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The MUSBMHDRC (musb) is a USB 2.0 Multi-Point, Dual-Role Controller designed by Mentor Graphics Corp. It is widely used in various microcontrollers and SoCs from vendors such as TI, MediaTek, Puya, and Allwinner.
I have implemented a device-driver for it in the musb crate, which works well on py32 microcontrollers. I have also integrated this driver into the py32-hal, and written examples that can be found here.
In the future, I plan to test and support additional microcontrollers that utilize the MUSB IP.