diff --git a/README.md b/README.md
index bb861836d7..1c5b16b4d7 100644
--- a/README.md
+++ b/README.md
@@ -455,7 +455,7 @@ Please [discover modm's peripheral drivers for your specific device][discover].
 <td align="center">✅</td>
 <td align="center">✅</td>
 <td align="center">✅</td>
-<td align="center">✗</td>
+<td align="center">✅</td>
 <td align="center">✗</td>
 <td align="center">✗</td>
 <td align="center">✗</td>
diff --git a/examples/samg55_xplained_pro/blink/project.xml b/examples/samg55_xplained_pro/blink/project.xml
index 15d63cd482..1efaab682b 100644
--- a/examples/samg55_xplained_pro/blink/project.xml
+++ b/examples/samg55_xplained_pro/blink/project.xml
@@ -1,7 +1,7 @@
 <library>
   <extends>modm:samg55-xplained-pro</extends>
   <options>
-    <option name="modm:build:build.path">../../../build/samg/blink</option>
+    <option name="modm:build:build.path">../../../build/samg55_xplained_pro/blink</option>
   </options>
   <modules>
     <module>modm:build:scons</module>
diff --git a/examples/samg55_xplained_pro/usbserial/main.cpp b/examples/samg55_xplained_pro/usbserial/main.cpp
new file mode 100644
index 0000000000..b5a7373073
--- /dev/null
+++ b/examples/samg55_xplained_pro/usbserial/main.cpp
@@ -0,0 +1,29 @@
+#include <modm/board.hpp>
+#include <modm/platform.hpp>
+
+using namespace modm::platform;
+
+int main() {
+	Board::initialize();
+
+	// Pull DP low briefly on reset to make sure USB host disconnects/reconnects
+	MATRIX->CCFG_SYSIO |= (CCFG_SYSIO_SYSIO11 | CCFG_SYSIO_SYSIO10);
+	GpioA22::setOutput(false);
+	modm::delay_ms(5);
+	GpioA22::setInput();
+
+	Board::initializeUsbFs();
+
+	tusb_init();
+
+	while (true)
+	{
+		// Read any received data and echo it back
+		uint8_t buf[64];
+		uint32_t read_count;
+		tud_task();
+		read_count = UsbUart0::read(buf, sizeof(buf));
+		UsbUart0::write(buf, read_count);
+		Board::Led::toggle();
+	}
+}
\ No newline at end of file
diff --git a/examples/samg55_xplained_pro/usbserial/project.xml b/examples/samg55_xplained_pro/usbserial/project.xml
new file mode 100644
index 0000000000..6890ba3390
--- /dev/null
+++ b/examples/samg55_xplained_pro/usbserial/project.xml
@@ -0,0 +1,13 @@
+<library>
+  <extends>modm:samg55-xplained-pro</extends>
+  <options>
+    <option name="modm:build:project.name">samg-demo</option>
+    <option name="modm:tinyusb:config">device.cdc</option>
+    <option name="modm:build:build.path">../../../build/samg55_xplained_pro/usbserial</option>
+  </options>
+  <modules>
+
+    <module>modm:tinyusb</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>
\ No newline at end of file
diff --git a/ext/hathach/module.lb b/ext/hathach/module.lb
index d8dba8ed2c..9acb160e9f 100644
--- a/ext/hathach/module.lb
+++ b/ext/hathach/module.lb
@@ -22,7 +22,9 @@ def init(module):
 def prepare(module, options):
     if not (options[":target"].has_driver("usb") or
             options[":target"].has_driver("usb_otg_fs") or
-            options[":target"].has_driver("usb_otg_hs")):
+            options[":target"].has_driver("usb_otg_hs") or
+            options[":target"].has_driver("udp") or
+            options[":target"].has_driver("uhp")):
         return False
 
