diff --git a/ports/rp2/CMakeLists.txt b/ports/rp2/CMakeLists.txt
index 4f76c5864fc2a..15f6f6ca1c288 100644
--- a/ports/rp2/CMakeLists.txt
+++ b/ports/rp2/CMakeLists.txt
@@ -406,6 +406,7 @@ target_compile_options(${MICROPY_TARGET} PRIVATE
 
 target_link_options(${MICROPY_TARGET} PRIVATE
     -Wl,--defsym=__micropy_c_heap_size__=${MICROPY_C_HEAP_SIZE}
+    -Wl,--wrap=dcd_event_handler
 )
 
 set_source_files_properties(
diff --git a/ports/rp2/mpconfigport.h b/ports/rp2/mpconfigport.h
index 84a961db43e8a..61749f108aafc 100644
--- a/ports/rp2/mpconfigport.h
+++ b/ports/rp2/mpconfigport.h
@@ -250,23 +250,8 @@ extern void mp_thread_end_atomic_section(uint32_t);
 #define MICROPY_PY_LWIP_REENTER lwip_lock_acquire();
 #define MICROPY_PY_LWIP_EXIT    lwip_lock_release();
 
-#if MICROPY_HW_ENABLE_USBDEV
-#define MICROPY_HW_USBDEV_TASK_HOOK extern void usbd_task(void); usbd_task();
-#define MICROPY_VM_HOOK_COUNT (10)
-#define MICROPY_VM_HOOK_INIT static uint vm_hook_divisor = MICROPY_VM_HOOK_COUNT;
-#define MICROPY_VM_HOOK_POLL if (get_core_num() == 0 && --vm_hook_divisor == 0) { \
-        vm_hook_divisor = MICROPY_VM_HOOK_COUNT; \
-        MICROPY_HW_USBDEV_TASK_HOOK \
-}
-#define MICROPY_VM_HOOK_LOOP MICROPY_VM_HOOK_POLL
-#define MICROPY_VM_HOOK_RETURN MICROPY_VM_HOOK_POLL
-#else
-#define MICROPY_HW_USBDEV_TASK_HOOK
-#endif
-
 #define MICROPY_EVENT_POLL_HOOK_FAST \
     do { \
-        if (get_core_num() == 0) { MICROPY_HW_USBDEV_TASK_HOOK } \
         extern void mp_handle_pending(bool); \
         mp_handle_pending(true); \
     } while (0)
diff --git a/ports/samd/Makefile b/ports/samd/Makefile
index 291a894ab7b07..12223e6ded8f4 100644
--- a/ports/samd/Makefile
+++ b/ports/samd/Makefile
@@ -93,6 +93,8 @@ LIBSTDCPP_FILE_NAME = "$(shell $(CXX) $(CXXFLAGS) -print-file-name=libstdc++.a)"
 LDFLAGS += -L"$(shell dirname $(LIBSTDCPP_FILE_NAME))"
 endif
 
+LDFLAGS += --wrap=dcd_event_handler
+
 MPY_CROSS_FLAGS += -march=$(MPY_CROSS_MCU_ARCH)
 
 SRC_C += \
@@ -131,6 +133,7 @@ SHARED_SRC_C += \
 	shared/runtime/sys_stdio_mphal.c \
 	shared/timeutils/timeutils.c \
 	shared/tinyusb/mp_cdc_common.c \
+	shared/tinyusb/mp_usbd.c
 
 ASF4_SRC_C += $(addprefix lib/asf4/$(MCU_SERIES_LOWER)/,\
 	hal/src/hal_atomic.c \
diff --git a/ports/samd/samd_isr.c b/ports/samd/samd_isr.c
index a12140313b24c..7c4c1d060f768 100644
--- a/ports/samd/samd_isr.c
+++ b/ports/samd/samd_isr.c
@@ -310,10 +310,10 @@ const ISR isr_vector[] __attribute__((section(".isr_vector"))) = {
     &Sercom7_Handler, // 77 Serial Communication Interface 7 (SERCOM7): SERCOM7_3 - 6
     0,                // 78 Control Area Network 0 (CAN0)
     0,                // 79 Control Area Network 1 (CAN1)
-    &USB_0_Handler_wrapper, // 80 Universal Serial Bus (USB): USB_EORSM_DNRS, ...
-    &USB_1_Handler_wrapper, // 81 Universal Serial Bus (USB): USB_SOF_HSOF
-    &USB_2_Handler_wrapper, // 82 Universal Serial Bus (USB): USB_TRCPT0_0 - _7
-    &USB_3_Handler_wrapper, // 83 Universal Serial Bus (USB): USB_TRCPT1_0 - _7
+    &USB_Handler_wrapper, // 80 Universal Serial Bus (USB): USB_EORSM_DNRS, ...
+    &USB_Handler_wrapper, // 81 Universal Serial Bus (USB): USB_SOF_HSOF
+    &USB_Handler_wrapper, // 82 Universal Serial Bus (USB): USB_TRCPT0_0 - _7
+    &USB_Handler_wrapper, // 83 Universal Serial Bus (USB): USB_TRCPT1_0 - _7
     0,                // 84 Ethernet MAC (GMAC)
     0,                // 85 Timer Counter Control 0 (TCC0): TCC0_CNT_A ...
     0,                // 86 Timer Counter Control 0 (TCC0): TCC0_MC_0
diff --git a/ports/samd/samd_soc.h b/ports/samd/samd_soc.h
index 1848cf7db198a..90a5a57ffa14e 100644
--- a/ports/samd/samd_soc.h
+++ b/ports/samd/samd_soc.h
@@ -36,10 +36,6 @@ void samd_init(void);
 void samd_main(void);
 
