C++ SERIAL_PROTOCOLPGM函数代码示例

 void unified_bed_leveling::report_state() {
   echo_name();
   SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " ");
   if (!planner.leveling_active) SERIAL_PROTOCOLPGM("in");
   SERIAL_PROTOCOLLNPGM("active.");
   safe_delay(50);
 }

void CardReader::removeFile(char* name) {
  if (!cardOK) return;

  file.close();
  sdprinting = false;

  SdFile myDir;
  curDir = &root;
  char *fname = name;

  char *dirname_start, *dirname_end;
  if (name[0] == '/') {
    dirname_start = strchr(name, '/') + 1;
    while (dirname_start > 0) {
      dirname_end = strchr(dirname_start, '/');
      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end - name));
      if (dirname_end > 0 && dirname_end > dirname_start) {
        char subdirname[FILENAME_LENGTH];
        strncpy(subdirname, dirname_start, dirname_end - dirname_start);
        subdirname[dirname_end - dirname_start] = 0;
        SERIAL_ECHOLN(subdirname);
        if (!myDir.open(curDir, subdirname, O_READ)) {
          SERIAL_PROTOCOLPGM("open failed, File: ");
          SERIAL_PROTOCOL(subdirname);
          SERIAL_PROTOCOLCHAR('.');
          return;
        }
        else {
          //SERIAL_ECHOLN("dive ok");
        }

        curDir = &myDir;
        dirname_start = dirname_end + 1;
      }
      else { // the remainder after all /fsa/fdsa/ is the filename
        fname = dirname_start;
        //SERIAL_ECHOLN("remainder");
        //SERIAL_ECHOLN(fname);
        break;
      }
    }
  }
  else { // relative path
    curDir = &workDir;
  }

  if (file.remove(curDir, fname)) {
    SERIAL_PROTOCOLPGM("File deleted:");
    SERIAL_PROTOCOLLN(fname);
    sdpos = 0;
  }
  else {
    SERIAL_PROTOCOLPGM("Deletion failed, File: ");
    SERIAL_PROTOCOL(fname);
    SERIAL_PROTOCOLCHAR('.');
  }
}

  void report_current_position_detail() {

    stepper.synchronize();

    SERIAL_PROTOCOLPGM("\nLogical:");
    report_xyze(current_position);

    SERIAL_PROTOCOLPGM("Raw:    ");
    const float raw[XYZ] = { RAW_X_POSITION(current_position[X_AXIS]), RAW_Y_POSITION(current_position[Y_AXIS]), RAW_Z_POSITION(current_position[Z_AXIS]) };
    report_xyz(raw);

    SERIAL_PROTOCOLPGM("Leveled:");
    float leveled[XYZ] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
    planner.apply_leveling(leveled);
    report_xyz(leveled);

    SERIAL_PROTOCOLPGM("UnLevel:");
    float unleveled[XYZ] = { leveled[X_AXIS], leveled[Y_AXIS], leveled[Z_AXIS] };
    planner.unapply_leveling(unleveled);
    report_xyz(unleveled);

    #if IS_KINEMATIC
      #if IS_SCARA
        SERIAL_PROTOCOLPGM("ScaraK: ");
      #else
        SERIAL_PROTOCOLPGM("DeltaK: ");
      #endif
      inverse_kinematics(leveled);  // writes delta[]
      report_xyz(delta);
    #endif

    SERIAL_PROTOCOLPGM("Stepper:");
    const float step_count[XYZE] = { stepper.position(X_AXIS), stepper.position(Y_AXIS), stepper.position(Z_AXIS), stepper.position(E_AXIS) };
    report_xyze(step_count, 4, 0);

    #if IS_SCARA
      const float deg[XYZ] = {
        stepper.get_axis_position_degrees(A_AXIS),
        stepper.get_axis_position_degrees(B_AXIS)
      };
      SERIAL_PROTOCOLPGM("Degrees:");
      report_xyze(deg, 2);
    #endif

