diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 1aa665fb6..8f6504b50 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -23,6 +23,7 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 rand_core = "0.6.3"
 sdio-host = "0.5.0"
 embedded-sdmmc = { git = "https://github.com/thalesfragoso/embedded-sdmmc-rs", branch = "async", optional = true }
+synopsys-usb-otg = { version = "0.3", features = ["cortex-m"], optional = true }
 critical-section = "0.2.5"
 bare-metal = "1.0.0"
 atomic-polyfill = "0.1.5"
@@ -43,6 +44,11 @@ memory-x = ["stm32-metapac/memory-x"]
 subghz = []
 exti = []
 
+# These features are exclusive
+# synopsys-usb-otg does not support simultaneous FS and HS
+usb-otg-fs = ["synopsys-usb-otg", "synopsys-usb-otg/fs"]
+usb-otg-hs = ["synopsys-usb-otg", "synopsys-usb-otg/hs"]
+
 # Features starting with `_` are for internal use only. They're not intended
 # to be enabled by other crates, and are not covered by semver guarantees.
 _time-driver = ["embassy/time-tick-32768hz"]
diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs
index ff91f93de..aee596445 100644
--- a/embassy-stm32/build.rs
+++ b/embassy-stm32/build.rs
@@ -185,6 +185,14 @@ fn main() {
         println!("cargo:rustc-cfg={}x{}", &chip_name[..9], &chip_name[10..11]);
     }
 
+    // =======
+    // Features for targeting groups of chips
+
+    println!("cargo:rustc-cfg={}", &chip_name[..7]); // stm32f4
+    println!("cargo:rustc-cfg={}", &chip_name[..9]); // stm32f429
+    println!("cargo:rustc-cfg={}x", &chip_name[..8]); // stm32f42x
+    println!("cargo:rustc-cfg={}x{}", &chip_name[..7], &chip_name[8..9]); // stm32f4x9
+
     // ========
     // Handle time-driver-XXXX features.
 
diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs
index dfc027733..3b9a61d45 100644
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@@ -50,6 +50,10 @@ pub mod sdmmc;
 pub mod spi;
 #[cfg(usart)]
 pub mod usart;
+#[cfg(feature = "usb-otg-fs")]
+pub mod usb_otg_fs;
+#[cfg(feature = "usb-otg-hs")]
+pub mod usb_otg_hs;
 
 #[cfg(feature = "subghz")]
 pub mod subghz;
diff --git a/embassy-stm32/src/usb_otg_fs.rs b/embassy-stm32/src/usb_otg_fs.rs
new file mode 100644
index 000000000..3e0cadb11
--- /dev/null
+++ b/embassy-stm32/src/usb_otg_fs.rs
@@ -0,0 +1,159 @@
+use crate::gpio::sealed::{AFType, Pin};
+use crate::{peripherals, rcc::RccPeripheral};
+use core::marker::PhantomData;
+use embassy::util::Unborrow;
+use embassy_hal_common::unborrow;
+pub use embassy_hal_common::usb::*;
+pub use synopsys_usb_otg::UsbBus;
+use synopsys_usb_otg::UsbPeripheral;
+
+pub struct UsbOtgFs<'d, T: Instance> {
+    phantom: PhantomData<&'d mut T>,
+}
+
+impl<'d, T: Instance> UsbOtgFs<'d, T> {
+    pub fn new(
+        _peri: impl Unborrow<Target = T> + 'd,
+        dp: impl Unborrow<Target = impl DpPin<T>> + 'd,
+        dm: impl Unborrow<Target = impl DmPin<T>> + 'd,
+    ) -> Self {
+        unborrow!(dp, dm);
+
+        unsafe {
+            dp.set_as_af(dp.af_num(), AFType::OutputPushPull);
+            dm.set_as_af(dm.af_num(), AFType::OutputPushPull);
+        }
+
+        Self {
+            phantom: PhantomData,
+        }
+    }
+}
+
+impl<'d, T: Instance> Drop for UsbOtgFs<'d, T> {
+    fn drop(&mut self) {
+        T::reset();
+        T::disable();
+    }
+}
+
+unsafe impl<'d, T: Instance> Send for UsbOtgFs<'d, T> {}
+unsafe impl<'d, T: Instance> Sync for UsbOtgFs<'d, T> {}
+
+unsafe impl<'d, T: Instance> UsbPeripheral for UsbOtgFs<'d, T> {
+    const REGISTERS: *const () = T::REGISTERS;
+
+    const HIGH_SPEED: bool = false;
+
+    cfg_if::cfg_if! {
+        if #[cfg(stm32f1)] {
+            const FIFO_DEPTH_WORDS: usize = 128;
+            const ENDPOINT_COUNT: usize = 8;
+        } else if #[cfg(any(
