1. USBMON is your friend. It has very little dependency and is very useful in giving you low level USB packets. The short but complete and helpful documentation is at: https://www.kernel.org/doc/Documentation/usb/usbmon.txt
2. The USB Made Simple website with details of how USB works. The articles are fairly short so you can read and understand how USB works. Very useful. Site: http://www.usbmadesimple.co.uk/ums_3.htm
3. Linux Device Driver boot (Rev 3) has a good chapter about USB Urbs and the architecture of the USB stack on Linux, giving you a good overall picture of how things work. Site: http://www.makelinux.net/ldd3/chp-13-sect-3
4. Linux Documentation input.txt provides very useful information on Linux handling of USB HID and events. Address: https://www.kernel.org/doc/Documentation/input/input.txt
5. freedesktop.org publishes a tool called 'evtest' that can read events to Linux device /dev/eventX. This can be really useful in viewing raw events. The package has only one C file and no lib dependency. So very easy to compile for your target. Site: http://cgit.freedesktop.org/evtest/
6. TI's Wiki has a good overview of how TI's USB stack fits into the Linux USB stack. Site: http://processors.wiki.ti.com/index.php/DM81xx_AM38XX_USB_User_Guide#Linux_USB_Stack_Architecture
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