diff --git a/idf_component.yml b/idf_component.yml
new file mode 100644
index 00000000..8f80c12c
--- /dev/null
+++ b/idf_component.yml
@@ -0,0 +1,5 @@
+description: CherryUSB is a tiny and portable USB Stack (device & host) for embedded system with USB IP
+url: https://github.com/cherry-embedded/CherryUSB
+repository: https://github.com/cherry-embedded/CherryUSB.git
+documentation: https://cherryusb.readthedocs.io/
+issues: https://github.com/cherry-embedded/CherryUSB/issues
\ No newline at end of file
diff --git a/osal/idf/linker.lf b/osal/idf/linker.lf
new file mode 100644
index 00000000..24c8b27a
--- /dev/null
+++ b/osal/idf/linker.lf
@@ -0,0 +1,13 @@
+[sections:usbh_class_info]
+entries:
+    .usbh_class_info+
+
+[scheme:usbh_class_info_array]
+entries:
+    usbh_class_info -> flash_rodata
+
+[mapping:usbh_class_info_table]
+archive: *
+entries:
+    * (usbh_class_info_array);
+        usbh_class_info -> flash_rodata KEEP() SURROUND(usbh_class_info)
\ No newline at end of file
diff --git a/osal/idf/usb_config.h b/osal/idf/usb_config.h
new file mode 100644
index 00000000..e813c920
--- /dev/null
+++ b/osal/idf/usb_config.h
@@ -0,0 +1,271 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#define CHERRYUSB_VERSION     0x010301
+#define CHERRYUSB_VERSION_STR "v1.3.1"
+
+#include "sdkconfig.h"
+#include "esp_rom_sys.h"
+
+/* ================ USB common Configuration ================ */
+
+#define CONFIG_USB_PRINTF(...) esp_rom_printf(__VA_ARGS__)
+
+#define usb_malloc(size) malloc(size)
+#define usb_free(ptr)    free(ptr)
+
+#ifndef CONFIG_USB_DBG_LEVEL
+#define CONFIG_USB_DBG_LEVEL USB_DBG_INFO
+#endif
+
+/* Enable print with color */
+#define CONFIG_USB_PRINTF_COLOR_ENABLE
+
+/* data align size when use dma */
+#ifndef CONFIG_USB_ALIGN_SIZE
+#define CONFIG_USB_ALIGN_SIZE 4
+#endif
+
+/* attribute data into no cache ram */
+#define USB_NOCACHE_RAM_SECTION
+
+/* ================= USB Device Stack Configuration ================ */
+// NOTE: Below configurations are removed to Kconfig, `idf.py menuconfig` to config them
+
+/* Ep0 in and out transfer buffer */
+#ifndef CONFIG_USBDEV_REQUEST_BUFFER_LEN
+#define CONFIG_USBDEV_REQUEST_BUFFER_LEN 512
+#endif
+
+/* Setup packet log for debug */
+// #define CONFIG_USBDEV_SETUP_LOG_PRINT
+
+/* Send ep0 in data from user buffer instead of copying into ep0 reqdata
+ * Please note that user buffer must be aligned with CONFIG_USB_ALIGN_SIZE
+*/
+// #define CONFIG_USBDEV_EP0_INDATA_NO_COPY
+
+/* Check if the input descriptor is correct */
+// #define CONFIG_USBDEV_DESC_CHECK
+
+/* Enable test mode */
+// #define CONFIG_USBDEV_TEST_MODE
+
+#ifndef CONFIG_USBDEV_MSC_MAX_LUN
+#define CONFIG_USBDEV_MSC_MAX_LUN 1
+#endif
+
+#ifndef CONFIG_USBDEV_MSC_MAX_BUFSIZE
+#define CONFIG_USBDEV_MSC_MAX_BUFSIZE 512
+#endif
+
+#ifndef CONFIG_USBDEV_MSC_MANUFACTURER_STRING
+#define CONFIG_USBDEV_MSC_MANUFACTURER_STRING ""
+#endif
+
+#ifndef CONFIG_USBDEV_MSC_PRODUCT_STRING
+#define CONFIG_USBDEV_MSC_PRODUCT_STRING ""
+#endif
+
