diff --git a/embassy-stm32/build.rs b/embassy-stm32/build.rs
index ddfa97b2..dbfc1370 100644
--- a/embassy-stm32/build.rs
+++ b/embassy-stm32/build.rs
@@ -277,22 +277,20 @@ fn main() {
         (("dcmi", "PIXCLK"), quote!(crate::dcmi::PixClkPin)),
         (("usb", "DP"), quote!(crate::usb::DpPin)),
         (("usb", "DM"), quote!(crate::usb::DmPin)),
-        (("otgfs", "DP"), quote!(crate::usb_otg::DpPin)),
-        (("otgfs", "DM"), quote!(crate::usb_otg::DmPin)),
-        (("otghs", "DP"), quote!(crate::usb_otg::DpPin)),
-        (("otghs", "DM"), quote!(crate::usb_otg::DmPin)),
-        (("otghs", "ULPI_CK"), quote!(crate::usb_otg::UlpiClkPin)),
-        (("otghs", "ULPI_DIR"), quote!(crate::usb_otg::UlpiDirPin)),
-        (("otghs", "ULPI_NXT"), quote!(crate::usb_otg::UlpiNxtPin)),
-        (("otghs", "ULPI_STP"), quote!(crate::usb_otg::UlpiStpPin)),
-        (("otghs", "ULPI_D0"), quote!(crate::usb_otg::UlpiD0Pin)),
-        (("otghs", "ULPI_D1"), quote!(crate::usb_otg::UlpiD1Pin)),
-        (("otghs", "ULPI_D2"), quote!(crate::usb_otg::UlpiD2Pin)),
-        (("otghs", "ULPI_D3"), quote!(crate::usb_otg::UlpiD3Pin)),
-        (("otghs", "ULPI_D4"), quote!(crate::usb_otg::UlpiD4Pin)),
-        (("otghs", "ULPI_D5"), quote!(crate::usb_otg::UlpiD5Pin)),
-        (("otghs", "ULPI_D6"), quote!(crate::usb_otg::UlpiD6Pin)),
-        (("otghs", "ULPI_D7"), quote!(crate::usb_otg::UlpiD7Pin)),
+        (("otg", "DP"), quote!(crate::usb_otg::DpPin)),
+        (("otg", "DM"), quote!(crate::usb_otg::DmPin)),
+        (("otg", "ULPI_CK"), quote!(crate::usb_otg::UlpiClkPin)),
+        (("otg", "ULPI_DIR"), quote!(crate::usb_otg::UlpiDirPin)),
+        (("otg", "ULPI_NXT"), quote!(crate::usb_otg::UlpiNxtPin)),
+        (("otg", "ULPI_STP"), quote!(crate::usb_otg::UlpiStpPin)),
+        (("otg", "ULPI_D0"), quote!(crate::usb_otg::UlpiD0Pin)),
+        (("otg", "ULPI_D1"), quote!(crate::usb_otg::UlpiD1Pin)),
+        (("otg", "ULPI_D2"), quote!(crate::usb_otg::UlpiD2Pin)),
+        (("otg", "ULPI_D3"), quote!(crate::usb_otg::UlpiD3Pin)),
+        (("otg", "ULPI_D4"), quote!(crate::usb_otg::UlpiD4Pin)),
+        (("otg", "ULPI_D5"), quote!(crate::usb_otg::UlpiD5Pin)),
+        (("otg", "ULPI_D6"), quote!(crate::usb_otg::UlpiD6Pin)),
+        (("otg", "ULPI_D7"), quote!(crate::usb_otg::UlpiD7Pin)),
         (("can", "TX"), quote!(crate::can::TxPin)),
         (("can", "RX"), quote!(crate::can::RxPin)),
         (("eth", "REF_CLK"), quote!(crate::eth::RefClkPin)),
diff --git a/embassy-stm32/src/lib.rs b/embassy-stm32/src/lib.rs
index 16c46ca2..610c2488 100644
--- a/embassy-stm32/src/lib.rs
+++ b/embassy-stm32/src/lib.rs
@@ -58,7 +58,7 @@ pub mod spi;
 pub mod usart;
 #[cfg(all(usb, feature = "time"))]
 pub mod usb;
-#[cfg(any(otgfs, otghs))]
+#[cfg(otg)]
 pub mod usb_otg;
 
 #[cfg(iwdg)]
diff --git a/embassy-stm32/src/usb/usb.rs b/embassy-stm32/src/usb/usb.rs
index 062c7ef7..03e792a2 100644
--- a/embassy-stm32/src/usb/usb.rs
+++ b/embassy-stm32/src/usb/usb.rs
@@ -154,6 +154,7 @@ impl<'d, T: Instance> Driver<'d, T> {
 
             block_for(Duration::from_millis(100));
 
+            #[cfg(not(usb_v4))]
             regs.btable().write(|w| w.set_btable(0));
 
             dp.set_as_af(dp.af_num(), AFType::OutputPushPull);
diff --git a/embassy-stm32/src/usb_otg.rs b/embassy-stm32/src/usb_otg.rs
deleted file mode 100644
index f7faf12a..00000000
--- a/embassy-stm32/src/usb_otg.rs
+++ /dev/null
@@ -1,213 +0,0 @@
-use core::marker::PhantomData;
-
-use embassy_hal_common::into_ref;
-
-use crate::gpio::sealed::AFType;
-use crate::rcc::RccPeripheral;
-use crate::{peripherals, Peripheral};
-
-macro_rules! config_ulpi_pins {
-    ($($pin:ident),*) => {
-        into_ref!($($pin),*);
