diff --git a/src/machine/machine_atsamd21_usb.go b/src/machine/machine_atsamd21_usb.go
index 45ba18d454..45b6ba8241 100644
--- a/src/machine/machine_atsamd21_usb.go
+++ b/src/machine/machine_atsamd21_usb.go
@@ -51,7 +51,7 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 	sam.USB_DEVICE.CTRLB.SetBits(sam.USB_DEVICE_CTRLB_SPDCONF_FS << sam.USB_DEVICE_CTRLB_SPDCONF_Pos)
 
 	// attach
-	sam.USB_DEVICE.CTRLB.ClearBits(sam.USB_DEVICE_CTRLB_DETACH)
+	dev.Attach()
 
 	// enable interrupt for end of reset
 	sam.USB_DEVICE.INTENSET.SetBits(sam.USB_DEVICE_INTENSET_EORST)
@@ -68,6 +68,20 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 	dev.initcomplete = true
 }
 
+// Attach connects the device to the USB bus, allowing the host to detect and
+// enumerate it. It can be used together with Detach to delay enumeration
+// until the USB configuration (device identifiers, classes, ...) is complete.
+func (dev *USBDevice) Attach() {
+	sam.USB_DEVICE.CTRLB.ClearBits(sam.USB_DEVICE_CTRLB_DETACH)
+}
+
+// Detach disconnects the device from the USB bus. To the host this appears
+// as if the device was unplugged. A subsequent Attach makes the host
+// enumerate the device again.
+func (dev *USBDevice) Detach() {
+	sam.USB_DEVICE.CTRLB.SetBits(sam.USB_DEVICE_CTRLB_DETACH)
+}
+
 func handlePadCalibration() {
 	// Load Pad Calibration data from non-volatile memory
 	// This requires registers that are not included in the SVD file.
diff --git a/src/machine/machine_atsamd51_usb.go b/src/machine/machine_atsamd51_usb.go
index 186ba4ce01..d10755db9c 100644
--- a/src/machine/machine_atsamd51_usb.go
+++ b/src/machine/machine_atsamd51_usb.go
@@ -51,7 +51,7 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 	sam.USB_DEVICE.CTRLB.SetBits(sam.USB_DEVICE_CTRLB_SPDCONF_FS << sam.USB_DEVICE_CTRLB_SPDCONF_Pos)
 
 	// attach
-	sam.USB_DEVICE.CTRLB.ClearBits(sam.USB_DEVICE_CTRLB_DETACH)
+	dev.Attach()
 
 	// enable interrupt for end of reset
 	sam.USB_DEVICE.INTENSET.SetBits(sam.USB_DEVICE_INTENSET_EORST)
@@ -71,6 +71,20 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 	dev.initcomplete = true
 }
 
+// Attach connects the device to the USB bus, allowing the host to detect and
+// enumerate it. It can be used together with Detach to delay enumeration
+// until the USB configuration (device identifiers, classes, ...) is complete.
+func (dev *USBDevice) Attach() {
+	sam.USB_DEVICE.CTRLB.ClearBits(sam.USB_DEVICE_CTRLB_DETACH)
+}
+
+// Detach disconnects the device from the USB bus. To the host this appears
+// as if the device was unplugged. A subsequent Attach makes the host
+// enumerate the device again.
+func (dev *USBDevice) Detach() {
+	sam.USB_DEVICE.CTRLB.SetBits(sam.USB_DEVICE_CTRLB_DETACH)
+}
+
 func handlePadCalibration() {
 	// Load Pad Calibration data from non-volatile memory
 	// This requires registers that are not included in the SVD file.
diff --git a/src/machine/machine_esp32c3_usb.go b/src/machine/machine_esp32c3_usb.go
index 5d58c35ee2..4af895a52a 100644
--- a/src/machine/machine_esp32c3_usb.go
+++ b/src/machine/machine_esp32c3_usb.go
@@ -67,6 +67,11 @@ func (dev *USBDevice) SetStallEPOut(ep uint32)   {}
 func (dev *USBDevice) ClearStallEPIn(ep uint32)  {}
 func (dev *USBDevice) ClearStallEPOut(ep uint32) {}
 
+// Attach and Detach are no-ops: the USB Serial/JTAG controller has no
+// software-controlled soft-connect, it is always attached to the bus.
+func (dev *USBDevice) Attach() {}
+func (dev *USBDevice) Detach() {}
+
 // initUSB is intentionally empty — the interp phase evaluates init()
 // functions at compile time and cannot access hardware registers.
 // Actual hardware setup is deferred to the first Configure() call.
diff --git a/src/machine/machine_esp32c6_usb.go b/src/machine/machine_esp32c6_usb.go
index aa9bc988bd..f05d54c5ae 100644
--- a/src/machine/machine_esp32c6_usb.go
+++ b/src/machine/machine_esp32c6_usb.go
@@ -66,6 +66,11 @@ func (dev *USBDevice) SetStallEPOut(ep uint32)   {}
 func (dev *USBDevice) ClearStallEPIn(ep uint32)  {}
 func (dev *USBDevice) ClearStallEPOut(ep uint32) {}
 
