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USB, Ethernet, RS-232 (UART) without Linux

(I find no forum for asking embedded software questions that aren't about Linux or TI-provided codecs.  I've been writing embedded software for other procs for over 20 years.)

On a DM6467T, I am developing a single-purpose DSP application (video analytics).  It's a box that sits between a camera and a monitor.  I don't otherwise need the overhead of an OS.  I do want to be able to use USB, Ethernet, and RS-232 (UART).

QUESTION:

- Is there any foundation or baseline software to help with this?

CONSIDERATIONS (comments welcome):

- USB - I probably only need to be a USB client, to download snapshots to a PC, and *perhaps* to monitor video over USB.  With microprocessor products I've developed in the past, the outboard USB chip handled all of that and I only needed trivial firmware in my micro.  Definitely no OS was required.  In the event I need to be a USB host, such as printing snapshots to a printer, I know things are more complicated.  Still, do I need an OS.  Or is it simple?  Or is there example code somewhere to accomplish this?

- Ethernet - It would be nice to replace my monitor with a PC watching video over IP.  Do I need an OS?  Or is it simple?  Or is there example code somewhere to accomplish this?

- RS-232 (UART) - This should definitely be simple, so I can't imagine I need an OS for this.  I need to output some control commands to the camera and monitor between which my box is attached.

Thanks