♻️ Encapsulate PID in class (MarlinFirmware#24389)

Author: thinkyhead

Marlin/src/MarlinCore.cpp

@@ -789,7 +789,7 @@ void idle(bool no_stepper_sleep/*=false*/) {
   manage_inactivity(no_stepper_sleep);
 
   // Manage Heaters (and Watchdog)
-  thermalManager.manage_heater();
+  thermalManager.task();
 
   // Max7219 heartbeat, animation, etc
   TERN_(MAX7219_DEBUG, max7219.idle_tasks());

Marlin/src/core/language.h

@@ -227,10 +227,6 @@
 #define STR_PID_DEBUG                       " PID_DEBUG "
 #define STR_PID_DEBUG_INPUT                 ": Input "
 #define STR_PID_DEBUG_OUTPUT                " Output "
-#define STR_PID_DEBUG_PTERM                 " pTerm "
-#define STR_PID_DEBUG_ITERM                 " iTerm "
-#define STR_PID_DEBUG_DTERM                 " dTerm "
-#define STR_PID_DEBUG_CTERM                 " cTerm "
 #define STR_INVALID_EXTRUDER_NUM            " - Invalid extruder number !"
 #define STR_MPC_AUTOTUNE                    "MPC Autotune"
 #define STR_MPC_AUTOTUNE_START              " start for " STR_E

Marlin/src/core/utility.cpp

@@ -29,10 +29,10 @@ void safe_delay(millis_t ms) {
   while (ms > 50) {
     ms -= 50;
     delay(50);
-    thermalManager.manage_heater();
+    thermalManager.task();
   }
   delay(ms);
-  thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
+  thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made
 }
 
 // A delay to provide brittle hosts time to receive bytes

Marlin/src/gcode/motion/G2_G3.cpp

@@ -290,7 +290,7 @@ void plan_arc(
 
     for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
 
-      thermalManager.manage_heater();
+      thermalManager.task();
       const millis_t ms = millis();
       if (ELAPSED(ms, next_idle_ms)) {
         next_idle_ms = ms + 200UL;

Marlin/src/gcode/queue.cpp

@@ -384,7 +384,7 @@ inline bool process_line_done(uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind
   buff[ind] = '\0';                   // Of course, I'm a Terminator.
   const bool is_empty = (ind == 0);   // An empty line?
   if (is_empty)
-    thermalManager.manage_heater();   // Keep sensors satisfied
+    thermalManager.task();            // Keep sensors satisfied
   else
     ind = 0;                          // Start a new line
   return is_empty;                    // Inform the caller

Marlin/src/lcd/extui/ui_api.cpp

@@ -169,7 +169,7 @@ namespace ExtUI {
   }
 
   void yield() {
-    if (!flags.printer_killed) thermalManager.manage_heater();
+    if (!flags.printer_killed) thermalManager.task();
   }
 
   void enableHeater(const extruder_t extruder) {

Marlin/src/libs/buzzer.cpp

@@ -48,7 +48,7 @@ void Buzzer::tone(const uint16_t duration, const uint16_t frequency/*=0*/) {
   if (!ui.sound_on) return;
   while (buffer.isFull()) {
     tick();
-    thermalManager.manage_heater();
+    thermalManager.task();
   }
   tone_t tone = { duration, frequency };
   buffer.enqueue(tone);

Marlin/src/module/motion.cpp

@@ -970,7 +970,7 @@ FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
     next_idle_ms = ms + 200UL;
     return idle();
   }
-  thermalManager.manage_heater();  // Returns immediately on most calls
+  thermalManager.task();  // Returns immediately on most calls
 }
 
 #if IS_KINEMATIC

Marlin/src/module/planner_bezier.cpp

@@ -123,7 +123,7 @@ void cubic_b_spline(
 
   for (float t = 0; t < 1;) {
 
-    thermalManager.manage_heater();
+    thermalManager.task();
     millis_t now = millis();
     if (ELAPSED(now, next_idle_ms)) {
       next_idle_ms = now + 200UL;

Marlin/src/module/temperature.cpp

@@ -232,6 +232,7 @@ typedef struct TempInfo {
 typedef struct HeaterInfo : public TempInfo {
   celsius_t target;
   uint8_t soft_pwm_amount;
+  bool is_below_target(const celsius_t offs=0) const { return (celsius < (target + offs)); }
 } heater_info_t;
 
 // A heater with PID stabilization
@@ -715,9 +716,9 @@ class Temperature {
     static void readings_ready();
 
     /**
-     * Call periodically to manage heaters
+     * Call periodically to manage heaters and keep the watchdog fed
      */
-    static void manage_heater() __O2; // __O2 added to work around a compiler error
+    static void task();
 
     /**
      * Preheating hotends
@@ -807,6 +808,8 @@ class Temperature {
         #endif
       }
 
+      static void manage_hotends(const millis_t &ms);
+
     #endif // HAS_HOTEND
 
     #if HAS_HEATED_BED
@@ -819,6 +822,9 @@ class Temperature {
       static celsius_t degTargetBed()  { return temp_bed.target; }
       static bool isHeatingBed()       { return temp_bed.target > temp_bed.celsius; }
       static bool isCoolingBed()       { return temp_bed.target < temp_bed.celsius; }
+      static bool degBedNear(const celsius_t temp) {
+        return ABS(wholeDegBed() - temp) < (TEMP_BED_HYSTERESIS);
+      }
 
       // Start watching the Bed to make sure it's really heating up
       static void start_watching_bed() { TERN_(WATCH_BED, watch_bed.restart(degBed(), degTargetBed())); }
@@ -835,9 +841,7 @@ class Temperature {
 
       static void wait_for_bed_heating();
 
-      static bool degBedNear(const celsius_t temp) {
-        return ABS(wholeDegBed() - temp) < (TEMP_BED_HYSTERESIS);
-      }
+      static void manage_heated_bed(const millis_t &ms);
 
     #endif // HAS_HEATED_BED
 
@@ -863,6 +867,7 @@ class Temperature {
         static bool isHeatingChamber()       { return temp_chamber.target > temp_chamber.celsius; }
         static bool isCoolingChamber()       { return temp_chamber.target < temp_chamber.celsius; }
         static bool wait_for_chamber(const bool no_wait_for_cooling=true);
+        static void manage_heated_chamber(const millis_t &ms);
       #endif
     #endif
 
@@ -886,6 +891,7 @@ class Temperature {
         static bool isLaserHeating()       { return temp_cooler.target > temp_cooler.celsius; }
         static bool isLaserCooling()       { return temp_cooler.target < temp_cooler.celsius; }
         static bool wait_for_cooler(const bool no_wait_for_cooling=true);
+        static void manage_cooler(const millis_t &ms);
       #endif
     #endif
 

Marlin/src/module/temperature.h

@@ -62,7 +62,7 @@
   #define USB_HOST_MANUAL_POLL // Optimization to shut off IRQ automatically
 
   // Workarounds to keep Marlin's watchdog timer from barking...
-  void marlin_yield() { thermalManager.manage_heater(); }
+  void marlin_yield() { thermalManager.task(); }
   #define SYSTEM_OR_SPECIAL_YIELD(...) marlin_yield();
   #define delay(x) safe_delay(x)