/*
  temperature.cpp - temperature control
  Part of Marlin

 Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm

 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "../base.h"
#include "../Marlin_main.h"

#if ENABLED(AUTO_BED_LEVELING_FEATURE)
  #include "vector_3.h"
#endif
#include "ultralcd.h"
#include "nextion_lcd.h"
#include "planner.h"
#include "stepper_indirection.h"
#if MB(ALLIGATOR)
  #include "external_dac.h"
#endif
#include "stepper.h"
#include "temperature.h"
#include "thermistortables.h"
#if ENABLED(USE_WATCHDOG)
  #include "watchdog.h"
#endif
#if ENABLED(SDSUPPORT)
  #include "Sd2PinMap.h"
#endif

//===========================================================================
//================================== macros =================================
//===========================================================================

#if ENABLED(K1) // Defined in Configuration_base.h in the PID settings
  #define K2 (1.0 - K1)
#endif

#if ENABLED(PIDTEMPBED) || ENABLED(PIDTEMP)
  #define PID_dT ((OVERSAMPLENR * 14.0)/(F_CPU / 64.0 / 256.0))
#endif

//===========================================================================
//============================= public variables ============================
//===========================================================================

int target_temperature[4] = { 0 };
int target_temperature_bed = 0;
int current_temperature_raw[4] = { 0 };
float current_temperature[4] = { 0.0 };
int current_temperature_bed_raw = 0;
float current_temperature_bed = 0.0;
#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  int redundant_temperature_raw = 0;
  float redundant_temperature = 0.0;
#endif

#if ENABLED(PIDTEMPBED)
  float bedKp = DEFAULT_bedKp;
  float bedKi = (DEFAULT_bedKi * PID_dT);
  float bedKd = (DEFAULT_bedKd / PID_dT);
#endif //PIDTEMPBED
  
#if ENABLED(FAN_SOFT_PWM)
  unsigned char fanSpeedSoftPwm = 0;
  #if HAS(AUTO_FAN)
    unsigned char fanSpeedSoftPwm_auto = EXTRUDER_AUTO_FAN_MIN_SPEED;
  #endif
  #if HAS(CONTROLLERFAN)
    unsigned char fanSpeedSoftPwm_controller = CONTROLLERFAN_MIN_SPEED;
  #endif
#endif

unsigned char soft_pwm_bed;

#if ENABLED(BABYSTEPPING)
  volatile int babystepsTodo[3] = { 0 };
#endif

#if ENABLED(FILAMENT_SENSOR)
  int current_raw_filwidth = 0;  //Holds measured filament diameter - one extruder only
#endif

#if ENABLED(THERMAL_PROTECTION_HOTENDS) || ENABLED(THERMAL_PROTECTION_BED)
  enum TRState { TRReset, TRInactive, TRFirstHeating, TRStable, TRRunaway };
  void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
  #if ENABLED(THERMAL_PROTECTION_HOTENDS)
    static TRState thermal_runaway_state_machine[4] = { TRReset, TRReset, TRReset, TRReset };
    static millis_t thermal_runaway_timer[4]; // = {0,0,0,0};
  #endif
  #if ENABLED(THERMAL_PROTECTION_BED) && TEMP_SENSOR_BED != 0
    static TRState thermal_runaway_bed_state_machine = TRReset;
    static millis_t thermal_runaway_bed_timer;
  #endif
#endif
#if HAS(POWER_CONSUMPTION_SENSOR)
  int current_raw_powconsumption = 0;  //Holds measured power consumption
  static unsigned long raw_powconsumption_value = 0;
#endif

//===========================================================================
//============================ private variables ============================
//===========================================================================

static volatile bool temp_meas_ready = false;

#if ENABLED(PIDTEMP)
  //static cannot be external:
  static float temp_iState[HOTENDS] = { 0 };
  static float temp_dState[HOTENDS] = { 0 };
  static float pTerm[HOTENDS];
  static float iTerm[HOTENDS];
  static float dTerm[HOTENDS];
  #if ENABLED(PID_ADD_EXTRUSION_RATE)
    static float cTerm[HOTENDS];
    static long last_position[EXTRUDERS];
    static long lpq[LPQ_MAX_LEN];
    static int lpq_ptr = 0;
  #endif
  //int output;
  static float pid_error[HOTENDS];
  static float temp_iState_min[HOTENDS];
  static float temp_iState_max[HOTENDS];
  static bool pid_reset[HOTENDS];
#endif //PIDTEMP
#if ENABLED(PIDTEMPBED)
  //static cannot be external:
  static float temp_iState_bed = { 0 };
  static float temp_dState_bed = { 0 };
  static float pTerm_bed;
  static float iTerm_bed;
  static float dTerm_bed;
  //int output;
  static float pid_error_bed;
  static float temp_iState_min_bed;
  static float temp_iState_max_bed;
#else //PIDTEMPBED
  static millis_t  next_bed_check_ms;
#endif //PIDTEMPBED
static unsigned char soft_pwm[HOTENDS];

