diff --git a/Makefile b/Makefile
index e0b9d4b..7fdc459 100644
--- a/Makefile
+++ b/Makefile
@@ -114,7 +114,10 @@ CSRC = $(STARTUPSRC) \
        $(PLATFORMSRC) \
        $(BOARDSRC) \
        $(TESTSRC) \
-       main.c
+       $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
+       $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
+       main.c \
+       subsystems/serial/chibiesc_usb.c
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -145,6 +148,7 @@ ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
 
 INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
          $(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
+         $(CHIBIOS)/os/hal/lib/streams \
          $(CHIBIOS)/os/various
 
 #
diff --git a/main.c b/main.c
index e37dee3..ea91d76 100644
--- a/main.c
+++ b/main.c
@@ -17,6 +17,8 @@
 #include "ch.h"
 #include "hal.h"
 #include "test.h"
+#include "chprintf.h"
+#include "subsystems/serial/chibiesc_usb.h"
 
 /*
  * This is a periodic thread that does absolutely nothing except flashing
@@ -49,7 +51,7 @@ int main(void) {
    */
   halInit();
   chSysInit();
-  osalSysEnable(); // just copied here from example to test why LED blinking doesn't work
+  //osalSysEnable(); // just copied here from example to test why LED blinking doesn't work
 
   /*
    * Activates the serial driver 2 using the driver default configuration.
@@ -64,6 +66,7 @@ int main(void) {
    */
   //chThdCreateStatic(waThread1, sizeof(waThread1), NORMALPRIO, Thread1, NULL);
 
+  usb_init(); // Serial over USB initialization
   /*
    * Normal main() thread activity, in this demo it does nothing except
    * sleeping in a loop and check the button state.
diff --git a/subsystems/serial/chibiesc_usb.c b/subsystems/serial/chibiesc_usb.c
new file mode 100644
index 0000000..a97665c
--- /dev/null
+++ b/subsystems/serial/chibiesc_usb.c
@@ -0,0 +1,372 @@
+/**
+ * @file subsystems/serial/chibiesc_usb.c
+ * @brief Serial over USB driver
+ * @addtogroup ChibiESC_USB
+ * @{
+ */
+
+#include "subsystems/serial/chibiesc_usb.h"
+
+// ####################### Endpoints config #############################
+/*
+ * Endpoints to be used for USBD1.
+ */
+#define USBD1_DATA_REQUEST_EP           1	///< Endpoint number of the data request endpoint. Adapted from ChibiOS demo file.
+#define USBD1_DATA_AVAILABLE_EP         1	///< Endpoint number of the data available endpoint. Adapted from ChibiOS demo file.
+#define USBD1_INTERRUPT_REQUEST_EP      2	///< Endpoint number of the interrupt request endpoint. Adapted from ChibiOS demo file.
+
+/*
+ * Endpoint states
+ */
+static USBInEndpointState	ep1instate;		///< USBEndpointState associated to the EP1 IN endpoint. Used in \ref ep1config.
+static USBOutEndpointState	ep1outstate;	///< USBEndpointState associated to the EP1 OUT endpoint. Used in \ref ep2config.
+static USBInEndpointState	ep2instate;		///< USBEndpointState associated to the EP2 IN endpoint. Used in \ref ep2config.
+
+/**
+ * @brief   EP1 initialization structure (both IN and OUT).
+ *
+ * Adapted from ChibiOS demo file.
+ */
+static const USBEndpointConfig ep1config = {
+	USB_EP_MODE_TYPE_BULK,	// Type and mode of the endpoint: Bulk endpoint
+	NULL,					// Setup packet notification callback: NULL
+	sduDataTransmitted,		// IN endpoint notification callback: defined in ChibiOS
+	sduDataReceived,		// OUT endpoint notification callback: defined in ChibiOS
+	0x0040,					// IN endpoint maximum packet size: 64
+	0x0040,					// OUT endpoint maximum packet size: 64
+	&ep1instate,			// USBEndpointState associated to the IN endpoint: ...