 void USB_Handler_wrapper(void);
-void USB_0_Handler_wrapper(void);
-void USB_1_Handler_wrapper(void);
-void USB_2_Handler_wrapper(void);
-void USB_3_Handler_wrapper(void);
 
 void sercom_enable(Sercom *spi, int state);
 void sercom_register_irq(int sercom_id, void (*sercom_irq_handler));
diff --git a/ports/samd/tusb_port.c b/ports/samd/tusb_port.c
index 2098334fbae61..e56ef0fd6af00 100644
--- a/ports/samd/tusb_port.c
+++ b/ports/samd/tusb_port.c
@@ -117,33 +117,6 @@ const uint16_t *tud_descriptor_string_cb(uint8_t index, uint16_t langid) {
     return desc_str;
 }
 
-#if defined(MCU_SAMD21)
-
 void USB_Handler_wrapper(void) {
     tud_int_handler(0);
-    tud_task();
-}
-
-#elif defined(MCU_SAMD51)
-
-void USB_0_Handler_wrapper(void) {
-    tud_int_handler(0);
-    tud_task();
-}
-
-void USB_1_Handler_wrapper(void) {
-    tud_int_handler(0);
-    tud_task();
 }
-
-void USB_2_Handler_wrapper(void) {
-    tud_int_handler(0);
-    tud_task();
-}
-
-void USB_3_Handler_wrapper(void) {
-    tud_int_handler(0);
-    tud_task();
-}
-
-#endif
diff --git a/shared/tinyusb/mp_usbd.c b/shared/tinyusb/mp_usbd.c
index ea1de674bc1b4..87c10310f7bea 100644
--- a/shared/tinyusb/mp_usbd.c
+++ b/shared/tinyusb/mp_usbd.c
@@ -27,17 +27,40 @@
 #include <stdlib.h>
 
 #include "py/mpconfig.h"
+#include "py/runtime.h"
 
 #if MICROPY_HW_ENABLE_USBDEV
 
 #ifndef NO_QSTR
 #include "tusb.h" // TinyUSB is not available when running the string preprocessor
+#include "device/dcd.h"
 #include "device/usbd.h"
 #include "device/usbd_pvt.h"
 #endif
 
+// Legacy TinyUSB task function wrapper, called by some ports from the interpreter hook
 void usbd_task(void) {
     tud_task_ext(0, false);
 }
 
+// TinyUSB task function wrapper, as scheduled from the USB IRQ
+static void mp_usbd_task(mp_sched_node_t *node);
+
+extern void __real_dcd_event_handler(dcd_event_t const *event, bool in_isr);
+
+// If -Wl,--wrap=dcd_event_handler is passed to the linker, then this wrapper
+// will be called and allows MicroPython to schedule the TinyUSB task when
+// dcd_event_handler() is called from an ISR.
+TU_ATTR_FAST_FUNC void __wrap_dcd_event_handler(dcd_event_t const *event, bool in_isr) {
+    static mp_sched_node_t usbd_task_node;
+
+    __real_dcd_event_handler(event, in_isr);
+    mp_sched_schedule_node(&usbd_task_node, mp_usbd_task);
+}
+
+static void mp_usbd_task(mp_sched_node_t *node) {
+    (void)node;
+    tud_task_ext(0, false);
+}
+
 #endif
diff --git a/shared/tinyusb/mp_usbd.h b/shared/tinyusb/mp_usbd.h
index 3a93b929c586d..2e4feaca9fa19 100644
--- a/shared/tinyusb/mp_usbd.h
+++ b/shared/tinyusb/mp_usbd.h
@@ -29,9 +29,6 @@
 
 #include "py/obj.h"
 
-// Call instead of tud_task()
-void mp_usbd_task(void);
-
 // Function to be implemented in port code.
 // Can write a string up to MICROPY_HW_USB_DESC_STR_MAX characters long, plus terminating byte.
 extern void mp_usbd_port_get_serial_number(char *buf);