Comment Re:Pardon my ignorance but... (Score 5, Informative) 273
I have read the entire spec, except a few parts about the physical molding/construction of cables and some parts of the last chapter about hubs. I've read many of the change notices that come in the zip file with the main PDF. I've also read the entire HID, Mass Storage class specs, most of the CDC class spec, substantial parts of many of the others, and a good portion of the OHCI spec. I've also read the datasheets for numerous chips, API documentation for Mac, Windows and Linux (at least libusb on Linux), and numerous other related documents.
Yes, there's a lot of documentation. No, I haven't gouged my brain out.
I have implemented 2 USB device-side stacks on microcontrollers (a.k.a. "bare metal") from scratch. Both are commercially successful and in widespread use on Teensy 2.0 and 3.0 and numerous projects and products people have designed and incorporated my code.
While you've done neither, I most certainly have done both: read the specs and implement portions of USB. I would disagree with your opinion that summarizes USB as "horrible".
It's actually a pretty well though out system.