+            stm32f2,
+            stm32f401,
+            stm32f405,
+            stm32f407,
+            stm32f411,
+            stm32f415,
+            stm32f417,
+            stm32f427,
+            stm32f429,
+            stm32f437,
+            stm32f439,
+        ))] {
+            const FIFO_DEPTH_WORDS: usize = 320;
+            const ENDPOINT_COUNT: usize = 4;
+        } else if #[cfg(any(
+            stm32f412,
+            stm32f413,
+            stm32f423,
+            stm32f446,
+            stm32f469,
+            stm32f479,
+            stm32f7,
+            stm32l4,
+            stm32u5,
+        ))] {
+            const FIFO_DEPTH_WORDS: usize = 320;
+            const ENDPOINT_COUNT: usize = 6;
+        } else if #[cfg(stm32g0x1)] {
+            const FIFO_DEPTH_WORDS: usize = 512;
+            const ENDPOINT_COUNT: usize = 8;
+        } else {
+            compile_error!("USB_OTG_FS peripheral is not supported by this chip. Disable \"usb-otg-fs\" feature or select a different chip.");
+        }
+    }
+
+    fn enable() {
+        <T as crate::rcc::sealed::RccPeripheral>::enable();
+        <T as crate::rcc::sealed::RccPeripheral>::reset();
+    }
+
+    fn ahb_frequency_hz(&self) -> u32 {
+        <T as crate::rcc::sealed::RccPeripheral>::frequency().0
+    }
+}
+
+pub(crate) mod sealed {
+    use super::*;
+
+    pub trait Instance {
+        const REGISTERS: *const ();
+    }
+
+    pub trait DpPin<T: Instance>: Pin {
+        fn af_num(&self) -> u8;
+    }
+
+    pub trait DmPin<T: Instance>: Pin {
+        fn af_num(&self) -> u8;
+    }
+}
+
+pub trait Instance: sealed::Instance + RccPeripheral {}
+pub trait DpPin<T: Instance>: sealed::DpPin<T> {}
+pub trait DmPin<T: Instance>: sealed::DmPin<T> {}
+
+crate::pac::peripherals!(
+    (otgfs, $inst:ident) => {
+        impl sealed::Instance for crate::peripherals::$inst {
+            const REGISTERS: *const () = crate::pac::$inst.0 as *const ();
+        }
+
+        impl Instance for peripherals::$inst {}
+    };
+);
+
+crate::pac::interrupts!(
+    ($inst:ident, otgfs, $block:ident, GLOBAL, $irq:ident) => {
+        unsafe impl USBInterrupt for crate::interrupt::$irq {}
+    };
+);
+
+macro_rules! impl_pin {
+    ($inst:ident, $pin:ident, $signal:ident, $af:expr) => {
+        impl $signal<peripherals::$inst> for peripherals::$pin {}
+
+        impl sealed::$signal<peripherals::$inst> for peripherals::$pin {
+            fn af_num(&self) -> u8 {
+                $af
+            }
+        }
+    };
+}
+
+crate::pac::peripheral_pins!(
+    ($inst:ident, otgfs, OTG_FS, $pin:ident, DP, $af:expr) => {
+        impl_pin!($inst, $pin, DpPin, $af);
+    };
+    ($inst:ident, otgfs, OTG_FS, $pin:ident, DM, $af:expr) => {
+        impl_pin!($inst, $pin, DmPin, $af);
+    };
+    ($inst:ident, otgfs, OTG_FS, $pin:ident, DP) => {
+        impl_pin!($inst, $pin, DpPin, 0);
+    };
+    ($inst:ident, otgfs, OTG_FS, $pin:ident, DM) => {
+        impl_pin!($inst, $pin, DmPin, 0);
+    };
+);
diff --git a/embassy-stm32/src/usb_otg_hs.rs b/embassy-stm32/src/usb_otg_hs.rs
new file mode 100644
index 000000000..8de4601e1
--- /dev/null
+++ b/embassy-stm32/src/usb_otg_hs.rs
@@ -0,0 +1,147 @@
+use crate::gpio::sealed::{AFType, Pin};
+use crate::{peripherals, rcc::RccPeripheral};
+use core::marker::PhantomData;
+use embassy::util::Unborrow;
+use embassy_hal_common::unborrow;
+pub use embassy_hal_common::usb::*;
+pub use synopsys_usb_otg::UsbBus;
+use synopsys_usb_otg::UsbPeripheral;
+
+pub struct UsbOtgHs<'d, T: Instance> {
+    phantom: PhantomData<&'d mut T>,
+}
+
+impl<'d, T: Instance> UsbOtgHs<'d, T> {
+    pub fn new(
+        _peri: impl Unborrow<Target = T> + 'd,