     configs = {"device.cdc", "device.msc", "device.vendor", "device.midi", "device.dfu"}
@@ -153,11 +155,16 @@ def build(env):
                 raise ValidateException("Unknown ITF device class '{}'!".format(devclass))
 
             endpoints[itf_prefix + "_OUT"] = hex(endpoint_counter)
+            # SAMG doesn't support using the same EP number for IN and OUT
+            if target.platform == "sam" and target.family in ["g"]:
+                endpoint_counter += 1
             endpoints[itf_prefix + "_IN"] = hex(0x80 | endpoint_counter)
 
     if target.platform == "stm32":
         irq_data = env.query(":platform:usb:irqs")
         irqs = irq_data["port_irqs"][speed]
+    elif target.platform == "sam" and target.family in ["g"]:
+        irqs = ["UDP"]
     else:
         irqs = ["USB"]
 
@@ -220,9 +227,10 @@ Configuration options:
 """
 
     def prepare(self, module, options):
-        # Only OTG has Host Mode
+        # On STM32, only OTG has Host Mode
         if not (options[":target"].has_driver("usb_otg_fs") or
-                options[":target"].has_driver("usb_otg_hs")):
+                options[":target"].has_driver("usb_otg_hs") or
+                options[":target"].has_driver("uhp:samg*")):
             return False
 
         paths = {p.parent for p in Path(localpath("tinyusb/src/class/")).glob("*/*_host.h")}
diff --git a/src/modm/board/samg55_xplained_pro/board.hpp b/src/modm/board/samg55_xplained_pro/board.hpp
index 631644627f..33022b1711 100644
--- a/src/modm/board/samg55_xplained_pro/board.hpp
+++ b/src/modm/board/samg55_xplained_pro/board.hpp
@@ -20,8 +20,13 @@ using namespace modm::platform;
 
 struct SystemClock
 {
+	// Chosen to achieve 120MHz system clock
 	static constexpr uint32_t PllAMult = 3662;
+	// Chosen to achieve 48MHz USB clock
+	static constexpr uint32_t PllBMult = 1465;
+
 	static constexpr uint32_t Frequency = PllAMult * SlowClkFreqHz;
+	static constexpr uint32_t Usb = PllBMult * SlowClkFreqHz;
 	static bool inline
 	enable()
 	{
@@ -32,6 +37,15 @@ struct SystemClock
 		ClockGen::selectMasterClk<MasterClkSource::PLLA_CLK, MasterClkPrescaler::CLK_1>();
 		return true;
 	}
+
+	static bool inline
+	enableUsb()
+	{
+		ClockGen::enablePllB<PllBMult>();
+		// Use PLLB as USB clock source
+		PMC->PMC_USB = PMC_USB_USBS;
+		return true;
+	}
 };
 
 using Led = GpioA6;
@@ -51,5 +65,11 @@ initialize()
 	Button::setInput();
 }
 
+inline void initializeUsbFs()
+{
+	SystemClock::enableUsb();
+	modm::platform::Usb::initialize<Board::SystemClock>();
+}
+
 } // namespace Board
 
diff --git a/src/modm/board/samg55_xplained_pro/module.lb b/src/modm/board/samg55_xplained_pro/module.lb
index 3b293c4151..6b766ea002 100644
--- a/src/modm/board/samg55_xplained_pro/module.lb
+++ b/src/modm/board/samg55_xplained_pro/module.lb
@@ -18,7 +18,7 @@ def prepare(module, options):
     if not options[":target"].partname == "samg55j19a-au":
         return False
 
-    module.depends(":platform:clockgen", ":platform:gpio", ":platform:core");
+    module.depends(":platform:clockgen", ":platform:gpio", ":platform:core", ":platform:usb");
     return True
 
 def build(env):
diff --git a/src/modm/platform/clock/samg/clockgen.hpp b/src/modm/platform/clock/samg/clockgen.hpp
index 652754ca78..c3b745ba5f 100644
--- a/src/modm/platform/clock/samg/clockgen.hpp
+++ b/src/modm/platform/clock/samg/clockgen.hpp
@@ -43,6 +43,34 @@ enum class MainInternalFreq : uint32_t {
 	Rc24Mhz
 };
 
