Merge USB FS and HS peripherals. Add ULPI.

8 files changed, 449 insertions, 319 deletions

diff --git a/embassy-stm32/Cargo.toml b/embassy-stm32/Cargo.toml
index 8f6504b50..3c639b781 100644
--- a/embassy-stm32/Cargo.toml
+++ b/embassy-stm32/Cargo.toml
@@ -23,7 +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 }
+synopsys-usb-otg = { version = "0.3", features = ["cortex-m", "hs"], optional = true }
 critical-section = "0.2.5"
 bare-metal = "1.0.0"
 atomic-polyfill = "0.1.5"
@@ -43,11 +43,7 @@ net = ["embassy-net", "vcell"]
 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"]
+usb-otg = ["synopsys-usb-otg"]
 
 # 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.
diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs
index 3b9a61d45..2279b4042 100644
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@@ -50,10 +50,8 @@ 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 = "usb-otg")]
+pub mod usb_otg;
 
 #[cfg(feature = "subghz")]
 pub mod subghz;
diff --git a/embassy-stm32/src/usb_otg.rs b/embassy-stm32/src/usb_otg.rs
new file mode 100644
index 000000000..c2c47159d
--- /dev/null
+++ b/embassy-stm32/src/usb_otg.rs
@@ -0,0 +1,328 @@
+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::{PhyType, UsbPeripheral};
+
+macro_rules! config_pins {
+    ($($pin:ident),*) => {
+        $(
+            $pin.configure();
+        )*
+    };
+}
+
+pub struct UsbOtg<'d, T: Instance> {
+    phantom: PhantomData<&'d mut T>,
+    phy_type: PhyType,
+}
+
+impl<'d, T: Instance> UsbOtg<'d, T> {
+    pub fn new_fs(
+        _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);
+        config_pins!(dp, dm);
+
+        Self {
+            phantom: PhantomData,
+            phy_type: PhyType::InternalFullSpeed,
+        }
+    }
+
+    pub fn new_hs_ulpi(
+        _peri: impl Unborrow<Target = T> + 'd,
+        ulpi_clk: impl Unborrow<Target = impl UlpiClkPin<T>> + 'd,
+        ulpi_dir: impl Unborrow<Target = impl UlpiDirPin<T>> + 'd,
+        ulpi_nxt: impl Unborrow<Target = impl UlpiNxtPin<T>> + 'd,
+        ulpi_stp: impl Unborrow<Target = impl UlpiStpPin<T>> + 'd,
+        ulpi_d0: impl Unborrow<Target = impl UlpiD0Pin<T>> + 'd,
+        ulpi_d1: impl Unborrow<Target = impl UlpiD1Pin<T>> + 'd,
+        ulpi_d2: impl Unborrow<Target = impl UlpiD2Pin<T>> + 'd,
+        ulpi_d3: impl Unborrow<Target = impl UlpiD3Pin<T>> + 'd,
+        ulpi_d4: impl Unborrow<Target = impl UlpiD4Pin<T>> + 'd,
+        ulpi_d5: impl Unborrow<Target = impl UlpiD5Pin<T>> + 'd,
+        ulpi_d6: impl Unborrow<Target = impl UlpiD6Pin<T>> + 'd,
+        ulpi_d7: impl Unborrow<Target = impl UlpiD7Pin<T>> + 'd,
+    ) -> Self {
+        unborrow!(ulpi_clk, ulpi_dir, ulpi_nxt, ulpi_stp);
+        unborrow!(ulpi_d0, ulpi_d1, ulpi_d2, ulpi_d3, ulpi_d4, ulpi_d5, ulpi_d6, ulpi_d7);
+        config_pins!(ulpi_clk, ulpi_dir, ulpi_nxt, ulpi_stp);
+        config_pins!(ulpi_d0, ulpi_d1, ulpi_d2, ulpi_d3, ulpi_d4, ulpi_d5, ulpi_d6, ulpi_d7);
+
+        Self {
+            phantom: PhantomData,
+            phy_type: PhyType::ExternalHighSpeed,
+        }
+    }
+}
+
+impl<'d, T: Instance> Drop for UsbOtg<'d, T> {
+    fn drop(&mut self) {
+        T::reset();
+        T::disable();
+    }
+}
+
+unsafe impl<'d, T: Instance> Send for UsbOtg<'d, T> {}
+unsafe impl<'d, T: Instance> Sync for UsbOtg<'d, T> {}
+
+unsafe impl<'d, T: Instance> UsbPeripheral for UsbOtg<'d, T> {
+    const REGISTERS: *const () = T::REGISTERS;
+    const HIGH_SPEED: bool = T::HIGH_SPEED;
+    const FIFO_DEPTH_WORDS: usize = T::FIFO_DEPTH_WORDS;
+    const ENDPOINT_COUNT: usize = T::ENDPOINT_COUNT;
+
+    fn enable() {
+        <T as crate::rcc::sealed::RccPeripheral>::enable();
+        <T as crate::rcc::sealed::RccPeripheral>::reset();
+    }
+
+    fn phy_type(&self) -> PhyType {
+        self.phy_type
+    }
+
+    fn ahb_frequency_hz(&self) -> u32 {
+        <T as crate::rcc::sealed::RccPeripheral>::frequency().0
+    }
+}
+
+pub(crate) mod sealed {
+    pub trait Instance {
+        const REGISTERS: *const ();
+        const HIGH_SPEED: bool;
+        const FIFO_DEPTH_WORDS: usize;
+        const ENDPOINT_COUNT: usize;
+    }
+
+    macro_rules! declare_pins {
+        ($name:ident) => {
+            pub trait $name<T: Instance> {
+                fn configure(&mut self);
+            }
+        };
+
+        ($name:ident, $($names:ident),+) => {
+            declare_pins!($name);
+            declare_pins!($($names),+);
+        }
+    }
+
+    // Internal PHY pins
+    declare_pins!(DpPin, DmPin);
+
+    // External PHY pins
+    declare_pins!(UlpiClkPin, UlpiDirPin, UlpiNxtPin, UlpiStpPin);
+    declare_pins!(UlpiD0Pin, UlpiD1Pin, UlpiD2Pin, UlpiD3Pin);
+    declare_pins!(UlpiD4Pin, UlpiD5Pin, UlpiD6Pin, UlpiD7Pin);
+}
+
+pub trait Instance: sealed::Instance + RccPeripheral {}
+
+macro_rules! declare_pins {
+    ($name:ident) => {
+        pub trait $name<T: Instance>: sealed::$name<T> {}
+    };
+
+    ($name:ident, $($names:ident),+) => {
+        declare_pins!($name);
+        declare_pins!($($names),+);
+    }
+}
+
+declare_pins!(DpPin, DmPin);
+declare_pins!(UlpiClkPin, UlpiDirPin, UlpiNxtPin, UlpiStpPin);
+declare_pins!(UlpiD0Pin, UlpiD1Pin, UlpiD2Pin, UlpiD3Pin);
+declare_pins!(UlpiD4Pin, UlpiD5Pin, UlpiD6Pin, UlpiD7Pin);
+
+crate::pac::peripherals!(
+    (otgfs, $inst:ident) => {
+        impl sealed::Instance for peripherals::$inst {
+            const REGISTERS: *const () = crate::pac::$inst.0 as *const ();
+            const HIGH_SPEED: bool = false;
+
+            cfg_if::cfg_if! {
+                if #[cfg(stm32f1)] {
+                    const FIFO_DEPTH_WORDS: usize = 128;
+                    const ENDPOINT_COUNT: usize = 8;
+                } else if #[cfg(any(
+                    stm32f2,
+                    stm32f401,
+                    stm32f405,
+                    stm32f407,
+                    stm32f411,
+                    stm32f415,
+                    stm32f417,
+                    stm32f427,
+                    stm32f429,
