diff --git a/cpu/esp32/Kconfig.esp32s2 b/cpu/esp32/Kconfig.esp32s2
index 22db166788..045b717459 100644
--- a/cpu/esp32/Kconfig.esp32s2
+++ b/cpu/esp32/Kconfig.esp32s2
@@ -26,7 +26,7 @@ config CPU_FAM_ESP32S2
     select MODULE_PS if MODULE_SHELL
     select MODULE_PTHREAD if MODULE_CPP
     select MODULE_RTT_RTC if HAS_PERIPH_RTT && MODULE_PERIPH_RTC
-    select MODULE_USBDEV_SYNOPSYS_DWC2 if HAS_PERIPH_USBDEV && MODULE_PERIPH_USBDEV
+    select MODULE_USBDEV_SYNOPSYS_DWC2 if MODULE_PERIPH_USBDEV
     imply MODULE_NEWLIB_NANO
 
 config CPU_FAM
diff --git a/cpu/esp32/Kconfig.esp32s3 b/cpu/esp32/Kconfig.esp32s3
index c05358024c..6e4ec98344 100644
--- a/cpu/esp32/Kconfig.esp32s3
+++ b/cpu/esp32/Kconfig.esp32s3
@@ -33,7 +33,7 @@ config CPU_FAM_ESP32S3
     select MODULE_PS if MODULE_SHELL
     select MODULE_PTHREAD if MODULE_CPP
     select MODULE_RTT_RTC if HAS_PERIPH_RTT && MODULE_PERIPH_RTC
-    select MODULE_USBDEV_SYNOPSYS_DWC2 if HAS_PERIPH_USBDEV && MODULE_PERIPH_USBDEV
+    select MODULE_USBDEV_SYNOPSYS_DWC2 if MODULE_PERIPH_USBDEV
     imply MODULE_NEWLIB_NANO
 
 config CPU_FAM
diff --git a/cpu/esp32/Makefile.dep b/cpu/esp32/Makefile.dep
index f46f939e5d..600b94af0a 100644
--- a/cpu/esp32/Makefile.dep
+++ b/cpu/esp32/Makefile.dep
@@ -160,7 +160,6 @@ endif
 ifneq (,$(filter periph_usbdev,$(USEMODULE)))
   USEMODULE += esp_idf_usb
   USEMODULE += usbdev_synopsys_dwc2
-  USEMODULE += ztimer_msec
 endif
 
 ifneq (,$(filter shell,$(USEMODULE)))
diff --git a/cpu/esp32/include/periph_cpu_esp32s2.h b/cpu/esp32/include/periph_cpu_esp32s2.h
index 5f9f6b572e..faf9cce0c4 100644
--- a/cpu/esp32/include/periph_cpu_esp32s2.h
+++ b/cpu/esp32/include/periph_cpu_esp32s2.h
@@ -264,9 +264,7 @@ extern "C" {
 /**
  * @brief   Total size of the FIFO
  */
-#ifndef DWC2_USB_OTG_FS_TOTAL_FIFO_SIZE
 #define DWC2_USB_OTG_FS_TOTAL_FIFO_SIZE (1024U)
-#endif
 
 /**
  * @brief   Buffers have to be word aligned for DMA
diff --git a/cpu/esp32/include/periph_cpu_esp32s3.h b/cpu/esp32/include/periph_cpu_esp32s3.h
index 90e5c5b5c0..39d3cc58b0 100644
--- a/cpu/esp32/include/periph_cpu_esp32s3.h
+++ b/cpu/esp32/include/periph_cpu_esp32s3.h
@@ -265,9 +265,7 @@ extern "C" {
 /**
  * @brief   Total size of the FIFO
  */
-#ifndef DWC2_USB_OTG_FS_TOTAL_FIFO_SIZE
 #define DWC2_USB_OTG_FS_TOTAL_FIFO_SIZE (1024U)
-#endif
 
 /**
  * @brief   Buffers have to be word aligned for DMA
diff --git a/cpu/stm32/include/usbdev_stm32.h b/cpu/stm32/include/usbdev_stm32.h
index 0a860cf880..02d234e7a2 100644
--- a/cpu/stm32/include/usbdev_stm32.h
+++ b/cpu/stm32/include/usbdev_stm32.h
@@ -81,7 +81,7 @@ extern "C" {
 /**
  * @brief USB OTG FS FIFO reception buffer space in 32-bit words
  *
- * Used as shared FIFO for reception of all OUT transfers
+ * Used as shared FIFO for reception of all OUT transfers from the host
  *
  * @note The application might have to increase this when dealing with large
  *       isochronous transfers
@@ -99,6 +99,38 @@ extern "C" {
 #define DWC2_USB_OTG_HS_RX_FIFO_SIZE   (512U)
 #endif
 