+#ifndef CONFIG_USBDEV_MSC_VERSION_STRING
+#define CONFIG_USBDEV_MSC_VERSION_STRING "0.01"
+#endif
+
+// #define CONFIG_USBDEV_MSC_THREAD
+
+#ifndef CONFIG_USBDEV_MSC_PRIO
+#define CONFIG_USBDEV_MSC_PRIO 4
+#endif
+
+#ifndef CONFIG_USBDEV_MSC_STACKSIZE
+#define CONFIG_USBDEV_MSC_STACKSIZE 2048
+#endif
+
+#ifndef CONFIG_USBDEV_RNDIS_RESP_BUFFER_SIZE
+#define CONFIG_USBDEV_RNDIS_RESP_BUFFER_SIZE 156
+#endif
+
+/* rndis transfer buffer size, must be a multiple of (1536 + 44)*/
+#ifndef CONFIG_USBDEV_RNDIS_ETH_MAX_FRAME_SIZE
+#define CONFIG_USBDEV_RNDIS_ETH_MAX_FRAME_SIZE 1580
+#endif
+
+#ifndef CONFIG_USBDEV_RNDIS_VENDOR_ID
+#define CONFIG_USBDEV_RNDIS_VENDOR_ID 0x0000ffff
+#endif
+
+#ifndef CONFIG_USBDEV_RNDIS_VENDOR_DESC
+#define CONFIG_USBDEV_RNDIS_VENDOR_DESC "CherryUSB"
+#endif
+
+/******
+#define CONFIG_USBDEV_RNDIS_USING_LWIP
+******/
+
+/* ================ USB HOST Stack Configuration ================== */
+// NOTE: Below configurations are removed to Kconfig, `idf.py menuconfig` to config them
+
+/******
+#define CONFIG_USBHOST_MAX_RHPORTS          1
+#define CONFIG_USBHOST_MAX_EXTHUBS          1
+#define CONFIG_USBHOST_MAX_EHPORTS          4
+#define CONFIG_USBHOST_MAX_INTERFACES       8
+#define CONFIG_USBHOST_MAX_INTF_ALTSETTINGS 8
+#define CONFIG_USBHOST_MAX_ENDPOINTS        4
+
+#define CONFIG_USBHOST_MAX_CDC_ACM_CLASS 4
+#define CONFIG_USBHOST_MAX_HID_CLASS     4
+#define CONFIG_USBHOST_MAX_MSC_CLASS     2
+#define CONFIG_USBHOST_MAX_AUDIO_CLASS   1
+#define CONFIG_USBHOST_MAX_VIDEO_CLASS   1
+
+#define CONFIG_USBHOST_DEV_NAMELEN 16
+******/
+
+#ifndef CONFIG_USBHOST_PSC_PRIO
+#define CONFIG_USBHOST_PSC_PRIO 0
+#endif
+#ifndef CONFIG_USBHOST_PSC_STACKSIZE
+#define CONFIG_USBHOST_PSC_STACKSIZE 2048
+#endif
+
+// #define CONFIG_USBHOST_GET_STRING_DESC
+
+// #define CONFIG_USBHOST_MSOS_ENABLE
+#ifndef CONFIG_USBHOST_MSOS_VENDOR_CODE
+#define CONFIG_USBHOST_MSOS_VENDOR_CODE 0x00
+#endif
+
+/* Ep0 max transfer buffer */
+#ifndef CONFIG_USBHOST_REQUEST_BUFFER_LEN
+#define CONFIG_USBHOST_REQUEST_BUFFER_LEN 512
+#endif
+
+#ifndef CONFIG_USBHOST_CONTROL_TRANSFER_TIMEOUT
+#define CONFIG_USBHOST_CONTROL_TRANSFER_TIMEOUT 500
+#endif
+
+#ifndef CONFIG_USBHOST_MSC_TIMEOUT
+#define CONFIG_USBHOST_MSC_TIMEOUT 5000
+#endif
+
+/* This parameter affects usb performance, and depends on (TCP_WND)tcp eceive windows size,
+ * you can change to 2K ~ 16K and must be larger than TCP RX windows size in order to avoid being overflow.
+ */
+#ifndef CONFIG_USBHOST_RNDIS_ETH_MAX_RX_SIZE
+#define CONFIG_USBHOST_RNDIS_ETH_MAX_RX_SIZE (2048)
+#endif
+
+/* Because lwip do not support multi pbuf at a time, so increasing this variable has no performance improvement */
+#ifndef CONFIG_USBHOST_RNDIS_ETH_MAX_TX_SIZE
+#define CONFIG_USBHOST_RNDIS_ETH_MAX_TX_SIZE (2048)
+#endif
+
+/* This parameter affects usb performance, and depends on (TCP_WND)tcp eceive windows size,
+ * you can change to 2K ~ 16K and must be larger than TCP RX windows size in order to avoid being overflow.
