diff --git a/cherryusb.cmake b/cherryusb.cmake
index 3d7c28b3..5734745b 100644
--- a/cherryusb.cmake
+++ b/cherryusb.cmake
@@ -340,6 +340,10 @@ if(CONFIG_CHERRYUSB_HOST)
     endif()
 endif()
 
+if(CONFIG_CHERRYUSB_DEVICE AND CONFIG_CHERRYUSB_HOST)
+list(APPEND cherryusb_srcs ${CMAKE_CURRENT_LIST_DIR}/core/usbotg_core.c)
+endif()
+
 if(DEFINED CONFIG_CHERRYUSB_OSAL)
     if("${CONFIG_CHERRYUSB_OSAL}" STREQUAL "freertos")
         list(APPEND cherryusb_srcs ${CMAKE_CURRENT_LIST_DIR}/osal/usb_osal_freertos.c)
diff --git a/cherryusb_config_template.h b/cherryusb_config_template.h
index 2f788eb0..34c19cba 100644
--- a/cherryusb_config_template.h
+++ b/cherryusb_config_template.h
@@ -318,4 +318,7 @@
 #define usb_ramaddr2phyaddr(addr) (addr)
 #endif
 
+/* Enable OTG support, only support hpmicro now */
+// #define CONFIG_USB_OTG_ENABLE
+
 #endif
diff --git a/common/usb_otg.h b/common/usb_otg.h
index 6adf5451..032d2e9f 100644
--- a/common/usb_otg.h
+++ b/common/usb_otg.h
@@ -12,6 +12,10 @@
 extern "C" {
 #endif
 
+#define USBOTG_MODE_HOST   0
+#define USBOTG_MODE_DEVICE 1
+#define USBOTG_MODE_OTG    2
+
 /**
  * @brief usb otg controller hardware or gpio id simulator init.
  *
@@ -24,12 +28,6 @@ int usb_otg_init(uint8_t busid);
  * @return On success will return 0, and others indicate fail.
  */
 int usb_otg_deinit(uint8_t busid);
-/**
- * @brief get current role mode.
- *
- * @return return USBOTG_MODE_HOST or USBOTG_MODE_DEVICE.
- */
-uint8_t usbotg_get_current_mode(uint8_t busid);
 
 /* called by user */
 void USBOTG_IRQHandler(uint8_t busid);
diff --git a/core/usbotg_core.c b/core/usbotg_core.c
index bd063828..fb7e64ce 100644
--- a/core/usbotg_core.c
+++ b/core/usbotg_core.c
@@ -5,39 +5,57 @@
  */
 #include "usbotg_core.h"
 
+#ifdef CONFIG_USB_OTG_ENABLE
+#undef USB_DBG_TAG
+#define USB_DBG_TAG "usbotg_core"
+#include "usb_log.h"
+
+#define CONFIG_USB_OTG_MAX_BUS CONFIG_USBHOST_MAX_BUS
+
 struct usbotg_core_priv {
     uint8_t busid;
     uint32_t reg_base;
-    usb_osal_sem_t change_sem;
-    usb_osal_thread_t change_thread;
     bool usbh_initialized;
     bool usbd_initialized;
-    int (*usbh_initialize)(uint8_t busid, uint32_t reg_base);
-    int (*usbd_initialize)(uint8_t busid, uint32_t reg_base);
-} g_usbotg_core[CONFIG_USBHOST_MAX_BUS];
+    void *device_event_callback;
+    void *host_event_callback;
+    uint8_t current_mode;
+    usb_osal_sem_t change_sem;
+    usb_osal_thread_t change_thread;
+} g_usbotg_core[CONFIG_USB_OTG_MAX_BUS];
 
 static void usbotg_host_initialize(uint8_t busid)
 {
+    if (g_usbotg_core[busid].usbh_initialized) {
+        return;
+    }
+
     if (g_usbotg_core[busid].usbd_initialized) {
         g_usbotg_core[busid].usbd_initialized = false;
         usbd_deinitialize(busid);
     }
-    if (g_usbotg_core[busid].usbh_initialize && !g_usbotg_core[busid].usbh_initialized) {
-        g_usbotg_core[busid].usbh_initialized = true;
-        g_usbotg_core[busid].usbh_initialize(g_usbotg_core[busid].busid, g_usbotg_core[busid].reg_base);
-    }
+
+    USB_LOG_INFO("Switch to HOST mode\r\n");
+
+    usbh_initialize(busid, g_usbotg_core[busid].reg_base);
+    g_usbotg_core[busid].usbh_initialized = true;
 }
 
