port usb host driver to stm32 new series

29 files changed, 813 insertions, 215 deletions

diff --git a/bsp/stm32/libraries/HAL_Drivers/SConscript b/bsp/stm32/libraries/HAL_Drivers/SConscript
index 02f68afa25..c7d5825f8f 100644
--- a/bsp/stm32/libraries/HAL_Drivers/SConscript
+++ b/bsp/stm32/libraries/HAL_Drivers/SConscript
@@ -72,10 +72,10 @@ if GetDepend(['BSP_USING_ON_CHIP_FLASH', 'SOC_SERIES_STM32F7']):
 
 if GetDepend(['BSP_USING_ON_CHIP_FLASH', 'SOC_SERIES_STM32L4']):
     src += ['drv_flash/drv_flash_l4.c']
-	
+
 if GetDepend('RT_USING_HWCRYPTO'):
     src += ['drv_crypto.c']
-	
+
 if GetDepend(['BSP_USING_WDT']):
     src += ['drv_wdt.c']
 
@@ -88,6 +88,9 @@ if GetDepend(['BSP_USING_USBD']):
 if GetDepend(['BSP_USING_PULSE_ENCODER']):
     src += ['drv_pulse_encoder.c']
 
+if GetDepend(['BSP_USING_USBH']):
+    src += ['drv_usbh.c']
+
 src += ['drv_common.c']
 
 path =  [cwd]
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_common.c b/bsp/stm32/libraries/HAL_Drivers/drv_common.c
index 1203757a65..02e0d82be5 100644
--- a/bsp/stm32/libraries/HAL_Drivers/drv_common.c
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_common.c
@@ -67,6 +67,7 @@ void HAL_ResumeTick(void)
 
 void HAL_Delay(__IO uint32_t Delay)
 {
+    rt_thread_mdelay(Delay);
 }
 
 /* re-implement tick interface for STM32 HAL */
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_usbh.c b/bsp/stm32/libraries/HAL_Drivers/drv_usbh.c
new file mode 100644
index 0000000000..680a93e722
--- /dev/null
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_usbh.c
@@ -0,0 +1,248 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2017-10-30     ZYH            the first version
+ * 2019-12-19     tyustli           port to stm32 series
+ */
+#include "drv_usbh.h"
+#include "board.h"
+
+static HCD_HandleTypeDef stm32_hhcd_fs;
+static struct rt_completion urb_completion;
+static volatile rt_bool_t connect_status = RT_FALSE;
+
+void OTG_FS_IRQHandler(void)
+{
+    rt_interrupt_enter();
+    HAL_HCD_IRQHandler(&stm32_hhcd_fs);
+    rt_interrupt_leave();
+}
+
+void HAL_HCD_Connect_Callback(HCD_HandleTypeDef *hhcd)
+{
+    uhcd_t hcd = (uhcd_t)hhcd->pData;
+    if (!connect_status)
+    {
+        connect_status = RT_TRUE;
+        RT_DEBUG_LOG(RT_DEBUG_USB, ("usb connected\n"));
+        rt_usbh_root_hub_connect_handler(hcd, OTG_FS_PORT, RT_FALSE);
+    }
+}
+
+void HAL_HCD_Disconnect_Callback(HCD_HandleTypeDef *hhcd)
+{
+    uhcd_t hcd = (uhcd_t)hhcd->pData;
+    if (connect_status)
+    {
+        connect_status = RT_FALSE;
+        RT_DEBUG_LOG(RT_DEBUG_USB, ("usb disconnnect\n"));
+        rt_usbh_root_hub_disconnect_handler(hcd, OTG_FS_PORT);
+    }
+}
+
+void HAL_HCD_HC_NotifyURBChange_Callback(HCD_HandleTypeDef *hhcd, uint8_t chnum, HCD_URBStateTypeDef urb_state)
+{
+    rt_completion_done(&urb_completion);
+}
+
+static rt_err_t drv_reset_port(rt_uint8_t port)
+{
+    RT_DEBUG_LOG(RT_DEBUG_USB, ("reset port\n"));
+    HAL_HCD_ResetPort(&stm32_hhcd_fs);
+    return RT_EOK;
+}
+
+static int drv_pipe_xfer(upipe_t pipe, rt_uint8_t token, void *buffer, int nbytes, int timeouts)
+{
+    int timeout = timeouts;
+
+    while (1)
+    {
+        if (!connect_status)
+        {
+            return -1;
+        }
+        rt_completion_init(&urb_completion);
+        HAL_HCD_HC_SubmitRequest(&stm32_hhcd_fs,
+                                 pipe->pipe_index,
+                                 (pipe->ep.bEndpointAddress & 0x80) >> 7,
+                                 pipe->ep.bmAttributes,
+                                 token,
+                                 buffer,
+                                 nbytes,
+                                 0);
+        rt_completion_wait(&urb_completion, timeout);
+        rt_thread_mdelay(1);
+        if (HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index) == HC_NAK)
+        {
+            RT_DEBUG_LOG(RT_DEBUG_USB, ("nak\n"));
+            if (pipe->ep.bmAttributes == USB_EP_ATTR_INT)
+            {
+                rt_thread_delay((pipe->ep.bInterval * RT_TICK_PER_SECOND / 1000) > 0 ? (pipe->ep.bInterval * RT_TICK_PER_SECOND / 1000) : 1);
+            }
+            HAL_HCD_HC_Halt(&stm32_hhcd_fs, pipe->pipe_index);
+            HAL_HCD_HC_Init(&stm32_hhcd_fs,
+                            pipe->pipe_index,
+                            pipe->ep.bEndpointAddress,
+                            pipe->inst->address,
+                            USB_OTG_SPEED_FULL,
+                            pipe->ep.bmAttributes,
+                            pipe->ep.wMaxPacketSize);
+            continue;
+        }
+        else if (HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index) == HC_STALL)
+        {
+            RT_DEBUG_LOG(RT_DEBUG_USB, ("stall\n"));
+            pipe->status = UPIPE_STATUS_STALL;
+            if (pipe->callback != RT_NULL)
+            {
+                pipe->callback(pipe);
+            }
+            return -1;
+        }
+        else if (HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index) == URB_ERROR)
+        {
+            RT_DEBUG_LOG(RT_DEBUG_USB, ("error\n"));
+            pipe->status = UPIPE_STATUS_ERROR;
+            if (pipe->callback != RT_NULL)
+            {
+                pipe->callback(pipe);
+            }
+            return -1;
+        }
+        else if(URB_DONE == HAL_HCD_HC_GetURBState(&stm32_hhcd_fs, pipe->pipe_index))
+        {
+            RT_DEBUG_LOG(RT_DEBUG_USB, ("ok\n"));
+            pipe->status = UPIPE_STATUS_OK;
+            if (pipe->callback != RT_NULL)
+            {
+                pipe->callback(pipe);
+            }
+            size_t size = HAL_HCD_HC_GetXferCount(&stm32_hhcd_fs, pipe->pipe_index);
+            if (pipe->ep.bEndpointAddress & 0x80)
+            {
+                return size;
+            }
+            else if (pipe->ep.bEndpointAddress & 0x00)
+            {
+                return size;
+            }
+            return nbytes;
+        }
+
+        continue;
+    }
+}
+
+static rt_uint16_t pipe_index = 0;
+static rt_uint8_t  drv_get_free_pipe_index(void)
+{
+    rt_uint8_t idx;
+    for (idx = 1; idx < 16; idx++)
+    {
+        if (!(pipe_index & (0x01 << idx)))
+        {
+            pipe_index |= (0x01 << idx);
+            return idx;
+        }
+    }
+    return 0xff;
+}
+
+static void drv_free_pipe_index(rt_uint8_t index)
+{
+    pipe_index &= ~(0x01 << index);
+}
+
+static rt_err_t drv_open_pipe(upipe_t pipe)
+{
+    pipe->pipe_index = drv_get_free_pipe_index();
+    HAL_HCD_HC_Init(&stm32_hhcd_fs,
+                    pipe->pipe_index,
+                    pipe->ep.bEndpointAddress,
+                    pipe->inst->address,
+                    USB_OTG_SPEED_FULL,
+                    pipe->ep.bmAttributes,
+                    pipe->ep.wMaxPacketSize);
+    /* Set DATA0 PID token*/
+    if (stm32_hhcd_fs.hc[pipe->pipe_index].ep_is_in)
+    {
+        stm32_hhcd_fs.hc[pipe->pipe_index].toggle_in = 0;
+    }
+    else
+    {
+        stm32_hhcd_fs.hc[pipe->pipe_index].toggle_out = 0;
+    }
+    return RT_EOK;
+}
+
+static rt_err_t drv_close_pipe(upipe_t pipe)
+{
+    HAL_HCD_HC_Halt(&stm32_hhcd_fs, pipe->pipe_index);
+    drv_free_pipe_index(pipe->pipe_index);
+    return RT_EOK;
+}
+
+static struct uhcd_ops _uhcd_ops =
+{
+    drv_reset_port,
+    drv_pipe_xfer,
+    drv_open_pipe,
+    drv_close_pipe,
+};
+
+static rt_err_t stm32_hcd_init(rt_device_t device)
+{
+    HCD_HandleTypeDef *hhcd = (HCD_HandleTypeDef *)device->user_data;
+    hhcd->Instance = USB_OTG_FS;
+    hhcd->Init.Host_channels = 8;
+    hhcd->Init.speed = HCD_SPEED_FULL;
+    hhcd->Init.dma_enable = DISABLE;
+    hhcd->Init.phy_itface = HCD_PHY_EMBEDDED;
+    hhcd->Init.Sof_enable = DISABLE;
+    RT_ASSERT(HAL_HCD_Init(hhcd) == HAL_OK);
+    HAL_HCD_Start(hhcd);
+#ifdef USBH_USING_CONTROLLABLE_POWER
+    rt_pin_mode(USBH_POWER_PIN, PIN_MODE_OUTPUT);
+    rt_pin_write(USBH_POWER_PIN, PIN_LOW);
+#endif
+    return RT_EOK;
+}
+
+int stm_usbh_register(void)
+{
+    rt_err_t res = -RT_ERROR;
+
+    uhcd_t uhcd = (uhcd_t)rt_malloc(sizeof(struct uhcd));
+    if (uhcd == RT_NULL)
+    {
+        rt_kprintf("uhcd malloc failed\r\n");
+        return -RT_ERROR;
+    }
+
+    rt_memset((void *)uhcd, 0, sizeof(struct uhcd));
+
+    uhcd->parent.type = RT_Device_Class_USBHost;
+    uhcd->parent.init = stm32_hcd_init;
+    uhcd->parent.user_data = &stm32_hhcd_fs;
+
+    uhcd->ops = &_uhcd_ops;
+    uhcd->num_ports = OTG_FS_PORT;
+    stm32_hhcd_fs.pData = uhcd;
+
+    res = rt_device_register(&uhcd->parent, "usbh", RT_DEVICE_FLAG_DEACTIVATE);
+    if (res != RT_EOK)
+    {
+        rt_kprintf("register usb host failed res = %d\r\n", res);
+        return -RT_ERROR;
+    }
+
+    rt_usb_host_init();
+
+    return RT_EOK;
+}
+INIT_DEVICE_EXPORT(stm_usbh_register);
diff --git a/bsp/stm32/libraries/HAL_Drivers/drv_usbh.h b/bsp/stm32/libraries/HAL_Drivers/drv_usbh.h
new file mode 100644
index 0000000000..e08f482f28
--- /dev/null
+++ b/bsp/stm32/libraries/HAL_Drivers/drv_usbh.h
@@ -0,0 +1,21 @@
+/*
+ * Copyright (c) 2006-2018, RT-Thread Development Team
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Change Logs:
+ * Date           Author            Notes
+ * 2017-12-12     ZYH               the first version
+ * 2019-12-19     tyustli           port to stm32 series
+ */
+#ifndef __DRV_USBH_H__
+#define __DRV_USBH_H__
+#include <rtthread.h>
+
+#define OTG_FS_PORT 1
+
+int stm_usbh_register(void);
+
+#endif
+
+/************* end of file ************/
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
index 031ff82f9a..3c0602b619 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/.mxproject
@@ -1,14 +1,14 @@
 [PreviousGenFiles]
-HeaderPath=E:/workspace/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc
+HeaderPath=F:/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc
 HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
-SourcePath=E:/workspace/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src
+SourcePath=F:/rt-thread/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src
 SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;
+LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hcd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hcd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f407xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;
 
