diff --git a/examples/device/video_capture/src/CMakeLists.txt b/examples/device/video_capture/src/CMakeLists.txt
new file mode 100644
index 000000000..cef2b46ee
--- /dev/null
+++ b/examples/device/video_capture/src/CMakeLists.txt
@@ -0,0 +1,4 @@
+# This file is for ESP-IDF only
+idf_component_register(SRCS "main.c" "usb_descriptors.c"
+                    INCLUDE_DIRS "."
+                    REQUIRES boards tinyusb_src)
diff --git a/examples/device/video_capture/src/main.c b/examples/device/video_capture/src/main.c
index e63335e67..091eb8d0c 100644
--- a/examples/device/video_capture/src/main.c
+++ b/examples/device/video_capture/src/main.c
@@ -48,13 +48,25 @@ enum {
 
 static uint32_t blink_interval_ms = BLINK_NOT_MOUNTED;
 
-void led_blinking_task(void);
-void video_task(void);
+void led_blinking_task(void* param);
+void usb_device_task(void *param);
+void video_task(void* param);
 
-/*------------- MAIN -------------*/
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+void freertos_init_task(void);
+#endif
+
+
+//--------------------------------------------------------------------+
+// Main
+//--------------------------------------------------------------------+
 int main(void) {
   board_init();
 
+  // If using FreeRTOS: create blinky, tinyusb device, video task
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+  freertos_init_task();
+#else
   // init device stack on configured roothub port
   tud_init(BOARD_TUD_RHPORT);
 
@@ -64,10 +76,10 @@ int main(void) {
 
   while (1) {
     tud_task(); // tinyusb device task
-    led_blinking_task();
-
-    video_task();
+    led_blinking_task(NULL);
+    video_task(NULL);
   }
+#endif
 }
 
 //--------------------------------------------------------------------+
@@ -169,7 +181,7 @@ static void fill_color_bar(uint8_t* buffer, unsigned start_position) {
 
 #endif
 
-void video_task(void) {
+void video_send_frame(void) {
   static unsigned start_ms = 0;
   static unsigned already_sent = 0;
 
@@ -213,6 +225,21 @@ void video_task(void) {
 #endif
 }
 
+
+void video_task(void* param) {
+  (void) param;
+
+  while(1) {
+    video_send_frame();
+
+    #if CFG_TUSB_OS == OPT_OS_FREERTOS
+    vTaskDelay(interval_ms / portTICK_PERIOD_MS);
+    #else
+    return;
+    #endif
+  }
+}
+
 void tud_video_frame_xfer_complete_cb(uint_fast8_t ctl_idx, uint_fast8_t stm_idx) {
   (void) ctl_idx;
   (void) stm_idx;
@@ -231,16 +258,92 @@ int tud_video_commit_cb(uint_fast8_t ctl_idx, uint_fast8_t stm_idx,
 }
 
 //--------------------------------------------------------------------+
-// BLINKING TASK
+// Blinking Task
 //--------------------------------------------------------------------+
-void led_blinking_task(void) {
+void led_blinking_task(void* param) {
+  (void) param;
   static uint32_t start_ms = 0;
   static bool led_state = false;
 
-  // Blink every interval ms
-  if (board_millis() - start_ms < blink_interval_ms) return; // not enough time
-  start_ms += blink_interval_ms;
+  while (1) {
+    #if CFG_TUSB_OS == OPT_OS_FREERTOS
+    vTaskDelay(blink_interval_ms / portTICK_PERIOD_MS);
+    #else
+    if (board_millis() - start_ms < blink_interval_ms) return; // not enough time
+    #endif
 