 static void usbotg_device_initialize(uint8_t busid)
 {
+    if (g_usbotg_core[busid].usbd_initialized) {
+        return;
+    }
+
     if (g_usbotg_core[busid].usbh_initialized) {
         g_usbotg_core[busid].usbh_initialized = false;
         usbh_deinitialize(busid);
     }
-    if (g_usbotg_core[busid].usbd_initialize && !g_usbotg_core[busid].usbd_initialize) {
-        g_usbotg_core[busid].usbd_initialized = true;
-        g_usbotg_core[busid].usbd_initialize(g_usbotg_core[busid].busid, g_usbotg_core[busid].reg_base);
-    }
+
+    USB_LOG_INFO("Switch to DEVICE mode\r\n");
+
+    usbd_initialize(g_usbotg_core[busid].busid, g_usbotg_core[busid].reg_base, g_usbotg_core[busid].device_event_callback);
+    g_usbotg_core[busid].usbd_initialized = true;
 }
 
 static void usbotg_rolechange_thread(void *argument)
@@ -48,58 +66,49 @@ static void usbotg_rolechange_thread(void *argument)
 
     while (1) {
         if (usb_osal_sem_take(g_usbotg_core[busid].change_sem, USB_OSAL_WAITING_FOREVER) == 0) {
-            if (usbotg_get_current_mode(busid) == USBOTG_MODE_HOST) {
+            if (g_usbotg_core[busid].current_mode == USBOTG_MODE_HOST) {
                 usbotg_host_initialize(busid);
-            } else if (usbotg_get_current_mode(busid) == USBOTG_MODE_DEVICE) {
+            } else if (g_usbotg_core[busid].current_mode == USBOTG_MODE_DEVICE) {
                 usbotg_device_initialize(busid);
             }
         }
     }
 }
 
-int usbotg_initialize(uint8_t otg_mode, uint8_t busid, uint32_t reg_base,
-                      int (*usbh_initialize)(uint8_t busid, uint32_t reg_base),
-                      int (*usbd_initialize)(uint8_t busid, uint32_t reg_base))
+int usbotg_initialize(uint8_t busid, uint32_t reg_base, void *device_event_callback, void *host_event_callback, uint8_t default_role)
 {
     char thread_name[32] = { 0 };
 
-    if (busid >= CONFIG_USBHOST_MAX_BUS) {
-        USB_LOG_ERR("bus overflow\r\n");
+    USB_ASSERT_MSG(busid < CONFIG_USB_OTG_MAX_BUS, "bus overflow\r\n");
+
+    g_usbotg_core[busid].busid = busid;
+    g_usbotg_core[busid].reg_base = reg_base;
+    g_usbotg_core[busid].device_event_callback = device_event_callback;
+    g_usbotg_core[busid].host_event_callback = host_event_callback;
+
+    g_usbotg_core[busid].change_sem = usb_osal_sem_create(0);
+    if (g_usbotg_core[busid].change_sem == NULL) {
+        USB_LOG_ERR("Failed to create change_sem\r\n");
         while (1) {
         }
     }
 
-    g_usbotg_core[busid].busid = busid;
-    g_usbotg_core[busid].reg_base = reg_base;
-    g_usbotg_core[busid].usbh_initialize = usbh_initialize;
-    g_usbotg_core[busid].usbd_initialize = usbd_initialize;
-
-    if (otg_mode == USBOTG_MODE_OTG) {
-        g_usbotg_core[busid].change_sem = usb_osal_sem_create(0);
-        if (g_usbotg_core[busid].change_sem == NULL) {
-            USB_LOG_ERR("Failed to create change_sem\r\n");
-            return -1;
-        }
-
-        snprintf(thread_name, 32, "usbotg%u", busid);
-        g_usbotg_core[busid].change_thread = usb_osal_thread_create(thread_name, CONFIG_USBHOST_PSC_STACKSIZE, CONFIG_USBHOST_PSC_PRIO, usbotg_rolechange_thread, (void *)(uintptr_t)busid);
-        if (g_usbotg_core[busid].change_thread == NULL) {
-            USB_LOG_ERR("Failed to create usbotg thread\r\n");
-            return -1;
-        }
-    } else {
-        if (otg_mode == USBOTG_MODE_HOST) {
-            usbotg_host_initialize(busid);
-        } else if (otg_mode == USBOTG_MODE_DEVICE) {
-            usbotg_device_initialize(busid);
+    snprintf(thread_name, 32, "usbotg%u", busid);
+    g_usbotg_core[busid].change_thread = usb_osal_thread_create(thread_name, 2048, 10, usbotg_rolechange_thread, (void *)(uintptr_t)busid);
+    if (g_usbotg_core[busid].change_thread == NULL) {
+        USB_LOG_ERR("Failed to create usbotg thread\r\n");
+        while (1) {
         }
     }
 
