[repr(u8)]
+#[allow(unused)]
+pub(crate) enum State {
+    AppIdle = 0,
+    AppDetach = 1,
+    DfuIdle = 2,
+    DlSync = 3,
+    DlBusy = 4,
+    Download = 5,
+    ManifestSync = 6,
+    Manifest = 7,
+    ManifestWaitReset = 8,
+    UploadIdle = 9,
+    Error = 10,
+}
+
+#[derive(Copy, Clone, PartialEq, Eq)]
+#[repr(u8)]
+#[allow(unused)]
+pub enum Status {
+    Ok = 0x00,
+    ErrTarget = 0x01,
+    ErrFile = 0x02,
+    ErrWrite = 0x03,
+    ErrErase = 0x04,
+    ErrCheckErased = 0x05,
+    ErrProg = 0x06,
+    ErrVerify = 0x07,
+    ErrAddress = 0x08,
+    ErrNotDone = 0x09,
+    ErrFirmware = 0x0A,
+    ErrVendor = 0x0B,
+    ErrUsbr = 0x0C,
+    ErrPor = 0x0D,
+    ErrUnknown = 0x0E,
+    ErrStalledPkt = 0x0F,
+}
+
+#[derive(Copy, Clone, PartialEq, Eq)]
+#[repr(u8)]
+pub(crate) enum Request {
+    Detach = 0,
+    Dnload = 1,
+    Upload = 2,
+    GetStatus = 3,
+    ClrStatus = 4,
+    GetState = 5,
+    Abort = 6,
+}
+
+impl TryFrom<u8> for Request {
+    type Error = ();
+
+    fn try_from(value: u8) -> Result<Self, Self::Error> {
+        match value {
+            0 => Ok(Request::Detach),
+            1 => Ok(Request::Dnload),
+            2 => Ok(Request::Upload),
+            3 => Ok(Request::GetStatus),
+            4 => Ok(Request::ClrStatus),
+            5 => Ok(Request::GetState),
+            6 => Ok(Request::Abort),
+            _ => Err(()),
+        }
+    }
+}
diff --git a/embassy-usb/src/class/dfu/dfu_mode.rs b/embassy-usb/src/class/dfu/dfu_mode.rs
new file mode 100644
index 000000000..9fdf67093
--- /dev/null
+++ b/embassy-usb/src/class/dfu/dfu_mode.rs
@@ -0,0 +1,176 @@
+use embassy_usb_driver::Driver;
+
+use crate::{
+    control::{InResponse, OutResponse, Recipient, Request as ControlRequest, RequestType},
+    Builder,
+};
+
+use super::consts::{
+    DfuAttributes, Request, State, Status, APPN_SPEC_SUBCLASS_DFU, DESC_DFU_FUNCTIONAL, DFU_PROTOCOL_DFU,
+    DFU_PROTOCOL_RT, USB_CLASS_APPN_SPEC,
+};
+
+pub trait Handler {
+    fn start(&mut self);
+    fn write(&mut self, data: &[u8]) -> Result<(), Status>;
+    fn finish(&mut self) -> Result<(), Status>;
+    fn reset(&mut self);
+}
+
+/// Internal state for USB DFU
+pub struct DfuState<H: Handler> {
+    handler: H,
+    attrs: DfuAttributes,
+    state: State,
+    status: Status,
+    next_block_num: usize,
+}
+
+impl<'d, H: Handler> DfuState<H> {
+    /// Create a new DFU instance to handle DFU transfers.
