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Yes, when the USBS framework was specified (ten years ago?) most USB chips were ugly beasts, with predefined endpoints, lots of limitations, and lots of bugs.For that matter, the usb subsystem could use a bit of an upgrade to make drivers easier to write.
Others have said that as well. But it needs somebody to actually do it. A lot depends on the complexity of the driver. I recently wrote a simple driver and a Linux kernel counterpart without too much effort.
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