+    usbotg_trigger_role_change(busid, default_role);
     return 0;
 }
 
-int usbotg_deinitialize(uint8_t busid, uint32_t reg_base)
+int usbotg_deinitialize(uint8_t busid)
 {
+    USB_ASSERT_MSG(busid < CONFIG_USB_OTG_MAX_BUS, "bus overflow\r\n");
+
     if (g_usbotg_core[busid].usbd_initialized) {
         g_usbotg_core[busid].usbd_initialized = false;
         usbd_deinitialize(busid);
@@ -110,28 +119,37 @@ int usbotg_deinitialize(uint8_t busid, uint32_t reg_base)
         usbh_deinitialize(busid);
     }
 
+    if (g_usbotg_core[busid].change_thread) {
+        usb_osal_thread_delete(g_usbotg_core[busid].change_thread);
+    }
+
     if (g_usbotg_core[busid].change_sem) {
         usb_otg_deinit(busid);
         usb_osal_sem_delete(g_usbotg_core[busid].change_sem);
     }
 
-    if (g_usbotg_core[busid].change_thread) {
-        usb_osal_thread_delete(g_usbotg_core[busid].change_thread);
-    }
-
     return 0;
 }
 
-void usbotg_trigger_role_change(uint8_t busid)
+void usbotg_trigger_role_change(uint8_t busid, uint8_t mode)
 {
-    usb_osal_sem_give(g_usbotg_core[busid].change_sem);
+    USB_ASSERT_MSG(busid < CONFIG_USB_OTG_MAX_BUS, "bus overflow\r\n");
+
+    g_usbotg_core[busid].current_mode = mode;
+
+    if (g_usbotg_core[busid].change_sem) {
+        usb_osal_sem_give(g_usbotg_core[busid].change_sem);
+    }
 }
 
 void USBOTG_IRQHandler(uint8_t busid)
 {
-    if (usbotg_get_current_mode(busid) == USBOTG_MODE_HOST) {
+    USB_ASSERT_MSG(busid < CONFIG_USB_OTG_MAX_BUS, "bus overflow\r\n");
+
+    if (g_usbotg_core[busid].current_mode == USBOTG_MODE_HOST && g_usbotg_core[busid].usbh_initialized) {
         USBH_IRQHandler(busid);
-    } else if (usbotg_get_current_mode(busid) == USBOTG_MODE_DEVICE) {
+    } else if (g_usbotg_core[busid].current_mode == USBOTG_MODE_DEVICE && g_usbotg_core[busid].usbd_initialized) {
         USBD_IRQHandler(busid);
     }
-}
\ No newline at end of file
+}
+#endif /* CONFIG_USB_OTG_ENABLE */
\ No newline at end of file
diff --git a/core/usbotg_core.h b/core/usbotg_core.h
index 9269a508..4729d8c8 100644
--- a/core/usbotg_core.h
+++ b/core/usbotg_core.h
@@ -10,22 +10,15 @@
 extern "C" {
 #endif
 
-#define USBOTG_MODE_UNKNOWN 0
-#define USBOTG_MODE_OTG     1
-#define USBOTG_MODE_HOST    2
-#define USBOTG_MODE_DEVICE  3
-
 #include "usbd_core.h"
 #include "usbh_core.h"
 #include "usb_otg.h"
 
