X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/d70622f27a4e224e2c94bdeef7728232d23fee2b..a6d355f1cf48f39eecb2f1bdead51817d1fd5989:/lincan/src/usbcan.c

diff --git a/lincan/src/usbcan.c b/lincan/src/usbcan.c
index f29e549..42ece6f 100644
--- a/lincan/src/usbcan.c
+++ b/lincan/src/usbcan.c
@@ -263,7 +263,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  l
 	int retval;
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 
-	u8 usbbuf[16];
+	u8 usbbuf[USBCAN_TRANSFER_SIZE];
 
 	if (!dev)
 		return -ENODEV;
@@ -276,7 +276,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  l
 		USBCAN_VENDOR_EXT_MASK_SET,
 		USB_TYPE_VENDOR,
 		cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
-		&usbbuf, 16,
+		&usbbuf, USBCAN_TRANSFER_SIZE,
 		10000);
 	if (retval<0)
 		return -ENODEV;
@@ -286,7 +286,7 @@ int usbcan_extended_mask(struct canchip_t *chip, unsigned long code, unsigned  l
 		USBCAN_VENDOR_EXT_MASK_STATUS,
 		USB_TYPE_VENDOR,
 		cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
-		&usbbuf, 16,
+		&usbbuf, USBCAN_TRANSFER_SIZE,
 		10000);
 
 	if (retval==1){
@@ -319,7 +319,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 	int retval;
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 
-	u8 usbbuf[16];
+	u8 usbbuf[USBCAN_TRANSFER_SIZE];
 
 	if (!dev)
 		return -ENODEV;
@@ -334,7 +334,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 		USBCAN_VENDOR_BAUD_RATE_SET,
 		USB_TYPE_VENDOR,
 		cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
-		&usbbuf, 16,
+		&usbbuf, USBCAN_TRANSFER_SIZE,
 		10000);
 	if (retval<0)
 		return -ENODEV;
@@ -344,7 +344,7 @@ int usbcan_baud_rate(struct canchip_t *chip, int rate, int clock, int sjw,
 		USBCAN_VENDOR_BAUD_RATE_STATUS,
 		USB_TYPE_VENDOR,
 		cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
-		usbbuf, 16,
+		usbbuf, USBCAN_TRANSFER_SIZE,
 		10000);
 
 	if (retval==1){
@@ -388,38 +388,6 @@ int usbcan_pre_read_config(struct canchip_t *chip, struct msgobj_t *obj)
 int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
 							struct canmsg_t *msg)
 {
-	struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
-	int i=0;
-	int len;
-	u8 *ptr;
-
-	if (!dev)
-		return -ENODEV;
-	/* Wait until Transmit Buffer Status is released */
-	while ( usbcan_chip_queue_status(chip) &&
-						i++<MAX_TRANSMIT_WAIT_LOOPS) {
-		udelay(i);
-	}
-	if (usbcan_chip_queue_status(chip)){
-		CANMSG("Buffer full, cannot send message\n");
-		return -EIO;
-	}
-
-	*(uint8_t *)(dev->tx_msg)=chip->chip_idx & 0xFF;
-
-	len = msg->length;
-	if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
-
-	*(uint8_t *)(dev->tx_msg+1)=len & 0xFF;
-	*(uint16_t *)(dev->tx_msg+2)=cpu_to_le16(msg->flags);
-	*(uint32_t *)(dev->tx_msg+4)=cpu_to_le32(msg->id);
-
-	for(ptr=dev->tx_msg+8,i=0; i < len; ptr++,i++) {
-		*ptr=msg->data[i] & 0xFF;
-	}
-	for(; i < 8; ptr++,i++) {
-		*ptr=0;
-	}
 	return 0;
 }
 
@@ -437,43 +405,6 @@ int usbcan_pre_write_config(struct canchip_t *chip, struct msgobj_t *obj,
 int usbcan_send_msg(struct canchip_t *chip, struct msgobj_t *obj,
 							struct canmsg_t *msg)
 {
-	struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
-	int len,retval;
-
-	if (!dev)
-		return -ENODEV;
-
-	set_bit(USBCAN_TX_PENDING,&dev->flags);
-	retval=usb_bulk_msg(dev->udev,
-			usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
-			&dev->tx_msg, 16,
-			&len,10000);
-	clear_bit(USBCAN_TX_PENDING,&dev->flags);
-	if (retval){
-		CANMSG("URB error %d\n",retval);
-		return -EIO;
-	}
-	if (len!=16){
-		CANMSG("CAN message not sent\n");
-		return -EIO;
-	}
-	CANMSG("Message sent\n");
-
-	if(obj->tx_slot){
-		// Do local transmitted message distribution if enabled
-		if (processlocal){
-			// fill CAN message timestamp
-			can_filltimestamp(&obj->tx_slot->msg.timestamp);
-
-			obj->tx_slot->msg.flags |= MSG_LOCAL;
-			canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
-		}
-		// Free transmitted slot
-		canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
-		obj->tx_slot=NULL;
-	}
-
-	can_msgobj_clear_fl(obj,TX_PENDING);
 	return 0;
 }
 
