The USB bootloader is an example application that uses a "vendor specific" USB class; it is the firmware used on all XTAG-2 adapter boards. The bootloader can load and execute firmware over USB. This page gives a description of the protocol used, the source code of the firmware, the binary of the firmware that is used on the XTAG-2 devices, and an example host program that shows how to use the open source libusb library to implement the host driver.
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