-int usbotg_initialize(uint8_t otg_mode, uint8_t busid, uint32_t reg_base,
-                      int (*usbh_initialize)(uint8_t busid, uint32_t reg_base),
-                      int (*usbd_initialize)(uint8_t busid, uint32_t reg_base));
-int usbotg_deinitialize(uint8_t busid, uint32_t reg_base);
+int usbotg_initialize(uint8_t busid, uint32_t reg_base, void *device_event_callback, void *host_event_callback, uint8_t default_role);
+int usbotg_deinitialize(uint8_t busid);
 
 /* called by user */
-void usbotg_trigger_role_change(uint8_t busid);
+void usbotg_trigger_role_change(uint8_t busid, uint8_t mode);
 
 #ifdef __cplusplus
 }
diff --git a/port/hpmicro/usb_dc_hpm.c b/port/hpmicro/usb_dc_hpm.c
index d4c73d4a..61956c37 100644
--- a/port/hpmicro/usb_dc_hpm.c
+++ b/port/hpmicro/usb_dc_hpm.c
@@ -102,7 +102,9 @@ int usb_dc_init(uint8_t busid)
 #endif
 
     usb_device_init(g_hpm_udc[busid].handle, int_mask);
-
+#ifdef CONFIG_USB_OTG_ENABLE
+    g_hpm_udc[busid].handle->regs->OTGSC |= USB_OTGSC_IDIE_MASK;
+#endif
     usb_dc_isr_connect(busid);
 
     return 0;
diff --git a/port/hpmicro/usb_glue_hpm.c b/port/hpmicro/usb_glue_hpm.c
index 51aa9aa4..6099d906 100644
--- a/port/hpmicro/usb_glue_hpm.c
+++ b/port/hpmicro/usb_glue_hpm.c
@@ -12,6 +12,49 @@
 void (*g_usb_hpm_irq[2])(uint8_t busid);
 uint8_t g_usb_hpm_busid[2];
 
+#ifdef CONFIG_USB_OTG_ENABLE
+#include "usbotg_core.h"
+int usb_otg_init(uint8_t busid)
+{
+    return 0;
+}
+
+int usb_otg_deinit(uint8_t busid)
+{
+    return 0;
+}
+
+SDK_DECLARE_EXT_ISR_M(IRQn_USB0, hpm_isr_usb0)
+void hpm_isr_usb0(void)
+{
+    bool is_idchange = false;
+
+    is_idchange = USB_OTGSC_IDIS_GET(HPM_USB0->OTGSC);
+    if (is_idchange) {
+        HPM_USB0->OTGSC |= USB_OTGSC_IDIS_MASK;
+        usbotg_trigger_role_change(g_usb_hpm_busid[0], USB_OTGSC_ID_GET(HPM_USB0->OTGSC) ? USBOTG_MODE_DEVICE : USBOTG_MODE_HOST);
+    }
+
+    USBOTG_IRQHandler(g_usb_hpm_busid[0]);
+}
+
+#ifdef HPM_USB1_BASE
+SDK_DECLARE_EXT_ISR_M(IRQn_USB1, hpm_isr_usb1)
+void hpm_isr_usb1(void)
+{
+    bool is_idchange = false;
+
+    is_idchange = USB_OTGSC_IDIS_GET(HPM_USB1->OTGSC);
+    if (is_idchange) {
+        HPM_USB1->OTGSC |= USB_OTGSC_IDIS_MASK;
+        usbotg_trigger_role_change(g_usb_hpm_busid[1], USB_OTGSC_ID_GET(HPM_USB1->OTGSC) ? USBOTG_MODE_DEVICE : USBOTG_MODE_HOST);
+    }
+
+    USBOTG_IRQHandler(g_usb_hpm_busid[1]);
+}
+#endif
+#endif
+
 ATTR_WEAK void hpm_usb_isr_enable(uint32_t base)
 {
     if (base == HPM_USB0_BASE) {
@@ -34,6 +77,7 @@ ATTR_WEAK void hpm_usb_isr_disable(uint32_t base)
     }
 }
 
+#ifndef CONFIG_USB_OTG_ENABLE
 #ifndef CONFIG_CHERRYUSB_CUSTOM_IRQ_HANDLER
 SDK_DECLARE_EXT_ISR_M(IRQn_USB0, hpm_isr_usb0)
 #endif
@@ -51,6 +95,7 @@ void hpm_isr_usb1(void)
     g_usb_hpm_irq[1](g_usb_hpm_busid[1]);
 }
 #endif
+#endif
 