-  board_led_write(led_state);
-  led_state = 1 - led_state; // toggle
+    start_ms += blink_interval_ms;
+    board_led_write(led_state);
+    led_state = 1 - led_state; // toggle
+  }
 }
+
+//--------------------------------------------------------------------+
+// FreeRTOS
+//--------------------------------------------------------------------+
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+
+#define BLINKY_STACK_SIZE   configMINIMAL_STACK_SIZE
+#define VIDEO_STACK_SIZE    (configMINIMAL_STACK_SIZE*4)
+
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
+  #define USBD_STACK_SIZE     4096
+  int main(void);
+  void app_main(void) {
+    main();
+  }
+#else
+  // Increase stack size when debug log is enabled
+  #define USBD_STACK_SIZE    (3*configMINIMAL_STACK_SIZE/2) * (CFG_TUSB_DEBUG ? 2 : 1)
+#endif
+
+// static task
+#if configSUPPORT_STATIC_ALLOCATION
+StackType_t blinky_stack[BLINKY_STACK_SIZE];
+StaticTask_t blinky_taskdef;
+
+StackType_t  usb_device_stack[USBD_STACK_SIZE];
+StaticTask_t usb_device_taskdef;
+
+StackType_t  video_stack[VIDEO_STACK_SIZE];
+StaticTask_t video_taskdef;
+#endif
+
+// USB Device Driver task
+// This top level thread process all usb events and invoke callbacks
+void usb_device_task(void *param) {
+  (void) param;
+
+  // init device stack on configured roothub port
+  // This should be called after scheduler/kernel is started.
+  // Otherwise, it could cause kernel issue since USB IRQ handler does use RTOS queue API.
+  tud_init(BOARD_TUD_RHPORT);
+
+  if (board_init_after_tusb) {
+    board_init_after_tusb();
+  }
+
+  // RTOS forever loop
+  while (1) {
+    // put this thread to waiting state until there is new events
+    tud_task();
+  }
+}
+
+void freertos_init_task(void) {
+  #if configSUPPORT_STATIC_ALLOCATION
+  xTaskCreateStatic(led_blinking_task, "blinky", BLINKY_STACK_SIZE, NULL, 1, blinky_stack, &blinky_taskdef);
+  xTaskCreateStatic(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES-1, usb_device_stack, &usb_device_taskdef);
+  xTaskCreateStatic(video_task, "cdc", VIDEO_STACK_SIZE, NULL, configMAX_PRIORITIES - 2, video_stack, &video_taskdef);
+  #else
+  xTaskCreate(led_blinking_task, "blinky", BLINKY_STACK_SIZE, NULL, 1, NULL);
+  xTaskCreate(usb_device_task, "usbd", USBD_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL);
+  xTaskCreate(video_task, "video", VIDEO_STACK_SZIE, NULL, configMAX_PRIORITIES - 2, NULL);
+  #endif
+
+  // skip starting scheduler (and return) for ESP32-S2 or ESP32-S3
+  #if !TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
+  vTaskStartScheduler();
+  #endif
+}
+#endif
diff --git a/examples/device/video_capture/src/tusb_config.h b/examples/device/video_capture/src/tusb_config.h
index d563c6f5c..bdfc37d87 100644
--- a/examples/device/video_capture/src/tusb_config.h
+++ b/examples/device/video_capture/src/tusb_config.h
@@ -57,6 +57,11 @@
 #define CFG_TUSB_OS           OPT_OS_NONE
 #endif
 
+// Espressif IDF requires "freertos/" prefix in include path
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
+#define CFG_TUSB_OS_INC_PATH  freertos/
+#endif
+
 #ifndef CFG_TUSB_DEBUG
 #define CFG_TUSB_DEBUG        0
 #endif
@@ -103,6 +108,9 @@
 // use bulk endpoint for streaming interface
 #define CFG_TUD_VIDEO_STREAMING_BULK 1
 
+//#define CFG_EXAMPLE_VIDEO_READONLY
+//#define CFG_EXAMPLE_VIDEO_DISABLE_MJPEG
+
 #ifdef __cplusplus
  }
 #endif
diff --git a/examples/device/video_capture/src/usb_descriptors.c b/examples/device/video_capture/src/usb_descriptors.c
index 17e11229d..f308c75a7 100644
--- a/examples/device/video_capture/src/usb_descriptors.c
+++ b/examples/device/video_capture/src/usb_descriptors.c
@@ -364,7 +364,22 @@ const uvc_cfg_desc_t desc_fs_configuration = {
 };
 