#if ENABLED(FAN_SOFT_PWM)
  static unsigned char soft_pwm_fan;
  #if HAS(AUTO_FAN)
    static unsigned char soft_pwm_fan_auto;
  #endif
  #if HAS(CONTROLLERFAN)
    static unsigned char soft_pwm_fan_controller = 0;
  #endif
#endif
#if HAS(AUTO_FAN)
  static millis_t next_auto_fan_check_ms;
#endif

#if ENABLED(PIDTEMP)
  float Kp[HOTENDS], Ki[HOTENDS], Kd[HOTENDS], Kc[HOTENDS];
#endif //PIDTEMP

// Init min and max temp with extreme values to prevent false errors during startup
static int minttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_RAW_LO_TEMP , HEATER_1_RAW_LO_TEMP , HEATER_2_RAW_LO_TEMP, HEATER_3_RAW_LO_TEMP);
static int maxttemp_raw[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_RAW_HI_TEMP , HEATER_1_RAW_HI_TEMP , HEATER_2_RAW_HI_TEMP, HEATER_3_RAW_HI_TEMP);
static int minttemp[HOTENDS] = { 0 };
static int maxttemp[HOTENDS] = ARRAY_BY_HOTENDS1(16383);
#if ENABLED(BED_MINTEMP)
  static int bed_minttemp_raw = HEATER_BED_RAW_LO_TEMP;
#endif
#if ENABLED(BED_MAXTEMP)
  static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
#endif

#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
  static void* heater_ttbl_map[2] = {(void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE };
  static uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN };
#else
  static void* heater_ttbl_map[HOTENDS] = ARRAY_BY_HOTENDS( (void*)HEATER_0_TEMPTABLE, (void*)HEATER_1_TEMPTABLE, (void*)HEATER_2_TEMPTABLE, (void*)HEATER_3_TEMPTABLE );
  static uint8_t heater_ttbllen_map[HOTENDS] = ARRAY_BY_HOTENDS( HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN, HEATER_2_TEMPTABLE_LEN, HEATER_3_TEMPTABLE_LEN );
#endif

static float analog2temp(int raw, uint8_t e);
static float analog2tempBed(int raw);
static void updateTemperaturesFromRawValues();

#if ENABLED(THERMAL_PROTECTION_HOTENDS)
  int watch_target_temp[HOTENDS] = { 0 };
  millis_t watch_heater_next_ms[HOTENDS] = { 0 };
#endif

#if DISABLED(SOFT_PWM_SCALE)
  #define SOFT_PWM_SCALE 0
#endif

#if ENABLED(FILAMENT_SENSOR)
  static int meas_shift_index;  //used to point to a delayed sample in buffer for filament width sensor
#endif

#if ENABLED(HEATER_0_USES_MAX6675)
  static int read_max6675();
#endif

//===========================================================================
//================================ Functions ================================
//===========================================================================

void autotempShutdown() {
  #if ENABLED(AUTOTEMP)
    if (autotemp_enabled) {
      autotemp_enabled = false;
      if (degTargetHotend(active_extruder) > autotemp_min)
        setTargetHotend(0, active_extruder);
    }
  #endif
}

#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
  void PID_autotune(float temp, int hotend, 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 = 0, d = 0;
    float Ku = 0, Tu = 0;
    float Kp_temp = 0, Ki_temp = 0, Kd_temp = 0;
    float max = 0, min = 10000;

    #if HAS(AUTO_FAN)
      millis_t next_auto_fan_check_ms = temp_ms + 2500;
    #endif

    if (hotend >= HOTENDS
      #if HASNT(TEMP_BED)
         || hotend < 0
      #endif
    ) {
      ECHO_LM(ER, SERIAL_PID_BAD_EXTRUDER_NUM);
      return;
    }

    ECHO_LM(DB, SERIAL_PID_AUTOTUNE_START);
    if (hotend < 0) {
      ECHO_SM(DB, "BED");
    }
    else {
        ECHO_SMV(DB, "Hotend: ", hotend);
    }
    ECHO_MV(" Temp: ", temp);
    ECHO_EMV(" Cycles: ", ncycles);

    disable_all_heaters(); // switch off all heaters.

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

    // PID Tuning loop
    for (;;) {

      millis_t ms = millis();

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

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

        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 && input > temp) {
          if (ms > t2 + 5000) {
            heating = false;
            if (hotend < 0)
              soft_pwm_bed = (bias - d) >> 1;
            else
              soft_pwm[hotend] = (bias - d) >> 1;
            t1 = ms;
            t_high = t1 - t2;
            max = temp;
          }
        }

        if (!heating && input < temp) {
          if (ms > t1 + 5000) {
            heating = true;
            t2 = ms;
            t_low = t2 - t1;
            if (cycles > 0) {
              long max_pow = hotend < 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;

              ECHO_MV(SERIAL_BIAS, bias);
              ECHO_MV(SERIAL_D, d);
              ECHO_MV(SERIAL_T_MIN, min);
              ECHO_MV(SERIAL_T_MAX, max);
              if (cycles > 2) {
                Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
                Tu = ((float)(t_low + t_high) / 1000.0);
                ECHO_MV(SERIAL_KU, Ku);
                ECHO_EMV(SERIAL_TU, Tu);
                Kp_temp = 0.6 * Ku;
                Ki_temp = 2 * Kp_temp / Tu;
                Kd_temp = Kp_temp * Tu / 8;
                
