diff --git a/.gitmodules b/.gitmodules
index 7c382da67..d65780c18 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -13,3 +13,6 @@
 [submodule "lib/btstack"]
 	path = lib/btstack
 	url = https://github.com/bluekitchen/btstack.git
+[submodule "lib/cherryusb"]
+	path = lib/cherryusb
+	url = https://github.com/cherry-embedded/CherryUSB.git
diff --git a/lib/cherryusb b/lib/cherryusb
new file mode 160000
index 000000000..127cccfb4
--- /dev/null
+++ b/lib/cherryusb
@@ -0,0 +1 @@
+Subproject commit 127cccfb4c53dface4d2e897c702a8d986a58ce0
diff --git a/src/cmake/rp2_common.cmake b/src/cmake/rp2_common.cmake
index 726bab933..82c1772b4 100644
--- a/src/cmake/rp2_common.cmake
+++ b/src/cmake/rp2_common.cmake
@@ -119,6 +119,7 @@ if (NOT PICO_BARE_METAL)
          pico_add_subdirectory(rp2_common/cmsis)
     endif()
     pico_add_subdirectory(rp2_common/tinyusb)
+    pico_add_subdirectory(rp2_common/cherryusb)
     pico_add_subdirectory(rp2_common/pico_stdio_usb)
     pico_add_subdirectory(rp2_common/pico_i2c_slave)
 
diff --git a/src/rp2_common/cherryusb/CMakeLists.txt b/src/rp2_common/cherryusb/CMakeLists.txt
new file mode 100644
index 000000000..9f5aa5ec1
--- /dev/null
+++ b/src/rp2_common/cherryusb/CMakeLists.txt
@@ -0,0 +1,46 @@
+if (DEFINED ENV{PICO_CHERRYUSB_PATH} AND (NOT PICO_CHERRYUSB_PATH))
+    set(PICO_CHERRYUSB_PATH $ENV{PICO_CHERRYUSB_PATH})
+    message("Using PICO_CHERRYUSB_PATH from environment ('${PICO_CHERRYUSB_PATH}')")
+endif ()
+
+set(CHERRYUSB_TEST_PATH "port/rp2040")
+if (NOT PICO_CHERRYUSB_PATH)
+    set(PICO_CHERRYUSB_PATH ${PROJECT_SOURCE_DIR}/lib/cherryusb)
+    if (NOT EXISTS ${PICO_CHERRYUSB_PATH}/${CHERRYUSB_TEST_PATH})
+        message(WARNING "CherryUSB submodule has not been initialized; USB support will be unavailable
+hint: try 'git submodule update --init' from your SDK directory (${PICO_SDK_PATH}).")
+    endif()
+elseif (NOT EXISTS ${PICO_CHERRYUSB_PATH}/${CHERRYUSB_TEST_PATH})
+    message(WARNING "PICO_CHERRYUSB_PATH specified but content not present.")
+endif()
+
+if (EXISTS ${PICO_CHERRYUSB_PATH}/${CHERRYUSB_TEST_PATH})
+    message("CherryUSB available at ${PICO_CHERRYUSB_PATH}; enabling build support for USB.")
+    pico_register_common_scope_var(PICO_CHERRYUSB_PATH)
+
+    set(CONFIG_CHERRYUSB_DEVICE 1)
+    set(CONFIG_CHERRYUSB_DEVICE_CDC_ACM 1)
+    set(CONFIG_CHERRYUSB_DEVICE_HID 1)
+    set(CONFIG_CHERRYUSB_DEVICE_MSC 1)
+    set(CONFIG_CHERRYUSB_DEVICE_AUDIO 1)
+    set(CONFIG_CHERRYUSB_DEVICE_VIDEO 1)
+    set(CONFIG_CHERRYUSB_DEVICE_DCD "rp2040")
+    include(${PICO_CHERRYUSB_PATH}/cherryusb.cmake)
+    pico_add_library(cherryusb_device NOFLAG)
+    target_include_directories(cherryusb_device_headers SYSTEM INTERFACE ${cherryusb_incs})
+    target_sources(cherryusb_device INTERFACE ${cherryusb_srcs})
+
+    set(CONFIG_CHERRYUSB_HOST 1)
+    set(CONFIG_CHERRYUSB_HOST_CDC_ACM 1)
+    set(CONFIG_CHERRYUSB_HOST_HID 1)
+    set(CONFIG_CHERRYUSB_HOST_MSC 1)
+    set(CONFIG_CHERRYUSB_OSAL "freertos")
+    set(CONFIG_CHERRYUSB_HOST_HCD "rp2040")
+
+    include(${PICO_CHERRYUSB_PATH}/cherryusb.cmake)
+    pico_add_library(cherryusb_host NOFLAG)
+    target_include_directories(cherryusb_host_headers SYSTEM INTERFACE ${cherryusb_incs})
+    target_sources(cherryusb_host INTERFACE ${cherryusb_srcs})
+
+    pico_promote_common_scope_vars()
+endif()
diff --git a/src/rp2_common/pico_crt0/rp2040/memmap_blocked_ram.ld b/src/rp2_common/pico_crt0/rp2040/memmap_blocked_ram.ld
index 6f5000566..e9813734a 100644
--- a/src/rp2_common/pico_crt0/rp2040/memmap_blocked_ram.ld
+++ b/src/rp2_common/pico_crt0/rp2040/memmap_blocked_ram.ld
@@ -106,6 +106,12 @@ SECTIONS
         *(.fini_array)
         PROVIDE_HIDDEN (__fini_array_end = .);
 
