diff --git a/cpu/efm32/include/periph_cpu.h b/cpu/efm32/include/periph_cpu.h
index 0d809f30c3..b60018246d 100644
--- a/cpu/efm32/include/periph_cpu.h
+++ b/cpu/efm32/include/periph_cpu.h
@@ -682,6 +682,13 @@ typedef struct {
 #define WDT_HAS_STOP            (1U)
 /** @} */
 
+/**
+ * @name    USB device definitions
+ * @{
+ */
+#define USBDEV_NUM_ENDPOINTS    7   /**< Number of USB OTG FS endpoints including EP0 */
+/** @} */
+
 /* GPIO_LL's overrides */
 #ifndef DOXYGEN
 
diff --git a/cpu/esp32/include/periph_cpu_esp32s2.h b/cpu/esp32/include/periph_cpu_esp32s2.h
index faf9cce0c4..cc54995d56 100644
--- a/cpu/esp32/include/periph_cpu_esp32s2.h
+++ b/cpu/esp32/include/periph_cpu_esp32s2.h
@@ -270,6 +270,11 @@ extern "C" {
  * @brief   Buffers have to be word aligned for DMA
  */
 #define USBDEV_CPU_DMA_ALIGNMENT        (4)
+
+/**
+ * @brief Number of USB IN and OUT endpoints available
+ */
+#define USBDEV_NUM_ENDPOINTS            DWC2_USB_OTG_FS_NUM_EP
 /** @} */
 
 
diff --git a/cpu/esp32/include/periph_cpu_esp32s3.h b/cpu/esp32/include/periph_cpu_esp32s3.h
index 39d3cc58b0..f90932cc87 100644
--- a/cpu/esp32/include/periph_cpu_esp32s3.h
+++ b/cpu/esp32/include/periph_cpu_esp32s3.h
@@ -271,6 +271,11 @@ extern "C" {
  * @brief   Buffers have to be word aligned for DMA
  */
 #define USBDEV_CPU_DMA_ALIGNMENT        (4)
+
+/**
+ * @brief Number of USB IN and OUT endpoints available
+ */
+#define USBDEV_NUM_ENDPOINTS            DWC2_USB_OTG_FS_NUM_EP
 /** @} */
 
 #ifdef __cplusplus
diff --git a/cpu/gd32v/include/periph_cpu.h b/cpu/gd32v/include/periph_cpu.h
index 9051edb42d..8fed2b6977 100644
--- a/cpu/gd32v/include/periph_cpu.h
+++ b/cpu/gd32v/include/periph_cpu.h
@@ -458,6 +458,13 @@ typedef struct {
 #define RTT_MIN_FREQUENCY   (1U)            /**< minimum RTT frequency in Hz */
 /** @} */
 
+/**
+ * @name    USB device definitions
+ * @{
+ */
+#define USBDEV_NUM_ENDPOINTS    4   /**< Number of USB OTG FS endpoints including EP0 */
+/** @} */
+
 /**
  * @brief   Enable the given peripheral clock
  *
diff --git a/cpu/stm32/include/periph_cpu.h b/cpu/stm32/include/periph_cpu.h
index 77cb3ac776..2fa42b2c81 100644
--- a/cpu/stm32/include/periph_cpu.h
+++ b/cpu/stm32/include/periph_cpu.h
@@ -113,6 +113,57 @@ typedef struct {
 #define HAVE_PTP_TIMER_SET_ABSOLUTE 1   /**< Native implementation available */
 /** @} */
 