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
+SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
 HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
 CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;STM32F407xx;
 
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
index fcc30e407e..52c20c220f 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/CubeMX_Config.ioc
@@ -19,6 +19,7 @@ Mcu.IP13=TIM13
 Mcu.IP14=TIM14
 Mcu.IP15=USART1
 Mcu.IP16=USART3
+Mcu.IP17=USB_OTG_FS
 Mcu.IP2=IWDG
 Mcu.IP3=NVIC
 Mcu.IP4=RCC
@@ -27,7 +28,7 @@ Mcu.IP6=SDIO
 Mcu.IP7=SPI1
 Mcu.IP8=SPI2
 Mcu.IP9=SYS
-Mcu.IPNb=17
+Mcu.IPNb=18
 Mcu.Name=STM32F407Z(E-G)Tx
 Mcu.Package=LQFP144
 Mcu.Pin0=PC14-OSC32_IN
@@ -44,35 +45,37 @@ Mcu.Pin18=PC9
 Mcu.Pin19=PA9
 Mcu.Pin2=PH0-OSC_IN
 Mcu.Pin20=PA10
-Mcu.Pin21=PA13
-Mcu.Pin22=PA14
-Mcu.Pin23=PC10
-Mcu.Pin24=PC11
-Mcu.Pin25=PC12
-Mcu.Pin26=PD2
-Mcu.Pin27=PG11
-Mcu.Pin28=PG13
-Mcu.Pin29=PG14
+Mcu.Pin21=PA11
+Mcu.Pin22=PA12
+Mcu.Pin23=PA13
+Mcu.Pin24=PA14
+Mcu.Pin25=PC10
+Mcu.Pin26=PC11
+Mcu.Pin27=PC12
+Mcu.Pin28=PD2
+Mcu.Pin29=PG11
 Mcu.Pin3=PH1-OSC_OUT
-Mcu.Pin30=PB3
-Mcu.Pin31=PB4
-Mcu.Pin32=PB5
-Mcu.Pin33=PB6
-Mcu.Pin34=PB7
-Mcu.Pin35=VP_IWDG_VS_IWDG
-Mcu.Pin36=VP_RTC_VS_RTC_Activate
-Mcu.Pin37=VP_SYS_VS_Systick
-Mcu.Pin38=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin39=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin30=PG13
+Mcu.Pin31=PG14
+Mcu.Pin32=PB3
+Mcu.Pin33=PB4
+Mcu.Pin34=PB5
+Mcu.Pin35=PB6
+Mcu.Pin36=PB7
+Mcu.Pin37=VP_IWDG_VS_IWDG
+Mcu.Pin38=VP_RTC_VS_RTC_Activate
+Mcu.Pin39=VP_SYS_VS_Systick
 Mcu.Pin4=PC1
-Mcu.Pin40=VP_TIM13_VS_ClockSourceINT
-Mcu.Pin41=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin40=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin41=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin42=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin43=VP_TIM14_VS_ClockSourceINT
 Mcu.Pin5=PC2
 Mcu.Pin6=PC3
 Mcu.Pin7=PA1
 Mcu.Pin8=PA2
 Mcu.Pin9=PA3
-Mcu.PinsNb=42
+Mcu.PinsNb=44
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407ZGTx
@@ -83,6 +86,7 @@ NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.OTG_FS_IRQn=true\:0\:0\:false\:false\:true\:true\:true
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SPI1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
@@ -94,6 +98,10 @@ PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA11.Mode=Host_Only
+PA11.Signal=USB_OTG_FS_DM
+PA12.Mode=Host_Only
+PA12.Signal=USB_OTG_FS_DP
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
@@ -174,7 +182,7 @@ PH0-OSC_IN.Signal=RCC_OSC_IN
 PH1-OSC_OUT.Mode=HSE-External-Oscillator
 PH1-OSC_OUT.Signal=RCC_OSC_OUT
 PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=false
+ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false
 ProjectManager.CompilerOptimize=6
 ProjectManager.ComputerToolchain=false
@@ -260,6 +268,9 @@ USART1.IPParameters=VirtualMode
 USART1.VirtualMode=VM_ASYNC
 USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
+USB_OTG_FS.IPParameters=VirtualMode,phy_itface
+USB_OTG_FS.VirtualMode=Host_Only
+USB_OTG_FS.phy_itface=HCD_PHY_EMBEDDED
 VP_IWDG_VS_IWDG.Mode=IWDG_Activate
 VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
 VP_RTC_VS_RTC_Activate.Mode=RTC_Enabled
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
index 9b15113c2c..dc0a83626e 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -81,7 +81,7 @@
 /* #define HAL_SMARTCARD_MODULE_ENABLED   */
 /* #define HAL_WWDG_MODULE_ENABLED   */
 /* #define HAL_PCD_MODULE_ENABLED   */
-/* #define HAL_HCD_MODULE_ENABLED   */
+#define HAL_HCD_MODULE_ENABLED
 /* #define HAL_DSI_MODULE_ENABLED   */
 /* #define HAL_QSPI_MODULE_ENABLED   */
 /* #define HAL_QSPI_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_it.h b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_it.h
index d87cf45f97..44c3bafe0f 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_it.h
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Inc/stm32f4xx_it.h
@@ -73,6 +73,7 @@ void PendSV_Handler(void);
 void SysTick_Handler(void);
 void SPI1_IRQHandler(void);
 void USART1_IRQHandler(void);
+void OTG_FS_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
index ef64d82dc1..2c69b3dfa3 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/main.c
@@ -84,6 +84,8 @@ TIM_HandleTypeDef htim14;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart3;
 
