diff --git a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c
index 986ba4fc6..726f4f181 100644
--- a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c
+++ b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c
@@ -49,6 +49,27 @@
 /* Private typedef -----------------------------------------------------------*/
 /* Private define ------------------------------------------------------------*/
 /* Private macro -------------------------------------------------------------*/
+
+/** @defgroup USB_OTG_GRSTCTL_AHBIDL_TIMEOUT_MS AHB master idle timeout
+  * @{
+  */
+#define USB_OTG_GRSTCTL_AHBIDL_TIMEOUT_MS  ((uint32_t)50U)
+
+/** @defgroup USB_OTG_GRSTCTL_CSRST_TIMEOUT_MS Core soft reset timeout
+  * @{
+  */
+#define USB_OTG_GRSTCTL_CSRST_TIMEOUT_MS  ((uint32_t)10U)
+
+/** @defgroup USB_OTG_GRSTCTL_TXFFLSH_TIMEOUT_MS Tx FIFO flush timeout
+  * @{
+  */
+#define USB_OTG_GRSTCTL_TXFFLSH_TIMEOUT_MS  ((uint32_t)5U)
+
+/** @defgroup USB_OTG_GRSTCTL_RXFFLSH_TIMEOUT_MS Rx FIFO flush timeout
+  * @{
+  */
+#define USB_OTG_GRSTCTL_RXFFLSH_TIMEOUT_MS  ((uint32_t)5U)
+
 /* Private variables ---------------------------------------------------------*/
 /* Private function prototypes -----------------------------------------------*/
 /* Private functions ---------------------------------------------------------*/
@@ -432,19 +453,22 @@ HAL_StatusTypeDef USB_DevInit(USB_OTG_GlobalTypeDef *USBx, USB_OTG_CfgTypeDef cf
   */
 HAL_StatusTypeDef USB_FlushTxFifo(USB_OTG_GlobalTypeDef *USBx, uint32_t num)
 {
-  uint32_t count = 0U;
+  uint32_t tickstart;
 
   USBx->GRSTCTL = (USB_OTG_GRSTCTL_TXFFLSH | (num << 6));
 
-  do
+  /* Get tick */
+  tickstart = HAL_GetTick();
+
+  /* Wait for AHB master IDLE state. */
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH)
   {
-    if (++count > 200000U)
+    if ((HAL_GetTick() - tickstart) > USB_OTG_GRSTCTL_TXFFLSH_TIMEOUT_MS)
     {
       return HAL_TIMEOUT;
     }
   }
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH);
-
+  
   return HAL_OK;
 }
 
@@ -455,18 +479,21 @@ HAL_StatusTypeDef USB_FlushTxFifo(USB_OTG_GlobalTypeDef *USBx, uint32_t num)
   */
 HAL_StatusTypeDef USB_FlushRxFifo(USB_OTG_GlobalTypeDef *USBx)
 {
-  uint32_t count = 0;
+  uint32_t tickstart;
 
   USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH;
 
-  do
+  /* Get tick */
+  tickstart = HAL_GetTick();
+
+  /* Wait for AHB master IDLE state. */
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH)
   {
-    if (++count > 200000U)
+    if ((HAL_GetTick() - tickstart) > USB_OTG_GRSTCTL_RXFFLSH_TIMEOUT_MS)
     {
       return HAL_TIMEOUT;
     }
   }
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH);
 
   return HAL_OK;
 }
@@ -1295,30 +1322,33 @@ HAL_StatusTypeDef USB_EP0_OutStart(USB_OTG_GlobalTypeDef *USBx, uint8_t dma, uin
   */
 static HAL_StatusTypeDef USB_CoreReset(USB_OTG_GlobalTypeDef *USBx)
 {
-  uint32_t count = 0U;
+  uint32_t tickstart;
+  
+  /* Get tick */
+  tickstart = HAL_GetTick();
 
   /* Wait for AHB master IDLE state. */
-  do
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0U)
   {
-    if (++count > 200000U)
+    if ((HAL_GetTick() - tickstart) > USB_OTG_GRSTCTL_AHBIDL_TIMEOUT_MS)
     {
       return HAL_TIMEOUT;
     }
   }
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0U);
 
   /* Core Soft Reset */
-  count = 0U;
   USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST;
 
-  do
+  /* Get tick */
+  tickstart = HAL_GetTick();
+
+  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST)
   {
-    if (++count > 200000U)
+    if ((HAL_GetTick() - tickstart) > USB_OTG_GRSTCTL_CSRST_TIMEOUT_MS)
     {
       return HAL_TIMEOUT;
     }
   }
-  while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST);
 
   return HAL_OK;
 }