 #if TUD_OPT_HIGH_SPEED
-uvc_cfg_desc_t desc_hs_configuration = desc_fs_configuration;
+uvc_cfg_desc_t desc_hs_configuration;
+
+static uint8_t * get_hs_configuration_desc(void) {
+  static bool init = false;
+
+  if (!init) {
+    desc_hs_configuration = desc_fs_configuration;
+    // change endpoint bulk size to 512 if bulk streaming
+    if (CFG_TUD_VIDEO_STREAMING_BULK) {
+      desc_hs_configuration.video_streaming.ep.wMaxPacketSize = 512;
+    }
+  }
+  init = true;
+
+  return (uint8_t *) &desc_hs_configuration;
+}
 
 // device qualifier is mostly similar to device descriptor since we don't change configuration based on speed
 tusb_desc_device_qualifier_t const desc_device_qualifier = {
@@ -395,7 +410,11 @@ uint8_t const* tud_descriptor_device_qualifier_cb(void) {
 uint8_t const* tud_descriptor_other_speed_configuration_cb(uint8_t index) {
   (void) index; // for multiple configurations
   // if link speed is high return fullspeed config, and vice versa
-  return (uint8_t const*) ((tud_speed_get() == TUSB_SPEED_HIGH) ?  &desc_fs_configuration : &desc_hs_configuration);
+  if (tud_speed_get() == TUSB_SPEED_HIGH) {
+    return (uint8_t const*) &desc_fs_configuration;
+  } else {
+    return get_hs_configuration_desc();
+  }
 }
 #endif // highspeed
 
@@ -408,11 +427,7 @@ uint8_t const* tud_descriptor_configuration_cb(uint8_t index) {
 #if TUD_OPT_HIGH_SPEED
   // Although we are highspeed, host may be fullspeed.
   if (tud_speed_get() == TUSB_SPEED_HIGH) {
-    // change endpoint bulk size to 512 if bulk streaming
-    if (CFG_TUD_VIDEO_STREAMING_BULK) {
-      desc_hs_configuration.video_streaming.ep.wMaxPacketSize = 512;
-    }
-    return (uint8_t const*) &desc_hs_configuration;
+    return get_hs_configuration_desc();
   } else
 #endif
   {
diff --git a/hw/bsp/board_api.h b/hw/bsp/board_api.h
index 404509a28..0c8a35924 100644
--- a/hw/bsp/board_api.h
+++ b/hw/bsp/board_api.h
@@ -33,9 +33,26 @@ extern "C" {
 
 #include <stdint.h>
 #include <stdbool.h>
-
 #include "tusb.h"
 
+#if CFG_TUSB_OS == OPT_OS_FREERTOS
+#if TU_CHECK_MCU(OPT_MCU_ESP32S2, OPT_MCU_ESP32S3)
+  // ESP-IDF need "freertos/" prefix in include path.
+  // CFG_TUSB_OS_INC_PATH should be defined accordingly.
+  #include "freertos/FreeRTOS.h"
+  #include "freertos/semphr.h"
+  #include "freertos/queue.h"
+  #include "freertos/task.h"
+  #include "freertos/timers.h"
+#else
+  #include "FreeRTOS.h"
+  #include "semphr.h"
+  #include "queue.h"
+  #include "task.h"
+  #include "timers.h"
+#endif
+#endif
+
 // Define the default baudrate
 #ifndef CFG_BOARD_UART_BAUDRATE
 #define CFG_BOARD_UART_BAUDRATE 115200   ///< Default baud rate
diff --git a/src/class/video/video.h b/src/class/video/video.h
index bed8eeecf..fb0d0af1d 100644
--- a/src/class/video/video.h
+++ b/src/class/video/video.h
@@ -398,7 +398,7 @@ typedef tusb_desc_video_frame_uncompressed_3int_t tusb_desc_video_frame_uncompre
 TU_VERIFY_STATIC(sizeof(tusb_desc_video_frame_uncompressed_continuous_t) == 38, "size is not correct");
 
 //------------- MJPEG -------------//
-// MJPEG payload specs: 3.1.1 formatt descriptor
+// MJPEG payload specs: 3.1.1 format descriptor
 typedef struct TU_ATTR_PACKED {
   uint8_t bLength;
   uint8_t bDescriptorType;