    SERIAL_PROTOCOLPGM("FromStp:");
    get_cartesian_from_steppers();  // writes cartes[XYZ] (with forward kinematics)
    const float from_steppers[XYZE] = { cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS], stepper.get_axis_position_mm(E_AXIS) };
    report_xyze(from_steppers);

    const float diff[XYZE] = {
      from_steppers[X_AXIS] - leveled[X_AXIS],
      from_steppers[Y_AXIS] - leveled[Y_AXIS],
      from_steppers[Z_AXIS] - leveled[Z_AXIS],
      from_steppers[E_AXIS] - current_position[E_AXIS]
    };
    SERIAL_PROTOCOLPGM("Differ: ");
    report_xyze(diff);
  }

void vector_3::debug(const char title[]) {
	SERIAL_PROTOCOL(title);
	SERIAL_PROTOCOLPGM(" x: ");
	SERIAL_PROTOCOL_F(x, 6);
	SERIAL_PROTOCOLPGM(" y: ");
	SERIAL_PROTOCOL_F(y, 6);
	SERIAL_PROTOCOLPGM(" z: ");
	SERIAL_PROTOCOL_F(z, 6);
	SERIAL_EOL;
}

void vector_3::debug(char* title)
{
	SERIAL_PROTOCOL(title);
	SERIAL_PROTOCOLPGM(" x: ");
	SERIAL_PROTOCOL(x);
	SERIAL_PROTOCOLPGM(" y: ");
	SERIAL_PROTOCOL(y);
	SERIAL_PROTOCOLPGM(" z: ");
	SERIAL_PROTOCOL(z);
	SERIAL_PROTOCOLPGM("\n");
}

void CardReader::getStatus() {
  if (cardOK) {
    SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
    SERIAL_PROTOCOL(sdpos);
    SERIAL_PROTOCOLPGM("/");
    SERIAL_PROTOCOLLN(filesize);
  }
  else {
    SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
  }
}

/* ??? Check se serve */
void MemReader::getStatus()
{
  if(isprinting){
    SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
    SERIAL_PROTOCOL(pos);
    SERIAL_PROTOCOLPGM("/");
    SERIAL_PROTOCOLLN(ScriptLength[program]);
  }
  else{
    SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
  }
}

void PrintCounter::showStats() {
  char buffer[21];
  duration_t elapsed;

  SERIAL_PROTOCOLPGM(MSG_STATS);

  SERIAL_ECHOPGM("Prints: ");
  SERIAL_ECHO(this->data.totalPrints);

  SERIAL_ECHOPGM(", Finished: ");
  SERIAL_ECHO(this->data.finishedPrints);

  SERIAL_ECHOPGM(", Failed: "); // Note: Removes 1 from failures with an active counter
  SERIAL_ECHO(this->data.totalPrints - this->data.finishedPrints
    - ((this->isRunning() || this->isPaused()) ? 1 : 0));

  SERIAL_EOL;
  SERIAL_PROTOCOLPGM(MSG_STATS);

  elapsed = this->data.printTime;
  elapsed.toString(buffer);

  SERIAL_ECHOPGM("Total time: ");
  SERIAL_ECHO(buffer);

  #if ENABLED(DEBUG_PRINTCOUNTER)
    SERIAL_ECHOPGM(" (");
    SERIAL_ECHO(this->data.printTime);
    SERIAL_ECHOPGM(")");
  #endif

  elapsed = this->data.longestPrint;
  elapsed.toString(buffer);

  SERIAL_ECHOPGM(", Longest job: ");
  SERIAL_ECHO(buffer);

  #if ENABLED(DEBUG_PRINTCOUNTER)
    SERIAL_ECHOPGM(" (");
    SERIAL_ECHO(this->data.longestPrint);
    SERIAL_ECHOPGM(")");
  #endif

  SERIAL_EOL;
  SERIAL_PROTOCOLPGM(MSG_STATS);

  SERIAL_ECHOPGM("Filament used: ");
  SERIAL_ECHO(this->data.filamentUsed / 1000);
  SERIAL_ECHOPGM("m");

