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Wim Brul has released his USB 1.1 Extended Control Driver for OS/2 for free use. From the website:

"This driver enables you to directly control usb devices. It provides an application programming interface that conforms to the standard DosRead and DosWrite functions and as such may be easily used from rexx procedures using the charin and charout functions. It has been designed to ease the development and test of simple usb devices that do not belong to any usb device class and which exercise standard/vendor control transfers and data (bulk/interrupt) transfers. Besides the application programming interface supports isochronous transfers to 1 specific endpoint through DosDevIOCtl functions that are however not available to rexx procedures. There is a 1 to 1 relationship between an instance of this device driver and a particular usb device."

The website has complete installation and usage documentation and provides samples and source code.