                ECHO_EM(SERIAL_CLASSIC_PID);
                ECHO_MV(SERIAL_KP, Kp_temp);
                ECHO_MV(SERIAL_KI, Ki_temp);
                ECHO_EMV(SERIAL_KD, Kd_temp);
              }
              else {
                ECHO_E;
              }
            }
            if (hotend < 0)
              soft_pwm_bed = (bias + d) >> 1;
            else
              soft_pwm[hotend] = (bias + d) >> 1;
            cycles++;
            min = temp;
          }
        }
      }
      if (input > temp + MAX_OVERSHOOT_PID_AUTOTUNE) {
        ECHO_LM(ER, SERIAL_PID_TEMP_TOO_HIGH);
        return;
      }

      // Every 2 seconds...
      if (ms > temp_ms + 2000) {
        #if HAS(TEMP_0) || HAS(TEMP_BED) || ENABLED(HEATER_0_USES_MAX6675)
          print_heaterstates();
          ECHO_E;
        #endif

        temp_ms = ms;
      } // every 2 seconds

      // Over 2 minutes?
      if (((ms - t1) + (ms - t2)) > (10L*60L*1000L*2L)) {
        ECHO_LM(ER, SERIAL_PID_TIMEOUT);
        return;
      }
      if (cycles > ncycles) {
        ECHO_LM(DB, SERIAL_PID_AUTOTUNE_FINISHED);
        #if ENABLED(PIDTEMP)
          if (hotend >= 0) {
            PID_PARAM(Kp, hotend) = Kp_temp;
            PID_PARAM(Ki, hotend) = scalePID_i(Ki_temp);
            PID_PARAM(Kd, hotend) = scalePID_d(Kd_temp);
            updatePID();

            ECHO_SMV(DB, SERIAL_KP, PID_PARAM(Kp, hotend));
            ECHO_MV(SERIAL_KI, unscalePID_i(PID_PARAM(Ki, hotend)));
            ECHO_EMV(SERIAL_KD, unscalePID_d(PID_PARAM(Kd, hotend)));
          }
          else {
            ECHO_LMV(DB, "#define DEFAULT_bedKp ", Kp_temp);
            ECHO_LMV(DB, "#define DEFAULT_bedKi ", unscalePID_i(Ki_temp));
            ECHO_LMV(DB, "#define DEFAULT_bedKd ", unscalePID_d(Kd_temp));
          }
        #endif
        return;
      }
      lcd_update();
    }
  }
#endif

void updatePID() {
  #if ENABLED(PIDTEMP)
    for (int h = 0; h < HOTENDS; h++) {
      temp_iState_max[h] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki, h);
    }
    #if ENABLED(PID_ADD_EXTRUSION_RATE)
      for (int e = 0; e < EXTRUDERS; e++) last_position[e] = 0;
    #endif
  #endif
  #if ENABLED(PIDTEMPBED)
    temp_iState_max_bed = PID_BED_INTEGRAL_DRIVE_MAX / bedKi;
  #endif
}

int getHeaterPower(int heater) {
  return heater < 0 ? soft_pwm_bed : soft_pwm[heater];
}

#if HAS(AUTO_FAN)

void setExtruderAutoFanState(int pin, bool state) {
  unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : EXTRUDER_AUTO_FAN_MIN_SPEED;
  // this idiom allows both digital and PWM fan outputs (see M42 handling).
  #if ENABLED(FAN_SOFT_PWM)
    fanSpeedSoftPwm_auto = newFanSpeed;
  #else
    digitalWrite(pin, newFanSpeed);
    analogWrite(pin, newFanSpeed);
  #endif
}

void checkExtruderAutoFans() {
  uint8_t fanState = 0;

  // which fan pins need to be turned on?
  #if HAS(AUTO_FAN_0)
    if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE)
      fanState |= 1;
  #endif
  #if HAS(AUTO_FAN_1)
    if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
      if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
        fanState |= 1;
      else
        fanState |= 2;
    }
  #endif
  #if HAS(AUTO_FAN_2)
    if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
      if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN)
        fanState |= 1;
      else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
        fanState |= 2;
      else
        fanState |= 4;
    }
  #endif
  #if HAS(AUTO_FAN_3)
    if (current_temperature[3] > EXTRUDER_AUTO_FAN_TEMPERATURE) {
      if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) 
        fanState |= 1;
      else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN)
        fanState |= 2;
      else if (EXTRUDER_3_AUTO_FAN_PIN == EXTRUDER_2_AUTO_FAN_PIN)
        fanState |= 4;
      else
        fanState |= 8;
    }
  #endif

  // update extruder auto fan states
  #if HAS(AUTO_FAN_0)
    setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0);
  #endif
  #if HAS(AUTO_FAN_1)
    if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
      setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0);
  #endif
  #if HAS(AUTO_FAN_2)
    if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
        && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
      setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0);
  #endif
  #if HAS(AUTO_FAN_3)
    if (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN
        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN
        && EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
      setExtruderAutoFanState(EXTRUDER_3_AUTO_FAN_PIN, (fanState & 8) != 0);
  #endif
}