+ */
+#ifndef CONFIG_USBHOST_CDC_NCM_ETH_MAX_RX_SIZE
+#define CONFIG_USBHOST_CDC_NCM_ETH_MAX_RX_SIZE (2048)
+#endif
+/* Because lwip do not support multi pbuf at a time, so increasing this variable has no performance improvement */
+#ifndef CONFIG_USBHOST_CDC_NCM_ETH_MAX_TX_SIZE
+#define CONFIG_USBHOST_CDC_NCM_ETH_MAX_TX_SIZE (2048)
+#endif
+
+/* This parameter affects usb performance, and depends on (TCP_WND)tcp eceive windows size,
+ * you can change to 2K ~ 16K and must be larger than TCP RX windows size in order to avoid being overflow.
+ */
+#ifndef CONFIG_USBHOST_ASIX_ETH_MAX_RX_SIZE
+#define CONFIG_USBHOST_ASIX_ETH_MAX_RX_SIZE (2048)
+#endif
+/* Because lwip do not support multi pbuf at a time, so increasing this variable has no performance improvement */
+#ifndef CONFIG_USBHOST_ASIX_ETH_MAX_TX_SIZE
+#define CONFIG_USBHOST_ASIX_ETH_MAX_TX_SIZE (2048)
+#endif
+
+/* This parameter affects usb performance, and depends on (TCP_WND)tcp eceive windows size,
+ * you can change to 2K ~ 16K and must be larger than TCP RX windows size in order to avoid being overflow.
+ */
+#ifndef CONFIG_USBHOST_RTL8152_ETH_MAX_RX_SIZE
+#define CONFIG_USBHOST_RTL8152_ETH_MAX_RX_SIZE (2048)
+#endif
+/* Because lwip do not support multi pbuf at a time, so increasing this variable has no performance improvement */
+#ifndef CONFIG_USBHOST_RTL8152_ETH_MAX_TX_SIZE
+#define CONFIG_USBHOST_RTL8152_ETH_MAX_TX_SIZE (2048)
+#endif
+
+#define CONFIG_USBHOST_BLUETOOTH_HCI_H4
+// #define CONFIG_USBHOST_BLUETOOTH_HCI_LOG
+
+#ifndef CONFIG_USBHOST_BLUETOOTH_TX_SIZE
+#define CONFIG_USBHOST_BLUETOOTH_TX_SIZE 2048
+#endif
+#ifndef CONFIG_USBHOST_BLUETOOTH_RX_SIZE
+#define CONFIG_USBHOST_BLUETOOTH_RX_SIZE 2048
+#endif
+
+/* ================ USB Device Port Configuration ================*/
+
+#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+#define ESP_USBD_BASE           0x60080000
+
+#define CONFIG_USBDEV_MAX_BUS 1
+// esp32s2/s3 has 7 endpoints in device mode (include ep0)
+#define CONFIG_USBDEV_EP_NUM 7
+
+/* ---------------- DWC2 Configuration ---------------- */
+//esp32s2/s3 can support up to 5 IN endpoints(include ep0) at the same time
+#define CONFIG_USB_DWC2_RXALL_FIFO_SIZE (208 / 4)
+#define CONFIG_USB_DWC2_TX0_FIFO_SIZE (64 / 4)
+#define CONFIG_USB_DWC2_TX1_FIFO_SIZE (136 / 4)
+#define CONFIG_USB_DWC2_TX2_FIFO_SIZE (136 / 4)
+#define CONFIG_USB_DWC2_TX3_FIFO_SIZE (128 / 4)
+#define CONFIG_USB_DWC2_TX4_FIFO_SIZE (128 / 4)
+#define CONFIG_USB_DWC2_TX5_FIFO_SIZE (0 / 4)
+#define CONFIG_USB_DWC2_TX6_FIFO_SIZE (0 / 4)
+#define CONFIG_USB_DWC2_TX7_FIFO_SIZE (0 / 4)
+#define CONFIG_USB_DWC2_TX8_FIFO_SIZE (0 / 4)
+
+#define CONFIG_USB_DWC2_DMA_ENABLE
+
+#elif CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32P4
+#define CONFIG_USB_HS
+#define ESP_USBD_BASE           0x60080000
+// todo: check c5, p4 in later
+#define CONFIG_USBDEV_EP_NUM 7
+#else
+#error "Unsupported SoC"
+#endif
+
+/* ================ USB Host Port Configuration ==================*/
+
+#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+#define ESP_USBH_BASE               0x60080000
+
+#define CONFIG_USBHOST_MAX_BUS 1
+// esp32s2/s3 has 8 endpoints in host mode (include ep0)
+#define CONFIG_USBHOST_PIPE_NUM 8
+
+/* ---------------- DWC2 Configuration ---------------- */