+#if !DOXYGEN    /* hide implementation details */
+/**
+ * @name    USB device definitions
+ * @{
+ */
+/* Detect the IP version based on the available register define */
+#if defined(USB_OTG_GCCFG_NOVBUSSENS)
+#define STM32_USB_OTG_CID_1x        /**< USB OTG FS version 0x00001200 */
+#elif defined(USB_OTG_GCCFG_VBDEN)
+#define STM32_USB_OTG_CID_2x        /**< USB OTG FS version 0x00002000 */
+#elif defined(USB)
+#define STM32_USB_FS_CID_1x         /**< USB FS version 0x00001200 */
+#endif
+
+/**
+ * @brief Number of endpoints available with the OTG FS peripheral
+ *        including the control endpoint
+ */
+#ifdef STM32_USB_OTG_CID_1x
+#define STM32_USB_OTG_FS_NUM_EP (4)    /**< OTG FS with 4 endpoints */
+#elif defined(STM32_USB_OTG_CID_2x)
+#define STM32_USB_OTG_FS_NUM_EP (6)    /**< OTG FS with 6 endpoints */
+#endif
+
+/**
+ * @brief Number of endpoints available with the OTG HS peripheral
+ *        including the control endpoint
+ */
+#ifdef STM32_USB_OTG_CID_1x
+#define STM32_USB_OTG_HS_NUM_EP (6)     /**< OTG HS with 6 endpoints */
+#elif defined(STM32_USB_OTG_CID_2x)
+#define STM32_USB_OTG_HS_NUM_EP (9)     /**< OTG HS with 9 endpoints */
+#endif
+
+/**
+ * @brief Number of IN/OUT endpoints including EP0 as used by USBUS
+ *
+ * @note Since only a single number of EPs can be defined for USBUS that is
+ *       valid for all devices, the smallest number of EPs must be used for
+ *       multiple USB devices.
+ */
+#if defined(STM32_USB_OTG_FS_NUM_EP)
+#define USBDEV_NUM_ENDPOINTS            STM32_USB_OTG_FS_NUM_EP
+#elif defined(STM32_USB_OTG_HS_NUM_EP)
+#define USBDEV_NUM_ENDPOINTS            STM32_USB_OTG_HS_NUM_EP
+#else
+#define USBDEV_NUM_ENDPOINTS            8
+#endif
+
+#endif /* !DOXYGEN */
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/cpu/stm32/include/usbdev_stm32.h b/cpu/stm32/include/usbdev_stm32.h
index 02d234e7a2..1d0c397f1a 100644
--- a/cpu/stm32/include/usbdev_stm32.h
+++ b/cpu/stm32/include/usbdev_stm32.h
@@ -41,42 +41,22 @@
 #include <stdint.h>
 #include <stdlib.h>
 #include "periph_cpu.h"
-#include "periph/usbdev.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/* Detect the IP version based on the available register define */
-#if defined(USB_OTG_GCCFG_NOVBUSSENS)
-#define STM32_USB_OTG_CID_1x        /**< USB OTG FS version 0x00001200 */
-#elif defined(USB_OTG_GCCFG_VBDEN)
-#define STM32_USB_OTG_CID_2x        /**< USB OTG FS version 0x00002000 */
-#elif defined(USB)
-#define STM32_USB_FS_CID_1x         /**< USB FS version 0x00001200 */
-#else
-#error Unknown USB peripheral version
-#endif
-
 /**
  * @brief Number of endpoints available with the OTG FS peripheral
  *        including the control endpoint
  */
-#ifdef STM32_USB_OTG_CID_1x
-#define DWC2_USB_OTG_FS_NUM_EP (4) /**< OTG FS with 4 endpoints */
-#elif defined(STM32_USB_OTG_CID_2x)
-#define DWC2_USB_OTG_FS_NUM_EP (6) /**< OTG FS with 6 endpoints */
-#endif
+#define DWC2_USB_OTG_FS_NUM_EP  STM32_USB_OTG_FS_NUM_EP
 
 /**
  * @brief Number of endpoints available with the OTG HS peripheral
  *        including the control endpoint
  */
-#ifdef STM32_USB_OTG_CID_1x
-#define DWC2_USB_OTG_HS_NUM_EP (6) /**< OTG HS with 6 endpoints */
-#elif defined(STM32_USB_OTG_CID_2x)
-#define DWC2_USB_OTG_HS_NUM_EP (9) /**< OTG HS with 9 endpoints */
-#endif
+#define DWC2_USB_OTG_HS_NUM_EP  STM32_USB_OTG_HS_NUM_EP
 
