HardwareSerial::write()

Abstract

The Serial.write()/HardwareSerial::write() wites binary data to serial port.

Source Code

The HardwareSerial::write() is defined in hardware/arduino/avr/cores/arduino/HardwareSerial.cpp as below.

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size_t HardwareSerial::write(uint8_t c)
{
  _written = true;
  // If the buffer and the data register is empty, just write the byte
  // to the data register and be done. This shortcut helps
  // significantly improve the effective datarate at high (>
  // 500kbit/s) bitrates, where interrupt overhead becomes a slowdown.
  if (_tx_buffer_head == _tx_buffer_tail && bit_is_set(*_ucsra, UDRE0)) {
    // If TXC is cleared before writing UDR and the previous byte
    // completes before writing to UDR, TXC will be set but a byte
    // is still being transmitted causing flush() to return too soon.
    // So writing UDR must happen first.
    // Writing UDR and clearing TC must be done atomically, otherwise
    // interrupts might delay the TXC clear so the byte written to UDR
    // is transmitted (setting TXC) before clearing TXC. Then TXC will
    // be cleared when no bytes are left, causing flush() to hang
    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
      *_udr = c;
      *_ucsra = ((*_ucsra) & ((1 << U2X0) | (1 << MPCM0))) | (1 << TXC0);
    }
    return 1;
  }
  tx_buffer_index_t i = (_tx_buffer_head + 1) % SERIAL_TX_BUFFER_SIZE;
	
  // If the output buffer is full, there's nothing for it other than to 
  // wait for the interrupt handler to empty it a bit
  while (i == _tx_buffer_tail) {
    if (bit_is_clear(SREG, SREG_I)) {
      // Interrupts are disabled, so we'll have to poll the data
      // register empty flag ourselves. If it is set, pretend an
      // interrupt has happened and call the handler to free up
      // space for us.
      if(bit_is_set(*_ucsra, UDRE0))
	_tx_udr_empty_irq();
    } else {
      // nop, the interrupt handler will free up space for us
    }
  }

  _tx_buffer[_tx_buffer_head] = c;

  // make atomic to prevent execution of ISR between setting the
  // head pointer and setting the interrupt flag resulting in buffer
  // retransmission
  ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
    _tx_buffer_head = i;
    sbi(*_ucsrb, UDRIE0);
  }
  
  return 1;
}

The input is uint8_t and returns size_t.

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size_t HardwareSerial::write(uint8_t c)
{

Make _written true to record that write() has been called. This value is refered in HardwareSerial::flush().

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  _written = true;

Calculate the position to write next data in the transmit buffer.

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  // If the buffer and the data register is empty, just write the byte
  // to the data register and be done. This shortcut helps
  // significantly improve the effective datarate at high (>
  // 500kbit/s) bitrates, where interrupt overhead becomes a slowdown.
  if (_tx_buffer_head == _tx_buffer_tail && bit_is_set(*_ucsra, UDRE0)) {
    // If TXC is cleared before writing UDR and the previous byte
    // completes before writing to UDR, TXC will be set but a byte
    // is still being transmitted causing flush() to return too soon.
    // So writing UDR must happen first.
    // Writing UDR and clearing TC must be done atomically, otherwise
    // interrupts might delay the TXC clear so the byte written to UDR
    // is transmitted (setting TXC) before clearing TXC. Then TXC will
    // be cleared when no bytes are left, causing flush() to hang
    ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
      *_udr = c;
      *_ucsra = ((*_ucsra) & ((1 << U2X0) | (1 << MPCM0))) | (1 << TXC0);
    }
    return 1;
  }

Checks if _tx_buffer_head is same as _tx_buffer_tail, and UDRE0 bit of _ucsra(UCSR0A) is 1 using bit_is_set()

If _tx_buffer_head is same as _tx_buffer_tail, it means the buffer is empty. If UDRE0 bit is 1, it means the transmit buffer of ATmega328P is available.

In this case, write data to _udr(UDR0) and set U2X0 and MPCM0 bits of _ucsra(UCSR0A). And setting TXC0 bit of _ucsra to send data.

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  tx_buffer_index_t i = (_tx_buffer_head + 1) % SERIAL_TX_BUFFER_SIZE;

Get the last position in the transmit buffer and hold it in i.

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  // If the output buffer is full, there's nothing for it other than to 
  // wait for the interrupt handler to empty it a bit
  while (i == _tx_buffer_tail) {

If the i is same as _tx_buffer_tail, it means the transmit buffer is full. So wait for the data to transmit.

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  if (bit_is_clear(SREG, SREG_I)) {
    // Interrupts are disabled, so we'll have to poll the data
    // register empty flag ourselves. If it is set, pretend an
    // interrupt has happened and call the handler to free up
    // space for us.
    if(bit_is_set(*_ucsra, UDRE0))
      _tx_udr_empty_irq();
  } else {
    // nop, the interrupt handler will free up space for us
  }
}

Check the SREG_I bit of SREG using bit_is_clear(). If the SRG_I bit is 0, interrupt is globally disabled. In this case if the UDRE0 bit of _ucsra(UCSR0A) is 1, the transmit buffer is vacant, call HardwareSerial::_tx_udr_empty_irq() to send data.

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  _tx_buffer[_tx_buffer_head] = c;

  // make atomic to prevent execution of ISR between setting the
  // head pointer and setting the interrupt flag resulting in buffer
  // retransmission
  ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
    _tx_buffer_head = i;
    sbi(*_ucsrb, UDRIE0);
  }
  
  return 1;
}

Add the data to trasmit, c, to _tx_buffer.

Then set the UDRIE0 bit of _ucsrb(UCSR0B) 1 to enable interrupt, by using sbi().

Finally returns 1 to show, 1 byte data has been written to the buffer.

Version

Arduino AVR Boards 1.8.6

Last Update

August 25, 2019