 #ifdef CONFIG_USB_DCACHE_ENABLE
 void usb_dcache_clean(uintptr_t addr, size_t size)
diff --git a/port/hpmicro/usb_hc_hpm.c b/port/hpmicro/usb_hc_hpm.c
index 9ee51500..e6117d33 100644
--- a/port/hpmicro/usb_hc_hpm.c
+++ b/port/hpmicro/usb_hc_hpm.c
@@ -55,12 +55,18 @@ void usb_hc_low_level2_init(struct usbh_bus *bus)
     usb_host_mode_init((USB_Type *)(bus->hcd.reg_base));
 
     if (bus->hcd.reg_base == HPM_USB0_BASE) {
+#ifdef CONFIG_USB_OTG_ENABLE
+        HPM_USB0->OTGSC |= USB_OTGSC_IDIE_MASK;
+#endif
         g_usb_hpm_busid[0] = bus->hcd.hcd_id;
         g_usb_hpm_irq[0] = USBH_IRQHandler;
 
         hpm_usb_isr_enable(HPM_USB0_BASE);
     } else {
 #ifdef HPM_USB1_BASE
+#ifdef CONFIG_USB_OTG_ENABLE
+        HPM_USB1->OTGSC |= USB_OTGSC_IDIE_MASK;
+#endif
         g_usb_hpm_busid[1] = bus->hcd.hcd_id;
         g_usb_hpm_irq[1] = USBH_IRQHandler;
 
diff --git a/tests/hpmicro/CMakeLists.txt b/tests/hpmicro/CMakeLists.txt
index 40b0e56c..c78a1bd5 100644
--- a/tests/hpmicro/CMakeLists.txt
+++ b/tests/hpmicro/CMakeLists.txt
@@ -31,6 +31,8 @@ sdk_compile_definitions(-DCONFIG_USBHOST_PLATFORM_CDC_RNDIS)
 sdk_compile_definitions(-DCONFIG_USBHOST_PLATFORM_ASIX)
 sdk_compile_definitions(-DCONFIG_USBHOST_PLATFORM_RTL8152)
 
+# sdk_compile_definitions(-DCONFIG_USB_OTG_ENABLE)
+
 sdk_compile_options("-O2")
 
 sdk_inc(inc)
@@ -40,6 +42,7 @@ sdk_app_src(../../demo/usb_host.c)
 
 sdk_inc(src/iperf)
 sdk_app_src(src/iperf/iperf.c src/iperf/iperf_cli.c src/iperf/utils_getopt.c src/ping.c)
+sdk_app_src(src/cdc_acm_otg_template.c)
 
 set(CONFIG_CHERRYMP 1)
 set(CONFIG_CHERRYUSB 1)
diff --git a/tests/hpmicro/inc/usb_config.h b/tests/hpmicro/inc/usb_config.h
index a9ee4fc5..19067761 100644
--- a/tests/hpmicro/inc/usb_config.h
+++ b/tests/hpmicro/inc/usb_config.h
@@ -268,10 +268,6 @@
 
 #define CONFIG_USBDEV_MAX_BUS USB_SOC_MAX_COUNT
 
-#ifndef CONFIG_USBDEV_EP_NUM
-#define CONFIG_USBDEV_EP_NUM USB_SOC_DCD_MAX_ENDPOINT_COUNT
-#endif
-
 #ifndef CONFIG_HPM_USBD_BASE
 #define CONFIG_HPM_USBD_BASE HPM_USB0_BASE
 #endif
@@ -281,7 +277,6 @@
 
 /* ================ USB Host Port Configuration ==================*/
 #define CONFIG_USBHOST_MAX_BUS  USB_SOC_MAX_COUNT
-#define CONFIG_USBHOST_PIPE_NUM 10
 
 #ifndef CONFIG_HPM_USBH_BASE
 #define CONFIG_HPM_USBH_BASE HPM_USB0_BASE
@@ -295,6 +290,7 @@
 #define CONFIG_USB_EHCI_HPMICRO         (1)
 #define CONFIG_USB_EHCI_HCCR_OFFSET     (0x100u)
 #define CONFIG_USB_EHCI_FRAME_LIST_SIZE 1024
+#define CONFIG_USB_EHCI_QH_NUM          10
 #define CONFIG_USB_EHCI_QTD_NUM         64
 