 /**
  * @brief USB OTG FS FIFO reception buffer space in 32-bit words
@@ -144,6 +124,9 @@ extern "C" {
 #endif
 #endif
 
+/* periph/usbdev.h is included after the definitions above by intention */
+#include "periph/usbdev.h"
+
 /**
  * @brief stm32 USB Device FS only peripheral device context
  */
diff --git a/pkg/nanors/Makefile b/pkg/nanors/Makefile
index 2ae22abf82..6255eec068 100644
--- a/pkg/nanors/Makefile
+++ b/pkg/nanors/Makefile
@@ -1,6 +1,6 @@
 PKG_NAME=nanors
 PKG_URL=https://github.com/sleepybishop/nanors.git
-PKG_VERSION=395e5ada44dd8d5974eaf6bb6b17f23406e3ca72
+PKG_VERSION=e9e242e98e27037830490b2a752895ca68f75f8b
 PKG_LICENSE=MIT
 
 include $(RIOTBASE)/pkg/pkg.mk
diff --git a/sys/auto_init/usb/auto_init_usb.c b/sys/auto_init/usb/auto_init_usb.c
index fe288faace..4ed1a746df 100644
--- a/sys/auto_init/usb/auto_init_usb.c
+++ b/sys/auto_init/usb/auto_init_usb.c
@@ -27,6 +27,7 @@
 #include <assert.h>
 
 #include "usb/usbus.h"
+#include "usb/usbus/control.h"
 
 #ifdef MODULE_USBUS_CDC_ECM
 #include "usb/usbus/cdc/ecm.h"
@@ -39,11 +40,52 @@ usbus_cdcecm_device_t cdcecm;
 #include "usb/usbus/dfu.h"
 static usbus_dfu_device_t dfu;
 #endif
+#ifdef MODULE_USBUS_HID
+#include "usb/usbus/hid.h"
+#endif
 #ifdef MODULE_USBUS_MSC
 #include "usb/usbus/msc.h"
 static usbus_msc_device_t msc;
 #endif
 
+#ifndef MODULE_USBUS_CDC_ACM
+#define USBUS_CDC_ACM_EP_IN_REQUIRED_NUMOF  0
+#define USBUS_CDC_ACM_EP_OUT_REQUIRED_NUMOF 0
+#endif
+
+#ifndef MODULE_USBUS_CDC_ECM
+#define USBUS_CDC_ECM_EP_IN_REQUIRED_NUMOF  0
+#define USBUS_CDC_ECM_EP_OUT_REQUIRED_NUMOF 0
+#endif
+
+#ifndef MODULE_USBUS_HID
+#define USBUS_HID_EP_IN_REQUIRED_NUMOF      0
+#define USBUS_HID_EP_OUT_REQUIRED_NUMOF     0
+#endif
+
+#ifndef MODULE_USBUS_MSC
+#define USBUS_MSC_EP_IN_REQUIRED_NUMOF      0
+#define USBUS_MSC_EP_OUT_REQUIRED_NUMOF     0
+#endif
+
+#define USBUS_EP_IN_REQUIRED_NUMOF  (USBUS_CONTROL_EP_IN_REQUIRED_NUMOF + \
+                                     USBUS_CDC_ACM_EP_IN_REQUIRED_NUMOF + \
+                                     USBUS_CDC_ECM_EP_IN_REQUIRED_NUMOF + \
+                                     USBUS_HID_EP_IN_REQUIRED_NUMOF + \
+                                     USBUS_MSC_EP_IN_REQUIRED_NUMOF)
+
+#define USBUS_EP_OUT_REQUIRED_NUMOF (USBUS_CONTROL_EP_OUT_REQUIRED_NUMOF + \
+                                     USBUS_CDC_ACM_EP_OUT_REQUIRED_NUMOF + \
+                                     USBUS_CDC_ECM_EP_OUT_REQUIRED_NUMOF + \
+                                     USBUS_HID_EP_OUT_REQUIRED_NUMOF + \
+                                     USBUS_MSC_EP_OUT_REQUIRED_NUMOF)
+
+static_assert(USBUS_EP_IN_REQUIRED_NUMOF <= USBDEV_NUM_ENDPOINTS,
+              "Number of required IN endpoints exceeded");
+
+static_assert(USBUS_EP_OUT_REQUIRED_NUMOF <= USBDEV_NUM_ENDPOINTS,
+              "Number of required OUT endpoints exceeded");
+
 static char _stack[USBUS_STACKSIZE];
 static usbus_t usbus;
 
