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Android: connect with a USB device that acts as a host

We created a device that can act as a USB host or slave device and process the data it receives. I want to use Android phones to send data via USB.

My research leads me to the conclusion that we cannot use Android devices in USB Host mode without changing the hardware or OS. This is not an option, as it will be a commercially deployed device.

However, I could not find any information on using the Android phone as a subordinate. This is already technically possible, since it can connect to a PC in a similar configuration. Can we do the same with the app? If so, any information on how to achieve this would be greatly appreciated. I have full access to our embedded system, so custom code there should not be a problem.

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This is already technically possible because it can connect to a PC in a similar configuration.

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