 /* ================ Addr Convert Configuration ==================*/
diff --git a/tests/hpmicro/src/cdc_acm_otg_template.c b/tests/hpmicro/src/cdc_acm_otg_template.c
new file mode 100644
index 00000000..48915535
--- /dev/null
+++ b/tests/hpmicro/src/cdc_acm_otg_template.c
@@ -0,0 +1,277 @@
+/*
+ * Copyright (c) 2024, sakumisu
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+#include "usbotg_core.h"
+#include "usbd_cdc_acm.h"
+
+/*!< endpoint address */
+#define CDC_IN_EP  0x81
+#define CDC_OUT_EP 0x02
+#define CDC_INT_EP 0x83
+
+#define USBD_LANGID_STRING 1033
+
+/*!< config descriptor size */
+#define USB_CONFIG_SIZE (9 + CDC_ACM_DESCRIPTOR_LEN)
+
+#ifdef CONFIG_USB_HS
+#define CDC_MAX_MPS 512
+#else
+#define CDC_MAX_MPS 64
+#endif
+
+#ifdef CONFIG_USBDEV_ADVANCE_DESC
+static const uint8_t device_descriptor[] = {
+    USB_DEVICE_DESCRIPTOR_INIT(USB_2_0, 0xEF, 0x02, 0x01, USBD_VID, USBD_PID, 0x0100, 0x01)
+};
+
+static const uint8_t config_descriptor[] = {
+    USB_CONFIG_DESCRIPTOR_INIT(USB_CONFIG_SIZE, 0x02, 0x01, USB_CONFIG_BUS_POWERED, USBD_MAX_POWER),
+    CDC_ACM_DESCRIPTOR_INIT(0x00, CDC_INT_EP, CDC_OUT_EP, CDC_IN_EP, CDC_MAX_MPS, 0x02)
+};
+
+static const uint8_t device_quality_descriptor[] = {
+    ///////////////////////////////////////
+    /// device qualifier descriptor
+    ///////////////////////////////////////
+    0x0a,
+    USB_DESCRIPTOR_TYPE_DEVICE_QUALIFIER,
+    0x00,
+    0x02,
+    0x00,
+    0x00,
+    0x00,
+    0x40,
+    0x00,
+    0x00,
+};
+
+static const char *string_descriptors[] = {
+    (const char[]){ 0x09, 0x04 }, /* Langid */
+    "CherryUSB",                  /* Manufacturer */
+    "CherryUSB CDC DEMO",         /* Product */
+    "2022123456",                 /* Serial Number */
+};
+
+static const uint8_t *device_descriptor_callback(uint8_t speed)
+{
+    return device_descriptor;
+}
+
+static const uint8_t *config_descriptor_callback(uint8_t speed)
+{
+    return config_descriptor;
+}
+
+static const uint8_t *device_quality_descriptor_callback(uint8_t speed)
+{
+    return device_quality_descriptor;
+}
+
+static const char *string_descriptor_callback(uint8_t speed, uint8_t index)
+{
+    if (index > 3) {
+        return NULL;
+    }
+    return string_descriptors[index];
+}
+
+const struct usb_descriptor cdc_descriptor = {
+    .device_descriptor_callback = device_descriptor_callback,
+    .config_descriptor_callback = config_descriptor_callback,
+    .device_quality_descriptor_callback = device_quality_descriptor_callback,
+    .string_descriptor_callback = string_descriptor_callback
+};
+#else
+/*!< global descriptor */
+static const uint8_t cdc_descriptor[] = {
+    USB_DEVICE_DESCRIPTOR_INIT(USB_2_0, 0xEF, 0x02, 0x01, USBD_VID, USBD_PID, 0x0100, 0x01),
+    USB_CONFIG_DESCRIPTOR_INIT(USB_CONFIG_SIZE, 0x02, 0x01, USB_CONFIG_BUS_POWERED, USBD_MAX_POWER),
+    CDC_ACM_DESCRIPTOR_INIT(0x00, CDC_INT_EP, CDC_OUT_EP, CDC_IN_EP, CDC_MAX_MPS, 0x02),
+    ///////////////////////////////////////
+    /// string0 descriptor
+    ///////////////////////////////////////
+    USB_LANGID_INIT(USBD_LANGID_STRING),
+    ///////////////////////////////////////
+    /// string1 descriptor
+    ///////////////////////////////////////
+    0x14,                       /* bLength */
