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Returning -1 on error
This should be handled by the board implementation.
Better to pass this rather than just assume the data size
In case there's an error in the API recv function this will keep the library data valid and avoid the callback.
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Making some small changes to how the USB API works:
int. If there's an error on the USB side these will return '-1'. This makes more sense than just returning '0' which could indicate an error or just a wait condition.