  SERIAL_EOL;
}

void matrix_3x3::debug(const char title[]) {
  SERIAL_PROTOCOLLN(title);
  int count = 0;
  for(int i=0; i<3; i++) {
    for(int j=0; j<3; j++) {
      if (matrix[count] >= 0.0) SERIAL_PROTOCOLPGM("+");
      SERIAL_PROTOCOL_F(matrix[count], 6);
      SERIAL_PROTOCOLPGM(" ");
      count++;
    }
    SERIAL_EOL;
  }
}

void Endstops::M119() {
  SERIAL_PROTOCOLLNPGM(MSG_M119_REPORT);
  #if HAS_X_MIN
    SERIAL_PROTOCOLPGM(MSG_X_MIN);
    SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_X_MAX
    SERIAL_PROTOCOLPGM(MSG_X_MAX);
    SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Y_MIN
    SERIAL_PROTOCOLPGM(MSG_Y_MIN);
    SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Y_MAX
    SERIAL_PROTOCOLPGM(MSG_Y_MAX);
    SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_MIN
    SERIAL_PROTOCOLPGM(MSG_Z_MIN);
    SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_MAX
    SERIAL_PROTOCOLPGM(MSG_Z_MAX);
    SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z2_MAX
    SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
    SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_MIN_PROBE_PIN
    SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
    SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
} // Endstops::M119

void checkHitEndstops()
{
 if( endstop_x_hit || endstop_y_hit || endstop_z_hit || endstop_j_hit) {
   SERIAL_ECHO_START;
   snprintf(json_str,JSONSIZE,"{%s:[",MSG_ENDSTOPS_HIT);
   SERIAL_PROTOCOL(json_str);
   comma = false;
   if(endstop_x_hit) {
     SERIAL_PROTOCOLPGM("\"x\"");
     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
     comma = true;
   }
   if(endstop_y_hit) {
     if (comma) SERIAL_PROTOCOLPGM(",");
     SERIAL_PROTOCOLPGM("\"y\"");
     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
     comma = true;
   }
   if(endstop_z_hit) {
     if (comma) SERIAL_PROTOCOLPGM(",");
     SERIAL_PROTOCOLPGM("\"z\"");
     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
     comma = true;
   }
   if(endstop_j_hit) {
     if (comma) SERIAL_PROTOCOLPGM(",");
     SERIAL_PROTOCOLPGM("\"j\"");
     LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "J");
   }
   SERIAL_PROTOCOL("]}");
   SERIAL_MSG_END;
   endstop_x_hit=false;
   endstop_y_hit=false;
   endstop_z_hit=false;
   endstop_j_hit=false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
   if (abort_on_endstop_hit)
   {
     card.sdprinting = false;
     card.closefile();
     quickStop();
     setTargetHotend0(0);
     setTargetHotend1(0);
     setTargetHotend2(0);
   }
#endif
 }
}

//===========================================================================
void Hysteresis::ReportToSerial()
{
  SERIAL_PROTOCOLPGM("H=X");
  SERIAL_PROTOCOL(m_hysteresis_mm[X_AXIS]);
  SERIAL_PROTOCOLPGM(" Y");
  SERIAL_PROTOCOL(m_hysteresis_mm[Y_AXIS]);
  SERIAL_PROTOCOLPGM(" Z");
  SERIAL_PROTOCOL(m_hysteresis_mm[Z_AXIS]);
  SERIAL_PROTOCOLPGM(" E");      
  SERIAL_PROTOCOL(m_hysteresis_mm[E_AXIS]);
  SERIAL_PROTOCOLPGM(" SHIFTS:x=");      
  SERIAL_PROTOCOL(axis_shift[X_AXIS]);
  SERIAL_PROTOCOLPGM(" y=");      
  SERIAL_PROTOCOL(axis_shift[Y_AXIS]);
  SERIAL_PROTOCOLPGM(" z=");      
  SERIAL_PROTOCOL(axis_shift[Z_AXIS]);
  SERIAL_PROTOCOLPGM(" e=");      
  SERIAL_PROTOCOL(axis_shift[E_AXIS]);
  
  SERIAL_PROTOCOLLN("");
}

void CardReader::openFile(char* name,bool read)
{
    if(!cardOK)
        return;
    file.close();
    sdprinting = false;