+    USB_DESCRIPTOR_TYPE_STRING, /* bDescriptorType */
+    'C', 0x00,                  /* wcChar0 */
+    'h', 0x00,                  /* wcChar1 */
+    'e', 0x00,                  /* wcChar2 */
+    'r', 0x00,                  /* wcChar3 */
+    'r', 0x00,                  /* wcChar4 */
+    'y', 0x00,                  /* wcChar5 */
+    'U', 0x00,                  /* wcChar6 */
+    'S', 0x00,                  /* wcChar7 */
+    'B', 0x00,                  /* wcChar8 */
+    ///////////////////////////////////////
+    /// string2 descriptor
+    ///////////////////////////////////////
+    0x26,                       /* bLength */
+    USB_DESCRIPTOR_TYPE_STRING, /* bDescriptorType */
+    'C', 0x00,                  /* wcChar0 */
+    'h', 0x00,                  /* wcChar1 */
+    'e', 0x00,                  /* wcChar2 */
+    'r', 0x00,                  /* wcChar3 */
+    'r', 0x00,                  /* wcChar4 */
+    'y', 0x00,                  /* wcChar5 */
+    'U', 0x00,                  /* wcChar6 */
+    'S', 0x00,                  /* wcChar7 */
+    'B', 0x00,                  /* wcChar8 */
+    ' ', 0x00,                  /* wcChar9 */
+    'C', 0x00,                  /* wcChar10 */
+    'D', 0x00,                  /* wcChar11 */
+    'C', 0x00,                  /* wcChar12 */
+    ' ', 0x00,                  /* wcChar13 */
+    'D', 0x00,                  /* wcChar14 */
+    'E', 0x00,                  /* wcChar15 */
+    'M', 0x00,                  /* wcChar16 */
+    'O', 0x00,                  /* wcChar17 */
+    ///////////////////////////////////////
+    /// string3 descriptor
+    ///////////////////////////////////////
+    0x16,                       /* bLength */
+    USB_DESCRIPTOR_TYPE_STRING, /* bDescriptorType */
+    '2', 0x00,                  /* wcChar0 */
+    '0', 0x00,                  /* wcChar1 */
+    '2', 0x00,                  /* wcChar2 */
+    '2', 0x00,                  /* wcChar3 */
+    '1', 0x00,                  /* wcChar4 */
+    '2', 0x00,                  /* wcChar5 */
+    '3', 0x00,                  /* wcChar6 */
+    '4', 0x00,                  /* wcChar7 */
+    '5', 0x00,                  /* wcChar8 */
+    '6', 0x00,                  /* wcChar9 */
+#ifdef CONFIG_USB_HS
+    ///////////////////////////////////////
+    /// device qualifier descriptor
+    ///////////////////////////////////////
+    0x0a,
+    USB_DESCRIPTOR_TYPE_DEVICE_QUALIFIER,
+    0x00,
+    0x02,
+    0x00,
+    0x00,
+    0x00,
+    0x40,
+    0x00,
+    0x00,
+#endif
+    0x00
+};
+#endif
+
+USB_NOCACHE_RAM_SECTION USB_MEM_ALIGNX uint8_t read_buffer[2048]; /* 2048 is only for test speed , please use CDC_MAX_MPS for common*/
+USB_NOCACHE_RAM_SECTION USB_MEM_ALIGNX uint8_t write_buffer[2048];
+
+volatile bool ep_tx_busy_flag = false;
+
+static void usbd_event_handler(uint8_t busid, uint8_t event)
+{
+    switch (event) {
+        case USBD_EVENT_RESET:
+            break;
+        case USBD_EVENT_CONNECTED:
+            break;
+        case USBD_EVENT_DISCONNECTED:
+            break;
+        case USBD_EVENT_RESUME:
+            break;
+        case USBD_EVENT_SUSPEND:
+            break;
+        case USBD_EVENT_CONFIGURED:
+            ep_tx_busy_flag = false;
+            /* setup first out ep read transfer */
