esp-rs · MabezDev · May 29, 2026 · May 11, 2026 · May 11, 2026 · May 11, 2026
diff --git a/esp-hal/Cargo.toml b/esp-hal/Cargo.toml
@@ -73,7 +73,7 @@ procmacros               = { version = "0.22.0", package = "esp-hal-procmacros",
 # They are needed when using the `unstable` feature.
 digest                   = { version = "0.10.7", default-features = false, features = ["core-api"], optional = true }
 embassy-usb-driver       = { version = "0.2", optional = true }
-embassy-usb-synopsys-otg = { version = "0.3.3", optional = true, features = ["host"] }
+embassy-usb-synopsys-otg = { version = "0.4.0", optional = true, features = ["host"] }
 embassy-net-driver-02    = { package = "embassy-net-driver", version = "0.2", optional = true }
 embedded-can             = { version = "0.4.1", optional = true }
 nb                       = { version = "1.1", optional = true }

diff --git a/esp-hal/README.md b/esp-hal/README.md
@@ -115,6 +115,7 @@ For help getting started with this HAL, please refer to [The Rust on ESP Book] a
 | ULP (FSM)                 | ❌    |          |          |          |          |           |          |          | ❌       | ❌       |
 | ULP (RISC-V)              |       |          |          | [❌][5160] [^1] | ⚒️      |           |          | ❌       | ⚒️      | ⚒️      |
 | USB OTG FS                |       |          |          |          |          |           |          | ⚒️      | ⚒️      | ⚒️      |
+| USB OTG HS                |       |          |          |          |          |           |          | ⚒️      |          |          |
 | USB Serial/JTAG           |       |          | ⚒️      | ⚒️      | ⚒️      | ⚒️       | ⚒️      | ⚒️      |          | ⚒️      |
 | WIFI                      | ⚒️   | ⚒️      | ⚒️      | ⚒️      | ⚒️      | ⚒️       |          |          | ⚒️      | ⚒️      |
 

diff --git a/esp-hal/src/lib.rs b/esp-hal/src/lib.rs
@@ -347,8 +347,6 @@ unstable_module! {
     pub mod dma;
     #[cfg(etm_driver_supported)]
     pub mod etm;
-    #[cfg(usb_otg_driver_supported)]
-    pub mod otg_fs;
     #[cfg(soc_has_psram)] // DMA needs some things from here
     pub mod psram;
 }
@@ -397,8 +395,12 @@ unstable_driver! {
     pub mod tsens;
     #[cfg(twai_driver_supported)]
     pub mod twai;
-    #[cfg(usb_serial_jtag_driver_supported)]
-    pub mod usb_serial_jtag;
+    #[cfg(any(
+        usb_otg_driver_supported,
+        usb_otg_hs_driver_supported,
+        usb_serial_jtag_driver_supported,
+    ))]
+    pub mod usb;
     #[cfg(ethernet_driver_supported)]
     pub mod ethernet;
 }

diff --git a/esp-hal/src/macros.rs b/esp-hal/src/macros.rs
@@ -157,6 +157,7 @@ macro_rules! any_peripheral {
             ///
             /// You must ensure that you're only using one instance of this type at a time.
             #[inline]
+            #[allow(unused)]
             pub unsafe fn clone_unchecked(&self) -> Self { unsafe {
                 any::delegate!(self, inner => { Self::from(inner.clone_unchecked()) })
             }}
@@ -170,6 +171,7 @@ macro_rules! any_peripheral {
             ///
             /// [Peripheral singleton]: crate#peripheral-singletons
             #[inline]
+            #[allow(unused)]
             pub fn reborrow(&mut self) -> $name<'_> {
                 unsafe { self.clone_unchecked() }
             }
@@ -211,6 +213,7 @@ let uart0 = any_peri1
 "#
             )]
             #[inline]
+            #[allow(unused)]
             pub fn downcast<P>(self) -> Result<P, Self>
             where
                 Self: TryInto<P, Error = Self>

diff --git a/esp-hal/src/otg_fs/embassy_usb_host.rs b/esp-hal/src/otg_fs/embassy_usb_host.rs
diff --git a/esp-hal/src/otg_fs/mod.rs b/esp-hal/src/otg_fs/mod.rs
diff --git a/esp-hal/src/usb/mod.rs b/esp-hal/src/usb/mod.rs
@@ -0,0 +1,7 @@
+//! USB support
+
+#[cfg(usb_serial_jtag_driver_supported)]
+pub mod usb_serial_jtag;
+
+#[cfg(any(usb_otg_driver_supported, usb_otg_hs_driver_supported))]
+pub mod otg;