@@ -509,7 +440,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
 							unsigned short btr1)
 {
 	int retval;
-	u8	buf[16];
+	u8	buf[USBCAN_TRANSFER_SIZE];
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 	uint16_t value=(btr1&0xFF)<<8 | (btr0&0xFF);
 
@@ -521,7 +452,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
 	USBCAN_VENDOR_SET_BTREGS,
 	USB_TYPE_VENDOR,
 	cpu_to_le16(value), cpu_to_le16(chip->chip_idx),
-	&buf, 16,
+	&buf, USBCAN_TRANSFER_SIZE,
 	10000);
 
 	if (retval==1){
@@ -541,7 +472,7 @@ int usbcan_set_btregs(struct canchip_t *chip, unsigned short btr0,
 int usbcan_start_chip(struct canchip_t *chip)
 {
 	int retval;
-	u8	buf[16];
+	u8	buf[USBCAN_TRANSFER_SIZE];
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 
 	if (!dev)
@@ -552,7 +483,7 @@ int usbcan_start_chip(struct canchip_t *chip)
 	USBCAN_VENDOR_START_CHIP,
 	USB_TYPE_VENDOR,
 	cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
-	&buf, 16,
+	&buf, USBCAN_TRANSFER_SIZE,
 	10000);
 
 	if (retval==1){
@@ -574,7 +505,7 @@ int usbcan_start_chip(struct canchip_t *chip)
 int usbcan_chip_queue_status(struct canchip_t *chip)
 {
 	int retval;
-	u8	buf[16];
+	u8	buf[USBCAN_TRANSFER_SIZE];
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 
 	if (!dev)
@@ -584,7 +515,7 @@ int usbcan_chip_queue_status(struct canchip_t *chip)
 	USBCAN_VENDOR_CHECK_TX_STAT,
 	USB_TYPE_VENDOR,
 	cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
-	&buf, 16,
+	&buf, USBCAN_TRANSFER_SIZE,
 	10000);
 
 	if (retval==1){
@@ -608,7 +539,7 @@ int usbcan_chip_queue_status(struct canchip_t *chip)
 int usbcan_stop_chip(struct canchip_t *chip)
 {
 	int retval;
-	u8	buf[16];
+	u8	buf[USBCAN_TRANSFER_SIZE];
 	struct usbcan_usb *dev=(struct usbcan_usb*)chip->chip_data;
 
 	if (!dev)
@@ -619,7 +550,7 @@ int usbcan_stop_chip(struct canchip_t *chip)
 	USBCAN_VENDOR_STOP_CHIP,
 	USB_TYPE_VENDOR,
 	cpu_to_le16(0), cpu_to_le16(chip->chip_idx),
-	&buf, 16,
+	&buf, USBCAN_TRANSFER_SIZE,
 	10000);
 
 	if (retval==1){
@@ -663,7 +594,7 @@ int usbcan_attach_to_chip(struct canchip_t *chip)
 	struct usbcan_usb *dev = (struct usbcan_usb *)chip->chip_data;
 
 	/* start kernel thread */
- 	dev->comthread=can_kthread_run(usbcan_read_kthread, (void *)dev, "usbcan_%d",chip->chip_idx);
+ 	dev->comthread=can_kthread_run(usbcan_kthread, (void *)dev, "usbcan_%d",chip->chip_idx);
 
 	return 0;
 }
@@ -682,7 +613,9 @@ int usbcan_release_chip(struct canchip_t *chip)
 	usbcan_stop_chip(chip);
 
 	/* terminate the kernel thread */
- 	can_kthread_stop(dev->comthread);
+	set_bit(USBCAN_TERMINATE,&dev->flags);
+	wake_up_process(dev->comthread);
+//  	can_kthread_stop(dev->comthread);
 
 	return 0;
 }
@@ -745,53 +678,157 @@ int usbcan_config_irqs(struct canchip_t *chip, short irqs)
 }
 