#endif // HAS(AUTO_FAN)

//
// Temperature Error Handlers
//
inline void _temp_error(int h, const char* serial_msg, const char* lcd_msg) {
  static bool killed = false;
  if (IsRunning()) {
    ECHO_S(ER);
    PS_PGM(serial_msg);
    ECHO_M(SERIAL_STOPPED_HEATER);
    if (h >= 0) ECHO_EV((int)h); else ECHO_EM(SERIAL_HEATER_BED);
    #if ENABLED(ULTRA_LCD)
      lcd_setalertstatuspgm(lcd_msg);
    #endif
  }
  #if DISABLED(BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE)
    if (!killed) {
      Running = false;
      killed = true;
      kill(lcd_msg);
    }
    else
      disable_all_heaters(); // paranoia
  #endif
}

void max_temp_error(uint8_t h) {
  _temp_error(h, PSTR(SERIAL_T_MAXTEMP), PSTR(MSG_ERR_MAXTEMP));
}
void min_temp_error(uint8_t h) {
  _temp_error(h, PSTR(SERIAL_T_MINTEMP), PSTR(MSG_ERR_MINTEMP));
}

float get_pid_output(int h) {
  float pid_output;
  #if ENABLED(PIDTEMP)
    #if ENABLED(PID_OPENLOOP)
      pid_output = constrain(target_temperature[h], 0, PID_MAX);
    #else
      pid_error[h] = target_temperature[h] - current_temperature[h];
      dTerm[h] = K2 * PID_PARAM(Kd, h) * (current_temperature[h] - temp_dState[h]) + K1 * dTerm[h];
      temp_dState[h] = current_temperature[h];
      if (pid_error[h] > PID_FUNCTIONAL_RANGE) {
        pid_output = BANG_MAX;
        pid_reset[h] = true;
      }
      else if (pid_error[h] < -PID_FUNCTIONAL_RANGE || target_temperature[h] == 0) {
        pid_output = 0;
        pid_reset[h] = true;
      }
      else {
        if (pid_reset[h]) {
          temp_iState[h] = 0.0;
          pid_reset[h] = false;
        }
        pTerm[h] = PID_PARAM(Kp, h) * pid_error[h];
        temp_iState[h] += pid_error[h];
        temp_iState[h] = constrain(temp_iState[h], temp_iState_min[h], temp_iState_max[h]);
        iTerm[h] = PID_PARAM(Ki, h) * temp_iState[h];

        pid_output = pTerm[h] + iTerm[h] - dTerm[h];

        #if ENABLED(PID_ADD_EXTRUSION_RATE)
          cTerm[h] = 0;
          #if ENABLED(SINGLENOZZLE)
            long e_position = st_get_position(E_AXIS);
            if (e_position > last_position[active_extruder]) {
              lpq[lpq_ptr++] = e_position - last_position[active_extruder];
              last_position[active_extruder] = e_position;
            }
            else {
              lpq[lpq_ptr++] = 0;
            }
            if (lpq_ptr >= lpq_len) lpq_ptr = 0;
            cTerm[0] = (lpq[lpq_ptr] / axis_steps_per_unit[E_AXIS + active_extruder]) * PID_PARAM(Kc, 0);
            pid_output += cTerm[0] / 100.0;
          #else  
            if (h == active_extruder) {
              long e_position = st_get_position(E_AXIS);
              if (e_position > last_position[h]) {
                lpq[lpq_ptr++] = e_position - last_position[h];
                last_position[h] = e_position;
              }
              else {
                lpq[lpq_ptr++] = 0;
              }
              if (lpq_ptr >= lpq_len) lpq_ptr = 0;
              cTerm[h] = (lpq[lpq_ptr] / axis_steps_per_unit[E_AXIS + active_extruder]) * PID_PARAM(Kc, h);
              pid_output += cTerm[h] / 100.0;
            }
          #endif // SINGLENOZZLE
        #endif // PID_ADD_EXTRUSION_RATE

        if (pid_output > PID_MAX) {
          if (pid_error[h] > 0) temp_iState[h] -= pid_error[h]; // conditional un-integration
          pid_output = PID_MAX;
        }
        else if (pid_output < 0) {
          if (pid_error[h] < 0) temp_iState[h] -= pid_error[h]; // conditional un-integration
          pid_output = 0;
        }
      }
    #endif // PID_OPENLOOP

    #if ENABLED(PID_DEBUG)
      ECHO_SMV(DB, SERIAL_PID_DEBUG, h);
      ECHO_MV(SERIAL_PID_DEBUG_INPUT, current_temperature[h]);
      ECHO_MV(SERIAL_PID_DEBUG_OUTPUT, pid_output);
      ECHO_MV(SERIAL_PID_DEBUG_PTERM, pTerm[h]);
      ECHO_MV(SERIAL_PID_DEBUG_ITERM, iTerm[h]);
      ECHO_MV(SERIAL_PID_DEBUG_DTERM, dTerm[h]);
      #if ENABLED(PID_ADD_EXTRUSION_RATE)
        ECHO_MV(SERIAL_PID_DEBUG_CTERM, cTerm[h]);
      #endif
      ECHO_E;
    #endif // PID_DEBUG