diff --git a/sys/include/usb/hid.h b/sys/include/usb/hid.h
index 5100d6f93d..516dd7ebf9 100644
--- a/sys/include/usb/hid.h
+++ b/sys/include/usb/hid.h
@@ -83,6 +83,16 @@ extern "C" {
 #define USB_HID_REQUEST_SET_PROTOCOL  0x0b
 /** @} */
 
+/**
+ * @brief   Number of IN EPs required for the HID interface
+ */
+#define USBUS_HID_EP_IN_REQUIRED_NUMOF   1
+
+/**
+ * @brief   Number of Out EPs required for the HID interface
+ */
+#define USBUS_HID_EP_OUT_REQUIRED_NUMOF  1
+
 /**
  * @brief USB HID descriptor struct
  *
diff --git a/sys/include/usb/usbus/cdc/acm.h b/sys/include/usb/usbus/cdc/acm.h
index 0a580b0855..103da7ffdb 100644
--- a/sys/include/usb/usbus/cdc/acm.h
+++ b/sys/include/usb/usbus/cdc/acm.h
@@ -89,6 +89,16 @@ extern "C" {
  */
 #define USBUS_CDC_ACM_INT_EP_SIZE      (8)
 
+/**
+ * @brief Number of IN EPs required for the CDC ACM interface
+ */
+#define USBUS_CDC_ACM_EP_IN_REQUIRED_NUMOF   2
+
+/**
+ * @brief Number of Out EPs required for the CDC ACM interface
+ */
+#define USBUS_CDC_ACM_EP_OUT_REQUIRED_NUMOF  1
+
 /**
  * @brief CDC ACM line state as reported by the host computer
  */
diff --git a/sys/include/usb/usbus/cdc/ecm.h b/sys/include/usb/usbus/cdc/ecm.h
index 5f99af2dde..adaec1b732 100644
--- a/sys/include/usb/usbus/cdc/ecm.h
+++ b/sys/include/usb/usbus/cdc/ecm.h
@@ -87,6 +87,16 @@ extern "C" {
  */
 #define USBUS_ETHERNET_FRAME_BUF   MATH_ALIGN(ETHERNET_FRAME_LEN, USBUS_CDCECM_EP_DATA_SIZE)
 
+/**
+ * @brief Number of IN EPs required for the CDC ECM interface
+ */
+#define USBUS_CDC_ECM_EP_IN_REQUIRED_NUMOF   2
+
+/**
+ * @brief Number of Out EPs required for the CDC ECM interface
+ */
+#define USBUS_CDC_ECM_EP_OUT_REQUIRED_NUMOF  1
+
 /**
  * @brief notification state, used to track which information must be send to
  * the host
diff --git a/sys/include/usb/usbus/control.h b/sys/include/usb/usbus/control.h
index 69e8028111..3afa2ff880 100644
--- a/sys/include/usb/usbus/control.h
+++ b/sys/include/usb/usbus/control.h
@@ -21,6 +21,16 @@
 #ifndef USB_USBUS_CONTROL_H
 #define USB_USBUS_CONTROL_H
 
+/**
+ * @brief   Number of IN EPs required for the control interface
+ */
+#define USBUS_CONTROL_EP_IN_REQUIRED_NUMOF  1
+
+/**
+ * @brief   Number of IN EPs required for the control interface
+ */
+#define USBUS_CONTROL_EP_OUT_REQUIRED_NUMOF 1
+
 #include "usb/usbus.h"
 
 #ifdef __cplusplus
diff --git a/sys/include/usb/usbus/msc.h b/sys/include/usb/usbus/msc.h
index 4e3ee02e8d..4f664ca13f 100644
--- a/sys/include/usb/usbus/msc.h
+++ b/sys/include/usb/usbus/msc.h
@@ -31,6 +31,16 @@
 extern "C" {
 #endif
 