 /**
- * usbcan_irq_write_handler: - part of ISR code responsible for transmit events
- * @chip: pointer to chip state structure
- * @obj: pointer to attached queue description
+ * usbcan_kthread_read_handler: - part of kthread code responsible for receive completed events
+ * @dev: pointer to usb device related structure
+ * @obj: pointer to attached message object description
  *
- * The main purpose of this function is to read message from attached queues
- * and transfer message contents into CAN controller chip.
+ * The main purpose of this function is to read message from usb urb
+ * and transfer message contents to CAN queue ends.
  * This subroutine is called by
- * usbcan_irq_write_handler() for transmit events.
+ * usbcan_kthread().
  * File: src/usbcan.c
  */
-void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
-{
-	int cmd;
-
-	if(obj->tx_slot){
-		// Do local transmitted message distribution if enabled
-		if (processlocal){
-			// fill CAN message timestamp
-			can_filltimestamp(&obj->tx_slot->msg.timestamp);
+void usbcan_kthread_read_handler(struct usbcan_usb *dev, struct msgobj_t *obj){
+	int i, j, len, retval;
+	CANMSG("USBCAN RX handler\n");
+	for (i=0;i<USBCAN_TOT_RX_URBS;i++){
+		if (test_and_clear_bit(USBCAN_MESSAGE_DATA_OK,&dev->rx[i].flags)){
+			CANMSG("USBCAN Thread has received a message\n");
+			if ((dev->chip)&&(dev->chip->flags & CHIP_CONFIGURED)){
+				u8 *ptr;
+				struct usbcan_message *mess=&dev->rx[i];
+
+				len=*(u8 *)(mess->msg+1);
+				if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
+				obj->rx_msg.length = len;
+
+				obj->rx_msg.flags=le16_to_cpu(*(u16 *)(mess->msg+2));
+				obj->rx_msg.id=le32_to_cpu((*(u32 *)(mess->msg+4)));
+
+				for(ptr=mess->msg+8,j=0; j < len; ptr++,j++) {
+					obj->rx_msg.data[j]=*ptr;
+				}
 
-			obj->tx_slot->msg.flags |= MSG_LOCAL;
-			canque_filter_msg2edges(obj->qends, &obj->tx_slot->msg);
+				// fill CAN message timestamp
+				can_filltimestamp(&obj->rx_msg.timestamp);
+				canque_filter_msg2edges(obj->qends, &obj->rx_msg);
+			}
+			else
+				CANMSG("Destination chip not found\n");
+		}
+		if (!test_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags)){
+			CANMSG("Renewing RX urb\n");
+			retval = usb_submit_urb (dev->rx[i].u, GFP_KERNEL);
+			if (retval<0){
+				CANMSG("%d. URB error %d\n", i, retval);
+				set_bit(USBCAN_ERROR,&dev->flags);
+			}
+			else
+				set_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags);
 		}
-		// Free transmitted slot
-		canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
-		obj->tx_slot=NULL;
 	}
+}
 
-	can_msgobj_clear_fl(obj,TX_PENDING);
-	cmd=canque_test_outslot(obj->qends, &obj->tx_qedge, &obj->tx_slot);
-	if(cmd<0)
-		return;
-	can_msgobj_set_fl(obj,TX_PENDING);
+/**
+ * usbcan_kthread_write_handler: - part of kthread code responsible for transmit done events
+ * @dev: pointer to usb device related structure
+ * @obj: pointer to attached message object description
+ *
+ * The main purpose of this function is to free allocated resources on transmit done event
+ * This subroutine is called by
+ * usbcan_kthread().
+ * File: src/usbcan.c
+ */
+void usbcan_kthread_write_handler(struct usbcan_usb *dev, struct msgobj_t *obj){
+	int i;
+	CANMSG("USBCAN TX handler\n");
+	for (i=0;i<USBCAN_TOT_TX_URBS;i++){
+		if (test_and_clear_bit(USBCAN_MESSAGE_DATA_OK,&dev->tx[i].flags)){
+			struct usbcan_message *mess=&dev->tx[i];
+			CANMSG("USBCAN Message successfully sent\n");
+
+			if(mess->slot){
+				// Do local transmitted message distribution if enabled
+				if (processlocal){
+					// fill CAN message timestamp
+					can_filltimestamp(&mess->slot->msg.timestamp);
 
