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This post is from stm32/stm8
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USB insertion detection mechanism: D+ and D- of the USB port are both grounded with a 15k resistor. When no device is connected, they are both at a low level. On the device side, a 1.5k pull-up resistor is connected to +3.3v on D+ (indicating a high-speed device or full-speed device) or D- (indicating a low-speed device). Once a device is connected, one of the D+ or D- of the USB port is pulled up to 3v, and the system recognizes that an external device is connected. The unplugging process is the opposite.
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