+        /* section information for usbh class */
+        . = ALIGN(4);
+        __usbh_class_info_start__ = .;
+        KEEP(*(.usbh_class_info))
+        __usbh_class_info_end__ = .;
+
         *(.eh_frame*)
         . = ALIGN(4);
     } > FLASH
diff --git a/src/rp2_common/pico_crt0/rp2040/memmap_copy_to_ram.ld b/src/rp2_common/pico_crt0/rp2040/memmap_copy_to_ram.ld
index 842ebfd3c..66a3d78d8 100644
--- a/src/rp2_common/pico_crt0/rp2040/memmap_copy_to_ram.ld
+++ b/src/rp2_common/pico_crt0/rp2040/memmap_copy_to_ram.ld
@@ -125,6 +125,12 @@ SECTIONS
         *(SORT(.dtors.*))
         *(.dtors)
 
+        /* section information for usbh class */
+        . = ALIGN(4);
+        __usbh_class_info_start__ = .;
+        KEEP(*(.usbh_class_info))
+        __usbh_class_info_end__ = .;
+
         *(.eh_frame*)
         . = ALIGN(4);
         __ram_text_end__ = .;
diff --git a/src/rp2_common/pico_crt0/rp2040/memmap_default.ld b/src/rp2_common/pico_crt0/rp2040/memmap_default.ld
index 51254012d..427270710 100644
--- a/src/rp2_common/pico_crt0/rp2040/memmap_default.ld
+++ b/src/rp2_common/pico_crt0/rp2040/memmap_default.ld
@@ -106,6 +106,12 @@ SECTIONS
         *(.fini_array)
         PROVIDE_HIDDEN (__fini_array_end = .);
 
+        /* section information for usbh class */
+        . = ALIGN(4);
+        __usbh_class_info_start__ = .;
+        KEEP(*(.usbh_class_info))
+        __usbh_class_info_end__ = .;
+
         *(.eh_frame*)
         . = ALIGN(4);
     } > FLASH
diff --git a/src/rp2_common/pico_crt0/rp2040/memmap_no_flash.ld b/src/rp2_common/pico_crt0/rp2040/memmap_no_flash.ld
index dbf006a8c..ae13487c8 100644
--- a/src/rp2_common/pico_crt0/rp2040/memmap_no_flash.ld
+++ b/src/rp2_common/pico_crt0/rp2040/memmap_no_flash.ld
@@ -68,6 +68,12 @@ SECTIONS
         *(SORT(.dtors.*))
         *(.dtors)
 
+        /* section information for usbh class */
+        . = ALIGN(4);
+        __usbh_class_info_start__ = .;
+        KEEP(*(.usbh_class_info))
+        __usbh_class_info_end__ = .;
+
         *(.eh_frame*)
     } > RAM
 
diff --git a/src/rp2_common/pico_crt0/rp2350/memmap_copy_to_ram.ld b/src/rp2_common/pico_crt0/rp2350/memmap_copy_to_ram.ld
index 89d63a9f0..200c5ae89 100644
--- a/src/rp2_common/pico_crt0/rp2350/memmap_copy_to_ram.ld
+++ b/src/rp2_common/pico_crt0/rp2350/memmap_copy_to_ram.ld
@@ -141,6 +141,12 @@ SECTIONS
         *(SORT(.dtors.*))
         *(.dtors)
 
+        /* section information for usbh class */
+        . = ALIGN(4);
+        __usbh_class_info_start__ = .;
+        KEEP(*(.usbh_class_info))
+        __usbh_class_info_end__ = .;
+
         *(.eh_frame*)
         . = ALIGN(4);
         __ram_text_end__ = .;
diff --git a/src/rp2_common/pico_crt0/rp2350/memmap_default.ld b/src/rp2_common/pico_crt0/rp2350/memmap_default.ld
index bce316d14..a22dc50f0 100644
--- a/src/rp2_common/pico_crt0/rp2350/memmap_default.ld
+++ b/src/rp2_common/pico_crt0/rp2350/memmap_default.ld
@@ -96,6 +96,12 @@ SECTIONS
         *(.fini_array)
         PROVIDE_HIDDEN (__fini_array_end = .);
 
+        /* section information for usbh class */
+        . = ALIGN(4);
+        __usbh_class_info_start__ = .;
+        KEEP(*(.usbh_class_info))
+        __usbh_class_info_end__ = .;
+
         *(.eh_frame*)
         . = ALIGN(4);
     } > FLASH
diff --git a/src/rp2_common/pico_crt0/rp2350/memmap_no_flash.ld b/src/rp2_common/pico_crt0/rp2350/memmap_no_flash.ld
index 98088cdfc..075478160 100644
--- a/src/rp2_common/pico_crt0/rp2350/memmap_no_flash.ld
+++ b/src/rp2_common/pico_crt0/rp2350/memmap_no_flash.ld
@@ -69,6 +69,12 @@ SECTIONS
         *(SORT(.dtors.*))
         *(.dtors)
 
+        /* section information for usbh class */
+        . = ALIGN(4);
+        __usbh_class_info_start__ = .;
+        KEEP(*(.usbh_class_info))
+        __usbh_class_info_end__ = .;
+
         *(.eh_frame*)
     } > RAM