+                    stm32f437,
+                    stm32f439,
+                ))] {
+                    const FIFO_DEPTH_WORDS: usize = 320;
+                    const ENDPOINT_COUNT: usize = 4;
+                } else if #[cfg(any(
+                    stm32f412,
+                    stm32f413,
+                    stm32f423,
+                    stm32f446,
+                    stm32f469,
+                    stm32f479,
+                    stm32f7,
+                    stm32l4,
+                    stm32u5,
+                ))] {
+                    const FIFO_DEPTH_WORDS: usize = 320;
+                    const ENDPOINT_COUNT: usize = 6;
+                } else if #[cfg(stm32g0x1)] {
+                    const FIFO_DEPTH_WORDS: usize = 512;
+                    const ENDPOINT_COUNT: usize = 8;
+                } else {
+                    compile_error!("USB_OTG_FS peripheral is not supported by this chip. Disable \"usb-otg-fs\" feature or select a different chip.");
+                }
+            }
+        }
+
+        impl Instance for peripherals::$inst {}
+    };
+
+    (otghs, $inst:ident) => {
+        impl sealed::Instance for peripherals::$inst {
+            const REGISTERS: *const () = crate::pac::$inst.0 as *const ();
+            const HIGH_SPEED: bool = true;
+
+            cfg_if::cfg_if! {
+                if #[cfg(any(
+                    stm32f2,
+                    stm32f405,
+                    stm32f407,
+                    stm32f415,
+                    stm32f417,
+                    stm32f427,
+                    stm32f429,
+                    stm32f437,
+                    stm32f439,
+                ))] {
+                    const FIFO_DEPTH_WORDS: usize = 1024;
+                    const ENDPOINT_COUNT: usize = 6;
+                } else if #[cfg(any(
+                    stm32f446,
+                    stm32f469,
+                    stm32f479,
+                    stm32f7,
+                    stm32h7,
+                ))] {
+                    const FIFO_DEPTH_WORDS: usize = 1024;
+                    const ENDPOINT_COUNT: usize = 9;
+                } else {
+                    compile_error!("USB_OTG_HS peripheral is not supported by this chip. Disable \"usb-otg-hs\" feature or select a different chip.");
+                }
+            }
+        }
+
+        impl Instance for peripherals::$inst {}
+    };
+);
+
+crate::pac::interrupts!(
+    ($inst:ident, otgfs, $block:ident, GLOBAL, $irq:ident) => {
+        unsafe impl USBInterrupt for crate::interrupt::$irq {}
+    };
+    ($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 configure(&mut self) {
+                use crate::gpio::sealed::{AFType::OutputPushPull, Pin as SealedPin};
+
+                critical_section::with(|_| unsafe {
+                    self.set_as_af($af, OutputPushPull);
+                });
+            }
+        }
+    };
+}
+
+// ULPI pins have to bet set to VeryHigh speed
+macro_rules! impl_ulpi_pin {
+    ($inst:ident, $pin:ident, $signal:ident, $af:expr) => {
+        impl $signal<peripherals::$inst> for peripherals::$pin {}
+
+        impl sealed::$signal<peripherals::$inst> for peripherals::$pin {
+            fn configure(&mut self) {
+                use crate::gpio::sealed::{AFType::OutputPushPull, Pin as SealedPin};
+                use crate::gpio::Speed;
+
+                critical_section::with(|_| unsafe {
+                    self.set_as_af($af, OutputPushPull);
+                    self.set_speed(Speed::VeryHigh);
+                });
+            }
+        }
+    };
+}
+
+crate::pac::peripheral_pins!(
+    // FS internal phy pins
+    ($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, $af);
+    };
+
+    // HS internal phy pins
+    ($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, $af);
+    };
+
+    // HS external phy pins
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_CK, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiClkPin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_DIR, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiDirPin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_NXT, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiNxtPin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_STP, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiStpPin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_D0, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiD0Pin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_D1, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiD1Pin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_D2, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiD2Pin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_D3, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiD3Pin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_D4, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiD4Pin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_D5, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiD5Pin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_D6, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiD6Pin, $af);
+    };
+    ($inst:ident, otghs, OTG_HS, $pin:ident, ULPI_D7, $af:expr) => {
+        impl_ulpi_pin!($inst, $pin, UlpiD7Pin, $af);
+    };
+);
diff --git a/embassy-stm32/src/usb_otg_fs.rs b/embassy-stm32/src/usb_otg_fs.rs
deleted file mode 100644
index 3e0cadb11..000000000
--- a/embassy-stm32/src/usb_otg_fs.rs
+++ /dev/null
@@ -1,159 +0,0 @@
-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
deleted file mode 100644
index 8de4601e1..000000000
--- a/embassy-stm32/src/usb_otg_hs.rs
+++ /dev/null
@@ -1,147 +0,0 @@
-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 8a5908e27..798144c2b 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", "usb-otg-fs"]  }
+embassy-stm32 = { version = "0.1.0", path = "../../embassy-stm32", features = ["defmt", "stm32f429zi", "unstable-pac", "memory-x", "time-driver-any", "exti", "usb-otg"]  }
 
