diff --git a/src/common/tusb_mcu.h b/src/common/tusb_mcu.h
index c66996c4f..0f4fca8d1 100644
--- a/src/common/tusb_mcu.h
+++ b/src/common/tusb_mcu.h
@@ -271,17 +271,24 @@
   #define TUP_DCD_ENDPOINT_MAX    8
 
 #elif TU_CHECK_MCU(OPT_MCU_STM32U5)
-  #define TUP_USBIP_DWC2
-  #define TUP_USBIP_DWC2_STM32
+  #ifdef USB_DRD_FS
+    #define TUP_USBIP_FSDEV
+    #define TUP_USBIP_FSDEV_STM32
+    #define TUP_DCD_ENDPOINT_MAX    8
 
-  // U59x/5Ax/5Fx/5Gx are highspeed with built-in HS PHY
-  #if defined(STM32U595xx) || defined(STM32U599xx) || defined(STM32U5A5xx) || defined(STM32U5A9xx) || \
-      defined(STM32U5F7xx) || defined(STM32U5F9xx) || defined(STM32U5G7xx) || defined(STM32U5G9xx)
-    #define TUP_DCD_ENDPOINT_MAX  9
-    #define TUP_RHPORT_HIGHSPEED  1
-    #define TUP_USBIP_DWC2_TEST_MODE
   #else
-    #define TUP_DCD_ENDPOINT_MAX  6
+    #define TUP_USBIP_DWC2
+    #define TUP_USBIP_DWC2_STM32
+
+    // U59x/5Ax/5Fx/5Gx are highspeed with built-in HS PHY
+    #if defined(STM32U595xx) || defined(STM32U599xx) || defined(STM32U5A5xx) || defined(STM32U5A9xx) || \
+        defined(STM32U5F7xx) || defined(STM32U5F9xx) || defined(STM32U5G7xx) || defined(STM32U5G9xx)
+      #define TUP_DCD_ENDPOINT_MAX  9
+      #define TUP_RHPORT_HIGHSPEED  1
+      #define TUP_USBIP_DWC2_TEST_MODE
+    #else
+      #define TUP_DCD_ENDPOINT_MAX  6
+    #endif
   #endif
 
 #elif TU_CHECK_MCU(OPT_MCU_STM32L5)
diff --git a/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c b/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c
index 9ce37f992..5f230d86f 100644
--- a/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c
+++ b/src/portable/st/stm32_fsdev/dcd_stm32_fsdev.c
@@ -232,7 +232,7 @@ void dcd_init(uint8_t rhport)
   }
   USB->CNTR = 0; // Enable USB
 
-#if !defined(STM32G0) && !defined(STM32H5) // BTABLE register does not exist any more on STM32G0, it is fixed to USB SRAM base address
+#if !defined(STM32G0) && !defined(STM32H5) && !defined(STM32U5) // BTABLE register does not exist any more on STM32G0, it is fixed to USB SRAM base address
   USB->BTABLE = DCD_STM32_BTABLE_BASE;
 #endif
   USB->ISTR = 0; // Clear pending interrupts
diff --git a/src/portable/st/stm32_fsdev/fsdev_stm32.h b/src/portable/st/stm32_fsdev/fsdev_stm32.h
index b3fa11b88..a5199c9e3 100644
--- a/src/portable/st/stm32_fsdev/fsdev_stm32.h
+++ b/src/portable/st/stm32_fsdev/fsdev_stm32.h
@@ -159,6 +159,35 @@
     #define USB_PMAADDR (USB_BASE + (USB_PMAADDR_NS - USB_BASE_NS))
   #endif
 