-	if (chip->chipspecops->pre_write_config(chip, obj, &obj->tx_slot->msg)) {
-		obj->ret = -1;
-		canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_PREP);
-		canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
-		obj->tx_slot=NULL;
-		return;
+					mess->slot->msg.flags |= MSG_LOCAL;
+					canque_filter_msg2edges(obj->qends, &mess->slot->msg);
+				}
+				// Free transmitted slot
+				canque_free_outslot(obj->qends, mess->qedge, mess->slot);
+				mess->slot=NULL;
+			}
+			can_msgobj_clear_fl(obj,TX_PENDING);
+
+			set_bit(USBCAN_FREE_TX_URB,&dev->flags);
+			set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags);
+
+			// Test if some new messages arrived
+			set_bit(USBCAN_TX_PENDING,&dev->flags);
+		}
 	}
-	if (chip->chipspecops->send_msg(chip, obj, &obj->tx_slot->msg)) {
-		obj->ret = -1;
-		canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
-		canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
-		obj->tx_slot=NULL;
-		return;
+}
+
+/**
+ * usbcan_kthread_write_request_handler: - part of kthread code responsible for sending transmit urbs
+ * @dev: pointer to usb device related structure
+ * @obj: pointer to attached message object description
+ *
+ * The main purpose of this function is to create a usb transmit safe object
+ * and send it via free transmit usb urb
+ * This subroutine is called by
+ * usbcan_kthread().
+ * File: src/usbcan.c
+ */
+void usbcan_kthread_write_request_handler(struct usbcan_usb *dev, struct msgobj_t *obj){
+	int i, j, cmd, len, retval;
+	for (i=0;i<USBCAN_TOT_TX_URBS;i++){
+		if (test_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags)){
+			struct usbcan_message *mess=&dev->tx[i];
+			u8 *ptr;
+			cmd=canque_test_outslot(obj->qends, &mess->qedge, &mess->slot);
+			if(cmd>=0){
+				CANMSG("USBCAN Sending a message\n");
+
+				can_msgobj_set_fl(obj,TX_PENDING);
+				clear_bit(USBCAN_FREE_TX_URB,&dev->flags);
+				clear_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags);
+
+				*(u8 *)(mess->msg)=0;
+				len = mess->slot->msg.length;
+				if(len > CAN_MSG_LENGTH)
+					len = CAN_MSG_LENGTH;
+				*(u8 *)(mess->msg+1)=len & 0xFF;
+				*(u16 *)(mess->msg+2)=cpu_to_le16(mess->slot->msg.flags);
+				*(u32 *)(mess->msg+4)=cpu_to_le32(mess->slot->msg.id);
+
+				for(ptr=mess->msg+8,j=0; j < len; ptr++,j++) {
+					*ptr=mess->slot->msg.data[j] & 0xFF;
+				}
+				for(; j < 8; ptr++,j++) {
+					*ptr=0;
+				}
+
+				set_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
+				retval = usb_submit_urb (dev->tx[i].u, GFP_KERNEL);
+				if (retval){
+					CANMSG("%d. URB error %d\n",i,retval);
+					clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
+					set_bit(USBCAN_FREE_TX_URB,&dev->flags);
+					set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags);
+					obj->ret = -1;
+					canque_notify_inends(mess->qedge, CANQUEUE_NOTIFY_ERRTX_SEND);
+					canque_free_outslot(obj->qends, mess->qedge, mess->slot);
+					mess->slot=NULL;
+				}
+			}
+			else{
+				set_bit(USBCAN_FREE_TX_URB,&dev->flags);
+				break;
+			}
+		}
 	}
 }
 