+        dp: impl Unborrow<Target = impl DpPin<T>> + 'd,
+        dm: impl Unborrow<Target = impl DmPin<T>> + 'd,
+    ) -> Self {
+        unborrow!(dp, dm);
+
+        unsafe {
+            dp.set_as_af(dp.af_num(), AFType::OutputPushPull);
+            dm.set_as_af(dm.af_num(), AFType::OutputPushPull);
+        }
+
+        Self {
+            phantom: PhantomData,
+        }
+    }
+}
+
+impl<'d, T: Instance> Drop for UsbOtgHs<'d, T> {
+    fn drop(&mut self) {
+        T::reset();
+        T::disable();
+    }
+}
+
+unsafe impl<'d, T: Instance> Send for UsbOtgHs<'d, T> {}
+unsafe impl<'d, T: Instance> Sync for UsbOtgHs<'d, T> {}
+
+unsafe impl<'d, T: Instance> UsbPeripheral for UsbOtgHs<'d, T> {
+    const REGISTERS: *const () = T::REGISTERS;
+
+    const HIGH_SPEED: bool = true;
+
+    cfg_if::cfg_if! {
+        if #[cfg(any(
+            stm32f2,
+            stm32f405,
+            stm32f407,
+            stm32f415,
+            stm32f417,
+            stm32f427,
+            stm32f429,
+            stm32f437,
+            stm32f439,
+        ))] {
+            const FIFO_DEPTH_WORDS: usize = 1024;
+            const ENDPOINT_COUNT: usize = 6;
+        } else if #[cfg(any(
+            stm32f446,
+            stm32f469,
+            stm32f479,
+            stm32f7,
+            stm32h7,
+        ))] {
+            const FIFO_DEPTH_WORDS: usize = 1024;
+            const ENDPOINT_COUNT: usize = 9;
+        } else {
+            compile_error!("USB_OTG_HS peripheral is not supported by this chip. Disable \"usb-otg-hs\" feature or select a different chip.");
+        }
+    }
+
+    fn enable() {
+        <T as crate::rcc::sealed::RccPeripheral>::enable();
+        <T as crate::rcc::sealed::RccPeripheral>::reset();
+    }
+
+    fn ahb_frequency_hz(&self) -> u32 {
+        <T as crate::rcc::sealed::RccPeripheral>::frequency().0
+    }
+}
+
+pub(crate) mod sealed {
+    use super::*;
+
+    pub trait Instance {
+        const REGISTERS: *const ();
+    }
+
+    pub trait DpPin<T: Instance>: Pin {
+        fn af_num(&self) -> u8;
+    }
+
+    pub trait DmPin<T: Instance>: Pin {
+        fn af_num(&self) -> u8;
+    }
+}
+
+pub trait Instance: sealed::Instance + RccPeripheral {}
+pub trait DpPin<T: Instance>: sealed::DpPin<T> {}
+pub trait DmPin<T: Instance>: sealed::DmPin<T> {}
+
+crate::pac::peripherals!(
+    (otghs, $inst:ident) => {
+        impl sealed::Instance for crate::peripherals::$inst {
+            const REGISTERS: *const () = crate::pac::$inst.0 as *const ();
+        }
+
+        impl Instance for peripherals::$inst {}
+    };
+);
+
+crate::pac::interrupts!(
+    ($inst:ident, otghs, $block:ident, GLOBAL, $irq:ident) => {
+        unsafe impl USBInterrupt for crate::interrupt::$irq {}
+    };
+);
+
+macro_rules! impl_pin {
+    ($inst:ident, $pin:ident, $signal:ident, $af:expr) => {
+        impl $signal<peripherals::$inst> for peripherals::$pin {}
+
+        impl sealed::$signal<peripherals::$inst> for peripherals::$pin {
+            fn af_num(&self) -> u8 {
+                $af
+            }
+        }
+    };
+}
+
+crate::pac::peripheral_pins!(
+    ($inst:ident, otghs, OTG_HS, $pin:ident, DP, $af:expr) => {
+        impl_pin!($inst, $pin, DpPin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, DM, $af:expr) => {
+        impl_pin!($inst, $pin, DmPin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, DP) => {
+        impl_pin!($inst, $pin, DpPin, 0);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, DM) => {
+        impl_pin!($inst, $pin, DmPin, 0);
+    };
+);
diff --git a/examples/stm32f4/Cargo.toml b/examples/stm32f4/Cargo.toml
index 67b212d5c..8a5908e27 100644
--- a/examples/stm32f4/Cargo.toml
+++ b/examples/stm32f4/Cargo.toml
@@ -8,7 +8,7 @@ resolver = "2"
 