+HCD_HandleTypeDef hhcd_USB_OTG_FS;
+
 /* USER CODE BEGIN PV */
 /* Private variables ---------------------------------------------------------*/
 
@@ -106,6 +108,7 @@ static void MX_SDIO_SD_Init(void);
 static void MX_TIM2_Init(void);
 static void MX_SPI2_Init(void);
 static void MX_TIM4_Init(void);
+static void MX_USB_OTG_FS_HCD_Init(void);
 /* USER CODE BEGIN PFP */
 /* Private function prototypes -----------------------------------------------*/
 
@@ -158,6 +161,7 @@ int main(void)
   MX_TIM2_Init();
   MX_SPI2_Init();
   MX_TIM4_Init();
+  MX_USB_OTG_FS_HCD_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -759,6 +763,37 @@ static void MX_USART3_UART_Init(void)
 }
 
 /**
+  * @brief USB_OTG_FS Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USB_OTG_FS_HCD_Init(void)
+{
+
+  /* USER CODE BEGIN USB_OTG_FS_Init 0 */
+
+  /* USER CODE END USB_OTG_FS_Init 0 */
+
+  /* USER CODE BEGIN USB_OTG_FS_Init 1 */
+
+  /* USER CODE END USB_OTG_FS_Init 1 */
+  hhcd_USB_OTG_FS.Instance = USB_OTG_FS;
+  hhcd_USB_OTG_FS.Init.Host_channels = 8;
+  hhcd_USB_OTG_FS.Init.speed = HCD_SPEED_FULL;
+  hhcd_USB_OTG_FS.Init.dma_enable = DISABLE;
+  hhcd_USB_OTG_FS.Init.phy_itface = HCD_PHY_EMBEDDED;
+  hhcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
+  if (HAL_HCD_Init(&hhcd_USB_OTG_FS) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USB_OTG_FS_Init 2 */
+
+  /* USER CODE END USB_OTG_FS_Init 2 */
+
+}
+
+/**
   * @brief GPIO Initialization Function
   * @param None
   * @retval None
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index 90a333827e..1597ab0ec0 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -852,6 +852,79 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 
 }
 
+/**
+* @brief HCD MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hhcd: HCD handle pointer
+* @retval None
+*/
+void HAL_HCD_MspInit(HCD_HandleTypeDef* hhcd)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hhcd->Instance==USB_OTG_FS)
+  {
+  /* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
+
+  /* USER CODE END USB_OTG_FS_MspInit 0 */
+  
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**USB_OTG_FS GPIO Configuration    
+    PA11     ------> USB_OTG_FS_DM
+    PA12     ------> USB_OTG_FS_DP 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* Peripheral clock enable */
+    __HAL_RCC_USB_OTG_FS_CLK_ENABLE();
+    /* USB_OTG_FS interrupt Init */
+    HAL_NVIC_SetPriority(OTG_FS_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
+  /* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
+
+  /* USER CODE END USB_OTG_FS_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief HCD MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hhcd: HCD handle pointer
+* @retval None
+*/
+
+void HAL_HCD_MspDeInit(HCD_HandleTypeDef* hhcd)
+{
+
+  if(hhcd->Instance==USB_OTG_FS)
+  {
+  /* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
+
+  /* USER CODE END USB_OTG_FS_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USB_OTG_FS_CLK_DISABLE();
+  
+    /**USB_OTG_FS GPIO Configuration    
+    PA11     ------> USB_OTG_FS_DM
+    PA12     ------> USB_OTG_FS_DP 
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
+
+    /* USB_OTG_FS interrupt DeInit */
+    HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
+  /* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
+
+  /* USER CODE END USB_OTG_FS_MspDeInit 1 */
+  }
+
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_it.c b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_it.c
index 149f219b9c..b512c4ef42 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_it.c
+++ b/bsp/stm32/stm32f407-atk-explorer/board/CubeMX_Config/Src/stm32f4xx_it.c
@@ -73,6 +73,7 @@
 /* External variables --------------------------------------------------------*/
 extern SPI_HandleTypeDef hspi1;
 extern UART_HandleTypeDef huart1;
+extern HCD_HandleTypeDef hhcd_USB_OTG_FS;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -241,6 +242,20 @@ void USART1_IRQHandler(void)
   /* USER CODE END USART1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USB On The Go FS global interrupt.
+  */
+void OTG_FS_IRQHandler(void)
+{
+  /* USER CODE BEGIN OTG_FS_IRQn 0 */
+
+  /* USER CODE END OTG_FS_IRQn 0 */
+  HAL_HCD_IRQHandler(&hhcd_USB_OTG_FS);
+  /* USER CODE BEGIN OTG_FS_IRQn 1 */
+
+  /* USER CODE END OTG_FS_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/bsp/stm32/stm32f407-atk-explorer/board/Kconfig b/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
index 5afd038648..624f55b7f8 100644
--- a/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
+++ b/bsp/stm32/stm32f407-atk-explorer/board/Kconfig
@@ -296,6 +296,21 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_DFS
         default n
 