  #else /* PID off */
    pid_output = (current_temperature[h] < target_temperature[h]) ? PID_MAX : 0;
  #endif

  return pid_output;
}

#if ENABLED(PIDTEMPBED)
  float get_pid_output_bed() {
    float pid_output;
    #if ENABLED(PID_OPENLOOP)
      pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
    #else
      pid_error_bed = target_temperature_bed - current_temperature_bed;
      pTerm_bed = bedKp * pid_error_bed;
      temp_iState_bed += pid_error_bed;
      temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
      iTerm_bed = bedKi * temp_iState_bed;

      dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
      temp_dState_bed = current_temperature_bed;

      pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
      if (pid_output > MAX_BED_POWER) {
        if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
        pid_output = MAX_BED_POWER;
      }
      else if (pid_output < 0) {
        if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
        pid_output = 0;
      }
    #endif // PID_OPENLOOP

    #if ENABLED(PID_BED_DEBUG)
      ECHO_SM(DB ," PID_BED_DEBUG ");
      ECHO_MV(": Input ", current_temperature_bed);
      ECHO_MV(" Output ", pid_output);
      ECHO_MV(" pTerm ", pTerm_bed);
      ECHO_MV(" iTerm ", iTerm_bed);
      ECHO_EMV(" dTerm ", dTerm_bed);
    #endif //PID_BED_DEBUG

    return pid_output;
  }
#endif

/**
 * Manage heating activities for extruder hot-ends and a heated bed
 *  - Acquire updated temperature readings
 *  - Invoke thermal runaway protection
 *  - Manage extruder auto-fan
 *  - Apply filament width to the extrusion rate (may move)
 *  - Update the heated bed PID output value
 */
void manage_heater() {

  if (!temp_meas_ready) return;

  updateTemperaturesFromRawValues();

  #if ENABLED(HEATER_0_USES_MAX6675)
    float ct = current_temperature[0];
    if (ct > min(HEATER_0_MAXTEMP, 1023)) max_temp_error(0);
    if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0);
  #endif

  #if ENABLED(THERMAL_PROTECTION_HOTENDS) || DISABLED(PIDTEMPBED) || HAS(AUTO_FAN)
    millis_t ms = millis();
  #endif

  // Loop through all hotends
  for (int h = 0; h < HOTENDS; h++) {

    #if ENABLED(THERMAL_PROTECTION_HOTENDS)
      thermal_runaway_protection(&thermal_runaway_state_machine[h], &thermal_runaway_timer[h], current_temperature[h], target_temperature[h], h, THERMAL_PROTECTION_PERIOD, THERMAL_PROTECTION_HYSTERESIS);
    #endif

    float pid_output = get_pid_output(h);

    // Check if temperature is within the correct range
    soft_pwm[h] = current_temperature[h] > minttemp[h] && current_temperature[h] < maxttemp[h] ? (int)pid_output >> 1 : 0;

    // Check if the temperature is failing to increase
    #if ENABLED(THERMAL_PROTECTION_HOTENDS)

      // Is it time to check this extruder's heater?
      if (watch_heater_next_ms[h] && ms > watch_heater_next_ms[h]) {
        // Has it failed to increase enough?
        if (degHotend(h) < watch_target_temp[h]) {
          // Stop!
          _temp_error(h, PSTR(SERIAL_T_HEATING_FAILED), PSTR(MSG_HEATING_FAILED_LCD));
        }
        else {
          // Start again if the target is still far off
          start_watching_heater(h);
        }
      }

    #endif // THERMAL_PROTECTION_HOTENDS

    #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
      if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
        _temp_error(0, PSTR(MSG_EXTRUDER_SWITCHED_OFF), PSTR(MSG_ERR_REDUNDANT_TEMP));
      }
    #endif

  } // Hotends Loop

  #if HAS(AUTO_FAN)
    if (ms > next_auto_fan_check_ms) { // only need to check fan state very infrequently
      checkExtruderAutoFans();
      next_auto_fan_check_ms = ms + 2500;
    }
  #endif

  // Control the extruder rate based on the width sensor
  #if ENABLED(FILAMENT_SENSOR)
    if (filament_sensor) {
      meas_shift_index = delay_index1 - meas_delay_cm;
      if (meas_shift_index < 0) meas_shift_index += MAX_MEASUREMENT_DELAY + 1;  //loop around buffer if needed

      // Get the delayed info and add 100 to reconstitute to a percent of
      // the nominal filament diameter then square it to get an area
      meas_shift_index = constrain(meas_shift_index, 0, MAX_MEASUREMENT_DELAY);
      float vm = pow((measurement_delay[meas_shift_index] + 100.0) / 100.0, 2);
      if (vm < 0.01) vm = 0.01;
      volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = vm;
    }
  #endif //FILAMENT_SENSOR

  #if DISABLED(PIDTEMPBED)
    if (ms < next_bed_check_ms) return;
    next_bed_check_ms = ms + BED_CHECK_INTERVAL;
  #endif

  #if TEMP_SENSOR_BED != 0

    #if ENABLED(THERMAL_PROTECTION_BED)
      thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, -1, THERMAL_PROTECTION_BED_PERIOD, THERMAL_PROTECTION_BED_HYSTERESIS);
    #endif