+	&ep1outstate,			// USBEndpointState associated to the OUT endpoint: ...
+	4,						// Reserved field, not currently used
+	NULL					// Pointer to a buffer for setup packets: NULL for non-control endpoints
+};
+
+/**
+ * @brief   EP2 initialization structure (IN only).
+ *
+ * Adapted from ChibiOS demo file.
+ */
+static const USBEndpointConfig ep2config = {
+	USB_EP_MODE_TYPE_INTR,	///< Type and mode of the endpoint: Interrupt endpoint
+	NULL,						///< Setup packet notification callback: NULL
+	sduInterruptTransmitted,	///< IN endpoint notification callback: defined in ChibiOS
+	NULL,						///< OUT endpoint notification callback: NULL
+	0x0010,					///< IN endpoint maximum packet size: 16
+	0x0000,					///< OUT endpoint maximum packet size: 0 (not used)
+	&ep2instate,				///< USBEndpointState associated to the IN endpoint: ...
+	NULL,						///< USBEndpointState associated to the OUT endpoint: NULL (not used)
+	1,						///< Reserved field, not currently used
+	NULL						///< Pointer to a buffer for setup packets: NULL for non-control endpoints
+};
+
+// ####################### Events callback ##############################
+/**
+ * @brief	USB events callback
+ *
+ * Handles the USB driver global events. Adapted from ChibiOS demo file.
+ * @param[in]	ubsp	pointer to the USBDriver object triggering the callback
+ * @param[in]	event	event type
+ */
+static void usb_event_cb(USBDriver *usbp, usbevent_t event) {
+	switch (event) {
+		case USB_EVENT_RESET:
+			return;
+		case USB_EVENT_ADDRESS:
+			return;
+		case USB_EVENT_CONFIGURED:
+			chSysLockFromISR();
+
+			/* Enables the endpoints specified into the configuration.
+       	   	   Note, this callback is invoked from an ISR so I-Class functions
+       	   	   must be used.*/
+			usbInitEndpointI(usbp, USBD1_DATA_REQUEST_EP, &ep1config); // Enables data request endpoint
+			usbInitEndpointI(usbp, USBD1_INTERRUPT_REQUEST_EP, &ep2config); // Enables interrupt request endpoint
+
+			/* Resetting the state of the CDC subsystem.*/
+			sduConfigureHookI(&SDU1);
+
+			chSysUnlockFromISR();
+			return;
+		case USB_EVENT_SUSPEND:
+			return;
+		case USB_EVENT_WAKEUP:
+			return;
+		case USB_EVENT_STALLED:
+			return;
+	}
+	return;
+}
+
+// ####################### USB DESCRIPTOR ###############################
+/**
+ * @brief	USB Device Descriptor.
+ *
+ * Adapted from ChibiOS demo file
+ */
+static const uint8_t vcom_device_descriptor_data[18] = {
+	USB_DESC_DEVICE       (0x0200,        ///< bcdUSB (2.0)
+                           0x02,          ///< bDeviceClass (CDC)
+                           0x00,          ///< bDeviceSubClass
+                           0x00,          ///< bDeviceProtocol
+                           0x40,          ///< bMaxPacketSize
+                           0x0483,        ///< idVendor (ST)
+                           0x5740,        ///< idProduct
+                           0x0200,        ///< bcdDevice
+                           1,             ///< iManufacturer
+                           2,             ///< iProduct
+                           3,             ///< iSerialNumber
+                           1)             ///< bNumConfigurations
+};
+
+/**
+ * @brief	Device Descriptor wrapper.
+ *
+ * From ChibiOS demo file
+ */
+static const USBDescriptor vcom_device_descriptor = {
+	sizeof vcom_device_descriptor_data,
+	vcom_device_descriptor_data
+};
+
+/**
+ * @brief	Configuration Descriptor tree for a CDC.
