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AM437x USB driver for custom RTOS

Hello all,

My firm is looking to port our custom RTOS to the AM437x and the question has been raised as to how to best get USB working. Is there a reference USB driver (both host and device) available under a suitable license for inclusion into a custom, proprietary RTOS? I did find the SYS/BIOS aka TI-RTOS code from that SDK (sdk/starterware/library/usb_lib), but a cursory examination suggests that it is for USB devices only, and not for USB hosts.

So, TI experts - what's our best/shortest path here? Use the SDK example? Get the docs for the DWC3 cores and roll our own? Something else?

Thanks in advance.