Added a gateway application the routes between SLIP on USB and the radio.

platform/stepper-robot/gateway/Makefile

@@ -0,0 +1,11 @@
+CONTIKI=../../../../contiki-2.x/
+TARGET=stepper-robot
+
+MCK=23961600
+XSLTPROC=xsltproc
+
+CONTIKI_TARGET_MAIN=contiki-main.c
+
+all: gateway
+
+include $(CONTIKI)/Makefile.include

platform/stepper-robot/gateway/gateway.c

@@ -0,0 +1,105 @@
+#include <stdio.h>
+#include <sys/etimer.h>
+#include <sys/process.h>
+#include <sys/autostart.h>
+#include <usb/usb-api.h>
+#include <usb/cdc-acm.h>
+#include <dev/leds.h>
+#include <debug-uart.h>
+
+#include <net/uip-fw-drv.h>
+#include <dev/slip.h>
+
+/* SLIP interface */
+
+extern struct uip_fw_netif cc2420if;
+
+static struct uip_fw_netif slipif =
+{UIP_FW_NETIF(0,0,0,0, 255,255,255,255, slip_send)};
+
+/* USB buffers */
+static unsigned char input_buffer[128];
+static unsigned char output_buffer[128];
+static unsigned char interrupt_buffer[16];
+
+#define DEV_TO_HOST 0x81
+#define HOST_TO_DEV 0x02
+
+void
+slip_arch_init(unsigned long ubr)
+{
+}
+
+void
+slip_arch_writeb(unsigned char c)
+{
+  while(usb_send_data(DEV_TO_HOST, &c, 1) != 1);
+}
+
+
+PROCESS(gateway_process, "Gateway process");
+
+
+PROCESS_THREAD(gateway_process, ev , data)
+{
+  static struct etimer timer;
+  PROCESS_BEGIN();
+  usb_set_user_process(process_current);
+  usb_setup();
+  usb_cdc_acm_setup();
+
+  uip_fw_default(&slipif);
+  uip_fw_register(&cc2420if);
+
+  process_start(&slip_process, NULL);
+  
+  while(ev != PROCESS_EVENT_EXIT) {
+    PROCESS_WAIT_EVENT();
+    if (ev == PROCESS_EVENT_TIMER) {
+      leds_toggle(LEDS_YELLOW);
+      etimer_restart(&timer);
+    } else if (ev == PROCESS_EVENT_MSG) {
+      const struct usb_user_msg * const msg = data;
+      switch(msg->type) {
+      case USB_USER_MSG_TYPE_CONFIG:
+	printf("User config\n");
+	if (msg->data.config != 0) {
+	  usb_setup_bulk_endpoint(DEV_TO_HOST,
+				  input_buffer, sizeof(input_buffer));
+	  usb_setup_bulk_endpoint(HOST_TO_DEV,
+				  output_buffer, sizeof(output_buffer));
+	  usb_setup_interrupt_endpoint(0x83,interrupt_buffer,
+				       sizeof(interrupt_buffer));
+	  etimer_set(&timer, CLOCK_SECOND);
+	} else {
+	  etimer_stop(&timer);
+	  usb_disable_endpoint(DEV_TO_HOST);
+	  usb_disable_endpoint(HOST_TO_DEV);
+	  usb_disable_endpoint(0x83);
+
+	}
+	break;
+      case USB_USER_MSG_TYPE_EP_OUT(2):
+	{
+	  unsigned int len = msg->data.length; 
+	  /* printf("Received %d:\n", len);  */
+	  {
+	    unsigned char ch;
+	    unsigned int xfer;
+	    while((xfer = usb_recv_data(HOST_TO_DEV, &ch, 1)) > 0) {
+	      /* printf(" %02x",ch); */
+	      if (slip_input_byte(ch)) break;
+	    }
+	    /* printf("\n"); */
+	  }
+	}
+	break;
+      }
+      
+    }
+  }
+  printf("USB test process exited\n");
+  PROCESS_END();
+}
+
+AUTOSTART_PROCESSES(&gateway_process);