+    menuconfig BSP_USING_USBH
+        bool "Enable USB Host"
+        select RT_USING_USB_HOST
+        default n
+        if BSP_USING_USBH
+            menuconfig RT_USBH_MSTORAGE
+                bool "Enable Udisk Drivers"
+                default n
+                if RT_USBH_MSTORAGE
+                    config UDISK_MOUNTPOINT
+                    string "Udisk mount dir"
+                    default "/"
+                endif
+        endif
+
     menuconfig BSP_USING_PULSE_ENCODER
         bool "Enable Pulse Encoder"
         default n
diff --git a/bsp/stm32/stm32f429-atk-apollo/README.md b/bsp/stm32/stm32f429-atk-apollo/README.md
index f616cebdbd..6ec5108a3a 100644
--- a/bsp/stm32/stm32f429-atk-apollo/README.md
+++ b/bsp/stm32/stm32f429-atk-apollo/README.md
@@ -47,7 +47,7 @@
 | MPU9250九轴传感器 |     支持     |                                       |
 | SDRAM             |     支持     |                                       |
 | SD卡              |   支持   |                                       |
-| CAN               |   暂不支持   |                                       |
+| CAN               |   支持   |   和 USB Host 引脚冲突，如需使用该外设，请使用 CubeMX 重新配置                                     |
 | **片上外设**      | **支持情况** | **备注**                              |
 | GPIO              |     支持     | PA0, PA1... PK15 ---> PIN: 0, 1...176 |
 | UART              |     支持     | UART1/2/3                             |
@@ -61,7 +61,7 @@
 | SDIO              |   支持   |                               |
 | PWM               |   支持   |                               |
 | USB Device        |   暂不支持   | 即将支持                              |
-| USB Host          |   暂不支持   | 即将支持                              |
+| USB Host          |   支持   | 和 CAN1 引脚冲突，如需使用该外设，请使用 CubeMX 重新配置                         |
 | **扩展模块**      | **支持情况** | **备注**                              |
 | ATK-ESP8266 模块  |   暂不支持   | 即将支持                              |
 
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/.mxproject
index ce6cbcb32b..5ccdc033db 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/.mxproject
@@ -1,17 +1,17 @@
 [PreviousGenFiles]
-HeaderPath=E:/work_relative/RT_THREAD/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc
+HeaderPath=F:/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc
 HeaderFiles=stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
-SourcePath=E:/work_relative/RT_THREAD/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src
+SourcePath=F:/rt-thread/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src
 SourceFiles=stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f429xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
+LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hcd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hcd.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f429xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
 
 []
 SourceFiles=;;
 
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
+SourceFiles=..\Src\main.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;../\Src/system_stm32f4xx.c;../Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;null;
 HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
 CDefines=USE_HAL_DRIVER;STM32F429xx;USE_HAL_DRIVER;STM32F429xx;
 
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
index 65a892fc3d..953a90cf2f 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -38,7 +38,7 @@
 
   #define HAL_ADC_MODULE_ENABLED
 /* #define HAL_CRYP_MODULE_ENABLED   */
-#define HAL_CAN_MODULE_ENABLED
+/* #define HAL_CAN_MODULE_ENABLED   */
 /* #define HAL_CRC_MODULE_ENABLED   */
 /* #define HAL_CRYP_MODULE_ENABLED   */
 /* #define HAL_DAC_MODULE_ENABLED   */
@@ -68,7 +68,7 @@
 /* #define HAL_SMARTCARD_MODULE_ENABLED   */
 /* #define HAL_WWDG_MODULE_ENABLED   */
 /* #define HAL_PCD_MODULE_ENABLED   */
-/* #define HAL_HCD_MODULE_ENABLED   */
+#define HAL_HCD_MODULE_ENABLED
 /* #define HAL_DSI_MODULE_ENABLED   */
 /* #define HAL_QSPI_MODULE_ENABLED   */
 /* #define HAL_QSPI_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_it.h b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_it.h
index e3b003d9ad..c80fb5271c 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_it.h
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Inc/stm32f4xx_it.h
@@ -72,6 +72,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void USART1_IRQHandler(void);
+void OTG_FS_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/STM32F429IG.ioc b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/STM32F429IG.ioc
index fad96a6839..ad57d049ee 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/STM32F429IG.ioc
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/STM32F429IG.ioc
@@ -5,34 +5,32 @@ ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
 ADC1.master=1
-CAN1.CalculateTimeQuantum=355.55555555555554
-CAN1.IPParameters=CalculateTimeQuantum
 ETH.IPParameters=MediaInterface
 ETH.MediaInterface=ETH_MEDIA_INTERFACE_RMII
 File.Version=6
 KeepUserPlacement=false
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
-Mcu.IP1=CAN1
-Mcu.IP10=SPI1
-Mcu.IP11=SPI2
-Mcu.IP12=SPI5
-Mcu.IP13=SYS
-Mcu.IP14=TIM2
-Mcu.IP15=TIM11
-Mcu.IP16=TIM13
-Mcu.IP17=TIM14
-Mcu.IP18=USART1
-Mcu.IP19=USART2
-Mcu.IP2=ETH
-Mcu.IP20=USART3
-Mcu.IP3=FMC
-Mcu.IP4=IWDG
-Mcu.IP5=NVIC
-Mcu.IP6=RCC
-Mcu.IP7=RTC
-Mcu.IP8=SAI1
-Mcu.IP9=SDIO
+Mcu.IP1=ETH
+Mcu.IP10=SPI2
+Mcu.IP11=SPI5
+Mcu.IP12=SYS
+Mcu.IP13=TIM2
+Mcu.IP14=TIM11
+Mcu.IP15=TIM13
+Mcu.IP16=TIM14
+Mcu.IP17=USART1
+Mcu.IP18=USART2
+Mcu.IP19=USART3
+Mcu.IP2=FMC
+Mcu.IP20=USB_OTG_FS
+Mcu.IP3=IWDG
+Mcu.IP4=NVIC
+Mcu.IP5=RCC
+Mcu.IP6=RTC
+Mcu.IP7=SAI1
+Mcu.IP8=SDIO
+Mcu.IP9=SPI1
 Mcu.IPNb=21
 Mcu.Name=STM32F429I(E-G)Tx
 Mcu.Package=LQFP176
@@ -138,6 +136,7 @@ NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.OTG_FS_IRQn=true\:0\:0\:false\:false\:true\:true\:true
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
@@ -148,11 +147,10 @@ PA1.Mode=RMII
 PA1.Signal=ETH_REF_CLK
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
-PA11.Locked=true
-PA11.Mode=Master
-PA11.Signal=CAN1_RX
-PA12.Mode=Master
-PA12.Signal=CAN1_TX
+PA11.Mode=Host_Only
+PA11.Signal=USB_OTG_FS_DM
+PA12.Mode=Host_Only
+PA12.Signal=USB_OTG_FS_DP
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
@@ -300,7 +298,7 @@ ProjectManager.FreePins=false
 ProjectManager.HalAssertFull=false
 ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
+ProjectManager.LastFirmware=false
 ProjectManager.LibraryCopy=0
 ProjectManager.MainLocation=Src
 ProjectManager.NoMain=false
@@ -357,8 +355,7 @@ RCC.VCOSAIOutputFreq_ValueR=50000000
 RCC.VcooutputI2S=160000000
 RCC.VcooutputI2SQ=160000000
 SAI1.ErrorAudioFreq-SAI_A_MasterWithClock=-49.13 %
-SAI1.FrameLength-SAI_B_SyncSlave=8
-SAI1.IPParameters=Instance-SAI_B_SyncSlave,VirtualMode-SAI_B_SyncSlave,Synchro-SAI_B_SyncSlave,FrameLength-SAI_B_SyncSlave,Instance-SAI_A_MasterWithClock,VirtualMode-SAI_A_MasterWithClock,Synchro-SAI_A_MasterWithClock,MClockEnable-SAI_A_MasterWithClock,RealAudioFreq-SAI_A_MasterWithClock,ErrorAudioFreq-SAI_A_MasterWithClock
+SAI1.IPParameters=Instance-SAI_B_SyncSlave,VirtualMode-SAI_B_SyncSlave,Synchro-SAI_B_SyncSlave,Instance-SAI_A_MasterWithClock,VirtualMode-SAI_A_MasterWithClock,Synchro-SAI_A_MasterWithClock,MClockEnable-SAI_A_MasterWithClock,RealAudioFreq-SAI_A_MasterWithClock,ErrorAudioFreq-SAI_A_MasterWithClock
 SAI1.Instance-SAI_A_MasterWithClock=SAI$Index_Block_A
 SAI1.Instance-SAI_B_SyncSlave=SAI$Index_Block_B
 SAI1.MClockEnable-SAI_A_MasterWithClock=SAI_MASTERCLOCK_ENABLE
@@ -468,6 +465,9 @@ USART2.IPParameters=VirtualMode
 USART2.VirtualMode=VM_ASYNC
 USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
+USB_OTG_FS.IPParameters=VirtualMode,phy_itface
+USB_OTG_FS.VirtualMode=Host_Only
+USB_OTG_FS.phy_itface=HCD_PHY_EMBEDDED
 VP_IWDG_VS_IWDG.Mode=IWDG_Activate
 VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
 VP_RTC_VS_RTC_Activate.Mode=RTC_Enabled
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/main.c
index 342aa48b67..e17a48a050 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/main.c
@@ -64,8 +64,6 @@
 /* Private variables ---------------------------------------------------------*/
 ADC_HandleTypeDef hadc1;
 