@@ -811,95 +848,6 @@ void usbcan_irq_write_handler(struct canchip_t *chip, struct msgobj_t *obj)
  */
 int usbcan_irq_handler(int irq, struct canchip_t *chip)
 {
-/*	int irq_register, status, error_code;
-	struct msgobj_t *obj=chip->msgobj[0];
-	int loop_cnt=CHIP_MAX_IRQLOOP;
-
-	irq_register=can_read_reg(chip,SJAIR);
-//	DEBUGMSG("sja1000_irq_handler: SJAIR:%02x\n",irq_register);
-//	DEBUGMSG("sja1000_irq_handler: SJASR:%02x\n",
-//					can_read_reg(chip,SJASR));
-
-	if ((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_TI|sjaIR_RI)) == 0)
-		return CANCHIP_IRQ_NONE;
-
-	if(!(chip->flags&CHIP_CONFIGURED)) {
-		CANMSG("usbcan_irq_handler: called for non-configured device, irq_register 0x%02x\n", irq_register);
-		return CANCHIP_IRQ_NONE;
-	}
-
-	status=can_read_reg(chip,SJASR);
-
-	do {
-
-		if(!loop_cnt--) {
-			CANMSG("usbcan_irq_handler IRQ %d stuck\n",irq);
-			return CANCHIP_IRQ_STUCK;
-		}
-
-		// (irq_register & sjaIR_TI)
-		//	old variant using SJAIR, collides with intended use with irq_accept
-		if (((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING))||
-		    (can_msgobj_test_fl(obj,TX_REQUEST))) {
-			DEBUGMSG("sja1000_irq_handler: TI or TX_PENDING and TBS\n");
-			obj->ret = 0;
-			can_msgobj_set_fl(obj,TX_REQUEST);
-			while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
-				can_msgobj_clear_fl(obj,TX_REQUEST);
-
-				if (can_read_reg(chip, SJASR) & sjaSR_TBS)
-					usbcan_irq_write_handler(chip, obj);
-
-				can_msgobj_clear_fl(obj,TX_LOCK);
-				if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
-				DEBUGMSG("TX looping in sja1000_irq_handler\n");
-			}
-		}
-		if ((irq_register & (sjaIR_EI|sjaIR_BEI|sjaIR_EPI|sjaIR_DOI)) != 0) {
-			// Some error happened
-			error_code=can_read_reg(chip,SJAECC);
-			sja1000_report_error(chip, status, irq_register, error_code);
-// FIXME: chip should be brought to usable state. Transmission cancelled if in progress.
-// Reset flag set to 0 if chip is already off the bus. Full state report
-			obj->ret=-1;
-
-			if(error_code == 0xd9) {
-				obj->ret= -ENXIO;
-				// no such device or address - no ACK received
-			}
-			if(obj->tx_retry_cnt++>MAX_RETR) {
-				can_write_reg(chip, sjaCMR_AT, SJACMR); // cancel any transmition
-				obj->tx_retry_cnt = 0;
-			}
-			if(status&sjaSR_BS) {
-				CANMSG("bus-off, resetting usbcan\n");
-				can_write_reg(chip, 0, SJAMOD);
-			}
-
-			if(obj->tx_slot){
-				canque_notify_inends(obj->tx_qedge, CANQUEUE_NOTIFY_ERRTX_BUS);
-				//canque_free_outslot(obj->qends, obj->tx_qedge, obj->tx_slot);
-				//obj->tx_slot=NULL;
-			}
-
-		} else {
-			if(sja1000_report_error_limit_counter)
-				sja1000_report_error_limit_counter--;
-			obj->tx_retry_cnt=0;
-		}
-
-		irq_register=can_read_reg(chip,SJAIR);
-
-		status=can_read_reg(chip,SJASR);
-
-		if(((status & sjaSR_TBS) && can_msgobj_test_fl(obj,TX_PENDING)) ||
-		   (irq_register & sjaIR_TI))
-			 can_msgobj_set_fl(obj,TX_REQUEST);
-
-	} while((irq_register & (sjaIR_BEI|sjaIR_EPI|sjaIR_DOI|sjaIR_EI|sjaIR_RI)) ||
-	        (can_msgobj_test_fl(obj,TX_REQUEST) && !can_msgobj_test_fl(obj,TX_LOCK)) ||
-		(status & sjaSR_RBS));
-*/
 	return CANCHIP_IRQ_HANDLED;
 }
 
@@ -916,6 +864,8 @@ int usbcan_irq_handler(int irq, struct canchip_t *chip)
  */
 int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
 {
+	struct usbcan_usb *dev=(struct usbcan_usb *)chip->chip_data;
+
 	CANMSG("Trying to send message\n");
 	can_preempt_disable();
 
@@ -924,14 +874,16 @@ int usbcan_wakeup_tx(struct canchip_t *chip, struct msgobj_t *obj)
 	while(!can_msgobj_test_and_set_fl(obj,TX_LOCK)){
 		can_msgobj_clear_fl(obj,TX_REQUEST);
 
-		if (!usbcan_chip_queue_status(chip)){
+		if (test_and_clear_bit(USBCAN_FREE_TX_URB,&dev->flags)){
 			obj->tx_retry_cnt=0;
-			usbcan_irq_write_handler(chip, obj);
+			set_bit(USBCAN_TX_PENDING,&dev->flags);
+			if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags))
+				wake_up_process(dev->comthread);
 		}
 
 		can_msgobj_clear_fl(obj,TX_LOCK);
 		if(!can_msgobj_test_fl(obj,TX_REQUEST)) break;
-		DEBUGMSG("TX looping in usbcan_wakeup_tx\n");
+		CANMSG("TX looping in usbcan_wakeup_tx\n");
 	}
 
 	can_preempt_enable();
@@ -1028,8 +980,10 @@ int usbcan_init_chip_data(struct candevice_t *candev, int chipnr)
 }
 
 
+/** *********************************
+ *    USB related functions
+ *  ********************************* */
 