-        // NOTE(unsafe) Exclusive access to the registers
-        critical_section::with(|_| unsafe {
-            $(
-                $pin.set_as_af($pin.af_num(), AFType::OutputPushPull);
-                #[cfg(gpio_v2)]
-                $pin.set_speed(crate::gpio::Speed::VeryHigh);
-            )*
-        })
-    };
-}
-
-/// USB PHY type
-#[derive(Copy, Clone, Debug, Eq, PartialEq)]
-pub enum PhyType {
-    /// Internal Full-Speed PHY
-    ///
-    /// Available on most High-Speed peripherals.
-    InternalFullSpeed,
-    /// Internal High-Speed PHY
-    ///
-    /// Available on a few STM32 chips.
-    InternalHighSpeed,
-    /// External ULPI High-Speed PHY
-    ExternalHighSpeed,
-}
-
-pub struct UsbOtg<'d, T: Instance> {
-    phantom: PhantomData<&'d mut T>,
-    _phy_type: PhyType,
-}
-
-impl<'d, T: Instance> UsbOtg<'d, T> {
-    /// Initializes USB OTG peripheral with internal Full-Speed PHY
-    pub fn new_fs(
-        _peri: impl Peripheral<P = T> + 'd,
-        dp: impl Peripheral<P = impl DpPin<T>> + 'd,
-        dm: impl Peripheral<P = impl DmPin<T>> + 'd,
-    ) -> Self {
-        into_ref!(dp, dm);
-
-        unsafe {
-            dp.set_as_af(dp.af_num(), AFType::OutputPushPull);
-            dm.set_as_af(dm.af_num(), AFType::OutputPushPull);
-        }
-
-        Self {
-            phantom: PhantomData,
-            _phy_type: PhyType::InternalFullSpeed,
-        }
-    }
-
-    /// Initializes USB OTG peripheral with external High-Speed PHY
-    pub fn new_hs_ulpi(
-        _peri: impl Peripheral<P = T> + 'd,
-        ulpi_clk: impl Peripheral<P = impl UlpiClkPin<T>> + 'd,
-        ulpi_dir: impl Peripheral<P = impl UlpiDirPin<T>> + 'd,
-        ulpi_nxt: impl Peripheral<P = impl UlpiNxtPin<T>> + 'd,
-        ulpi_stp: impl Peripheral<P = impl UlpiStpPin<T>> + 'd,
-        ulpi_d0: impl Peripheral<P = impl UlpiD0Pin<T>> + 'd,
-        ulpi_d1: impl Peripheral<P = impl UlpiD1Pin<T>> + 'd,
-        ulpi_d2: impl Peripheral<P = impl UlpiD2Pin<T>> + 'd,
-        ulpi_d3: impl Peripheral<P = impl UlpiD3Pin<T>> + 'd,
-        ulpi_d4: impl Peripheral<P = impl UlpiD4Pin<T>> + 'd,
-        ulpi_d5: impl Peripheral<P = impl UlpiD5Pin<T>> + 'd,
-        ulpi_d6: impl Peripheral<P = impl UlpiD6Pin<T>> + 'd,
-        ulpi_d7: impl Peripheral<P = impl UlpiD7Pin<T>> + 'd,
-    ) -> Self {
-        config_ulpi_pins!(
-            ulpi_clk, ulpi_dir, ulpi_nxt, ulpi_stp, 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();
-    }
-}
-
-pub(crate) mod sealed {
-    pub trait Instance {
-        const REGISTERS: *const ();
-        const HIGH_SPEED: bool;
-        const FIFO_DEPTH_WORDS: usize;
-        const ENDPOINT_COUNT: usize;
-    }
-}
-
-pub trait Instance: sealed::Instance + RccPeripheral {}
-
-// Internal PHY pins
-pin_trait!(DpPin, Instance);
-pin_trait!(DmPin, Instance);
-
-// External PHY pins
-pin_trait!(UlpiClkPin, Instance);
-pin_trait!(UlpiDirPin, Instance);
-pin_trait!(UlpiNxtPin, Instance);
-pin_trait!(UlpiStpPin, Instance);
-pin_trait!(UlpiD0Pin, Instance);
-pin_trait!(UlpiD1Pin, Instance);
-pin_trait!(UlpiD2Pin, Instance);
-pin_trait!(UlpiD3Pin, Instance);
-pin_trait!(UlpiD4Pin, Instance);
-pin_trait!(UlpiD5Pin, Instance);
-pin_trait!(UlpiD6Pin, Instance);
-pin_trait!(UlpiD7Pin, Instance);
-
-foreach_peripheral!(
-    (otgfs, $inst:ident) => {
-        impl sealed::Instance for peripherals::$inst {
-            const REGISTERS: *const () = crate::pac::$inst.0 as *const ();
-            const HIGH_SPEED: bool = false;
-
-            cfg_if::cfg_if! {
-                if #[cfg(stm32f1)] {
-                    const FIFO_DEPTH_WORDS: usize = 128;
-                    const ENDPOINT_COUNT: usize = 8;
-                } else if #[cfg(any(