-CAN_HandleTypeDef hcan1;
-
 ETH_HandleTypeDef heth;
 
 IWDG_HandleTypeDef hiwdg;
@@ -90,6 +88,8 @@ UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 UART_HandleTypeDef huart3;
 
+HCD_HandleTypeDef hhcd_USB_OTG_FS;
+
 SDRAM_HandleTypeDef hsdram1;
 
 /* USER CODE BEGIN PV */
@@ -114,10 +114,10 @@ static void MX_TIM2_Init(void);
 static void MX_SPI1_Init(void);
 static void MX_SPI2_Init(void);
 static void MX_SPI5_Init(void);
-static void MX_CAN1_Init(void);
 static void MX_SAI1_Init(void);
 static void MX_USART2_UART_Init(void);
 static void MX_USART3_UART_Init(void);
+static void MX_USB_OTG_FS_HCD_Init(void);
 /* USER CODE BEGIN PFP */
 /* Private function prototypes -----------------------------------------------*/
 
@@ -171,10 +171,10 @@ int main(void)
   MX_SPI1_Init();
   MX_SPI2_Init();
   MX_SPI5_Init();
-  MX_CAN1_Init();
   MX_SAI1_Init();
   MX_USART2_UART_Init();
   MX_USART3_UART_Init();
+  MX_USB_OTG_FS_HCD_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -310,43 +310,6 @@ static void MX_ADC1_Init(void)
 }
 
 /**
-  * @brief CAN1 Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_CAN1_Init(void)
-{
-
-  /* USER CODE BEGIN CAN1_Init 0 */
-
-  /* USER CODE END CAN1_Init 0 */
-
-  /* USER CODE BEGIN CAN1_Init 1 */
-
-  /* USER CODE END CAN1_Init 1 */
-  hcan1.Instance = CAN1;
-  hcan1.Init.Prescaler = 16;
-  hcan1.Init.Mode = CAN_MODE_NORMAL;
-  hcan1.Init.SyncJumpWidth = CAN_SJW_1TQ;
-  hcan1.Init.TimeSeg1 = CAN_BS1_1TQ;
-  hcan1.Init.TimeSeg2 = CAN_BS2_1TQ;
-  hcan1.Init.TimeTriggeredMode = DISABLE;
-  hcan1.Init.AutoBusOff = DISABLE;
-  hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
-  hcan1.Init.ReceiveFifoLocked = DISABLE;
-  hcan1.Init.TransmitFifoPriority = DISABLE;
-  if (HAL_CAN_Init(&hcan1) != HAL_OK)
-  {
-    Error_Handler();
-  }
-  /* USER CODE BEGIN CAN1_Init 2 */
-
-  /* USER CODE END CAN1_Init 2 */
-
-}
-
-/**
   * @brief ETH Initialization Function
   * @param None
   * @retval None
@@ -500,7 +463,7 @@ static void MX_SAI1_Init(void)
   hsai_BlockB1.Init.ClockStrobing = SAI_CLOCKSTROBING_FALLINGEDGE;
   hsai_BlockB1.Init.OutputDrive = SAI_OUTPUTDRIVE_DISABLE;
   hsai_BlockB1.Init.FIFOThreshold = SAI_FIFOTHRESHOLD_EMPTY;
-  hsai_BlockB1.FrameInit.FrameLength = 8;
+  hsai_BlockB1.FrameInit.FrameLength = 24;
   hsai_BlockB1.FrameInit.ActiveFrameLength = 1;
   hsai_BlockB1.FrameInit.FSDefinition = SAI_FS_STARTFRAME;
   hsai_BlockB1.FrameInit.FSPolarity = SAI_FS_ACTIVE_LOW;
@@ -920,6 +883,37 @@ static void MX_USART3_UART_Init(void)
 
 }
 
+/**
+  * @brief USB_OTG_FS Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USB_OTG_FS_HCD_Init(void)
+{
+
+  /* USER CODE BEGIN USB_OTG_FS_Init 0 */
+
+  /* USER CODE END USB_OTG_FS_Init 0 */
+
+  /* USER CODE BEGIN USB_OTG_FS_Init 1 */
+
+  /* USER CODE END USB_OTG_FS_Init 1 */
+  hhcd_USB_OTG_FS.Instance = USB_OTG_FS;
+  hhcd_USB_OTG_FS.Init.Host_channels = 8;
+  hhcd_USB_OTG_FS.Init.speed = HCD_SPEED_FULL;
+  hhcd_USB_OTG_FS.Init.dma_enable = DISABLE;
+  hhcd_USB_OTG_FS.Init.phy_itface = HCD_PHY_EMBEDDED;
+  hhcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
+  if (HAL_HCD_Init(&hhcd_USB_OTG_FS) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USB_OTG_FS_Init 2 */
+
+  /* USER CODE END USB_OTG_FS_Init 2 */
+
+}
+
 /* FMC initialization function */
 static void MX_FMC_Init(void)
 {
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
index 20fa0028c0..ad60e8e19a 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -161,71 +161,6 @@ void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc)
 }
 
 /**
-* @brief CAN MSP Initialization
-* This function configures the hardware resources used in this example
-* @param hcan: CAN handle pointer
-* @retval None
-*/
-void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  if(hcan->Instance==CAN1)
-  {
-  /* USER CODE BEGIN CAN1_MspInit 0 */
-
-  /* USER CODE END CAN1_MspInit 0 */
-    /* Peripheral clock enable */
-    __HAL_RCC_CAN1_CLK_ENABLE();
-  
-    __HAL_RCC_GPIOA_CLK_ENABLE();
-    /**CAN1 GPIO Configuration    
-    PA11     ------> CAN1_RX
-    PA12     ------> CAN1_TX 
-    */
-    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
-    GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
-    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN CAN1_MspInit 1 */
-
-  /* USER CODE END CAN1_MspInit 1 */
-  }
-
-}
-
-/**
-* @brief CAN MSP De-Initialization
-* This function freeze the hardware resources used in this example
-* @param hcan: CAN handle pointer
-* @retval None
-*/
-void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan)
-{
-  if(hcan->Instance==CAN1)
-  {
-  /* USER CODE BEGIN CAN1_MspDeInit 0 */
-
-  /* USER CODE END CAN1_MspDeInit 0 */
-    /* Peripheral clock disable */
-    __HAL_RCC_CAN1_CLK_DISABLE();
-  
-    /**CAN1 GPIO Configuration    
-    PA11     ------> CAN1_RX
-    PA12     ------> CAN1_TX 
-    */
-    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
-
-  /* USER CODE BEGIN CAN1_MspDeInit 1 */
-
-  /* USER CODE END CAN1_MspDeInit 1 */
-  }
-
-}
-
-/**
 * @brief ETH MSP Initialization
 * This function configures the hardware resources used in this example
 * @param heth: ETH handle pointer
@@ -909,6 +844,76 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 
 }
 
