I just took a quick look in the AROS tree for what all is included from Poseidon and its a bit of a downer.
The only host drivers included are for PCI attached *HCI controllers. Not terribly interesting. (I assume that all real Amiga hardware host drivers were contributed and thus didn't fall under Chris Hodges' ownership)
There is a virtual usb driver (didn't read through it, my coffee break is only that long) which might make a interesting starting point but that would also require writing a new Poseidon host class 'fun'.
So someone will have to write the owner of a USB Poseidon host class and ask for GPL'd code, good luck :-)
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