diff --git a/examples/host/cdc_msc_hid/.only.MCU_RP2040 b/examples/host/cdc_msc_hid/.only.MCU_RP2040
new file mode 100644
index 000000000..e69de29bb
diff --git a/examples/host/cdc_msc_hid/CMakeLists.txt b/examples/host/cdc_msc_hid/CMakeLists.txt
new file mode 100644
index 000000000..dc2effde9
--- /dev/null
+++ b/examples/host/cdc_msc_hid/CMakeLists.txt
@@ -0,0 +1,46 @@
+# use directory name for project id
+get_filename_component(PROJECT ${CMAKE_CURRENT_SOURCE_DIR} NAME)
+set(PROJECT ${BOARD}-${PROJECT})
+
+# TOP is absolute path to root directory of TinyUSB git repo
+set(TOP "../../..")
+get_filename_component(TOP "${TOP}" REALPATH)
+
+# Check for -DFAMILY=
+if(FAMILY STREQUAL "esp32s2")
+  cmake_minimum_required(VERSION 3.5)
+  include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
+  project(${PROJECT})
+
+elseif(FAMILY STREQUAL "rp2040")
+  cmake_minimum_required(VERSION 3.12)
+  set(PICO_SDK_PATH ${TOP}/hw/mcu/raspberrypi/pico-sdk)
+  include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
+  project(${PROJECT})
+  pico_sdk_init()
+  add_executable(${PROJECT})
+
+  include(${TOP}/hw/bsp/${FAMILY}/family.cmake)
+
+  # Example source
+  target_sources(${PROJECT} PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/msc_app.c
+  )
+
+  # Example include
+  target_include_directories(${PROJECT} PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+  )
+
+  # Example defines
+  target_compile_definitions(${PROJECT} PUBLIC
+    CFG_TUSB_OS=OPT_OS_PICO
+  )
+
+  target_link_libraries(${PROJECT} pico_stdlib pico_fix_rp2040_usb_device_enumeration)
+  pico_add_extra_outputs(${PROJECT})
+
+else()
+  message(FATAL_ERROR "Invalid FAMILY specified")
+endif()
diff --git a/hw/bsp/rp2040/family.cmake b/hw/bsp/rp2040/family.cmake
index e4f5f47b4..699ad174d 100644
--- a/hw/bsp/rp2040/family.cmake
+++ b/hw/bsp/rp2040/family.cmake
@@ -13,8 +13,15 @@ set(SRC_TINYUSB
 	${TOP}/src/class/net/net_device.c
 	${TOP}/src/class/usbtmc/usbtmc_device.c
 	${TOP}/src/class/vendor/vendor_device.c
-	${TOP}/src/portable/raspberrypi/${FAMILY}/dcd_rp2040.c
+	${TOP}/src/host/hub.c
+	${TOP}/src/host/usbh.c
+	${TOP}/src/host/usbh_control.c
+	${TOP}/src/class/cdc/cdc_host.c
+	${TOP}/src/class/hid/hid_host.c
+	${TOP}/src/class/msc/msc_host.c
 	${TOP}/src/portable/raspberrypi/${FAMILY}/rp2040_usb.c
+	${TOP}/src/portable/raspberrypi/${FAMILY}/dcd_rp2040.c
+	${TOP}/src/portable/raspberrypi/${FAMILY}/hcd_rp2040.c
 )
 
 target_sources(${PROJECT} PUBLIC
diff --git a/src/host/usbh.c b/src/host/usbh.c
index 0bc6378b2..a4ee4cb5c 100644
--- a/src/host/usbh.c
+++ b/src/host/usbh.c
@@ -157,6 +157,7 @@ tusb_speed_t tuh_device_get_speed (uint8_t const dev_addr)
   return (tusb_speed_t) _usbh_devices[dev_addr].speed;
 }
 
+#if CFG_TUSB_OS == OPT_OS_NONE
 void osal_task_delay(uint32_t msec)
 {
   (void) msec;
@@ -164,6 +165,7 @@ void osal_task_delay(uint32_t msec)
   const uint32_t start = hcd_frame_number(TUH_OPT_RHPORT);
   while ( ( hcd_frame_number(TUH_OPT_RHPORT) - start ) < msec ) {}
 }
+#endif
 
 //--------------------------------------------------------------------+
 // CLASS-USBD API (don't require to verify parameters)
diff --git a/src/osal/osal.h b/src/osal/osal.h
index 02e3e0a06..28bdf479c 100644
--- a/src/osal/osal.h
+++ b/src/osal/osal.h
@@ -66,7 +66,6 @@ typedef void (*osal_task_func_t)( void * );
 //--------------------------------------------------------------------+
 // OSAL Porting API
 //--------------------------------------------------------------------+
-//static inline void osal_task_delay(uint32_t msec);
 
 //------------- Semaphore -------------//
 static inline osal_semaphore_t osal_semaphore_create(osal_semaphore_def_t* semdef);
diff --git a/src/osal/osal_none.h b/src/osal/osal_none.h
index ea6818621..a1f997cf2 100644
--- a/src/osal/osal_none.h
+++ b/src/osal/osal_none.h
@@ -34,14 +34,7 @@
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
-//static inline void osal_task_delay(uint32_t msec)
-//{
-//  (void) msec;
-//  // TODO only used by Host stack, will implement using SOF
-//
-////  uint32_t start = tusb_hal_millis();
-////  while ( ( tusb_hal_millis() - start ) < msec ) {}
-//}
+
 
