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PORUS is a portable USBstack for peripheral devices. Enumeration is handled automatically by C code generated from an easy-to-use configuration file. PORUS is written in standard C, so porting to new hardware is straightforward.
FreakUSB is an open source embedded USB device protocol stack. Updates to this project have been moved to http://www.freaklabs.org due to slow access from Japan. Apologies if this causes any problems.