-/* --------------------------------------------------------------------------------------------------- */
 static int usbcan_sleep_thread(struct usbcan_usb *dev)
 {
 	int	rc = 0;
@@ -1044,7 +998,8 @@ static int usbcan_sleep_thread(struct usbcan_usb *dev)
 		}
 		if (
 			can_kthread_should_stop() ||
-			test_bit(USBCAN_DATA_READ,&dev->flags) ||
+			test_bit(USBCAN_DATA_OK,&dev->flags) ||
+			test_bit(USBCAN_TX_PENDING,&dev->flags) ||
 			test_bit(USBCAN_TERMINATE,&dev->flags) ||
 			test_bit(USBCAN_ERROR,&dev->flags)
 		)
@@ -1055,130 +1010,188 @@ static int usbcan_sleep_thread(struct usbcan_usb *dev)
 	return rc;
 }
 
-static void usbcan_rcv(struct urb *urb)
+static void usbcan_callback(struct urb *urb)
 {
-	struct usbcan_usb *dev = urb->context;
+	struct usbcan_message *mess = urb->context;
 	int retval;
 
-	if (!test_bit(USBCAN_THREAD_RUNNING,&dev->flags))
+	if (!test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags))
+		return;
+	if (test_bit(USBCAN_MESSAGE_TERMINATE,&mess->flags))
 		return;
 
 	switch (urb->status) {
 	case 0:
 		/* success */
-		set_bit(USBCAN_DATA_READ,&dev->flags);
-		CANMSG("Message received\n");
-		if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags))
-			wake_up_process(dev->comthread);
+		CANMSG("%s > Message OK\n", __FUNCTION__);
+		set_bit(USBCAN_DATA_OK,&mess->dev->flags);
+		set_bit(USBCAN_MESSAGE_DATA_OK,&mess->flags);
+		if (test_bit(USBCAN_MESSAGE_TYPE_RX,&mess->flags)){
+			CANMSG("%s > RX flag set\n", __FUNCTION__);
+			set_bit(USBCAN_DATA_RX,&mess->dev->flags);
+		}
+		if (test_bit(USBCAN_MESSAGE_TYPE_TX,&mess->flags))
+			CANMSG("%s > TX flag set\n", __FUNCTION__);
+			set_bit(USBCAN_DATA_TX,&mess->dev->flags);
+		clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
+		if (test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags))
+			wake_up_process(mess->dev->comthread);
+		else
+			CANMSG("%s > USBCAN thread not running\n", __FUNCTION__);
+// 			wake_up(&mess->dev->queue);
 		return;
 	case -ECONNRESET:
 	case -ENOENT:
 	case -ESHUTDOWN:
 		/* this urb is terminated, clean up */
-		CANMSG("%s - urb shutting down with status: %d\n", __FUNCTION__, urb->status);
-		set_bit(USBCAN_TERMINATE,&dev->flags);
+		CANMSG("%s > Urb shutting down with status: %d\n", __FUNCTION__, urb->status);
+		set_bit(USBCAN_TERMINATE,&mess->dev->flags);
+		set_bit(USBCAN_MESSAGE_TERMINATE,&mess->flags);
+		clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
 		return;
 	default:
-// 		CANMSG("%s - nonzero urb status received: %d\n", __FUNCTION__, urb->status);
+		//CANMSG("%s > Nonzero status received: %d\n", __FUNCTION__, urb->status);
 		break;
 	}
 
+	// Try to send urb again on non significant errors
 	retval = usb_submit_urb (urb, GFP_ATOMIC);
 	if (retval<0){
-		CANMSG("%s - usb_submit_urb failed with result %d ... retrying\n",
-		     __FUNCTION__, retval);
-		set_bit(USBCAN_ERROR,&dev->flags);
-		if (test_bit(USBCAN_THREAD_RUNNING,&dev->flags))
-			wake_up_process(dev->comthread);
+		CANMSG("%s > Retrying urb failed with result %d\n", __FUNCTION__, retval);
+		set_bit(USBCAN_ERROR,&mess->dev->flags);
+		clear_bit(USBCAN_MESSAGE_URB_PENDING,&mess->flags);
+		if (test_bit(USBCAN_THREAD_RUNNING,&mess->dev->flags))
+			wake_up_process(mess->dev->comthread);
+// 			wake_up(&mess->dev->queue);
 	}
 }
 
-int usbcan_read_kthread(void *data)
+int usbcan_kthread(void *data)
 {
-	int retval=0;
+	int i,retval=0;
  	struct usbcan_usb *dev=(struct usbcan_usb *)data;
 	struct msgobj_t *obj;
 
-  /* this is normal work to do */
-  CANMSG ("usbcan thread started!\n");
+  CANMSG("Usbcan thread started...\n");
 
