USB host file uses DEBUGASSERT and so must include assert.h. Note by Brennan Ashton
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/****************************************************************************
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* drivers/usbhost/usbhost_findclass.c
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*
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* Copyright (C) 2010 Gregory Nutt. All rights reserved.
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* Copyright (C) 2010, 2015 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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*
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* Redistribution and use in source and binary forms, with or without
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@ -41,6 +41,7 @@
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#include <sys/types.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <debug.h>
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#include <nuttx/usb/usb.h>
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