+// Attach and Detach are no-ops: the USB Serial/JTAG controller has no
+// software-controlled soft-connect, it is always attached to the bus.
+func (dev *USBDevice) Attach() {}
+func (dev *USBDevice) Detach() {}
+
 // initUSB is intentionally empty — the interp phase evaluates init()
 // functions at compile time and cannot access hardware registers.
 // Actual hardware setup is deferred to the first Configure() call.
diff --git a/src/machine/machine_esp32xx_usb.go b/src/machine/machine_esp32xx_usb.go
index e9d7275d9e..7679f436cb 100644
--- a/src/machine/machine_esp32xx_usb.go
+++ b/src/machine/machine_esp32xx_usb.go
@@ -67,6 +67,11 @@ func (dev *USBDevice) SetStallEPOut(ep uint32)   {}
 func (dev *USBDevice) ClearStallEPIn(ep uint32)  {}
 func (dev *USBDevice) ClearStallEPOut(ep uint32) {}
 
+// Attach and Detach are no-ops: the USB Serial/JTAG controller has no
+// software-controlled soft-connect, it is always attached to the bus.
+func (dev *USBDevice) Attach() {}
+func (dev *USBDevice) Detach() {}
+
 // initUSB is intentionally empty — the interp phase evaluates init()
 // functions at compile time and cannot access hardware registers.
 // Actual hardware setup is deferred to the first Configure() call.
diff --git a/src/machine/machine_nrf52840_usb.go b/src/machine/machine_nrf52840_usb.go
index 0dc222b372..90904d0dcb 100644
--- a/src/machine/machine_nrf52840_usb.go
+++ b/src/machine/machine_nrf52840_usb.go
@@ -22,6 +22,11 @@ var (
 	epinen      uint32
 	epouten     uint32
 	easyDMABusy volatile.Register8
+
+	// usbDetached keeps the device detached from the bus after Detach: the
+	// USB IRQ handler re-enables the DP pull-up on every power-ready event,
+	// which would otherwise silently undo a Detach.
+	usbDetached bool
 )
 
 // enterCriticalSection is used to protect access to easyDMA - only one thing
@@ -89,6 +94,23 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 	dev.initcomplete = true
 }
 
+// Attach connects the device to the USB bus by enabling the DP pull-up,
+// allowing the host to detect and enumerate it. It can be used together with
+// Detach to delay enumeration until the USB configuration (device
+// identifiers, classes, ...) is complete.
+func (dev *USBDevice) Attach() {
+	usbDetached = false
+	nrf.USBD.USBPULLUP.Set(1)
+}
+
+// Detach disconnects the device from the USB bus by disabling the DP pull-up.
+// To the host this appears as if the device was unplugged. A subsequent
+// Attach makes the host enumerate the device again.
+func (dev *USBDevice) Detach() {
+	usbDetached = true
+	nrf.USBD.USBPULLUP.Set(0)
+}
+
 func handleUSBIRQ(interrupt.Interrupt) {
 	if nrf.USBD.EVENTS_SOF.Get() == 1 {
 		nrf.USBD.EVENTS_SOF.Set(0)
@@ -103,7 +125,9 @@ func handleUSBIRQ(interrupt.Interrupt) {
 
 			// Configure control endpoint
 			initEndpoint(0, usb.ENDPOINT_TYPE_CONTROL)
-			nrf.USBD.USBPULLUP.Set(1)
+			if !usbDetached {
+				nrf.USBD.USBPULLUP.Set(1)
+			}
 
 			usbConfiguration = 0
 		}
diff --git a/src/machine/machine_rp2040_usb.go b/src/machine/machine_rp2040_usb.go
index efa6440428..961f9bbd2f 100644
--- a/src/machine/machine_rp2040_usb.go
+++ b/src/machine/machine_rp2040_usb.go
@@ -43,9 +43,24 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 		rp.USBCTRL_REGS_INTE_SETUP_REQ)
 
 	// Present full speed device by enabling pull up on DP
+	dev.Attach()
+}
+
+// Attach connects the device to the USB bus by enabling the DP pull-up,
+// allowing the host to detect and enumerate it. It can be used together with
+// Detach to delay enumeration until the USB configuration (device
+// identifiers, classes, ...) is complete.
+func (dev *USBDevice) Attach() {
 	rp.USBCTRL_REGS.SIE_CTRL.SetBits(rp.USBCTRL_REGS_SIE_CTRL_PULLUP_EN)
 }
 
+// Detach disconnects the device from the USB bus by disabling the DP pull-up.
+// To the host this appears as if the device was unplugged. A subsequent
+// Attach makes the host enumerate the device again.
+func (dev *USBDevice) Detach() {
+	rp.USBCTRL_REGS.SIE_CTRL.ClearBits(rp.USBCTRL_REGS_SIE_CTRL_PULLUP_EN)
+}
+
 func handleUSBIRQ(intr interrupt.Interrupt) {
 	status := rp.USBCTRL_REGS.INTS.Get()
 
diff --git a/src/machine/machine_rp2350_usb.go b/src/machine/machine_rp2350_usb.go
index ca565738a5..1c4d1588ad 100644
--- a/src/machine/machine_rp2350_usb.go
+++ b/src/machine/machine_rp2350_usb.go
@@ -43,12 +43,27 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 		rp.USB_INTE_SETUP_REQ)
 
