I was working through this tutorial to create a basic OS for the Raspberry Pi. In this lesson, the author says that USB is insanely complicated and that he could not find some driver code to plug in that provides a simple USB interface for ARM processors. Is there such an open source library available?

Library purpose

Interface with USB devices on ARM architecture

Essential requirements

Provide functions available in ARM Assembly Language to interact with USB devices in a simple manner

License / budget

Free & Open Source

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