+ *
+ * Adapted from ChibiOS demo file
+ */
+static const uint8_t vcom_configuration_descriptor_data[67] = {
+	/* Configuration Descriptor.*/
+	USB_DESC_CONFIGURATION(67,							///< wTotalLength
+                           0x02,						///< bNumInterfaces
+                           0x01,						///< bConfigurationValue
+                           0,							///< iConfiguration
+                           0xC0,						///< bmAttributes (self powered)
+                           50),							///< bMaxPower (100mA)
+	/* Interface Descriptor.*/
+	USB_DESC_INTERFACE    (0x00,						///< bInterfaceNumber
+                           0x00,						///< bAlternateSetting
+                           0x01,						///< bNumEndpoints
+                           0x02,						///< bInterfaceClass (Communications Interface Class, CDC section 4.2)
+                           0x02,						///< bInterfaceSubClass (Abstract Control Model, CDC section 4.3)
+                           0x01,						///< bInterfaceProtocol (AT commands, CDC section 4.4)
+                           0),							///< iInterface
+	/* Header Functional Descriptor (CDC section 5.2.3).*/
+	USB_DESC_BYTE         (5),							///< bLength
+	USB_DESC_BYTE         (0x24),						///< bDescriptorType (CS_INTERFACE)
+	USB_DESC_BYTE         (0x00),						///< bDescriptorSubtype (Header Functional Descriptor
+	USB_DESC_BCD          (0x0110),						///< bcdCDC
+	/* Call Management Functional Descriptor. */
+	USB_DESC_BYTE         (5),							///< bFunctionLength
+	USB_DESC_BYTE         (0x24),						///< bDescriptorType (CS_INTERFACE)
+	USB_DESC_BYTE         (0x01),						///< bDescriptorSubtype (Call Management Functional Descriptor)
+	USB_DESC_BYTE         (0x00),						///< bmCapabilities (D0+D1)
+	USB_DESC_BYTE         (0x01),						///< bDataInterface
+	/* ACM Functional Descriptor.*/
+	USB_DESC_BYTE         (4),							///< bFunctionLength
+	USB_DESC_BYTE         (0x24),						///< bDescriptorType (CS_INTERFACE)
+	USB_DESC_BYTE         (0x02),						///< bDescriptorSubtype (Abstract Control Management Descriptor)
+	USB_DESC_BYTE         (0x02),						///< bmCapabilities
+	/* Union Functional Descriptor.*/
+	USB_DESC_BYTE         (5),							///< bFunctionLength
+	USB_DESC_BYTE         (0x24),						///< bDescriptorType (CS_INTERFACE)
+	USB_DESC_BYTE         (0x06),						///< bDescriptorSubtype (Union Functional Descriptor)
+	USB_DESC_BYTE         (0x00),						///< bMasterInterface (Communication Class Interface)
+	USB_DESC_BYTE         (0x01),						///< bSlaveInterface0 (Data Class Interface)
+	/* Endpoint 2 Descriptor.*/
+	USB_DESC_ENDPOINT     (USBD1_INTERRUPT_REQUEST_EP|0x80,
+                           0x03,						///< bmAttributes (Interrupt)
+                           0x0008,						///< wMaxPacketSize
+                           0xFF),						///< bInterval
+	/* Interface Descriptor.*/
+	USB_DESC_INTERFACE    (0x01,						///< bInterfaceNumber
+                           0x00,						///< bAlternateSetting
+                           0x02,						///< bNumEndpoints
+                           0x0A,						///< bInterfaceClass (Data Class Interface, CDC section 4.5)
+                           0x00,						///< bInterfaceSubClass (CDC section 4.6)
+                           0x00,						///< bInterfaceProtocol (CDC section 4.7)
+                           0x00),						///< iInterface
+	/* Endpoint 3 Descriptor.*/
+	USB_DESC_ENDPOINT     (USBD1_DATA_AVAILABLE_EP,		///< bEndpointAddress
+                           0x02,						///< bmAttributes (Bulk)
+                           0x0040,						///< wMaxPacketSize
+                           0x00),						///< bInterval
+	/* Endpoint 1 Descriptor.*/
+	USB_DESC_ENDPOINT     (USBD1_DATA_REQUEST_EP|0x80,	///< bEndpointAddress
+                           0x02,						///< bmAttributes (Bulk)
+                           0x0040,						///< wMaxPacketSize
+                           0x00)						///< bInterval
+};
+
+/**
+ * @brief	Configuration Descriptor wrapper.