 	// Present full speed device by enabling pull up on DP
-	rp.USB.SIE_CTRL.SetBits(rp.USB_SIE_CTRL_PULLUP_EN)
+	dev.Attach()
 
 	// 12.7.2 Disable phy isolation
 	rp.USB.SetMAIN_CTRL_PHY_ISO(0x0)
 }
 
+// Attach connects the device to the USB bus by enabling the DP pull-up,
+// allowing the host to detect and enumerate it. It can be used together with
+// Detach to delay enumeration until the USB configuration (device
+// identifiers, classes, ...) is complete.
+func (dev *USBDevice) Attach() {
+	rp.USB.SIE_CTRL.SetBits(rp.USB_SIE_CTRL_PULLUP_EN)
+}
+
+// Detach disconnects the device from the USB bus by disabling the DP pull-up.
+// To the host this appears as if the device was unplugged. A subsequent
+// Attach makes the host enumerate the device again.
+func (dev *USBDevice) Detach() {
+	rp.USB.SIE_CTRL.ClearBits(rp.USB_SIE_CTRL_PULLUP_EN)
+}
+
 func handleUSBIRQ(intr interrupt.Interrupt) {
 	status := rp.USB.INTS.Get()
 
diff --git a/src/machine/machine_stm32_otgfs_usb.go b/src/machine/machine_stm32_otgfs_usb.go
index 47f70936d5..639a301ee7 100644
--- a/src/machine/machine_stm32_otgfs_usb.go
+++ b/src/machine/machine_stm32_otgfs_usb.go
@@ -254,7 +254,7 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 	otgPower.PCGCCTL.Set(0)
 
 	// Soft-disconnect now (after CSRST reset DCTL to its default connected state).
-	otgDevice.DCTL.SetBits(dctlSDIS)
+	dev.Detach()
 
 	// ---- 7. Configure data FIFOs --------------------------------------------
 
@@ -311,11 +311,26 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 
 	// ---- 12. Connect to host (clear soft-disconnect) -----------------------
 
-	otgDevice.DCTL.ClearBits(dctlSDIS)
+	dev.Attach()
 
 	dev.initcomplete = true
 }
 
+// Attach connects the device to the USB bus by releasing soft disconnect,
+// allowing the host to detect and enumerate it. It can be used together with
+// Detach to delay enumeration until the USB configuration (device
+// identifiers, classes, ...) is complete.
+func (dev *USBDevice) Attach() {
+	otgDevice.DCTL.ClearBits(dctlSDIS)
+}
+
+// Detach disconnects the device from the USB bus by asserting soft
+// disconnect. To the host this appears as if the device was unplugged. A
+// subsequent Attach makes the host enumerate the device again.
+func (dev *USBDevice) Detach() {
+	otgDevice.DCTL.SetBits(dctlSDIS)
+}
+
 // handleUSBIRQ is the OTG FS interrupt handler, dispatching on GINTSTS bits.
 func handleUSBIRQ(intr interrupt.Interrupt) {
 	status := stm32.OTG_FS_GLOBAL.GINTSTS.Get() &
diff --git a/src/machine/machine_stm32h7_usb.go b/src/machine/machine_stm32h7_usb.go
index 7673819b01..e895600294 100644
--- a/src/machine/machine_stm32h7_usb.go
+++ b/src/machine/machine_stm32h7_usb.go
@@ -206,7 +206,7 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 
 	// Stay soft-disconnected until configuration is complete; CSRST left
 	// DCTL at its default "connected" state.
-	usbOTG.DCTL.SetBits(DCTL_SDIS)
+	dev.Detach()
 
 	// 5. Force device mode now that the core is out of reset. The mode
 	// change takes effect only after up to 25 ms (RM0433); poll GINTSTS.CMOD
@@ -265,9 +265,24 @@ func (dev *USBDevice) Configure(config UARTConfig) {
 	dev.initcomplete = true
 
 	// Release soft-disconnect: pulls D+ high, making device visible to host.
+	dev.Attach()
+}
+
+// Attach connects the device to the USB bus by releasing soft disconnect,
+// allowing the host to detect and enumerate it. It can be used together with
+// Detach to delay enumeration until the USB configuration (device
+// identifiers, classes, ...) is complete.
+func (dev *USBDevice) Attach() {
 	usbOTG.DCTL.ClearBits(DCTL_SDIS)
 }
 
+// Detach disconnects the device from the USB bus by asserting soft
+// disconnect. To the host this appears as if the device was unplugged. A
+// subsequent Attach makes the host enumerate the device again.
+func (dev *USBDevice) Detach() {
+	usbOTG.DCTL.SetBits(DCTL_SDIS)
+}
+
 func initEndpoint(ep, config uint32) {
 	if ep == 0 {
 		// Control endpoint