+#elif CFG_TUSB_MCU == OPT_MCU_STM32U5
+  #include "stm32u5xx.h"
+  #define FSDEV_BUS_32BIT
+
+  #define FSDEV_PMA_SIZE (2048u)
+  #undef USB_PMAADDR
+  #define USB_PMAADDR USB_DRD_PMAADDR
+  #define USB_TypeDef USB_DRD_TypeDef
+  #define EP0R CHEP0R
+  #define USB_EP_CTR_RX USB_EP_VTRX
+  #define USB_EP_CTR_TX USB_EP_VTTX
+  #define USB_EP_T_FIELD USB_CHEP_UTYPE
+  #define USB_EPREG_MASK USB_CHEP_REG_MASK
+  #define USB_EPTX_DTOGMASK USB_CHEP_TX_DTOGMASK
+  #define USB_EPRX_DTOGMASK USB_CHEP_RX_DTOGMASK
+  #define USB_EPTX_DTOG1 USB_CHEP_TX_DTOG1
+  #define USB_EPTX_DTOG2 USB_CHEP_TX_DTOG2
+  #define USB_EPRX_DTOG1 USB_CHEP_RX_DTOG1
+  #define USB_EPRX_DTOG2 USB_CHEP_RX_DTOG2
+  #define USB_EPRX_STAT USB_CH_RX_VALID
+  #define USB_EPKIND_MASK USB_EP_KIND_MASK
+  #define USB USB_DRD_FS
+  #define USB_CNTR_FRES USB_CNTR_USBRST
+  #define USB_CNTR_RESUME USB_CNTR_L2RES
+  #define USB_ISTR_EP_ID USB_ISTR_IDN
+  #define USB_EPADDR_FIELD USB_CHEP_ADDR
+  #define USB_CNTR_LPMODE USB_CNTR_SUSPRDY
+  #define USB_CNTR_FSUSP USB_CNTR_SUSPEN
+
 #else
   #error You are using an untested or unimplemented STM32 variant. Please update the driver.
   // This includes L1x0, L1x1, L1x2, L4x2 and L4x3, G1x1, G1x3, and G1x4
@@ -211,6 +240,8 @@ static const IRQn_Type fsdev_irq[] = {
   #elif CFG_TUSB_MCU == OPT_MCU_STM32WB
     USB_HP_IRQn,
     USB_LP_IRQn,
+  #elif CFG_TUSB_MCU == OPT_MCU_STM32U5
+    USB_IRQn,
   #else
     #error Unknown arch in USB driver
   #endif
diff --git a/src/portable/synopsys/dwc2/dwc2_stm32.h b/src/portable/synopsys/dwc2/dwc2_stm32.h
index 4f311782d..eaac2c44b 100644
--- a/src/portable/synopsys/dwc2/dwc2_stm32.h
+++ b/src/portable/synopsys/dwc2/dwc2_stm32.h
@@ -84,16 +84,11 @@ extern "C" {
 
 #elif CFG_TUSB_MCU == OPT_MCU_STM32U5
   #include "stm32u5xx.h"
+  // U59x/5Ax/5Fx/5Gx are highspeed with built-in HS PHY
   #ifdef USB_OTG_FS
     #define USB_OTG_FS_PERIPH_BASE    USB_OTG_FS_BASE
     #define EP_MAX_FS                 6
     #define EP_FIFO_SIZE_FS           1280
-  // U53x/U54x are fullspeed with built-in FS PHY but not OTG
-  #elif defined(USB_DRD_FS)
-    #define USB_DRD_FS_PERIPH_BASE    USB_DRD_BASE
-    #define EP_MAX_FS                 8
-    #define EP_FIFO_SIZE_FS           2048
-  // U59x/5Ax/5Fx/5Gx are highspeed with built-in HS PHY
   #else
     #define USB_OTG_HS_PERIPH_BASE    USB_OTG_HS_BASE
     #define EP_MAX_HS                 9
@@ -113,10 +108,6 @@ extern "C" {
 // On STM32 for consistency we associate
 // - Port0 to OTG_FS, and Port1 to OTG_HS
 static const dwc2_controller_t _dwc2_controller[] = {
-    #ifdef USB_DRD_FS_PERIPH_BASE
-    { .reg_base = USB_DRD_FS_PERIPH_BASE, .irqnum = USB_IRQn, .ep_count = EP_MAX_FS, .ep_fifo_size = EP_FIFO_SIZE_FS },
-    #endif
-
     #ifdef USB_OTG_FS_PERIPH_BASE
     { .reg_base = USB_OTG_FS_PERIPH_BASE, .irqnum = USB_OTG_FS_IRQN, .ep_count = EP_MAX_FS, .ep_fifo_size = EP_FIFO_SIZE_FS },
     #endif