diff --git a/embassy-stm32/src/usb/mod.rs b/embassy-stm32/src/usb/mod.rs
index ae5963420..692897b59 100644
--- a/embassy-stm32/src/usb/mod.rs
+++ b/embassy-stm32/src/usb/mod.rs
@@ -15,7 +15,7 @@ fn common_init<T: Instance>() {
     let freq = T::frequency();
 
     // On the H7RS, the USBPHYC embeds a PLL accepting one of the input frequencies listed below and providing 48MHz to OTG_FS and 60MHz to OTG_HS internally
-    #[cfg(any(stm32h7rs, all(stm32u5, peri_usb_otg_hs)))]
+    #[cfg(any(stm32h7rs, all(stm32u5, peri_usb_otg_hs), all(stm32wba, peri_usb_otg_hs)))]
     if ![16_000_000, 19_200_000, 20_000_000, 24_000_000, 26_000_000, 32_000_000].contains(&freq.0) {
         panic!(
             "USB clock should be one of 16, 19.2, 20, 24, 26, 32Mhz but is {} Hz. Please double-check your RCC settings.",
@@ -25,7 +25,7 @@ fn common_init<T: Instance>() {
     // Check frequency is within the 0.25% tolerance allowed by the spec.
     // Clock might not be exact 48Mhz due to rounding errors in PLL calculation, or if the user
     // has tight clock restrictions due to something else (like audio).
-    #[cfg(not(any(stm32h7rs, all(stm32u5, peri_usb_otg_hs))))]
+    #[cfg(not(any(stm32h7rs, all(stm32u5, peri_usb_otg_hs), all(stm32wba, peri_usb_otg_hs))))]
     if freq.0.abs_diff(48_000_000) > 120_000 {
         panic!(
             "USB clock should be 48Mhz but is {} Hz. Please double-check your RCC settings.",
@@ -102,6 +102,30 @@ fn common_init<T: Instance>() {
         }
     }
 
+    #[cfg(stm32wba)]
+    {
+        // Enable USB power
+        critical_section::with(|_| {
+            crate::pac::PWR.svmcr().modify(|w| {
+                w.set_usv(crate::pac::pwr::vals::Usv::B_0X1);
+                // w.set_uvmen(true);
+            })
+        });
+
+        // Wait for USB power to stabilize
+        while !crate::pac::PWR.vosr().read().vdd11usbrdy() {}
+
+        // Now set up transceiver power if it's a OTG-HS
+        #[cfg(peri_usb_otg_hs)]
+        {
+            crate::pac::PWR.vosr().modify(|w| {
+                w.set_usbpwren(true);
+                w.set_usbboosten(true);
+            });
+            while !crate::pac::PWR.vosr().read().usbboostrdy() {}
+        }
+    }
+
     T::Interrupt::unpend();
     unsafe { T::Interrupt::enable() };
 
diff --git a/embassy-stm32/src/usb/otg.rs b/embassy-stm32/src/usb/otg.rs
index e9afc0c54..b074cfa1b 100644
--- a/embassy-stm32/src/usb/otg.rs
+++ b/embassy-stm32/src/usb/otg.rs
@@ -105,7 +105,7 @@ impl<'d, T: Instance> Driver<'d, T> {
         config: Config,
     ) -> Self {
         // For STM32U5 High speed pins need to be left in analog mode
-        #[cfg(not(all(stm32u5, peri_usb_otg_hs)))]
+        #[cfg(not(any(all(stm32u5, peri_usb_otg_hs), all(stm32wba, peri_usb_otg_hs))))]
         {
             _dp.set_as_af(_dp.af_num(), AfType::output(OutputType::PushPull, Speed::VeryHigh));
             _dm.set_as_af(_dm.af_num(), AfType::output(OutputType::PushPull, Speed::VeryHigh));
@@ -327,6 +327,20 @@ impl<'d, T: Instance> Bus<'d, T> {
             });
         }
 
+        #[cfg(all(stm32wba, peri_usb_otg_hs))]
+        {
+            crate::pac::SYSCFG.otghsphycr().modify(|w| {
+                w.set_en(true);
+            });
+
+            critical_section::with(|_| {
+                crate::pac::RCC.ahb2enr().modify(|w| {
+                    w.set_usb_otg_hsen(true);
+                    w.set_otghsphyen(true);
+                });
+            });
+        }
+
         let r = T::regs();
         let core_id = r.cid().read().0;
         trace!("Core id {:08x}", core_id);
@@ -468,6 +482,7 @@ foreach_interrupt!(
                     stm32f7,
                     stm32l4,
                     stm32u5,
+                    stm32wba,
                 ))] {
                     const FIFO_DEPTH_WORDS: u16 = 320;
                     const ENDPOINT_COUNT: usize = 6;
@@ -477,7 +492,7 @@ foreach_interrupt!(
                 } else if #[cfg(any(stm32h7, stm32h7rs))] {
                     const FIFO_DEPTH_WORDS: u16 = 1024;
                     const ENDPOINT_COUNT: usize = 9;
-                } else if #[cfg(stm32u5)] {
+                } else if #[cfg(any(stm32wba, stm32u5))] {
                     const FIFO_DEPTH_WORDS: u16 = 320;
                     const ENDPOINT_COUNT: usize = 6;
                 } else {