    SdFile myDir;
    curDir=&root;
    char *fname=name;

    char *dirname_start,*dirname_end;
    if(name[0]=='/')
    {
        dirname_start=strchr(name,'/')+1;
        while(dirname_start>0)
        {
            dirname_end=strchr(dirname_start,'/');
            //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
            //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end-name));
            if(dirname_end>0 && dirname_end>dirname_start)
            {
                char subdirname[13];
                strncpy(subdirname, dirname_start, dirname_end-dirname_start);
                subdirname[dirname_end-dirname_start]=0;
                SERIAL_ECHOLN(subdirname);
                if(!myDir.open(curDir,subdirname,O_READ))
                {
                    SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
                    SERIAL_PROTOCOL(subdirname);
                    SERIAL_PROTOCOLLNPGM(".");
                    return;
                }
                else
                {
                    //SERIAL_ECHOLN("dive ok");
                }

                curDir=&myDir;
                dirname_start=dirname_end+1;
            }
            else // the reminder after all /fsa/fdsa/ is the filename
            {
                fname=dirname_start;
                //SERIAL_ECHOLN("remaider");
                //SERIAL_ECHOLN(fname);
                break;
            }

        }
    }
    else //relative path
    {
        curDir=&workDir;
    }
    if(read)
    {
        if (file.open(curDir, fname, O_READ))
        {
            filesize = file.fileSize();
            SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
            SERIAL_PROTOCOL(fname);
            SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
            SERIAL_PROTOCOLLN(filesize);
            sdpos = 0;

            SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
            LCD_MESSAGE(fname);
        }
        else
        {
            SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
            SERIAL_PROTOCOL(fname);
            SERIAL_PROTOCOLLNPGM(".");
        }
    }
    else
    {   //write
        if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
        {
            SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
            SERIAL_PROTOCOL(fname);
            SERIAL_PROTOCOLLNPGM(".");
        }
        else
        {
            saving = true;
            SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
            SERIAL_PROTOCOLLN(name);
            LCD_MESSAGE(fname);
        }
    }

}

void CardReader::openFile(char* name, bool read, bool replace_current/*=true*/) {
  if (!cardOK) return;
  if (file.isOpen()) { //replacing current file by new file, or subfile call
    if (!replace_current) {
     if (file_subcall_ctr > SD_PROCEDURE_DEPTH - 1) {
       SERIAL_ERROR_START;
       SERIAL_ERRORPGM("trying to call sub-gcode files with too many levels. MAX level is:");
       SERIAL_ERRORLN(SD_PROCEDURE_DEPTH);
       kill();
       return;
     }

     SERIAL_ECHO_START;
     SERIAL_ECHOPGM("SUBROUTINE CALL target:\"");
     SERIAL_ECHO(name);
     SERIAL_ECHOPGM("\" parent:\"");

     //store current filename and position
     getAbsFilename(filenames[file_subcall_ctr]);

     SERIAL_ECHO(filenames[file_subcall_ctr]);
     SERIAL_ECHOPGM("\" pos");
     SERIAL_ECHOLN(sdpos);
     filespos[file_subcall_ctr] = sdpos;
     file_subcall_ctr++;
    }
    else {
     SERIAL_ECHO_START;
     SERIAL_ECHOPGM("Now doing file: ");
     SERIAL_ECHOLN(name);
    }
    file.close();
  }
  else { //opening fresh file
    file_subcall_ctr = 0; //resetting procedure depth in case user cancels print while in procedure
    SERIAL_ECHO_START;
    SERIAL_ECHOPGM("Now fresh file: ");
    SERIAL_ECHOLN(name);
  }
  sdprinting = false;

  SdFile myDir;
  curDir = &root;
  char *fname = name;

  char *dirname_start, *dirname_end;
  if (name[0] == '/') {
    dirname_start = &name[1];
    while(dirname_start > 0) {
      dirname_end = strchr(dirname_start, '/');
      //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
      //SERIAL_ECHO("end  :");SERIAL_ECHOLN((int)(dirname_end - name));
      if (dirname_end > 0 && dirname_end > dirname_start) {
        char subdirname[FILENAME_LENGTH];
        strncpy(subdirname, dirname_start, dirname_end - dirname_start);
        subdirname[dirname_end - dirname_start] = 0;
        SERIAL_ECHOLN(subdirname);
        if (!myDir.open(curDir, subdirname, O_READ)) {
          SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
          SERIAL_PROTOCOL(subdirname);
          SERIAL_PROTOCOLCHAR('.');
          return;
        }
        else {
          //SERIAL_ECHOLN("dive ok");
        }