+/**
+* @brief HCD MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hhcd: HCD handle pointer
+* @retval None
+*/
+void HAL_HCD_MspInit(HCD_HandleTypeDef* hhcd)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hhcd->Instance==USB_OTG_FS)
+  {
+  /* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
+
+  /* USER CODE END USB_OTG_FS_MspInit 0 */
+  
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**USB_OTG_FS GPIO Configuration    
+    PA11     ------> USB_OTG_FS_DM
+    PA12     ------> USB_OTG_FS_DP 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* Peripheral clock enable */
+    __HAL_RCC_USB_OTG_FS_CLK_ENABLE();
+    /* USB_OTG_FS interrupt Init */
+    HAL_NVIC_SetPriority(OTG_FS_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
+  /* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
+
+  /* USER CODE END USB_OTG_FS_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief HCD MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hhcd: HCD handle pointer
+* @retval None
+*/
+void HAL_HCD_MspDeInit(HCD_HandleTypeDef* hhcd)
+{
+  if(hhcd->Instance==USB_OTG_FS)
+  {
+  /* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
+
+  /* USER CODE END USB_OTG_FS_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USB_OTG_FS_CLK_DISABLE();
+  
+    /**USB_OTG_FS GPIO Configuration    
+    PA11     ------> USB_OTG_FS_DM
+    PA12     ------> USB_OTG_FS_DP 
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
+
+    /* USB_OTG_FS interrupt DeInit */
+    HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
+  /* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
+
+  /* USER CODE END USB_OTG_FS_MspDeInit 1 */
+  }
+
+}
+
 static uint32_t FMC_Initialized = 0;
 
 static void HAL_FMC_MspInit(void){
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_it.c b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_it.c
index 80653c5ad3..ecc64e0079 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_it.c
+++ b/bsp/stm32/stm32f429-atk-apollo/board/CubeMX_Config/Src/stm32f4xx_it.c
@@ -72,6 +72,7 @@
 
 /* External variables --------------------------------------------------------*/
 extern UART_HandleTypeDef huart1;
+extern HCD_HandleTypeDef hhcd_USB_OTG_FS;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -226,6 +227,20 @@ void USART1_IRQHandler(void)
   /* USER CODE END USART1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USB On The Go FS global interrupt.
+  */
+void OTG_FS_IRQHandler(void)
+{
+  /* USER CODE BEGIN OTG_FS_IRQn 0 */
+
+  /* USER CODE END OTG_FS_IRQn 0 */
+  HAL_HCD_IRQHandler(&hhcd_USB_OTG_FS);
+  /* USER CODE BEGIN OTG_FS_IRQn 1 */
+
+  /* USER CODE END OTG_FS_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/bsp/stm32/stm32f429-atk-apollo/board/Kconfig b/bsp/stm32/stm32f429-atk-apollo/board/Kconfig
index 4705be7b46..1d693397c1 100644
--- a/bsp/stm32/stm32f429-atk-apollo/board/Kconfig
+++ b/bsp/stm32/stm32f429-atk-apollo/board/Kconfig
@@ -270,6 +270,21 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_WDT
         default n
 
+    menuconfig BSP_USING_USBH
+        bool "Enable USB Host"
+        select RT_USING_USB_HOST
+        default n
+        if BSP_USING_USBH
+            menuconfig RT_USBH_MSTORAGE
+                bool "Enable Udisk Drivers"
+                default n
+                if RT_USBH_MSTORAGE
+                    config UDISK_MOUNTPOINT
+                    string "Udisk mount dir"
+                    default "/"
+                endif
+        endif
+
     config BSP_USING_SDIO
         bool "Enable SDIO"
         select RT_USING_SDIO
diff --git a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/.mxproject b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/.mxproject
index ac37a7c72b..f27f66a833 100644
--- a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/.mxproject
+++ b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/.mxproject
@@ -1,14 +1,14 @@
 [PreviousGenFiles]
-HeaderPath=E:/work/rtt/rt-thread/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc
+HeaderPath=F:/rt-thread/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc
 HeaderFiles=stm32f7xx_it.h;stm32f7xx_hal_conf.h;main.h;
-SourcePath=E:/work/rtt/rt-thread/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src
+SourcePath=F:/rt-thread/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src
 SourceFiles=stm32f7xx_it.c;stm32f7xx_hal_msp.c;main.c;
 
 [PreviousLibFiles]
-LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_adc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_adc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_eth.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_fmc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_sdram.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_iwdg.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_ltdc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_ltdc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dsi.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_qspi.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rtc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rtc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_sdmmc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_sd.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_spi.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_spi_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_eth.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_fmc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sdram.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_iwdg.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dsi.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_qspi.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_sdmmc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sd.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_spi.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_spi_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_adc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_adc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_eth.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_fmc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_sdram.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_iwdg.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_ltdc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_ltdc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dsi.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_qspi.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rtc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rtc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_sdmmc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_sd.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_spi.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_spi_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/arm_common_tables.h;Drivers/CMSIS/Include/arm_const_structs.h;Drivers/CMSIS/Include/arm_math.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armcc_V6.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cmFunc.h;Drivers/CMSIS/Include/core_cmInstr.h;Drivers/CMSIS/Include/core_cmSimd.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;
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
 [PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\stm32f7xx_it.c;..\Src\stm32f7xx_hal_msp.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_eth.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_fmc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sdram.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_iwdg.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dsi.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_qspi.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_sdmmc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sd.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_spi.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_spi_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_uart_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_exti.c;../\Src/system_stm32f7xx.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_eth.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_fmc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sdram.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_iwdg.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dsi.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_qspi.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_sdmmc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sd.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_spi.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_spi_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_uart_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_exti.c;../\Src/system_stm32f7xx.c;../Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;null;
+SourceFiles=..\Src\main.c;..\Src\stm32f7xx_it.c;..\Src\stm32f7xx_hal_msp.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_eth.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_fmc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sdram.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_iwdg.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dsi.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_qspi.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_sdmmc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sd.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_spi.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_spi_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_uart_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_hcd.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_exti.c;../\Src/system_stm32f7xx.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_adc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_eth.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_fmc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sdram.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_iwdg.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_ltdc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dsi.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_qspi.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rtc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_sdmmc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_sd.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_spi.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_spi_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_uart_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_hcd.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;../Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;..\Drivers\STM32F7xx_HAL_Driver\Src\stm32f7xx_hal_exti.c;../\Src/system_stm32f7xx.c;../Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;null;
 HeaderPath=..\Drivers\STM32F7xx_HAL_Driver\Inc;..\Drivers\STM32F7xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F7xx\Include;..\Drivers\CMSIS\Include;..\Inc;
 CDefines=USE_HAL_DRIVER;STM32F767xx;USE_HAL_DRIVER;STM32F767xx;
 