+/* largest non-periodic USB packet used / 4 */
+#define CONFIG_USB_DWC2_NPTX_FIFO_SIZE (240 / 4)
+/* largest periodic USB packet used / 4 */
+#define CONFIG_USB_DWC2_PTX_FIFO_SIZE (240 / 4)
+/*
+ * (largest USB packet used / 4) + 1 for status information + 1 transfer complete +
+ * 1 location each for Bulk/Control endpoint for handling NAK/NYET scenario
+ */
+#define CONFIG_USB_DWC2_RX_FIFO_SIZE ((200 - CONFIG_USB_DWC2_NPTX_FIFO_SIZE - CONFIG_USB_DWC2_PTX_FIFO_SIZE) / 4)
+
+#elif CONFIG_IDF_TARGET_ESP32C5 || CONFIG_IDF_TARGET_ESP32P4
+// todo: check c5, p4 in later
+#define ESP_USBH_BASE               0x60080000
+#define CONFIG_USBHOST_PIPE_NUM 8
+#else
+#error "Unsupported SoC"
+#endif
\ No newline at end of file
diff --git a/osal/idf/usb_osal_idf.c b/osal/idf/usb_osal_idf.c
new file mode 100644
index 00000000..f85aba2e
--- /dev/null
+++ b/osal/idf/usb_osal_idf.c
@@ -0,0 +1,200 @@
+/*
+ * Copyright (c) 2022, sakumisu
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "usb_osal.h"
+#include "usb_errno.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+#include "freertos/timers.h"
+#include "freertos/event_groups.h"
+
+static portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED;
+
+usb_osal_thread_t usb_osal_thread_create(const char *name, uint32_t stack_size, uint32_t prio, usb_thread_entry_t entry, void *args)
+{
+    TaskHandle_t htask = NULL;
+    stack_size /= sizeof(StackType_t);
+    xTaskCreate(entry, name, stack_size, args, configMAX_PRIORITIES - 1 - prio, &htask);
+    return (usb_osal_thread_t)htask;
+}
+
+void usb_osal_thread_delete(usb_osal_thread_t thread)
+{
+    vTaskDelete(thread);
+}
+
+usb_osal_sem_t usb_osal_sem_create(uint32_t initial_count)
+{
+    return (usb_osal_sem_t)xSemaphoreCreateCounting(1, initial_count);
+}
+
+void usb_osal_sem_delete(usb_osal_sem_t sem)
+{
+    vSemaphoreDelete((SemaphoreHandle_t)sem);
+}
+
+int usb_osal_sem_take(usb_osal_sem_t sem, uint32_t timeout)
+{
+    if (timeout == USB_OSAL_WAITING_FOREVER) {
+        return (xSemaphoreTake((SemaphoreHandle_t)sem, portMAX_DELAY) == pdPASS) ? 0 : -USB_ERR_TIMEOUT;
+    } else {
+        return (xSemaphoreTake((SemaphoreHandle_t)sem, pdMS_TO_TICKS(timeout)) == pdPASS) ? 0 : -USB_ERR_TIMEOUT;
+    }
+}
+
+int usb_osal_sem_give(usb_osal_sem_t sem)
+{
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    int ret;
+
+    if (xPortInIsrContext()) {
+        ret = xSemaphoreGiveFromISR((SemaphoreHandle_t)sem, &xHigherPriorityTaskWoken);
+        if (ret == pdPASS) {
+            portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+        }
+    } else {
+        ret = xSemaphoreGive((SemaphoreHandle_t)sem);
+    }
+
+    return (ret == pdPASS) ? 0 : -USB_ERR_TIMEOUT;
+}
+
+void usb_osal_sem_reset(usb_osal_sem_t sem)
+{
+    xQueueReset((QueueHandle_t)sem);
+}
+
+usb_osal_mutex_t usb_osal_mutex_create(void)
+{
+    return (usb_osal_mutex_t)xSemaphoreCreateMutex();
+}
+
+void usb_osal_mutex_delete(usb_osal_mutex_t mutex)
+{
+    vSemaphoreDelete((SemaphoreHandle_t)mutex);
+}
+
+int usb_osal_mutex_take(usb_osal_mutex_t mutex)
+{
+    return (xSemaphoreTake((SemaphoreHandle_t)mutex, portMAX_DELAY) == pdPASS) ? 0 : -USB_ERR_TIMEOUT;
+}
+
+int usb_osal_mutex_give(usb_osal_mutex_t mutex)
+{