    #if ENABLED(PIDTEMPBED)
      float pid_output = get_pid_output_bed();

      soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;

    #elif ENABLED(BED_LIMIT_SWITCHING)
      // Check if temperature is within the correct band
      if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) {
        if (current_temperature_bed >= target_temperature_bed + BED_HYSTERESIS)
          soft_pwm_bed = 0;
        else if (current_temperature_bed <= target_temperature_bed - BED_HYSTERESIS)
          soft_pwm_bed = MAX_BED_POWER >> 1;
      }
      else {
        soft_pwm_bed = 0;
        WRITE_HEATER_BED(LOW);
      }
    #else // BED_LIMIT_SWITCHING
      // Check if temperature is within the correct range
      if (current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP) {
        soft_pwm_bed = current_temperature_bed < target_temperature_bed ? MAX_BED_POWER >> 1 : 0;
      }
      else {
        soft_pwm_bed = 0;
        WRITE_HEATER_BED(LOW);
      }
    #endif
  #endif // TEMP_SENSOR_BED != 0
}

#define PGM_RD_W(x)   (short)pgm_read_word(&x)
// Derived from RepRap FiveD extruder::getTemperature()
// For hot end temperature measurement.
static float analog2temp(int raw, uint8_t h) {
  #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
    if (h > HOTENDS)
  #else
    if (h >= HOTENDS)
  #endif
    {
      ECHO_LVM(ER, (int)h, SERIAL_INVALID_EXTRUDER_NUM);
      kill(PSTR(MSG_KILLED));
      return 0.0;
    }

  #if ENABLED(HEATER_0_USES_MAX6675)
    if (h == 0) return 0.25 * raw;
  #endif

  if (heater_ttbl_map[h] != NULL) {
    float celsius = 0;
    uint8_t i;
    short(*tt)[][2] = (short(*)[][2])(heater_ttbl_map[h]);

    for (i = 1; i < heater_ttbllen_map[h]; i++) {
      if (PGM_RD_W((*tt)[i][0]) > raw) {
        celsius = PGM_RD_W((*tt)[i - 1][1]) +
                  (raw - PGM_RD_W((*tt)[i - 1][0])) *
                  (float)(PGM_RD_W((*tt)[i][1]) - PGM_RD_W((*tt)[i - 1][1])) /
                  (float)(PGM_RD_W((*tt)[i][0]) - PGM_RD_W((*tt)[i - 1][0]));
        break;
      }
    }

    // Overflow: Set to last value in the table
    if (i == heater_ttbllen_map[h]) celsius = PGM_RD_W((*tt)[i - 1][1]);

    return celsius;
  }

  #if HEATER_USES_AD595
    return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * ad595_gain[h]) + ad595_offset[h];
  #else
    return 0;
  #endif
}

// Derived from RepRap FiveD extruder::getTemperature()
// For bed temperature measurement.
static float analog2tempBed(int raw) {
  #if ENABLED(BED_USES_THERMISTOR)
    float celsius = 0;
    byte i;

    for (i = 1; i < BEDTEMPTABLE_LEN; i++) {
      if (PGM_RD_W(BEDTEMPTABLE[i][0]) > raw) {
        celsius  = PGM_RD_W(BEDTEMPTABLE[i - 1][1]) +
                   (raw - PGM_RD_W(BEDTEMPTABLE[i - 1][0])) *
                   (float)(PGM_RD_W(BEDTEMPTABLE[i][1]) - PGM_RD_W(BEDTEMPTABLE[i - 1][1])) /
                   (float)(PGM_RD_W(BEDTEMPTABLE[i][0]) - PGM_RD_W(BEDTEMPTABLE[i - 1][0]));
        break;
      }
    }

    // Overflow: Set to last value in the table
    if (i == BEDTEMPTABLE_LEN) celsius = PGM_RD_W(BEDTEMPTABLE[i - 1][1]);

    return celsius;

  #elif ENABLED(BED_USES_AD595)

    return ((raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR) * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET;

  #else
    UNUSED(raw);
    return 0;

  #endif
}

/* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context,
    and this function is called from normal context as it is too slow to run in interrupts and will block the stepper routine otherwise */
static void updateTemperaturesFromRawValues() {
  static millis_t last_update = millis();
  millis_t temp_last_update = millis();
  millis_t from_last_update = temp_last_update - last_update;
  #if ENABLED(HEATER_0_USES_MAX6675)
    current_temperature_raw[0] = read_max6675();
  #endif
  for (uint8_t h = 0; h < HOTENDS; h++) {
    current_temperature[h] = analog2temp(current_temperature_raw[h], h);
  }
  current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
  #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
    redundant_temperature = analog2temp(redundant_temperature_raw, 1);
  #endif
  #if HAS(FILAMENT_SENSOR)
    filament_width_meas = analog2widthFil();
  #endif
  #if HAS(POWER_CONSUMPTION_SENSOR)
    static float watt_overflow = 0.0;
    power_consumption_meas = analog2power();
    /*ECHO_MV("raw:", raw_analog2voltage(), 5);
    ECHO_MV(" - V:", analog2voltage(), 5);
    ECHO_MV(" - I:", analog2current(), 5);
    ECHO_EMV(" - P:", analog2power(), 5);*/
    watt_overflow += (power_consumption_meas * from_last_update) / 3600000.0;
    if (watt_overflow >= 1.0) {
      power_consumption_hour++;
      watt_overflow--;
    }
  #endif