 //--------------------------------------------------------------------+
 // Binary Semaphore API
diff --git a/src/osal/osal_pico.h b/src/osal/osal_pico.h
index de964a7a0..c277af271 100644
--- a/src/osal/osal_pico.h
+++ b/src/osal/osal_pico.h
@@ -39,12 +39,10 @@
 //--------------------------------------------------------------------+
 // TASK API
 //--------------------------------------------------------------------+
-#ifndef RP2040_USB_HOST_MODE
 static inline void osal_task_delay(uint32_t msec)
 {
-    sleep_ms(msec);
+  sleep_ms(msec);
 }
-#endif
 
 //--------------------------------------------------------------------+
 // Binary Semaphore API
diff --git a/src/portable/raspberrypi/rp2040/rp2040_usb.c b/src/portable/raspberrypi/rp2040/rp2040_usb.c
index 70b676087..c6f6d7231 100644
--- a/src/portable/raspberrypi/rp2040/rp2040_usb.c
+++ b/src/portable/raspberrypi/rp2040/rp2040_usb.c
@@ -43,7 +43,7 @@ static inline void _hw_endpoint_lock_update(struct hw_endpoint *ep, int delta) {
     //  sense to have worker and IRQ on same core, however I think using critsec is about equivalent.
 }
 
-#ifdef RP2040_USB_HOST_MODE
+#if TUSB_OPT_HOST_ENABLED
 static inline void _hw_endpoint_update_last_buf(struct hw_endpoint *ep)
 {
     ep->last_buf = ep->len + ep->transfer_size == ep->total_len;
@@ -69,7 +69,7 @@ void hw_endpoint_reset_transfer(struct hw_endpoint *ep)
 {
     ep->stalled = false;
     ep->active = false;
-#ifdef RP2040_USB_HOST_MODE
+#if TUSB_OPT_HOST_ENABLED
     ep->sent_setup = false;
 #endif
     ep->total_len = 0;
@@ -92,7 +92,7 @@ void _hw_endpoint_buffer_control_update32(struct hw_endpoint *ep, uint32_t and_m
             *ep->buffer_control = value & ~USB_BUF_CTRL_AVAIL;
             // 12 cycle delay.. (should be good for 48*12Mhz = 576Mhz)
             // Don't need delay in host mode as host is in charge
-#ifndef RP2040_USB_HOST_MODE
+#if !TUSB_OPT_HOST_ENABLED
             __asm volatile (
                     "b 1f\n"
                     "1: b 1f\n"
@@ -125,7 +125,7 @@ void _hw_endpoint_start_next_buffer(struct hw_endpoint *ep)
     val |= ep->next_pid ? USB_BUF_CTRL_DATA1_PID : USB_BUF_CTRL_DATA0_PID;
     ep->next_pid ^= 1u;
 
-#ifdef RP2040_USB_HOST_MODE
+#if TUSB_OPT_HOST_ENABLED
     // Is this the last buffer? Only really matters for host mode. Will trigger
     // the trans complete irq but also stop it polling. We only really care about
     // trans complete for setup packets being sent
@@ -161,7 +161,7 @@ void _hw_endpoint_xfer_start(struct hw_endpoint *ep, uint8_t *buffer, uint16_t t
     ep->transfer_size = tu_min16(total_len, ep->wMaxPacketSize);
     ep->active = true;
     ep->user_buf = buffer;
-#ifdef RP2040_USB_HOST_MODE
+#if TUSB_OPT_HOST_ENABLED
     // Recalculate if this is the last buffer
     _hw_endpoint_update_last_buf(ep);
     ep->buf_sel = 0;
@@ -181,7 +181,7 @@ void _hw_endpoint_xfer_sync(struct hw_endpoint *ep)
     uint32_t buf_ctrl = _hw_endpoint_buffer_control_get_value32(ep);
     uint16_t transferred_bytes = buf_ctrl & USB_BUF_CTRL_LEN_MASK;
 
-#ifdef RP2040_USB_HOST_MODE
+#if TUSB_OPT_HOST_ENABLED
     // tag::host_buf_sel_fix[]
     if (ep->buf_sel == 1)
     {
@@ -239,7 +239,7 @@ bool _hw_endpoint_xfer_continue(struct hw_endpoint *ep)
     // Now we have synced our state with the hardware. Is there more data to transfer?
     uint16_t remaining_bytes = ep->total_len - ep->len;
     ep->transfer_size = tu_min16(remaining_bytes, ep->wMaxPacketSize);
-#ifdef RP2040_USB_HOST_MODE
+#if TUSB_OPT_HOST_ENABLED
     _hw_endpoint_update_last_buf(ep);
 #endif
 
diff --git a/src/portable/raspberrypi/rp2040/rp2040_usb.h b/src/portable/raspberrypi/rp2040/rp2040_usb.h
index c3ad5e21f..bb88d977f 100644
--- a/src/portable/raspberrypi/rp2040/rp2040_usb.h
+++ b/src/portable/raspberrypi/rp2040/rp2040_usb.h
@@ -75,7 +75,7 @@ struct hw_endpoint
     // Interrupt, bulk, etc
     uint8_t transfer_type;
     
-#ifdef RP2040_USB_HOST_MODE
+#if TUSB_OPT_HOST_ENABLED
     // Only needed for host mode
     bool last_buf;
     // HOST BUG. Host will incorrect write status to top half of buffer