+/**
+ * @brief Number of IN EPs required for the MSC interface
+ */
+#define USBUS_MSC_EP_IN_REQUIRED_NUMOF   1
+
+/**
+ * @brief Number of Out EPs required for the MSC interface
+ */
+#define USBUS_MSC_EP_OUT_REQUIRED_NUMOF  1
+
 /**
  * @brief USBUS MSC Number of exported MTD device through USB
  */
diff --git a/tests/pkg_nanors/main.c b/tests/pkg_nanors/main.c
index 313e9ef5cc..343579d53c 100644
--- a/tests/pkg_nanors/main.c
+++ b/tests/pkg_nanors/main.c
@@ -36,10 +36,14 @@ int main(void)
     static uint8_t data[(DATA_SHARDS + RECOVERY_SHARDS) * SHARD_SIZE];
     /* copy of data for comparison */
     static uint8_t data_cmp[DATA_SHARDS * SHARD_SIZE];
+    /* nanors work buffer */
+    static uint8_t rs_buf[reed_solomon_bufsize(DATA_SHARDS, RECOVERY_SHARDS)];
+
     /* pointer to shards */
-    static uint8_t *shards[DATA_SHARDS + RECOVERY_SHARDS];
+    uint8_t *shards[DATA_SHARDS + RECOVERY_SHARDS];
     /* map of missing shards */
-    static uint8_t marks[DATA_SHARDS + RECOVERY_SHARDS];
+    uint8_t marks[DATA_SHARDS + RECOVERY_SHARDS];
+    memset(marks, 0, sizeof(marks));
 
     /* generate random data */
     random_bytes(data, sizeof(data_cmp));
@@ -51,8 +55,7 @@ int main(void)
     }
 
     puts("START");
-    reed_solomon_init();
-    rs_t *rs = reed_solomon_new(DATA_SHARDS, RECOVERY_SHARDS);
+    rs_t *rs = reed_solomon_new_static(rs_buf, sizeof(rs_buf), DATA_SHARDS, RECOVERY_SHARDS);
     if (!rs) {
         puts("failed to init codec");
         return -1;
@@ -79,7 +82,6 @@ int main(void)
     } else {
         puts("done.");
     }
-    reed_solomon_release(rs);
 
     if (memcmp(data, data_cmp, sizeof(data_cmp))) {
         puts("FAILED");
diff --git a/tests/usbus_cdc_ecm/Makefile b/tests/usbus_cdc_ecm/Makefile
index f632e5d40c..b25c9e7699 100644
--- a/tests/usbus_cdc_ecm/Makefile
+++ b/tests/usbus_cdc_ecm/Makefile
@@ -9,4 +9,30 @@ USEMODULE += shell
 USEMODULE += shell_cmds_default
 USEMODULE += ps
 
+# Boards that don't have enough endpoints to use CDC ACM together with CDC ECM
+ifeq (,$(filter stdio_%,$(filter-out stdio_cdc_acm,$(USEMODULE))))
+  BOARD_BLACKLIST += \
+    stm32f429i-disco \
+    stm32f4discovery \
+    weact-f401cc \
+    weact-f401ce \
+    weact-f411ce \
+    #
+endif
+
+define _usbus_cdc_ecm_blacklist_info
+Warning:
+    The board is blacklisted because it uses `stdio_cdc_acm` as STDIO, which needs
+    a CDC ACM interface in addition to the CDC ECM interface, but the number of
+    available endpoints is not sufficient for this. To use this application you
+    have to use `stdio_uart` or any other `stdio_*` module, for example:
+
+    USEMODULE=stdio_uart BOARD=$(BOARD) make -C tests/usbus_cdc_ecm
+
+endef
+
+ifneq (,$(filter $(BOARD),$(BOARD_BLACKLIST)))
+  $(info $(_usbus_cdc_ecm_blacklist_info))
+endif
+
 include $(RIOTBASE)/Makefile.include