diff --git a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/CubeMX_Config.ioc b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/CubeMX_Config.ioc
index b22dcde7c8..506854c422 100644
--- a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/CubeMX_Config.ioc
@@ -28,6 +28,7 @@ Mcu.IP17=TIM14
 Mcu.IP18=USART1
 Mcu.IP19=USART2
 Mcu.IP2=ETH
+Mcu.IP20=USB_OTG_FS
 Mcu.IP3=FMC
 Mcu.IP4=IWDG
 Mcu.IP5=LTDC
@@ -35,13 +36,15 @@ Mcu.IP6=NVIC
 Mcu.IP7=QUADSPI
 Mcu.IP8=RCC
 Mcu.IP9=RTC
-Mcu.IPNb=20
+Mcu.IPNb=21
 Mcu.Name=STM32F767I(G-I)Tx
 Mcu.Package=LQFP176
 Mcu.Pin0=PC14/OSC32_IN
 Mcu.Pin1=PC15/OSC32_OUT
 Mcu.Pin10=PF5
-Mcu.Pin100=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin100=VP_TIM11_VS_ClockSourceINT
+Mcu.Pin101=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin102=VP_TIM14_VS_ClockSourceINT
 Mcu.Pin11=PF6
 Mcu.Pin12=PF7
 Mcu.Pin13=PF8
@@ -111,35 +114,35 @@ Mcu.Pin70=PC9
 Mcu.Pin71=PA8
 Mcu.Pin72=PA9
 Mcu.Pin73=PA10
-Mcu.Pin74=PA13
-Mcu.Pin75=PH14
-Mcu.Pin76=PI2
-Mcu.Pin77=PA14
-Mcu.Pin78=PC10
-Mcu.Pin79=PC11
+Mcu.Pin74=PA11
+Mcu.Pin75=PA12
+Mcu.Pin76=PA13
+Mcu.Pin77=PH14
+Mcu.Pin78=PI2
+Mcu.Pin79=PA14
 Mcu.Pin8=PF3
-Mcu.Pin80=PC12
-Mcu.Pin81=PD0
-Mcu.Pin82=PD1
-Mcu.Pin83=PD2
-Mcu.Pin84=PD5
-Mcu.Pin85=PD6
-Mcu.Pin86=PG12
-Mcu.Pin87=PG13
-Mcu.Pin88=PG14
-Mcu.Pin89=PG15
+Mcu.Pin80=PC10
+Mcu.Pin81=PC11
+Mcu.Pin82=PC12
+Mcu.Pin83=PD0
+Mcu.Pin84=PD1
+Mcu.Pin85=PD2
+Mcu.Pin86=PD5
+Mcu.Pin87=PD6
+Mcu.Pin88=PG12
+Mcu.Pin89=PG13
 Mcu.Pin9=PF4
-Mcu.Pin90=PB6
-Mcu.Pin91=PB8
-Mcu.Pin92=PB9
-Mcu.Pin93=PI5
-Mcu.Pin94=VP_IWDG_VS_IWDG
-Mcu.Pin95=VP_RTC_VS_RTC_Activate
-Mcu.Pin96=VP_SYS_VS_Systick
-Mcu.Pin97=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin98=VP_TIM11_VS_ClockSourceINT
-Mcu.Pin99=VP_TIM13_VS_ClockSourceINT
-Mcu.PinsNb=101
+Mcu.Pin90=PG14
+Mcu.Pin91=PG15
+Mcu.Pin92=PB6
+Mcu.Pin93=PB8
+Mcu.Pin94=PB9
+Mcu.Pin95=PI5
+Mcu.Pin96=VP_IWDG_VS_IWDG
+Mcu.Pin97=VP_RTC_VS_RTC_Activate
+Mcu.Pin98=VP_SYS_VS_Systick
+Mcu.Pin99=VP_TIM3_VS_ClockSourceINT
+Mcu.PinsNb=103
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F767IGTx
@@ -150,6 +153,7 @@ NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.OTG_FS_IRQn=true\:0\:0\:false\:false\:true\:true\:true
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false
@@ -160,6 +164,10 @@ PA1.Signal=ETH_REF_CLK
 PA10.Locked=true
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA11.Mode=Host_Only
+PA11.Signal=USB_OTG_FS_DM
+PA12.Mode=Host_Only
+PA12.Signal=USB_OTG_FS_DP
 PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
@@ -377,7 +385,7 @@ RCC.I2C2Freq_Value=54000000
 RCC.I2C3Freq_Value=54000000
 RCC.I2C4Freq_Value=54000000
 RCC.I2SFreq_Value=96000000
-RCC.IPParameters=AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CECFreq_Value,CortexFreq_Value,DFSDMAudioFreq_Value,DFSDMFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2C4Freq_Value,I2SFreq_Value,LCDTFTFreq_Value,LPTIM1Freq_Value,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLI2SRoutputFreq_Value,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLQoutputFreq_Value,PLLRFreq_Value,PLLSAIN,PLLSAIPCLKFreq_Value,PLLSAIQCLKFreq_Value,PLLSAIR,PLLSAIRCLKFreq_Value,PLLSAIRDiv,PLLSAIoutputFreq_Value,PLLSourceVirtual,RNGFreq_Value,RTCClockSelection,RTCFreq_Value,SAI1Freq_Value,SAI2Freq_Value,SDMMC2Freq_Value,SDMMCClockSelection,SDMMCFreq_Value,SPDIFRXFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,UART4Freq_Value,UART5Freq_Value,UART7Freq_Value,UART8Freq_Value,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USART6Freq_Value,USBFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIOutputFreq_Value
+RCC.IPParameters=AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CECFreq_Value,CortexFreq_Value,DFSDMAudioFreq_Value,DFSDMFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2C1Freq_Value,I2C2Freq_Value,I2C3Freq_Value,I2C4Freq_Value,I2SFreq_Value,LCDTFTFreq_Value,LPTIM1Freq_Value,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLI2SPCLKFreq_Value,PLLI2SQCLKFreq_Value,PLLI2SRCLKFreq_Value,PLLI2SRoutputFreq_Value,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,PLLQoutputFreq_Value,PLLRFreq_Value,PLLSAIN,PLLSAIPCLKFreq_Value,PLLSAIQCLKFreq_Value,PLLSAIR,PLLSAIRCLKFreq_Value,PLLSAIRDiv,PLLSAIoutputFreq_Value,RNGFreq_Value,RTCClockSelection,RTCFreq_Value,SAI1Freq_Value,SAI2Freq_Value,SDMMC2Freq_Value,SDMMCClockSelection,SDMMCFreq_Value,SPDIFRXFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,UART4Freq_Value,UART5Freq_Value,UART7Freq_Value,UART8Freq_Value,USART1Freq_Value,USART2Freq_Value,USART3Freq_Value,USART6Freq_Value,USBFreq_Value,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VCOSAIOutputFreq_Value
 RCC.LCDTFTFreq_Value=9000000
 RCC.LPTIM1Freq_Value=54000000
 RCC.LSI_VALUE=32000
@@ -400,7 +408,6 @@ RCC.PLLSAIR=4
 RCC.PLLSAIRCLKFreq_Value=72000000
 RCC.PLLSAIRDiv=RCC_PLLSAIDIVR_8
 RCC.PLLSAIoutputFreq_Value=144000000
-RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
 RCC.RNGFreq_Value=48000000
 RCC.RTCClockSelection=RCC_RTCCLKSOURCE_LSE
 RCC.RTCFreq_Value=32768
@@ -514,6 +521,9 @@ USART1.IPParameters=VirtualMode-Asynchronous
 USART1.VirtualMode-Asynchronous=VM_ASYNC
 USART2.IPParameters=VirtualMode-Asynchronous
 USART2.VirtualMode-Asynchronous=VM_ASYNC
+USB_OTG_FS.IPParameters=VirtualMode,phy_itface
+USB_OTG_FS.VirtualMode=Host_Only
+USB_OTG_FS.phy_itface=HCD_PHY_EMBEDDED
 VP_IWDG_VS_IWDG.Mode=IWDG_Activate
 VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
 VP_RTC_VS_RTC_Activate.Mode=RTC_Enabled
diff --git a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc/stm32f7xx_hal_conf.h b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc/stm32f7xx_hal_conf.h
index 311e5d1c73..f14364403e 100644
--- a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc/stm32f7xx_hal_conf.h
+++ b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc/stm32f7xx_hal_conf.h
@@ -70,7 +70,7 @@
 /* #define HAL_SMARTCARD_MODULE_ENABLED   */
 /* #define HAL_WWDG_MODULE_ENABLED   */
 /* #define HAL_PCD_MODULE_ENABLED   */
-/* #define HAL_HCD_MODULE_ENABLED   */
+#define HAL_HCD_MODULE_ENABLED
 /* #define HAL_DFSDM_MODULE_ENABLED   */
 /* #define HAL_DSI_MODULE_ENABLED   */
 /* #define HAL_JPEG_MODULE_ENABLED   */
diff --git a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc/stm32f7xx_it.h b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc/stm32f7xx_it.h
index a398e3c63b..7212cae561 100644
--- a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc/stm32f7xx_it.h
+++ b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Inc/stm32f7xx_it.h
@@ -71,6 +71,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
+void OTG_FS_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/main.c b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/main.c
index d3f40d6dc3..69926873b4 100644
--- a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/main.c
+++ b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/main.c
@@ -87,6 +87,8 @@ TIM_HandleTypeDef htim14;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart2;
 