 defmt = "0.3"
 defmt-rtt = "0.3"
diff --git a/examples/stm32f4/src/bin/usb_uart.rs b/examples/stm32f4/src/bin/usb_uart.rs
index 7167a28b4..63059d51f 100644
--- a/examples/stm32f4/src/bin/usb_uart.rs
+++ b/examples/stm32f4/src/bin/usb_uart.rs
@@ -13,7 +13,7 @@ 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::usb_otg::{State, Usb, UsbBus, UsbOtg, UsbSerial};
 use embassy_stm32::{interrupt, time::Hertz, Config, Peripherals};
 use usb_device::device::{UsbDeviceBuilder, UsbVidPid};
 
@@ -32,7 +32,7 @@ async fn main(_spawner: Spawner, p: Peripherals) {
     // 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 peri = UsbOtg::new_fs(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);
diff --git a/examples/stm32f4/src/bin/usb_uart_ulpi.rs b/examples/stm32f4/src/bin/usb_uart_ulpi.rs
new file mode 100644
index 000000000..2cdc8e683
--- /dev/null
+++ b/examples/stm32f4/src/bin/usb_uart_ulpi.rs
@@ -0,0 +1,114 @@
+#![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::{State, Usb, UsbBus, UsbOtg, 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];
+
+    // USB with external high-speed PHY
+    let peri = UsbOtg::new_ulpi(
+        p.USB_OTG_HS,
+        p.PA5,
+        p.PC2,
+        p.PC3,
+        p.PC0,
+        p.PA3,
+        p.PB0,
+        p.PB1,
+        p.PB10,
+        p.PB11,
+        p.PB12,
+        p.PB13,
+        p.PB5,
+    );
+    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);
+        }
+    }
+}