  // Update printer usage
  static unsigned int second_overflow = 0;
  second_overflow += from_last_update;
  if (second_overflow >= 1000) {
    printer_usage_seconds++;
    second_overflow -= 1000;
  }
  last_update = temp_last_update;
  #if ENABLED(USE_WATCHDOG)
    // Reset the watchdog after we know we have a temperature measurement.
    watchdog_reset();
  #endif

  CRITICAL_SECTION_START;
  temp_meas_ready = false;
  CRITICAL_SECTION_END;
}


#if ENABLED(FILAMENT_SENSOR)

  // Convert raw Filament Width to millimeters
  float analog2widthFil() {
    return current_raw_filwidth / 16383.0 * 5.0;
    // return current_raw_filwidth;
  }

  // Convert raw Filament Width to a ratio
  int widthFil_to_size_ratio() {
    float temp = filament_width_meas;
    if (temp < MEASURED_LOWER_LIMIT) temp = filament_width_nominal;  //assume sensor cut out
    else if (temp > MEASURED_UPPER_LIMIT) temp = MEASURED_UPPER_LIMIT;
    return filament_width_nominal / temp * 100;
  }

#endif

#if HAS(POWER_CONSUMPTION_SENSOR)
  // Convert raw Power Consumption to watt
  float raw_analog2voltage() {
    return (5.0 * current_raw_powconsumption) / (1023.0 * OVERSAMPLENR);
  }

  float analog2voltage() {
    float power_zero_raw = (POWER_ZERO * 1023.0 * OVERSAMPLENR) / 5.0;
    float rel_raw_power = (current_raw_powconsumption < power_zero_raw) ? (2 * power_zero_raw - current_raw_powconsumption) : (current_raw_powconsumption);
    return ((5.0 * rel_raw_power) / (1023.0 * OVERSAMPLENR)) - POWER_ZERO;
  }
  float analog2current() {
    float temp = analog2voltage() / POWER_SENSITIVITY;
    temp = (((100 - POWER_ERROR) / 100) * temp) - POWER_OFFSET;
    return temp > 0 ? temp : 0;
  }
  float analog2power() {
    return (analog2current() * POWER_VOLTAGE * 100) /  POWER_EFFICIENCY;
  }

  float analog2error(float current) {
    float temp1 = (analog2voltage() / POWER_SENSITIVITY - POWER_OFFSET) * POWER_VOLTAGE;
    if(temp1 <= 0) return 0.0;
    float temp2 = (current) * POWER_VOLTAGE;
    if(temp2 <= 0) return 0.0;
    return ((temp2/temp1) - 1) * 100;
  }
  float analog2efficiency(float watt) {
    return (analog2current() * POWER_VOLTAGE * 100) / watt;
  }
#endif

/**
 * Initialize the temperature manager
 * The manager is implemented by periodic calls to manage_heater()
 */
void tp_init() {
  #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
    // disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
    MCUCR = BIT(JTD);
    MCUCR = BIT(JTD);
  #endif

  // Finish init of mult hotends arrays
  for (int h = 0; h < HOTENDS; h++) {
    // populate with the first value
    maxttemp[h] = maxttemp[0];
    #if ENABLED(PIDTEMP)
      temp_iState_min[h] = 0.0;
      temp_iState_max[h] = PID_INTEGRAL_DRIVE_MAX / PID_PARAM(Ki, h);
    #endif //PIDTEMP
    #if ENABLED(PIDTEMPBED)
      temp_iState_min_bed = 0.0;
      temp_iState_max_bed = PID_BED_INTEGRAL_DRIVE_MAX / bedKi;
    #endif // PIDTEMPBED
  }

  #if ENABLED(PID_ADD_EXTRUSION_RATE)
    for (int e = 0; e < EXTRUDERS; e++) last_position[e] = 0;
  #endif

  #if HAS(HEATER_0)
    SET_OUTPUT(HEATER_0_PIN);
  #endif
  #if HAS(HEATER_1)
    SET_OUTPUT(HEATER_1_PIN);
  #endif
  #if HAS(HEATER_2)
    SET_OUTPUT(HEATER_2_PIN);
  #endif
  #if HAS(HEATER_3)
    SET_OUTPUT(HEATER_3_PIN);
  #endif
  #if HAS(HEATER_BED)
    SET_OUTPUT(HEATER_BED_PIN);
  #endif
  #if HAS(FAN)
    SET_OUTPUT(FAN_PIN);
    #if ENABLED(FAST_PWM_FAN)
      setPwmFrequency(FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
    #endif
    #if ENABLED(FAN_SOFT_PWM)
      soft_pwm_fan = fanSpeedSoftPwm / 2;
    #endif
  #endif

  #if ENABLED(HEATER_0_USES_MAX6675)

