+}
+
+/**
+ * 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;
+ }
+ }