+/**
+ * @brief USB OTG FS FIFO total size
+ *
+ * Some device families (F7 and L4) forgot to define the FS device FIFO size
+ * in their vendor headers. This define sets it to the value from the
+ * reference manual.
+ */
+#ifndef USB_OTG_FS_TOTAL_FIFO_SIZE
+#define USB_OTG_FS_TOTAL_FIFO_SIZE      (1280U)
+#endif
+
+/**
+ * @brief USB OTG FS FIFO total size
+ *
+ * Some device families (F7 and L4) forgot to define the HS device FIFO size
+ * in their vendor headers. This define sets it to the value from the
+ * reference manual.
+ */
+#ifndef USB_OTG_HS_TOTAL_FIFO_SIZE
+#define USB_OTG_HS_TOTAL_FIFO_SIZE      (4096U)
+#endif
+
+/**
+ * @brief USB OTG FS FIFO total size
+ */
+#define DWC2_USB_OTG_FS_TOTAL_FIFO_SIZE USB_OTG_FS_TOTAL_FIFO_SIZE
+
+/**
+ * @brief USB OTG HS FIFO total size
+ */
+#define DWC2_USB_OTG_HS_TOTAL_FIFO_SIZE USB_OTG_HS_TOTAL_FIFO_SIZE
+
 /**
  * @brief Use the built-in DMA controller of the HS peripheral when possible
  */
diff --git a/drivers/Makefile.dep b/drivers/Makefile.dep
index aa73dee94d..a190ffeb82 100644
--- a/drivers/Makefile.dep
+++ b/drivers/Makefile.dep
@@ -209,6 +209,7 @@ endif
 
 ifneq (,$(filter usbdev_synopsys_dwc2,$(USEMODULE)))
   FEATURES_REQUIRED += periph_usbdev
+  USEMODULE += ztimer_msec
 endif
 
 ifneq (,$(filter vcnl40%0,$(USEMODULE)))
diff --git a/drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c b/drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c
index ee2e939f9e..92a8220708 100644
--- a/drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c
+++ b/drivers/usbdev_synopsys_dwc2/usbdev_synopsys_dwc2.c
@@ -93,20 +93,6 @@
 #define DWC2_PKTSTS_SETUP_COMP     0x04    /**< Rx fifo setup complete */
 #define DWC2_PKTSTS_SETUP_UPDT     0x06    /**< Rx fifo setup update   */
 
-/* Some device families (F7 and L4) forgot to define the FS device FIFO size  *
- * in their vendor headers. This define sets it to the value from the         *
- * reference manual                                                           */
-#ifndef USB_OTG_FS_TOTAL_FIFO_SIZE
-#define USB_OTG_FS_TOTAL_FIFO_SIZE      (1280U)
-#endif
-
-/* Some device families (F7 and L4) forgot to define the HS device FIFO size  *
- * in their vendor headers. This define sets it to the value from the         *
- * reference manual                                                           */
-#ifndef USB_OTG_HS_TOTAL_FIFO_SIZE
-#define USB_OTG_HS_TOTAL_FIFO_SIZE      (4096U)
-#endif
-
 /* minimum depth of an individual transmit FIFO */
 #define DWC2_USB_OTG_FIFO_MIN_WORD_SIZE (16U)
 /* Offset for OUT endpoints in a shared IN/OUT endpoint bit flag register */
@@ -472,14 +458,14 @@ static size_t _total_fifo_size(const dwc2_usb_otg_fshs_config_t *conf)
 {
     if (conf->type == DWC2_USB_OTG_FS) {
 #ifdef DWC2_USB_OTG_FS_ENABLED
-        return USB_OTG_FS_TOTAL_FIFO_SIZE;
+        return DWC2_USB_OTG_FS_TOTAL_FIFO_SIZE;
 #else
         return 0;
 #endif  /* DWC2_USB_OTG_FS_ENABLED */
     }
     else {
 #ifdef DWC2_USB_OTG_HS_ENABLED
-        return USB_OTG_HS_TOTAL_FIFO_SIZE;
+        return DWC2_USB_OTG_HS_TOTAL_FIFO_SIZE;
 #else
         return 0;
 #endif  /* DWC2_USB_OTG_HS_ENABLED */