There have been big changes to the in-kernel USB implementation in recent releases of macOS (between 10.10 and 10.11 IIRC). It’s not my specialty, so I don’t have a lot of specific advice to give here. The general advice for KEXT development is that you should use the tools associated with the lowest macOS release you’re targeting (this is very different from user space development, where we recommend that you always use the latest tools). So, what’s your intended deployment target?
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Quinn “The Eskimo!”
Apple Developer Relations, Developer Technical Support, Core OS/Hardware
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After 10.10 it was removed. That is why you receive that error in El Capitan and Sierra. It is no longer there.