-	dev->rx = usb_alloc_urb(0, GFP_KERNEL);
-	if (!dev->rx){
-		CANMSG("Error allocating usb urb\n");
+	if (!dev->chip)
 		goto error;
+	obj=dev->chip->msgobj[0];
+
+	/* Prepare receive urbs  */
+	for (i=0;i<USBCAN_TOT_RX_URBS;i++){
+		dev->rx[i].u = usb_alloc_urb(0, GFP_KERNEL);
+		if (!dev->rx[i].u){
+			CANMSG("Error allocating %d. usb receive urb\n",i);
+			goto error;
+		}
+		dev->rx[i].u->dev = dev->udev;
+		dev->rx[i].dev = dev;
+		usb_fill_bulk_urb(dev->rx[i].u, dev->udev,
+				usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
+				dev->rx[i].msg, USBCAN_TRANSFER_SIZE,
+				usbcan_callback, &dev->rx[i]);
+		set_bit(USBCAN_MESSAGE_TYPE_RX,&dev->rx[i].flags);
+	}
+
+	/* Prepare transmit urbs  */
+	for (i=0;i<USBCAN_TOT_TX_URBS;i++){
+		dev->tx[i].u = usb_alloc_urb(0, GFP_KERNEL);
+		if (!dev->tx[i].u){
+			CANMSG("Error allocating %d. usb transmit urb\n",i);
+			goto error;
+		}
+		dev->tx[i].u->dev = dev->udev;
+		dev->tx[i].dev = dev;
+		usb_fill_bulk_urb(dev->tx[i].u, dev->udev,
+				usb_sndbulkpipe(dev->udev, dev->bulk_out_endpointAddr),
+				dev->tx[i].msg, USBCAN_TRANSFER_SIZE,
+				usbcan_callback, &dev->tx[i]);
+		set_bit(USBCAN_MESSAGE_FREE,&dev->tx[i].flags);
+		set_bit(USBCAN_MESSAGE_TYPE_TX,&dev->tx[i].flags);
 	}
-	dev->rx->dev = dev->udev;
-	usb_fill_bulk_urb(dev->rx, dev->udev,
-			 usb_rcvbulkpipe(dev->udev, dev->bulk_in_endpointAddr),
-			 &dev->rx_msg, 16,
-			 usbcan_rcv, dev);
 
 	set_bit(USBCAN_THREAD_RUNNING,&dev->flags);
-  /* an endless loop in which we are doing our work */
-  for(;;)
-  {
-		retval=usb_submit_urb(dev->rx, GFP_ATOMIC);
+	set_bit(USBCAN_FREE_TX_URB,&dev->flags);
+
+	for (i=0;i<USBCAN_TOT_RX_URBS;i++){
+		retval=usb_submit_urb(dev->rx[i].u, GFP_KERNEL);
 		if (retval){
-			CANMSG("URB error %d\n",retval);
+			CANMSG("%d. URB error %d\n",i,retval);
 			set_bit(USBCAN_ERROR,&dev->flags);
-			break;
+			goto exit;
 		}
+		else
+			set_bit(USBCAN_MESSAGE_URB_PENDING,&dev->rx[i].flags);
+	}
+  /* 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 */
-		usbcan_sleep_thread(dev);
+		if (!(can_kthread_should_stop() || test_bit(USBCAN_TERMINATE,&dev->flags))){
+			if (usbcan_sleep_thread(dev)<0)
+				break;
+/*			wait_event_interruptible(dev->queue,
+				can_kthread_should_stop() ||
+				test_bit(USBCAN_DATA_OK,&dev->flags) ||
+				test_bit(USBCAN_TX_PENDING,&dev->flags) ||
+				test_bit(USBCAN_TERMINATE,&dev->flags) ||
+				test_bit(USBCAN_ERROR,&dev->flags)
+			);*/
+		}
 		/* We need to do a memory barrier here to be sure that
 		the flags are visible on all CPUs. */
 		mb();
 
 		/* here we are back from sleep because we caught a signal. */
-		if (can_kthread_should_stop())
-		{
+		if (can_kthread_should_stop()){
 			/* we received a request to terminate ourself */
 			break;
 		}
 
-		{ /* Normal work to do */
-			if (test_bit(USBCAN_DATA_READ,&dev->flags)){
-				int i, len;
-				clear_bit(USBCAN_DATA_READ,&dev->flags);
-				CANMSG("Thread got received message\n");
-
-				if ((dev->chip)&&
-					(dev->chip->flags & CHIP_CONFIGURED)
-				){
-					u8 *ptr;
-
-					obj=dev->chip->msgobj[0];
-
-					len=*(uint8_t *)(dev->rx_msg+1);
-					if(len > CAN_MSG_LENGTH) len = CAN_MSG_LENGTH;
-					obj->rx_msg.length = len;
-
-					obj->rx_msg.flags=le16_to_cpu(*(uint16_t *)(dev->rx_msg+2));
-					obj->rx_msg.id=le32_to_cpu((*(uint32_t *)(dev->rx_msg+4)));
+		/* here we are back from sleep because we caught a signal. */
+		if (test_bit(USBCAN_TERMINATE,&dev->flags)){
+			/* we received a request to terminate ourself */
+			break;
+		}
 