+enum class ClockPeripheral : uint32_t {
+	FlexCom0 = ID_FLEXCOM0,
+	FlexCom1 = ID_FLEXCOM1,
+	FlexCom2 = ID_FLEXCOM2,
+	FlexCom3 = ID_FLEXCOM3,
+	FlexCom4 = ID_FLEXCOM4,
+	FlexCom5 = ID_FLEXCOM5,
+	FlexCom6 = ID_FLEXCOM6,
+	FlexCom7 = ID_FLEXCOM7,
+	PioA = ID_PIOA,
+	PioB = ID_PIOB,
+	Pdmic0 = ID_PDMIC0,
+	Pdmic1 = ID_PDMIC1,
+	Mem2Mem = ID_MEM2MEM,
+	I2sc0 = ID_I2SC0,
+	I2sc1 = ID_I2SC1,
+	Tc0 = ID_TC0_CHANNEL0,
+	Tc1 = ID_TC0_CHANNEL1,
+	Tc2 = ID_TC0_CHANNEL2,
+	Tc3 = ID_TC1_CHANNEL0,
+	Tc4 = ID_TC1_CHANNEL1,
+	Tc5 = ID_TC1_CHANNEL2,
+	Adc = ID_ADC,
+	Uhp = ID_UHP,
+	Udp = ID_UDP,
+	Crccu = ID_CRCCU
+};
+
 static constexpr uint32_t SlowClkFreqHz = 32'768;
 
 /**
@@ -105,6 +133,18 @@ class ClockGen {
 
 	/** Returns the configured frequency of PLL B output */
 	static uint32_t pllBFrequency();
+
+	template< ClockPeripheral peripheral >
+	static void
+	enable();
+
+	template< ClockPeripheral peripheral >
+	static bool
+	isEnabled();
+
+	template< ClockPeripheral peripheral >
+	static void
+	disable();
 };
 
 } // namespace modm::platform
diff --git a/src/modm/platform/clock/samg/clockgen_impl.hpp b/src/modm/platform/clock/samg/clockgen_impl.hpp
index 9a62556b28..aa511eae16 100644
--- a/src/modm/platform/clock/samg/clockgen_impl.hpp
+++ b/src/modm/platform/clock/samg/clockgen_impl.hpp
@@ -76,4 +76,35 @@ void ClockGen::setFlashLatency() {
 	EFC->EEFC_FMR = (EFC->EEFC_FMR & ~EEFC_FMR_FWS_Msk) | EEFC_FMR_FWS(fws);
 }
 
+template< ClockPeripheral peripheral >
+void ClockGen::enable() {
+	constexpr uint32_t id = (uint32_t)peripheral;
+	if constexpr (id < 32) {
+		PMC->PMC_PCER0 = (1<<id);
+	} else {
+		PMC->PMC_PCER1 = (1<<(id-32));
+	}
+}
+
+template< ClockPeripheral peripheral >
+bool ClockGen::isEnabled() {
+	constexpr uint32_t id = (uint32_t)peripheral;
+	if constexpr (id < 32) {
+		return PMC->PMC_PCSR0 & (1<<id);
+	} else {
+		return PMC->PMC_PCSR1 & (1<<(id-32));
+	}
+}
+
+template< ClockPeripheral peripheral >
+void ClockGen::disable() {
+	constexpr uint32_t id = (uint32_t)peripheral;
+	if constexpr (id < 32) {
+		PMC->PMC_PCDR0 = (1<<id);
+	} else {
+		PMC->PMC_PCDR1 = (1<<(id-32));
+	}
+}
+
+
 } // namespace modm::platform
diff --git a/src/modm/platform/usb/sam/module.lb b/src/modm/platform/usb/sam/module.lb
index 398033deb5..2c01dc9031 100644
--- a/src/modm/platform/usb/sam/module.lb
+++ b/src/modm/platform/usb/sam/module.lb
@@ -16,7 +16,8 @@ def init(module):
 