+    pub fn new(handler: H, attrs: DfuAttributes) -> Self {
+        Self {
+            handler,
+            attrs,
+            state: State::DfuIdle,
+            status: Status::Ok,
+            next_block_num: 0,
+        }
+    }
+
+    fn reset_state(&mut self) {
+        self.next_block_num = 0;
+        self.state = State::DfuIdle;
+        self.status = Status::Ok;
+    }
+}
+
+impl<H: Handler> crate::Handler for DfuState<H> {
+    fn reset(&mut self) {
+        self.handler.reset();
+    }
+
+    fn control_out(&mut self, req: ControlRequest, data: &[u8]) -> Option<OutResponse> {
+        if (req.request_type, req.recipient) != (RequestType::Class, Recipient::Interface) {
+            return None;
+        }
+        match Request::try_from(req.request) {
+            Ok(Request::Abort) => {
+                self.reset_state();
+                Some(OutResponse::Accepted)
+            }
+            Ok(Request::Dnload) if self.attrs.contains(DfuAttributes::CAN_DOWNLOAD) => {
+                if req.value as usize != self.next_block_num {
+                    error!("expected next block num {}, got {}", self.next_block_num, req.value);
+                    self.state = State::Error;
+                    self.status = Status::ErrUnknown;
+                    return Some(OutResponse::Rejected);
+                }
+
+                if req.value == 0 {
+                    self.state = State::Download;
+                    self.handler.start();
+                }
+
+                if req.length == 0 {
+                    match self.handler.finish() {
+                        Ok(_) => {
+                            self.status = Status::Ok;
+                            self.state = State::ManifestSync;
+                        }
+                        Err(e) => {
+                            self.state = State::Error;
+                            self.status = e;
+                        }
+                    }
+                } else {
+                    if self.state != State::Download {
+                        // Unexpected DNLOAD while chip is waiting for a GETSTATUS
+                        self.status = Status::ErrUnknown;
+                        self.state = State::Error;
+                        return Some(OutResponse::Rejected);
+                    }
+                    match self.handler.write(data) {
+                        Ok(_) => {
+                            self.status = Status::Ok;
+                            self.state = State::DlSync;
+                            self.next_block_num += 1;
+                        }
+                        Err(e) => {
+                            self.state = State::Error;
+                            self.status = e;
+                        }
+                    }
+                }
+
+                Some(OutResponse::Accepted)
+            }
+            Ok(Request::Detach) => Some(OutResponse::Accepted), // Device is already in DFU mode
+            Ok(Request::ClrStatus) => {
+                self.reset_state();
+                Some(OutResponse::Accepted)
+            }
+            _ => None,
+        }
+    }
+
+    fn control_in<'a>(&'a mut self, req: ControlRequest, buf: &'a mut [u8]) -> Option<InResponse<'a>> {
+        if (req.request_type, req.recipient) != (RequestType::Class, Recipient::Interface) {
+            return None;
+        }
+        match Request::try_from(req.request) {
+            Ok(Request::GetStatus) => {
+                //TODO: Configurable poll timeout, ability to add string for Vendor error
+                buf[0..6].copy_from_slice(&[self.status as u8, 0x32, 0x00, 0x00, self.state as u8, 0x00]);
+                match self.state {
+                    State::DlSync => self.state = State::Download,
+                    State::ManifestSync => self.state = State::DfuIdle,
+                    _ => {}
+                }
+
+                Some(InResponse::Accepted(&buf[0..6]))
+            }
+            Ok(Request::GetState) => {
+                buf[0] = self.state as u8;
+                Some(InResponse::Accepted(&buf[0..1]))
+            }
+            Ok(Request::Upload) if self.attrs.contains(DfuAttributes::CAN_UPLOAD) => {
+                //TODO: FirmwareUpdater does not provide a way of reading the active partition, can't upload.
+                Some(InResponse::Rejected)
+            }
+            _ => None,
+        }
+    }
+}
+
+/// An implementation of the USB DFU 1.1 protocol
+///
+/// This function will add a DFU interface descriptor to the provided Builder, and register the provided Control as a handler for the USB device
+/// The handler is responsive to DFU GetState, GetStatus, Abort, and ClrStatus commands, as well as Download if configured by the user.
+///
+/// Once the host has initiated a DFU download operation, the chunks sent by the host will be written to the DFU partition.
+/// Once the final sync in the manifestation phase has been received, the handler will trigger a system reset to swap the new firmware.
+pub fn usb_dfu<'d, D: Driver<'d>, H: Handler>(
+    builder: &mut Builder<'d, D>,
+    state: &'d mut DfuState<H>,
+    max_write_size: usize,
+) {
+    let mut func = builder.function(0x00, 0x00, 0x00);
+    let mut iface = func.interface();
+    let mut alt = iface.alt_setting(USB_CLASS_APPN_SPEC, APPN_SPEC_SUBCLASS_DFU, DFU_PROTOCOL_DFU, None);
+    alt.descriptor(
+        DESC_DFU_FUNCTIONAL,
+        &[
+            state.attrs.bits(),
+            0xc4,
+            0x09, // 2500ms timeout, doesn't affect operation as DETACH not necessary in bootloader code
+            (max_write_size & 0xff) as u8,
+            ((max_write_size & 0xff00) >> 8) as u8,
+            0x10,
+            0x01, // DFU 1.1
+        ],
+    );
+
+    drop(func);
+    builder.handler(state);
+}
diff --git a/embassy-usb/src/class/dfu/mod.rs b/embassy-usb/src/class/dfu/mod.rs
new file mode 100644
index 000000000..f4655c8e8
--- /dev/null
+++ b/embassy-usb/src/class/dfu/mod.rs
@@ -0,0 +1,4 @@
+pub mod consts;
+
+pub mod app_mode;
+pub mod dfu_mode;
diff --git a/embassy-usb/src/class/mod.rs b/embassy-usb/src/class/mod.rs
index 452eedf17..4d792a786 100644
--- a/embassy-usb/src/class/mod.rs
+++ b/embassy-usb/src/class/mod.rs
@@ -1,5 +1,6 @@
 //! Implementations of well-known USB classes.
 pub mod cdc_acm;
 pub mod cdc_ncm;
+pub mod dfu;
 pub mod hid;
 pub mod midi;