-					for(ptr=dev->rx_msg+8,i=0; i < len; ptr++,i++) {
-						obj->rx_msg.data[i]=*ptr;
-					}
+		{ /* Normal work to do */
+			if (test_and_clear_bit(USBCAN_DATA_OK,&dev->flags)){
+				CANMSG("USBCAN Succesfull data transfer\n");
 
-					// fill CAN message timestamp
-					can_filltimestamp(&obj->rx_msg.timestamp);
-					canque_filter_msg2edges(obj->qends, &obj->rx_msg);
+				if (test_and_clear_bit(USBCAN_DATA_RX,&dev->flags)){
+					usbcan_kthread_read_handler(dev, obj);
+				}
+				if (test_and_clear_bit(USBCAN_DATA_TX,&dev->flags)){
+					usbcan_kthread_write_handler(dev, obj);
 				}
-				else
-					CANMSG("Destination chip not found\n");
+			}
+			if (test_and_clear_bit(USBCAN_TX_PENDING,&dev->flags)){
+				usbcan_kthread_write_request_handler(dev, obj);
 			}
     }
   }
-	clear_bit(USBCAN_THREAD_RUNNING,&dev->flags);
-
+	set_bit(USBCAN_TERMINATE,&dev->flags);
+exit:
   /* here we go only in case of termination of the thread */
-	if (dev->rx){
-		usb_kill_urb(dev->rx);
-		usb_free_urb(dev->rx);
+	for (i=0;i<USBCAN_TOT_RX_URBS;i++){
+		if (dev->rx[i].u){
+			set_bit(USBCAN_MESSAGE_TERMINATE,&dev->rx[i].flags);
+			usb_kill_urb(dev->rx[i].u);
+			usb_free_urb(dev->rx[i].u);
+		}
+	}
+	for (i=0;i<USBCAN_TOT_TX_URBS;i++){
+		if (dev->tx[i].u){
+			set_bit(USBCAN_MESSAGE_TERMINATE,&dev->tx[i].flags);
+			usb_kill_urb(dev->tx[i].u);
+			usb_free_urb(dev->tx[i].u);
+		}
 	}
+	clear_bit(USBCAN_THREAD_RUNNING,&dev->flags);
 
   CANMSG ("usbcan thread finished!\n");
   return 0;
@@ -1235,6 +1248,7 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device
 		dev=usbdevs->devs[j];
 
 		mutex_init(&dev->io_mutex);
+		init_waitqueue_head(&dev->queue);
 		dev->udev = interface_to_usbdev(interface);
 		dev->interface = interface;
 
@@ -1288,7 +1302,7 @@ static int usbcan_probe(struct usb_interface *interface, const struct usb_device
 		goto register_error;
 
 	/* let the user know what node this device is now attached to */
-	DEBUGMSG("USBCAN device now attached");
+	CANMSG("USBCAN device now attached\n");
 	return 0;
 
 register_error:
@@ -1342,6 +1356,15 @@ static void usbcan_disconnect(struct usb_interface *interface)
 			usbdevs->devs[j]->interface = NULL;
 			mutex_unlock(&usbdevs->devs[j]->io_mutex);
 
+			while (test_bit(USBCAN_THREAD_RUNNING,&usbdevs->devs[j]->flags))
+			{
+				CANMSG("USBCAN thread has not stopped, trying to wake...\n");
+				set_bit(USBCAN_TERMINATE,&usbdevs->devs[j]->flags);
+				wake_up_process(usbdevs->devs[j]->comthread);
+				schedule();
+// 			can_kthread_stop(dev->comthread);
+			}
+
 			if (usbdevs->devs[j]->bulk_in_buffer)
 				can_checked_free(usbdevs->devs[j]->bulk_in_buffer);
 			// if (usbdevs->devs[j]->chip){
@@ -1354,7 +1377,7 @@ static void usbcan_disconnect(struct usb_interface *interface)
 	}
 	can_checked_free(usbdevs);
 
-	DEBUGMSG("USBCAN now disconnected");
+	CANMSG("USBCAN now disconnected\n");
 }
 
 int usbcan_init(void){