There is a tutorial about how to access the hardware on the wiki,
here: http://wiki.lazarus.freepascal.org/index.php/Hardware_Access

However I only tested it with Parallel devices (ISA, PCI, parallel
port), but the access is very raw, so it may work on usb as well.

When you get this working, please add information to that Wiki page on
the "Serial Communication" section =)

You might also find interresting the documentation and source code of
a digital oscilloscope GUI I developed with Lazarus. It's available
here: http://eletronicalivre.incubadora.fapesp.br/portal/english/oscilloscope/

thanks,
--
Felipe Monteiro de Carvalho

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