 def prepare(module, options):
     device = options[":target"]
-    if not (device.has_driver("usb:sam*")):
+    if not (device.has_driver("usb:sam*") or
+            device.has_driver("udp:sam*")):
         return False
 
     module.depends(
@@ -27,9 +28,17 @@ def prepare(module, options):
 
     return True
 
+def validate(env):
+    if "samg" in str(env[":target"].identifier) and env.has_module(":tinyusb:host"):
+        raise ValidateException("USB HOST mode is not currently supported on SAMG family")
+
 def build(env):
+    device = env[":target"]
+    properties = device.properties
+    properties["target"] = device.identifier
+    env.substitutions = properties
     env.outbasepath = "modm/src/modm/platform/usb"
-    env.copy("usb.hpp")
+    env.template("usb.hpp.in")
     if env.has_module(":tinyusb:device:cdc"):
         env.copy(repopath("ext/hathach/uart.hpp"), "uart.hpp")
 
diff --git a/src/modm/platform/usb/sam/usb.hpp b/src/modm/platform/usb/sam/usb.hpp.in
similarity index 62%
rename from src/modm/platform/usb/sam/usb.hpp
rename to src/modm/platform/usb/sam/usb.hpp.in
index d8f7dd9364..4b83ab59d1 100644
--- a/src/modm/platform/usb/sam/usb.hpp
+++ b/src/modm/platform/usb/sam/usb.hpp.in
@@ -12,9 +12,11 @@
 
 #pragma once
 
+#include <modm/math/tolerance.hpp>
 #include <modm/platform/device.hpp>
 #include <modm/platform/gpio/connector.hpp>
 
+
 namespace modm::platform
 {
 
@@ -25,13 +27,32 @@ class Usb
 	static void
 	initialize(uint8_t priority=3)
 	{
+%% if target["family"] in ["g"]
+		// only the USB device mode is supported for now
+		static_assert(modm::Tolerance::isValueInTolerance(48_MHz, SystemClock::Usb, 0.25_pct),
+				"The USB clock frequency must be within 0.25\% of 48MHz!");
+		// Select DM/DP function for PA21/22
+		MATRIX->CCFG_SYSIO &= ~(CCFG_SYSIO_SYSIO11 | CCFG_SYSIO_SYSIO10);
+		// Put USB in device mode
+		MATRIX->CCFG_USBMR = CCFG_USBMR_USBMODE;
+		// Enable the 48MHz clock
+		PMC->PMC_SCER = PMC_SCER_UDP;
+		// Enable the CPU clock
+		ClockGen::enable<ClockPeripheral::Udp>();
+		NVIC_SetPriority(UDP_IRQn, priority);
+%% else
 		static_assert(SystemClock::Frequency == 48_MHz, "Usb must have a 48MHz clock!");
 		PM->APBBMASK.reg |= PM_APBBMASK_USB;
 		PM->AHBMASK.reg |= PM_AHBMASK_USB;
 		GenericClockController::connect<ClockPeripheral::Usb>(ClockGenerator::System);
 		NVIC_SetPriority(USB_IRQn, priority);
+%% endif
 	}
 
+// SAMG does not provide a connect method for USB. It's not defined in the SVD,
+// and the USB pins are fixed. Instead, calling Usb::initialize() switches the
+// IO pin function to the USB controller.
+%% if target["family"] not in ["g"]
 	template<class... Pins>
 	static void
 	connect()
@@ -46,6 +67,7 @@ class Usb
 		DpConnector::connect();
 		DmConnector::connect();
 	}
+%% endif
 };
 
 } // namespace modm::platform