+ *
+ * From ChibiOS demo file
+ */
+static const USBDescriptor vcom_configuration_descriptor = {
+	sizeof vcom_configuration_descriptor_data,
+	vcom_configuration_descriptor_data
+};
+
+/**
+ * @brief	U.S. English language identifier.
+ *
+ * From ChibiOS demo file
+ */
+static const uint8_t vcom_string0[] = {
+	USB_DESC_BYTE(4),						///< bLength
+	USB_DESC_BYTE(USB_DESCRIPTOR_STRING),	///< bDescriptorType
+	USB_DESC_WORD(0x0409)					///< wLANGID (U.S. English)
+};
+
+/**
+ * @brief	Vendor string.
+ *
+ * From ChibiOS demo file
+ */
+static const uint8_t vcom_string1[] = {
+	USB_DESC_BYTE(38),					///< bLength
+	USB_DESC_BYTE(USB_DESCRIPTOR_STRING),	///< bDescriptorType
+	'S', 0, 'T', 0, 'M', 0, 'i', 0, 'c', 0, 'r', 0, 'o', 0, 'e', 0,
+	'l', 0, 'e', 0, 'c', 0, 't', 0, 'r', 0, 'o', 0, 'n', 0, 'i', 0,
+	'c', 0, 's', 0
+};
+
+/**
+ * @brief	Device Description string.
+ *
+ * From ChibiOS demo file
+ */
+static const uint8_t vcom_string2[] = {
+	USB_DESC_BYTE(56),					///< bLength
+	USB_DESC_BYTE(USB_DESCRIPTOR_STRING),	///< bDescriptorType
+	'C', 0, 'h', 0, 'i', 0, 'b', 0, 'i', 0, 'O', 0, 'S', 0, '/', 0,
+	'R', 0, 'T', 0, ' ', 0, 'V', 0, 'i', 0, 'r', 0, 't', 0, 'u', 0,
+	'a', 0, 'l', 0, ' ', 0, 'C', 0, 'O', 0, 'M', 0, ' ', 0, 'P', 0,
+	'o', 0, 'r', 0, 't', 0
+};
+
+/**
+ * @brief	Serial Number string.
+ *
+ * From ChibiOS demo file
+ */
+static const uint8_t vcom_string3[] = {
+	USB_DESC_BYTE(8),						///< bLength
+	USB_DESC_BYTE(USB_DESCRIPTOR_STRING),	///< bDescriptorType
+	'0' + CH_KERNEL_MAJOR, 0,
+	'0' + CH_KERNEL_MINOR, 0,
+	'0' + CH_KERNEL_PATCH, 0
+};
+
+/**
+ * @brief	Strings wrappers array.
+ *
+ * From ChibiOS demo file
+ */
+static const USBDescriptor vcom_strings[] = {
+	{sizeof vcom_string0, vcom_string0},
+	{sizeof vcom_string1, vcom_string1},
+	{sizeof vcom_string2, vcom_string2},
+	{sizeof vcom_string3, vcom_string3}
+};
+
+/**
+ * @brief	Handles the GET_DESCRIPTOR callback
+ *
+ * All required descriptors must be handled here. From ChibiOS demo file
+ */
+static const USBDescriptor *usb_get_descriptor_cb(USBDriver *usbp, uint8_t dtype, uint8_t dindex, uint16_t lang) {
+	(void)usbp;
+	(void)lang;
+	switch (dtype) {
+		case USB_DESCRIPTOR_DEVICE:
+			return &vcom_device_descriptor;
+		case USB_DESCRIPTOR_CONFIGURATION:
+			return &vcom_configuration_descriptor;
+		case USB_DESCRIPTOR_STRING:
+			if (dindex < 4)
+				return &vcom_strings[dindex];
+	}
+	return NULL;
+}
+
+// ######################### SOF handler ###############################
+/**
+ * @brief	Handles the USB driver global events.
