diff --git a/hw/bsp/stm32h743eval/stm32h743eval.c b/hw/bsp/stm32h743eval/stm32h743eval.c
index 8bafc32c..772edf33 100644
--- a/hw/bsp/stm32h743eval/stm32h743eval.c
+++ b/hw/bsp/stm32h743eval/stm32h743eval.c
@@ -185,10 +185,14 @@ void board_init(void)
   SystemClock_Config();
   all_rcc_clk_enable();
 
-  #if CFG_TUSB_OS  == OPT_OS_NONE
-    // 1ms tick timer
-    SysTick_Config(SystemCoreClock / 1000);
-  #endif
+  // 1ms tick timer
+  SysTick_Config(SystemCoreClock / 1000);
+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+  // If freeRTOS is used, IRQ priority is limit by max syscall ( smaller is higher )
+  NVIC_SetPriority(OTG_FS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
+  NVIC_SetPriority(OTG_HS_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY );
+#endif
   
   GPIO_InitTypeDef  GPIO_InitStruct;
 
diff --git a/src/portable/st/synopsys/dcd_synopsys.c b/src/portable/st/synopsys/dcd_synopsys.c
index 030c089a..d636e581 100644
--- a/src/portable/st/synopsys/dcd_synopsys.c
+++ b/src/portable/st/synopsys/dcd_synopsys.c
@@ -48,36 +48,41 @@
       (CFG_TUSB_MCU == OPT_MCU_STM32L4 && defined(STM32L4_SYNOPSYS)) \
     )
 
-// TODO Support OTG_HS
 // EP_MAX       : Max number of bi-directional endpoints including EP0
 // EP_FIFO_SIZE : Size of dedicated USB SRAM
 #if CFG_TUSB_MCU == OPT_MCU_STM32F1
   #include "stm32f1xx.h"
   #define EP_MAX          4
   #define EP_FIFO_SIZE    1280
+
 #elif CFG_TUSB_MCU == OPT_MCU_STM32F2
   #include "stm32f2xx.h"
   #define EP_MAX          USB_OTG_FS_MAX_IN_ENDPOINTS
   #define EP_FIFO_SIZE    USB_OTG_FS_TOTAL_FIFO_SIZE
+
 #elif CFG_TUSB_MCU == OPT_MCU_STM32F4
   #include "stm32f4xx.h"
   #define EP_MAX          USB_OTG_FS_MAX_IN_ENDPOINTS
   #define EP_FIFO_SIZE    USB_OTG_FS_TOTAL_FIFO_SIZE
+
 #elif CFG_TUSB_MCU == OPT_MCU_STM32H7
   #include "stm32h7xx.h"
   #define EP_MAX          9
   #define EP_FIFO_SIZE    4096
-  // TODO The official name of the USB FS peripheral on H7 is "USB2_OTG_FS".
+
 #elif CFG_TUSB_MCU == OPT_MCU_STM32F7
   #include "stm32f7xx.h"
   #define EP_MAX          6
   #define EP_FIFO_SIZE    1280
+
 #elif CFG_TUSB_MCU == OPT_MCU_STM32L4
   #include "stm32l4xx.h"
   #define EP_MAX          6
   #define EP_FIFO_SIZE    1280
+
 #else
   #error "Unsupported MCUs"
+
 #endif
 
 #include "device/dcd.h"