+    return (xSemaphoreGive((SemaphoreHandle_t)mutex) == pdPASS) ? 0 : -USB_ERR_TIMEOUT;
+}
+
+usb_osal_mq_t usb_osal_mq_create(uint32_t max_msgs)
+{
+    return (usb_osal_mq_t)xQueueCreate(max_msgs, sizeof(uintptr_t));
+}
+
+void usb_osal_mq_delete(usb_osal_mq_t mq)
+{
+    vQueueDelete((QueueHandle_t)mq);
+}
+
+int usb_osal_mq_send(usb_osal_mq_t mq, uintptr_t addr)
+{
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    int ret;
+
+    ret = xQueueSendFromISR((usb_osal_mq_t)mq, &addr, &xHigherPriorityTaskWoken);
+    if (ret == pdPASS) {
+        portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+    }
+
+    return (ret == pdPASS) ? 0 : -USB_ERR_TIMEOUT;
+}
+
+int usb_osal_mq_recv(usb_osal_mq_t mq, uintptr_t *addr, uint32_t timeout)
+{
+    if (timeout == USB_OSAL_WAITING_FOREVER) {
+        return (xQueueReceive((usb_osal_mq_t)mq, addr, portMAX_DELAY) == pdPASS) ? 0 : -USB_ERR_TIMEOUT;
+    } else {
+        return (xQueueReceive((usb_osal_mq_t)mq, addr, pdMS_TO_TICKS(timeout)) == pdPASS) ? 0 : -USB_ERR_TIMEOUT;
+    }
+}
+
+static void __usb_timeout(TimerHandle_t *handle)
+{
+    struct usb_osal_timer *timer = (struct usb_osal_timer *)pvTimerGetTimerID((TimerHandle_t)handle);
+
+    timer->handler(timer->argument);
+}
+
+struct usb_osal_timer *usb_osal_timer_create(const char *name, uint32_t timeout_ms, usb_timer_handler_t handler, void *argument, bool is_period)
+{
+    struct usb_osal_timer *timer;
+
+    timer = pvPortMalloc(sizeof(struct usb_osal_timer));
+
+    if (timer == NULL) {
+        return NULL;
+    }
+    memset(timer, 0, sizeof(struct usb_osal_timer));
+
+    timer->handler = handler;
+    timer->argument = argument;
+
+    timer->timer = (void *)xTimerCreate("usb_tim", pdMS_TO_TICKS(timeout_ms), is_period, timer, (TimerCallbackFunction_t)__usb_timeout);
+    if (timer->timer == NULL) {
+        return NULL;
+    }
+    return timer;
+}
+
+void usb_osal_timer_delete(struct usb_osal_timer *timer)
+{
+    xTimerStop(timer->timer, 0);
+    xTimerDelete(timer->timer, 0);
+    vPortFree(timer);
+}
+
+void usb_osal_timer_start(struct usb_osal_timer *timer)
+{
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    int ret;
+
+    if (xPortInIsrContext()) {
+        ret = xTimerStartFromISR(timer->timer, &xHigherPriorityTaskWoken);
+        if (ret == pdPASS) {
+            portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+        }
+    } else {
+        xTimerStart(timer->timer, 0);
+    }
+}
+
+void usb_osal_timer_stop(struct usb_osal_timer *timer)
+{
+    xTimerStop(timer->timer, 0);
+}
+
+size_t usb_osal_enter_critical_section(void)
+{
+    portENTER_CRITICAL_SAFE(&spinlock);
+    return 0;
+}
+
+void usb_osal_leave_critical_section(size_t flag)
+{
+    portEXIT_CRITICAL_SAFE(&spinlock);
+}
+
+void usb_osal_msleep(uint32_t delay)
+{
+    vTaskDelay(pdMS_TO_TICKS(delay));
+}
+
+void *usb_osal_malloc(size_t size)
+{
+    return malloc(size);
+}
+
+void usb_osal_free(void *ptr)
+{
+    free(ptr);
+}
\ No newline at end of file
diff --git a/osal/idf/usbh_class_info.ld b/osal/idf/usbh_class_info.ld
new file mode 100644
index 00000000..117bfd8d
--- /dev/null
+++ b/osal/idf/usbh_class_info.ld
@@ -0,0 +1,2 @@
+__usbh_class_info_start__ = _usbh_class_info_start;
+__usbh_class_info_end__ = _usbh_class_info_end;
\ No newline at end of file