+ *
+ * From ChibiOS demo file
+ */
+static void sof_cb(USBDriver *usbp) {
+	(void)usbp;
+
+	osalSysLockFromISR();
+	sduSOFHookI(&SDU1);
+	osalSysUnlockFromISR();
+}
+
+// ####################### Driver configuration #########################
+/**
+ * @brief	USB driver configuration
+ */
+const USBConfig usbcfg = {
+	usb_event_cb,				///< USB events callback
+	usb_get_descriptor_cb,		///< Device GET_DESCRIPTOR request callback
+	sduRequestsHook,			///< Requests hook callback (defined in ChibiOS)
+	sof_cb						///< Start Of Frame callback
+};
+
+/**
+ * @brief	Serial over USB driver configuration
+ */
+const SerialUSBConfig serusbcfg = {
+	&USBD1,						///< USB driver to use
+	USBD1_DATA_REQUEST_EP,		///< Bulk IN endpoint used for outgoing data transfer
+	USBD1_DATA_AVAILABLE_EP,	///< Bulk OUT endpoint used for incoming data transfer
+	USBD1_INTERRUPT_REQUEST_EP	///< Interrupt IN endpoint used for notifications
+};
+
+/**
+ * @brief   Static USBTestThread working area allocation.
+ * @details This macro is used to allocate a static thread working area
+ *          aligned as both position and size.
+ *
+ * @param[in] s         the name to be assigned to the stack array
+ * @param[in] n         the stack size to be assigned to the thread
+ *
+ * @todo	Define reasonable stack size
+ */
+static THD_WORKING_AREA(waUSBTestThread, 128);
+/**
+ * @brief	USBTestThread declaration
+ */
+static THD_FUNCTION(USBTestThread, arg) {
+	(void)arg;
+	chRegSetThreadName("USBTestThread");
+	while (true) {
+		chThdSleepMilliseconds(500);
+		chprintf(&SDU1, "Test\r\n");
+	}
+}
+
+/**
+ * @brief	Initializes a serial over USB CDC driver
+ */
+void usb_init(void) {
+	sduObjectInit(&SDU1);			// initializes a generic full duplex driver object
+	sduStart(&SDU1, &serusbcfg);	// configures and starts the driver
+
+	/*
+	 * Activates the USB driver and then the USB bus pull-up on D+.
+	 * Note, a delay is inserted in order to not have to disconnect the cable
+	 * after a reset.
+	 */
+	usbDisconnectBus(serusbcfg.usbp);
+	chThdSleepMilliseconds(1500);
+	usbStart(serusbcfg.usbp, &usbcfg);
+	usbConnectBus(serusbcfg.usbp);
+
+	/*
+	 * Creates the test thread.
+	 */
+	chThdCreateStatic(waUSBTestThread, sizeof(waUSBTestThread), NORMALPRIO, USBTestThread, NULL);
+}
+
+/** @} */
diff --git a/subsystems/serial/chibiesc_usb.h b/subsystems/serial/chibiesc_usb.h
new file mode 100644
index 0000000..5eb2794
--- /dev/null
+++ b/subsystems/serial/chibiesc_usb.h
@@ -0,0 +1,21 @@
+/** @file subsystems/serial/chibiesc_usb.h
+ * 	@brief Serial over USB driver
+ * 	@addtogroup  ChibiESC_USB
+ * 	@{
+ */
+
+#ifndef _CHIBIESC_USB_H_
+#define _CHIBIESC_USB_H_
+
+#include "hal.h"
+
+
+extern const USBConfig usbcfg;		///< USB driver configuration structure
+extern const SerialUSBConfig serusbcfg;	///< Serial over USB configuration structure
+static SerialUSBDriver SDU1;		///< Full duplex serial driver class
+
+void usb_init(void);				// Serial over USB initialization
+
+#endif /* _CHIBIESC_USB_H_ */
+
+/** @} */