+            usbd_ep_start_read(busid, CDC_OUT_EP, read_buffer, 2048);
+            break;
+        case USBD_EVENT_SET_REMOTE_WAKEUP:
+            break;
+        case USBD_EVENT_CLR_REMOTE_WAKEUP:
+            break;
+
+        default:
+            break;
+    }
+}
+
+void usbd_cdc_acm_bulk_out(uint8_t busid, uint8_t ep, uint32_t nbytes)
+{
+    USB_LOG_RAW("actual out len:%d\r\n", (unsigned int)nbytes);
+    // for (int i = 0; i < 100; i++) {
+    //     printf("%02x ", read_buffer[i]);
+    // }
+    // printf("\r\n");
+    /* setup next out ep read transfer */
+    usbd_ep_start_read(busid, CDC_OUT_EP, read_buffer, 2048);
+}
+
+void usbd_cdc_acm_bulk_in(uint8_t busid, uint8_t ep, uint32_t nbytes)
+{
+    USB_LOG_RAW("actual in len:%d\r\n", (unsigned int)nbytes);
+
+    if ((nbytes % usbd_get_ep_mps(busid, ep)) == 0 && nbytes) {
+        /* send zlp */
+        usbd_ep_start_write(busid, CDC_IN_EP, NULL, 0);
+    } else {
+        ep_tx_busy_flag = false;
+    }
+}
+
+/*!< endpoint call back */
+struct usbd_endpoint cdc_out_ep = {
+    .ep_addr = CDC_OUT_EP,
+    .ep_cb = usbd_cdc_acm_bulk_out
+};
+
+struct usbd_endpoint cdc_in_ep = {
+    .ep_addr = CDC_IN_EP,
+    .ep_cb = usbd_cdc_acm_bulk_in
+};
+
+static struct usbd_interface intf0;
+static struct usbd_interface intf1;
+
+void cdc_acm_otg_init(uint8_t busid, uintptr_t reg_base)
+{
+    const uint8_t data[10] = { 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x30 };
+
+    memcpy(&write_buffer[0], data, 10);
+    memset(&write_buffer[10], 'a', 2038);
+
+#ifdef CONFIG_USBDEV_ADVANCE_DESC
+    usbd_desc_register(busid, &cdc_descriptor);
+#else
+    usbd_desc_register(busid, cdc_descriptor);
+#endif
+    usbd_add_interface(busid, usbd_cdc_acm_init_intf(busid, &intf0));
+    usbd_add_interface(busid, usbd_cdc_acm_init_intf(busid, &intf1));
+    usbd_add_endpoint(busid, &cdc_out_ep);
+    usbd_add_endpoint(busid, &cdc_in_ep);
+
+    usbotg_initialize(busid, reg_base, usbd_event_handler, NULL, USBOTG_MODE_DEVICE);
+}
+
+volatile uint8_t dtr_enable = 0;
+
+void usbd_cdc_acm_set_dtr(uint8_t busid, uint8_t intf, bool dtr)
+{
+    if (dtr) {
+        dtr_enable = 1;
+    } else {
+        dtr_enable = 0;
+    }
+}
+
+void cdc_acm_data_send_with_dtr_test(uint8_t busid)
+{
+    if (dtr_enable) {
+        ep_tx_busy_flag = true;
+        usbd_ep_start_write(busid, CDC_IN_EP, write_buffer, 2048);
+        while (ep_tx_busy_flag) {
+        }
+    }
+}
\ No newline at end of file
diff --git a/tests/hpmicro/src/main.c b/tests/hpmicro/src/main.c
index aaadb1c8..66c22436 100644
--- a/tests/hpmicro/src/main.c
+++ b/tests/hpmicro/src/main.c
@@ -14,6 +14,7 @@
 #include "board.h"
 #include "hpm_clock_drv.h"
 #include "hpm_l1c_drv.h"
+#include "hpm_gpio_drv.h"
 #include "shell.h"
 #include "usbh_core.h"
 #include "lwip/tcpip.h"
@@ -46,8 +47,12 @@ int main(void)
 
     uvc2lcd_init();
 #endif
+#ifndef CONFIG_USB_OTG_ENABLE
     usbh_initialize(0, CONFIG_HPM_USBH_BASE);
-
+#else
+    extern void cdc_acm_otg_init(uint8_t busid, uintptr_t reg_base);
+    cdc_acm_otg_init(0, CONFIG_HPM_USBH_BASE);
+#endif
     if (pdPASS != xTaskCreate(task_start, "task_start", 1024U, NULL, task_start_PRIORITY, NULL)) {
         printf("Task start creation failed!\r\n");
         for (;;) {