        curDir = &myDir;
        dirname_start = dirname_end + 1;
      }
      else { // the remainder after all /fsa/fdsa/ is the filename
        fname = dirname_start;
        //SERIAL_ECHOLN("remainder");
        //SERIAL_ECHOLN(fname);
        break;
      }
    }
  }
  else { //relative path
    curDir = &workDir;
  }

  if (read) {
    if (file.open(curDir, fname, O_READ)) {
      filesize = file.fileSize();
      SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
      SERIAL_PROTOCOL(fname);
      SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
      SERIAL_PROTOCOLLN(filesize);
      sdpos = 0;

      SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
      getfilename(0, fname);
      lcd_setstatus(longFilename[0] ? longFilename : fname);
    }
    else {
      SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
      SERIAL_PROTOCOL(fname);
      SERIAL_PROTOCOLCHAR('.');
    }
//.........这里部分代码省略.........

void PID_autotune(float temp, int extruder, int ncycles)
{
  float input = 0.0;
  int cycles = 0;
  bool heating = true;

  millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
  long t_high = 0, t_low = 0;

  long bias, d;
  float Ku, Tu;
  float Kp, Ki, Kd;
  float max = 0, min = 10000;

  #if HAS_AUTO_FAN
    millis_t next_auto_fan_check_ms = temp_ms + 2500;
  #endif

  if (extruder >= EXTRUDERS
    #if !HAS_TEMP_BED
       || extruder < 0
    #endif
  ) {
    SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
    return;
  }
  
  SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);

  disable_heater(); // switch off all heaters.

  if (extruder < 0)
    soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
  else
    soft_pwm[extruder] = bias = d = PID_MAX / 2;

  // PID Tuning loop
  for (;;) {

    millis_t ms = millis();

    if (temp_meas_ready) { // temp sample ready
      updateTemperaturesFromRawValues();

      input = (extruder<0)?current_temperature_bed:current_temperature[extruder];

      max = max(max, input);
      min = min(min, input);

      #if HAS_AUTO_FAN
        if (ms > next_auto_fan_check_ms) {
          checkExtruderAutoFans();
          next_auto_fan_check_ms = ms + 2500;
        }
      #endif

      if (heating == true && input > temp) {
        if (ms - t2 > 5000) {
          heating = false;
          if (extruder < 0)
            soft_pwm_bed = (bias - d) >> 1;
          else
            soft_pwm[extruder] = (bias - d) >> 1;
          t1 = ms;
          t_high = t1 - t2;
          max = temp;
        }
      }
      if (heating == false && input < temp) {
        if (ms - t1 > 5000) {
          heating = true;
          t2 = ms;
          t_low = t2 - t1;
          if (cycles > 0) {
            long max_pow = extruder < 0 ? MAX_BED_POWER : PID_MAX;
            bias += (d*(t_high - t_low))/(t_low + t_high);
            bias = constrain(bias, 20, max_pow - 20);
            d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;

            SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
            SERIAL_PROTOCOLPGM(MSG_D);    SERIAL_PROTOCOL(d);
            SERIAL_PROTOCOLPGM(MSG_T_MIN);  SERIAL_PROTOCOL(min);
            SERIAL_PROTOCOLPGM(MSG_T_MAX);  SERIAL_PROTOCOLLN(max);
            if (cycles > 2) {
              Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
              Tu = ((float)(t_low + t_high) / 1000.0);
              SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
              SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
              Kp = 0.6 * Ku;
              Ki = 2 * Kp / Tu;
              Kd = Kp * Tu / 8;
              SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
              SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(Kp);
              SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(Ki);
              SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(Kd);
              /*
              Kp = 0.33*Ku;
              Ki = Kp/Tu;
              Kd = Kp*Tu/3;
              SERIAL_PROTOCOLLNPGM(" Some overshoot ");
//.........这里部分代码省略.........