+HCD_HandleTypeDef hhcd_USB_OTG_FS;
+
 SDRAM_HandleTypeDef hsdram1;
 
 /* USER CODE BEGIN PV */
@@ -112,6 +114,7 @@ static void MX_TIM13_Init(void);
 static void MX_TIM14_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_LTDC_Init(void);
+static void MX_USB_OTG_FS_HCD_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -172,6 +175,7 @@ int main(void)
   MX_TIM14_Init();
   MX_TIM3_Init();
   MX_LTDC_Init();
+  MX_USB_OTG_FS_HCD_Init();
   /* USER CODE BEGIN 2 */
 
   /* USER CODE END 2 */
@@ -883,6 +887,37 @@ static void MX_USART2_UART_Init(void)
 
 }
 
+/**
+  * @brief USB_OTG_FS Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_USB_OTG_FS_HCD_Init(void)
+{
+
+  /* USER CODE BEGIN USB_OTG_FS_Init 0 */
+
+  /* USER CODE END USB_OTG_FS_Init 0 */
+
+  /* USER CODE BEGIN USB_OTG_FS_Init 1 */
+
+  /* USER CODE END USB_OTG_FS_Init 1 */
+  hhcd_USB_OTG_FS.Instance = USB_OTG_FS;
+  hhcd_USB_OTG_FS.Init.Host_channels = 8;
+  hhcd_USB_OTG_FS.Init.speed = HCD_SPEED_FULL;
+  hhcd_USB_OTG_FS.Init.dma_enable = DISABLE;
+  hhcd_USB_OTG_FS.Init.phy_itface = HCD_PHY_EMBEDDED;
+  hhcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
+  if (HAL_HCD_Init(&hhcd_USB_OTG_FS) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USB_OTG_FS_Init 2 */
+
+  /* USER CODE END USB_OTG_FS_Init 2 */
+
+}
+
 /* FMC initialization function */
 static void MX_FMC_Init(void)
 {
diff --git a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/stm32f7xx_hal_msp.c b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/stm32f7xx_hal_msp.c
index 5e6b7067a8..3fe29e92c9 100644
--- a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/stm32f7xx_hal_msp.c
+++ b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/stm32f7xx_hal_msp.c
@@ -1057,6 +1057,76 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
 
 }
 
+/**
+* @brief HCD MSP Initialization
+* This function configures the hardware resources used in this example
+* @param hhcd: HCD handle pointer
+* @retval None
+*/
+void HAL_HCD_MspInit(HCD_HandleTypeDef* hhcd)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(hhcd->Instance==USB_OTG_FS)
+  {
+  /* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
+
+  /* USER CODE END USB_OTG_FS_MspInit 0 */
+  
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**USB_OTG_FS GPIO Configuration    
+    PA11     ------> USB_OTG_FS_DM
+    PA12     ------> USB_OTG_FS_DP 
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_11|GPIO_PIN_12;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* Peripheral clock enable */
+    __HAL_RCC_USB_OTG_FS_CLK_ENABLE();
+    /* USB_OTG_FS interrupt Init */
+    HAL_NVIC_SetPriority(OTG_FS_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
+  /* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
+
+  /* USER CODE END USB_OTG_FS_MspInit 1 */
+  }
+
+}
+
+/**
+* @brief HCD MSP De-Initialization
+* This function freeze the hardware resources used in this example
+* @param hhcd: HCD handle pointer
+* @retval None
+*/
+void HAL_HCD_MspDeInit(HCD_HandleTypeDef* hhcd)
+{
+  if(hhcd->Instance==USB_OTG_FS)
+  {
+  /* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
+
+  /* USER CODE END USB_OTG_FS_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USB_OTG_FS_CLK_DISABLE();
+  
+    /**USB_OTG_FS GPIO Configuration    
+    PA11     ------> USB_OTG_FS_DM
+    PA12     ------> USB_OTG_FS_DP 
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_11|GPIO_PIN_12);
+
+    /* USB_OTG_FS interrupt DeInit */
+    HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
+  /* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
+
+  /* USER CODE END USB_OTG_FS_MspDeInit 1 */
+  }
+
+}
+
 static uint32_t FMC_Initialized = 0;
 
 static void HAL_FMC_MspInit(void){
diff --git a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/stm32f7xx_it.c b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/stm32f7xx_it.c
index fc333c38eb..f1e4c9ebf8 100644
--- a/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/stm32f7xx_it.c
+++ b/bsp/stm32/stm32f767-atk-apollo/board/CubeMX_Config/Src/stm32f7xx_it.c
@@ -71,7 +71,7 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-
+extern HCD_HandleTypeDef hhcd_USB_OTG_FS;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -212,6 +212,20 @@ void SysTick_Handler(void)
 /* please refer to the startup file (startup_stm32f7xx.s).                    */
 /******************************************************************************/
 
+/**
+  * @brief This function handles USB On The Go FS global interrupt.
+  */
+void OTG_FS_IRQHandler(void)
+{
+  /* USER CODE BEGIN OTG_FS_IRQn 0 */
+
+  /* USER CODE END OTG_FS_IRQn 0 */
+  HAL_HCD_IRQHandler(&hhcd_USB_OTG_FS);
+  /* USER CODE BEGIN OTG_FS_IRQn 1 */
+
+  /* USER CODE END OTG_FS_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/bsp/stm32/stm32f767-atk-apollo/board/Kconfig b/bsp/stm32/stm32f767-atk-apollo/board/Kconfig
index c344d3a8c4..82efc63223 100644
--- a/bsp/stm32/stm32f767-atk-apollo/board/Kconfig
+++ b/bsp/stm32/stm32f767-atk-apollo/board/Kconfig
@@ -17,7 +17,7 @@ menu "Onboard Peripheral Drivers"
 
     config BSP_USING_RS232
         bool "Enable RS232 (uart2 pin conflict with Ethernet)"
-	    select BSP_USING_UART
+        select BSP_USING_UART
         select BSP_USING_UART2
         default n
 
@@ -246,6 +246,21 @@ menu "On-chip Peripheral Drivers"
         select RT_USING_WDT
         default n
 
+    menuconfig BSP_USING_USBH
+        bool "Enable USB Host"
+        select RT_USING_USB_HOST
+        default n
+        if BSP_USING_USBH
+            menuconfig RT_USBH_MSTORAGE
+                bool "Enable Udisk Drivers"
+                default n
+                if RT_USBH_MSTORAGE
+                    config UDISK_MOUNTPOINT
+                    string "Udisk mount dir"
+                    default "/"
+                endif
+        endif
+
     config BSP_USING_SDIO
         bool "Enable SDIO"
         select RT_USING_SDIO
@@ -255,7 +270,7 @@ menu "On-chip Peripheral Drivers"
     config BSP_USING_LTDC
         bool "Enable LTDC"
         default n
-	
+
  source "../libraries/HAL_Drivers/Kconfig"
     
 endmenu