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Can I simply attach multiple USB1.1 slave devices to a bus like I can with I2C (config A), or does the spec require a USB hub IC (config B)? Power in this application will come from a separate bus.

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    \$\begingroup\$ No. Despite the name, USB connections are always point to point. It just gives some aspects of the logical functionality of a bus. \$\endgroup\$
    – Finbarr
    Mar 30 at 10:00
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    \$\begingroup\$ Among other things, the hub provides the means for the host to enumerate attached devices and assign addresses to them. \$\endgroup\$ Mar 30 at 13:32

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Can I simply attach multiple USB1.1 slave devices to a bus like I can with I2C (config A), or does the spec require a USB hub IC (config B)?

USB is a point-to-point system and not a multi-slave or multi-peer system so no, config A is invalid.

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