diff --git a/.travis.yml b/.travis.yml
index 8391da91..10c63885 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -46,7 +46,7 @@ env:
 
   # Various protocol combinations
   - CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=native-stream CONFIG_UART_PROTOCOL=native
-  - CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=stdout CONFIG_UART_PROTOCOL=ascii
+  - CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=stdout CONFIG_UART_PROTOCOL=stdout
   - CONFIG_BOARD_VERSION=v3.4-24V CONFIG_USB_PROTOCOL=none CONFIG_UART_PROTOCOL=none
 
 script:
diff --git a/Firmware/CHANGELOG.md b/Firmware/CHANGELOG.md
index 66a71605..ce21cf1e 100644
--- a/Firmware/CHANGELOG.md
+++ b/Firmware/CHANGELOG.md
@@ -24,6 +24,9 @@ Please add a note of your changes below this heading if you make a Pull Request.
 * bake Git-derived firmware version into firmware binary. The firmware version is exposed through the `fw_version_[...]` properties.
 * Set thread priority of USB pump thread above protocol thread
 * GPIO3 not sensitive to edges by default
+* The device now appears as a composite device on USB. One subdevice is still a CDC device (virtual COM port), the other subdevice is a vendor specific class. This should resolve several issues that were caused by conflicting kernel drivers or OS services.
+* Add WinUSB descriptors. This will tell Windows >= 8 to automatically load winusb.sys for the ODrive (only for the vendor specific subdevice). This makes it possible to use the ODrive from userspace via WinUSB with zero configuration. The Python tool currently still uses libusb so Zadig is still required.
+* Add a configuration to enable the ASCII protocol on USB at runtime. This will only enable the ASCII protocol on the USB CDC subdevice, not the vendor specific subdevice so the python tools will still be able to talk to the ODrive.
 
 ### Fixed
 * Enums now transported with correct underlying type on native protocol
diff --git a/Firmware/MotorControl/odrive_main.h b/Firmware/MotorControl/odrive_main.h
index 2b29b6ac..b12a0cd1 100644
--- a/Firmware/MotorControl/odrive_main.h
+++ b/Firmware/MotorControl/odrive_main.h
@@ -54,6 +54,7 @@ extern SystemStats_t system_stats_;
 // @brief general user configurable board configuration
 struct BoardConfig_t {
     bool enable_uart = true;
+    bool enable_ascii_protocol_on_usb = false;
     float brake_resistance = 0.47f;     // [ohm]
     float dc_bus_undervoltage_trip_level = 8.0f;                        //<! [V] minimum voltage below which the motor stops operating
     float dc_bus_overvoltage_trip_level = 1.08f * HW_VERSION_VOLTAGE;   //<! [V] maximum voltage above which the motor stops operating.
diff --git a/Firmware/Tupfile.lua b/Firmware/Tupfile.lua
index ff95f0d1..aa59ebc9 100644
--- a/Firmware/Tupfile.lua
+++ b/Firmware/Tupfile.lua
@@ -43,8 +43,6 @@ if tup.getconfig("USB_PROTOCOL") == "native" or tup.getconfig("USB_PROTOCOL") ==
     FLAGS += "-DUSB_PROTOCOL_NATIVE"
 elseif tup.getconfig("USB_PROTOCOL") == "native-stream" then
     FLAGS += "-DUSB_PROTOCOL_NATIVE_STREAM_BASED"
-elseif tup.getconfig("USB_PROTOCOL") == "ascii" then
-    FLAGS += "-DUSB_PROTOCOL_ASCII"
 elseif tup.getconfig("USB_PROTOCOL") == "stdout" then
     FLAGS += "-DUSB_PROTOCOL_STDOUT"
 elseif tup.getconfig("USB_PROTOCOL") == "none" then
diff --git a/Firmware/communication/communication.cpp b/Firmware/communication/communication.cpp
index 1c4accfd..48320070 100644
--- a/Firmware/communication/communication.cpp
+++ b/Firmware/communication/communication.cpp
@@ -131,6 +131,7 @@ static inline auto make_obj_tree() {
             make_protocol_property("brake_resistance", &board_config.brake_resistance),
             // TODO: changing this currently requires a reboot - fix this
             make_protocol_property("enable_uart", &board_config.enable_uart),
+            make_protocol_property("enable_ascii_protocol_on_usb", &board_config.enable_ascii_protocol_on_usb),
             make_protocol_property("dc_bus_undervoltage_trip_level", &board_config.dc_bus_undervoltage_trip_level),
             make_protocol_property("dc_bus_overvoltage_trip_level", &board_config.dc_bus_overvoltage_trip_level)
         ),
diff --git a/Firmware/communication/interface_usb.cpp b/Firmware/communication/interface_usb.cpp
index 57b52d3b..51324862 100644
--- a/Firmware/communication/interface_usb.cpp
+++ b/Firmware/communication/interface_usb.cpp
@@ -10,6 +10,9 @@
 #include <cmsis_os.h>
 #include <freertos_vars.h>
 
+#include <odrive_main.h>
+#include "ascii_protocol.h"
+
 static uint8_t* usb_buf;
 static uint32_t usb_len;
 static uint8_t active_endpoint_pair;
@@ -88,13 +91,15 @@ static void usb_server_thread(void * ctx) {
         if (sem_stat == osOK) {
             usb_stats_.rx_cnt++;
             deadline_ms = timeout_to_deadline(PROTOCOL_SERVER_TIMEOUT_MS);
+            if (active_endpoint_pair == CDC_OUT_EP && board_config.enable_ascii_protocol_on_usb) {
+                ASCII_protocol_parse_stream(usb_buf, usb_len, usb_stream_output);
+            } else {
 #if defined(USB_PROTOCOL_NATIVE)
-            usb_channel.process_packet(usb_buf, usb_len);
+                usb_channel.process_packet(usb_buf, usb_len);
 #elif defined(USB_PROTOCOL_NATIVE_STREAM_BASED)
-            usb_native_stream_input.process_bytes(usb_buf, usb_len);
-#elif defined(USB_PROTOCOL_ASCII)
-            ASCII_protocol_parse_stream(usb_buf, usb_len, usb_stream_output);
+                usb_native_stream_input.process_bytes(usb_buf, usb_len);
 #endif
+            }
             USBD_CDC_ReceivePacket(&hUsbDeviceFS, active_endpoint_pair);  // Allow next packet
         }
     }