+ { /* Normal work to do */
+ if (test_and_clear_bit(USBCAN_DATA_OK,&dev->flags)){
+ int j, len;
+ CANMSG("USBCAN Succesfull data transfer\n");
+ if (test_and_clear_bit(USBCAN_DATA_RX,&dev->flags)){
+ 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;
+ }
+
+ // 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);
+ }
+ }
+ }
+ if (test_and_clear_bit(USBCAN_DATA_TX,&dev->flags)){
+ 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);
+
+ 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 (test_and_clear_bit(USBCAN_TX_PENDING,&dev->flags)){
+ int i, cmd,j,len;
+ 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;
+ }