 [dependencies]
 embassy = { version = "0.1.0", path = "../../embassy", features = ["defmt", "unstable-traits"] }
-embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32f429zi", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
+embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32f429zi", "unstable-pac", "memory-x", "time-driver-any", "exti", "usb-otg-fs"]  }
 
 defmt = "0.3"
 defmt-rtt = "0.3"
@@ -20,3 +20,6 @@ panic-probe = { version = "0.3", features = ["print-defmt"] }
 futures = { version = "0.3.17", default-features = false, features = ["async-await"] }
 heapless = { version = "0.7.5", default-features = false }
 nb = "1.0.0"
+
+usb-device = "0.2"
+usbd-serial = "0.1.1"
diff --git a/examples/stm32f4/src/bin/usb_uart.rs b/examples/stm32f4/src/bin/usb_uart.rs
new file mode 100644
index 000000000..7167a28b4
--- /dev/null
+++ b/examples/stm32f4/src/bin/usb_uart.rs
@@ -0,0 +1,99 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+#[path = "../example_common.rs"]
+mod example_common;
+
+use defmt::{info, unwrap};
+use defmt_rtt as _; // global logger
+use embassy::interrupt::InterruptExt;
+use futures::pin_mut;
+use panic_probe as _; // print out panic messages
+
+use embassy::executor::Spawner;
+use embassy::io::{AsyncBufReadExt, AsyncWriteExt};
+use embassy_stm32::usb_otg_fs::{State, Usb, UsbBus, UsbOtgFs, UsbSerial};
+use embassy_stm32::{interrupt, time::Hertz, Config, Peripherals};
+use usb_device::device::{UsbDeviceBuilder, UsbVidPid};
+
+static mut EP_MEMORY: [u32; 2048] = [0; 2048];
+
+// USB requires at least 48 MHz clock
+fn config() -> Config {
+    let mut config = Config::default();
+    config.rcc.sys_ck = Some(Hertz(48_000_000));
+    config
+}
+
+#[embassy::main(config = "config()")]
+async fn main(_spawner: Spawner, p: Peripherals) {
+    let mut rx_buffer = [0u8; 64];
+    // we send back input + cr + lf
+    let mut tx_buffer = [0u8; 66];
+
+    let peri = UsbOtgFs::new(p.USB_OTG_FS, p.PA12, p.PA11);
+    let usb_bus = UsbBus::new(peri, unsafe { &mut EP_MEMORY });
+
+    let serial = UsbSerial::new(&usb_bus, &mut rx_buffer, &mut tx_buffer);
+
+    let device = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(0x16c0, 0x27dd))
+        .manufacturer("Fake company")
+        .product("Serial port")
+        .serial_number("TEST")
+        .device_class(0x02)
+        .build();
+
+    let irq = interrupt::take!(OTG_FS);
+    irq.set_priority(interrupt::Priority::P3);
+
+    let mut state = State::new();
+    let usb = unsafe { Usb::new(&mut state, device, serial, irq) };
+    pin_mut!(usb);
+
+    let (mut reader, mut writer) = usb.as_ref().take_serial_0();
+
+    info!("usb initialized!");
+
+    unwrap!(
+        writer
+            .write_all(b"\r\nInput returned upper cased on CR+LF\r\n")
+            .await
+    );
+
+    let mut buf = [0u8; 64];
+    loop {
+        let mut n = 0;
+
+        async {
+            loop {
+                let char = unwrap!(reader.read_byte().await);
+
+                if char == b'\r' || char == b'\n' {
+                    break;
+                }
+
+                buf[n] = char;
+                n += 1;
+
+                // stop if we're out of room
+                if n == buf.len() {
+                    break;
+                }
+            }
+        }
+        .await;
+
+        if n > 0 {
+            for char in buf[..n].iter_mut() {
+                // upper case
+                if 0x61 <= *char && *char <= 0x7a {
+                    *char &= !0x20;
+                }
+            }
+            unwrap!(writer.write_all(&buf[..n]).await);
+            unwrap!(writer.write_all(b"\r\n").await);
+            unwrap!(writer.flush().await);
+        }
+    }
+}