-                    stm32f2,
-                    stm32f401,
-                    stm32f405,
-                    stm32f407,
-                    stm32f411,
-                    stm32f415,
-                    stm32f417,
-                    stm32f427,
-                    stm32f429,
-                    stm32f437,
-                    stm32f439,
-                ))] {
-                    const FIFO_DEPTH_WORDS: usize = 320;
-                    const ENDPOINT_COUNT: usize = 4;
-                } else if #[cfg(any(
-                    stm32f412,
-                    stm32f413,
-                    stm32f423,
-                    stm32f446,
-                    stm32f469,
-                    stm32f479,
-                    stm32f7,
-                    stm32l4,
-                    stm32u5,
-                ))] {
-                    const FIFO_DEPTH_WORDS: usize = 320;
-                    const ENDPOINT_COUNT: usize = 6;
-                } else if #[cfg(stm32g0x1)] {
-                    const FIFO_DEPTH_WORDS: usize = 512;
-                    const ENDPOINT_COUNT: usize = 8;
-                } else {
-                    compile_error!("USB_OTG_FS peripheral is not supported by this chip.");
-                }
-            }
-        }
-
-        impl Instance for peripherals::$inst {}
-    };
-
-    (otghs, $inst:ident) => {
-        impl sealed::Instance for peripherals::$inst {
-            const REGISTERS: *const () = crate::pac::$inst.0 as *const ();
-            const HIGH_SPEED: bool = true;
-
-            cfg_if::cfg_if! {
-                if #[cfg(any(
-                    stm32f2,
-                    stm32f405,
-                    stm32f407,
-                    stm32f415,
-                    stm32f417,
-                    stm32f427,
-                    stm32f429,
-                    stm32f437,
-                    stm32f439,
-                ))] {
-                    const FIFO_DEPTH_WORDS: usize = 1024;
-                    const ENDPOINT_COUNT: usize = 6;
-                } else if #[cfg(any(
-                    stm32f446,
-                    stm32f469,
-                    stm32f479,
-                    stm32f7,
-                    stm32h7,
-                ))] {
-                    const FIFO_DEPTH_WORDS: usize = 1024;
-                    const ENDPOINT_COUNT: usize = 9;
-                } else {
-                    compile_error!("USB_OTG_HS peripheral is not supported by this chip.");
-                }
-            }
-        }
-
-        impl Instance for peripherals::$inst {}
-    };
-);
diff --git a/embassy-stm32/src/usb_otg/mod.rs b/embassy-stm32/src/usb_otg/mod.rs
new file mode 100644
index 00000000..2ee2891d
--- /dev/null
+++ b/embassy-stm32/src/usb_otg/mod.rs
@@ -0,0 +1,138 @@
+use embassy_cortex_m::interrupt::Interrupt;
+
+use crate::peripherals;
+use crate::rcc::RccPeripheral;
+
+pub(crate) mod sealed {
+    pub trait Instance {
+        const HIGH_SPEED: bool;
+        const FIFO_DEPTH_WORDS: u16;
+        const ENDPOINT_COUNT: usize;
+
+        fn regs() -> crate::pac::otg::Otg;
+    }
+}
+
+pub trait Instance: sealed::Instance + RccPeripheral {
+    type Interrupt: Interrupt;
+}
+
+// Internal PHY pins
+pin_trait!(DpPin, Instance);
+pin_trait!(DmPin, Instance);
+
+// External PHY pins
+pin_trait!(UlpiClkPin, Instance);
+pin_trait!(UlpiDirPin, Instance);
+pin_trait!(UlpiNxtPin, Instance);
+pin_trait!(UlpiStpPin, Instance);
+pin_trait!(UlpiD0Pin, Instance);
+pin_trait!(UlpiD1Pin, Instance);
+pin_trait!(UlpiD2Pin, Instance);
+pin_trait!(UlpiD3Pin, Instance);
+pin_trait!(UlpiD4Pin, Instance);
+pin_trait!(UlpiD5Pin, Instance);
+pin_trait!(UlpiD6Pin, Instance);
+pin_trait!(UlpiD7Pin, Instance);
+
+foreach_interrupt!(
