+
+ while(!list_empty(&dev->tx_pend_list)) {
+ struct usbcan_message *m;
+ m = list_first_entry(&dev->tx_pend_list, typeof(*m), list_node);
+ set_bit(USBCAN_MESSAGE_TERMINATE,&m->flags);
+ usb_kill_urb(m->u);
+ usbcan_usb_message_move_list(dev, m, &dev->tx_idle_list);
+ }
+
+ while(!list_empty(&dev->rx_ready_list)) {
+ struct usbcan_message *m;
+ m = list_first_entry(&dev->rx_ready_list, typeof(*m), list_node);
+ list_del(&m->list_node);
+ usb_free_urb(m->u);
+ kfree(m);
+ }
+
+ while(!list_empty(&dev->tx_ready_list)) {
+ struct usbcan_message *m;
+ m = list_first_entry(&dev->tx_ready_list, typeof(*m), list_node);
+ list_del(&m->list_node);
+ usb_free_urb(m->u);
+ kfree(m);
+ }
+
+ while(!list_empty(&dev->tx_idle_list)) {
+ struct usbcan_message *m;
+ m = list_first_entry(&dev->tx_idle_list, typeof(*m), list_node);
+ list_del(&m->list_node);
+ usb_free_urb(m->u);
+ kfree(m);
+ }
+
+}
+
+int usbcan_kthread(void *data)
+{
+ int i,retval=0;
+ struct usbcan_usb *dev=(struct usbcan_usb *)data;
+ struct msgobj_t *obj;
+
+ CANMSG("Usbcan thread started...\n");
+
+ if (!dev->chip)
+ goto error;
+ obj=dev->chip->msgobj[0];
+
+ INIT_LIST_HEAD(&dev->rx_pend_list);
+ INIT_LIST_HEAD(&dev->rx_ready_list);
+ INIT_LIST_HEAD(&dev->tx_idle_list);
+ INIT_LIST_HEAD(&dev->tx_pend_list);
+ INIT_LIST_HEAD(&dev->tx_ready_list);
+
+ if (1) {
+ struct sched_param param = { .sched_priority = 1 };
+ sched_setscheduler(current, SCHED_FIFO, ¶m);
+ }
+
+
+ /* Prepare receive urbs */
+ for (i=0;i<USBCAN_TOT_RX_URBS;i++){
+ struct usbcan_message *m;
+ struct urb *u = usb_alloc_urb(0, GFP_KERNEL);
+ if (!u){
+ CANMSG("Error allocating %d. usb receive urb\n",i);
+ goto error;
+ }
+ m = kmalloc(sizeof(struct usbcan_message), GFP_KERNEL);
+ if(!m) {
+ usb_free_urb(u);
+ CANMSG("Error allocating %d. receive usbcan_message\n",i);
+ goto error;
+ }
+ m->u = u;
+ u->dev = dev->udev;
+ m->dev = dev;
+ usb_fill_bulk_urb(u, dev->udev,
+ usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
+ m->msg, USBCAN_TRANSFER_SIZE, usbcan_rx_callback, m);
+ set_bit(USBCAN_MESSAGE_TYPE_RX, &m->flags);
+ list_add_tail(&m->list_node, &dev->rx_ready_list);
+ }
+
+ /* Prepare transmit urbs */
+ for (i=0;i<USBCAN_TOT_TX_URBS;i++){
+ struct usbcan_message *m;
+ struct urb *u = usb_alloc_urb(0, GFP_KERNEL);
+ if (!u){
+ CANMSG("Error allocating %d. usb transmit urb\n",i);
+ goto error;
+ }
+ m = kmalloc(sizeof(struct usbcan_message), GFP_KERNEL);
+ if(!m) {
+ usb_free_urb(u);
+ CANMSG("Error allocating %d. transmit usbcan_message\n",i);
+ goto error;
+ }
+ m->u = u;
+ u->dev = dev->udev;
+ m->dev = dev;
+ usb_fill_bulk_urb(u, dev->udev,
+ usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
+ m->msg, USBCAN_TRANSFER_SIZE, usbcan_tx_callback, m);
+
+ set_bit(USBCAN_MESSAGE_FREE,&m->flags);
+ set_bit(USBCAN_MESSAGE_TYPE_TX,&m->flags);
+ list_add_tail(&m->list_node, &dev->tx_idle_list);
+
+ }
+
+ set_bit(USBCAN_THREAD_RUNNING,&dev->flags);
+ set_bit(USBCAN_FREE_TX_URB,&dev->flags);
+
+ for (i=0;i<USBCAN_TOT_RX_URBS;i++){
+ struct usbcan_message *m;
+ m = list_first_entry(&dev->rx_ready_list, typeof(*m), list_node);
+ set_bit(USBCAN_MESSAGE_URB_PENDING,&m->flags);
+ usbcan_usb_message_move_list(dev, m, &dev->rx_pend_list);
+
+ retval=usb_submit_urb(m->u, GFP_KERNEL);
+ if (retval){
+ CANMSG("%d. URB error %d\n",i,retval);
+ set_bit(USBCAN_ERROR,&dev->flags);
+ usbcan_usb_message_move_list(dev, m, &dev->rx_ready_list);
+ goto exit;
+ }
+ }
+ /* an endless loop in which we are doing our work */
+ for(;;)
+ {
+ /* We need to do a memory barrier here to be sure that
+ the flags are visible on all CPUs. */
+ mb();
+ /* fall asleep */
+ if (!can_kthread_should_stop() && !test_bit(USBCAN_TERMINATE,&dev->flags) && (usbcan_sleep_thread(dev)<0)){
+ break;
+ }
+ /* We need to do a memory barrier here to be sure that the flags are visible on all CPUs. */
+ mb();
+
+ if (can_kthread_should_stop() || test_bit(USBCAN_TERMINATE,&dev->flags)){
+ break;
+ }
+
+ clear_bit(USBCAN_DATA_OK,&dev->flags);
+
+ mb();
+
+ while(!list_empty(&dev->rx_ready_list)) {
+ struct usbcan_message *m;
+ m = list_first_entry(&dev->rx_ready_list, typeof(*m), list_node);
+ usbcan_kthread_read_handler(dev, m, obj);
+ }
+
+ while(!list_empty(&dev->tx_ready_list)) {
+ struct usbcan_message *m;
+ m = list_first_entry(&dev->tx_ready_list, typeof(*m), list_node);
+ usbcan_kthread_write_handler(dev, m, obj);
+ }
+
+ if (test_and_clear_bit(USBCAN_TX_PENDING,&dev->flags)) {
+ usbcan_kthread_write_request_handler(dev, obj);
+ }
+ }
+
+ set_bit(USBCAN_TERMINATE,&dev->flags);
+exit:
+
+ usbcan_kthread_free_urbs(dev);
+ clear_bit(USBCAN_THREAD_RUNNING,&dev->flags);
+
+ CANMSG ("usbcan thread finished!\n");
+ return 0;
+error:
+ /* cleanup the thread, leave */
+ usbcan_kthread_free_urbs(dev);
+
+ CANMSG ("kernel thread terminated!\n");
+ return -ENOMEM;