+    (USB_OTG_FS, otg, $block:ident, GLOBAL, $irq:ident) => {
+        impl sealed::Instance for peripherals::USB_OTG_FS {
+            const HIGH_SPEED: bool = false;
+
+            cfg_if::cfg_if! {
+                if #[cfg(stm32f1)] {
+                    const FIFO_DEPTH_WORDS: u16 = 128;
+                    const ENDPOINT_COUNT: usize = 8;
+                } else if #[cfg(any(
+                    stm32f2,
+                    stm32f401,
+                    stm32f405,
+                    stm32f407,
+                    stm32f411,
+                    stm32f415,
+                    stm32f417,
+                    stm32f427,
+                    stm32f429,
+                    stm32f437,
+                    stm32f439,
+                ))] {
+                    const FIFO_DEPTH_WORDS: u16 = 320;
+                    const ENDPOINT_COUNT: usize = 4;
+                } else if #[cfg(any(
+                    stm32f412,
+                    stm32f413,
+                    stm32f423,
+                    stm32f446,
+                    stm32f469,
+                    stm32f479,
+                    stm32f7,
+                    stm32l4,
+                    stm32u5,
+                ))] {
+                    const FIFO_DEPTH_WORDS: u16 = 320;
+                    const ENDPOINT_COUNT: usize = 6;
+                } else if #[cfg(stm32g0x1)] {
+                    const FIFO_DEPTH_WORDS: u16 = 512;
+                    const ENDPOINT_COUNT: usize = 8;
+                } else if #[cfg(stm32h7)] {
+                    const FIFO_DEPTH_WORDS: u16 = 1024;
+                    const ENDPOINT_COUNT: usize = 9;
+                } else {
+                    compile_error!("USB_OTG_FS peripheral is not supported by this chip.");
+                }
+            }
+
+            fn regs() -> crate::pac::otg::Otg {
+                crate::pac::USB_OTG_FS
+            }
+        }
+
+        impl Instance for peripherals::USB_OTG_FS {
+            type Interrupt = crate::interrupt::$irq;
+        }
+    };
+
+    (USB_OTG_HS, otg, $block:ident, GLOBAL, $irq:ident) => {
+        impl sealed::Instance for peripherals::USB_OTG_HS {
+            const HIGH_SPEED: bool = true;
+
+            cfg_if::cfg_if! {
+                if #[cfg(any(
+                    stm32f2,
+                    stm32f405,
+                    stm32f407,
+                    stm32f415,
+                    stm32f417,
+                    stm32f427,
+                    stm32f429,
+                    stm32f437,
+                    stm32f439,
+                ))] {
+                    const FIFO_DEPTH_WORDS: u16 = 1024;
+                    const ENDPOINT_COUNT: usize = 6;
+                } else if #[cfg(any(
+                    stm32f446,
+                    stm32f469,
+                    stm32f479,
+                    stm32f7,
+                    stm32h7,
+                ))] {
+                    const FIFO_DEPTH_WORDS: u16 = 1024;
+                    const ENDPOINT_COUNT: usize = 9;
+                } else {
+                    compile_error!("USB_OTG_HS peripheral is not supported by this chip.");
+                }
+            }
+
+            fn regs() -> crate::pac::otg::Otg {
+                // OTG HS registers are a superset of FS registers
+                crate::pac::otg::Otg(crate::pac::USB_OTG_HS.0)
+            }
+        }
+
+        impl Instance for peripherals::USB_OTG_HS {
+            type Interrupt = crate::interrupt::$irq;
+        }
+    };
+);
diff --git a/stm32-data b/stm32-data
index 14a448c3..844793fc 160000
--- a/stm32-data
+++ b/stm32-data
@@ -1 +1 @@
-Subproject commit 14a448c318192fe9da1c95a4de1beb4ec4892f1c
+Subproject commit 844793fc3da2ba3f12ab6a69b78cd8e6fb5497b4