    #if DISABLED(SDSUPPORT)
      OUT_WRITE(SCK_PIN, LOW);
      OUT_WRITE(MOSI_PIN, HIGH);
      OUT_WRITE(MISO_PIN, HIGH);
    #else
      pinMode(SS_PIN, OUTPUT);
      digitalWrite(SS_PIN, HIGH);
    #endif

    OUT_WRITE(MAX6675_SS, HIGH);

  #endif // HEATER_0_USES_MAX6675

  #ifdef DIDR2
    #define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= BIT(pin); else DIDR2 |= BIT(pin - 8); }while(0)
  #else
    #define ANALOG_SELECT(pin) do{ DIDR0 |= BIT(pin); }while(0)
  #endif

  // Set analog inputs
  ADCSRA = BIT(ADEN) | BIT(ADSC) | BIT(ADIF) | 0x07;
  DIDR0 = 0;
  #ifdef DIDR2
    DIDR2 = 0;
  #endif
  #if HAS(TEMP_0)
    ANALOG_SELECT(TEMP_0_PIN);
  #endif
  #if HAS(TEMP_1)
    ANALOG_SELECT(TEMP_1_PIN);
  #endif
  #if HAS(TEMP_2)
    ANALOG_SELECT(TEMP_2_PIN);
  #endif
  #if HAS(TEMP_3)
    ANALOG_SELECT(TEMP_3_PIN);
  #endif
  #if HAS(TEMP_BED)
    ANALOG_SELECT(TEMP_BED_PIN);
  #endif
  #if HAS(FILAMENT_SENSOR)
    ANALOG_SELECT(FILWIDTH_PIN);
  #endif

  #if HAS(CONTROLLERFAN)
    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
    #if ENABLED(FAST_PWM_FAN)
      setPwmFrequency(CONTROLLERFAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
    #endif
    #if ENABLED(FAN_SOFT_PWM)
      soft_pwm_fan_controller = fanSpeedSoftPwm_controller / 2;
    #endif
  #endif

  #if HAS(AUTO_FAN_0)
    SET_OUTPUT(EXTRUDER_0_AUTO_FAN_PIN);
    #if ENABLED(FAST_PWM_FAN)
      setPwmFrequency(EXTRUDER_0_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
    #endif
  #endif
  #if HAS(AUTO_FAN_1) && (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN)
    SET_OUTPUT(EXTRUDER_1_AUTO_FAN_PIN);
    #if ENABLED(FAST_PWM_FAN)
      setPwmFrequency(EXTRUDER_1_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
    #endif
  #endif
  #if HAS(AUTO_FAN_2) && (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) && (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN)
    SET_OUTPUT(EXTRUDER_2_AUTO_FAN_PIN);
    #if ENABLED(FAST_PWM_FAN)
      setPwmFrequency(EXTRUDER_2_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
    #endif
  #endif
  #if HAS(AUTO_FAN_3) && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN) && (EXTRUDER_3_AUTO_FAN_PIN != EXTRUDER_2_AUTO_FAN_PIN)
    SET_OUTPUT(EXTRUDER_3_AUTO_FAN_PIN);
    #if ENABLED(FAST_PWM_FAN)
      setPwmFrequency(EXTRUDER_3_AUTO_FAN_PIN, 1); // No prescaling. Pwm frequency = F_CPU/256/8
    #endif
  #endif

  #if ENABLED(FAN_SOFT_PWM)
    #if HAS(AUTO_FAN)
      soft_pwm_fan_auto = fanSpeedSoftPwm_auto / 2;
    #endif
  #endif

  #if HAS(POWER_CONSUMPTION_SENSOR)
    ANALOG_SELECT(POWER_CONSUMPTION_PIN);
  #endif
  
  // Use timer0 for temperature measurement
  // Interleave temperature interrupt with millies interrupt
  OCR0B = 128;
  TIMSK0 |= BIT(OCIE0B);

  // Wait for temperature measurement to settle
  delay_ms(250);

  #define TEMP_MIN_ROUTINE(NR) \
    minttemp[NR] = HEATER_ ## NR ## _MINTEMP; \
    while(analog2temp(minttemp_raw[NR], NR) < HEATER_ ## NR ## _MINTEMP) { \
      if (HEATER_ ## NR ## _RAW_LO_TEMP < HEATER_ ## NR ## _RAW_HI_TEMP) \
        minttemp_raw[NR] += OVERSAMPLENR; \
      else \
        minttemp_raw[NR] -= OVERSAMPLENR; \
    }
  #define TEMP_MAX_ROUTINE(NR) \
    maxttemp[NR] = HEATER_ ## NR ## _MAXTEMP; \
    while(analog2temp(maxttemp_raw[NR], NR) > HEATER_ ## NR ## _MAXTEMP) { \
      if (HEATER_ ## NR ## _RAW_LO_TEMP < HEATER_ ## NR ## _RAW_HI_TEMP) \
        maxttemp_raw[NR] -= OVERSAMPLENR; \
      else \
        maxttemp_raw[NR] += OVERSAMPLENR; \
    }

  #if ENABLED(HEATER_0_MINTEMP)
    TEMP_MIN_ROUTINE(0);
  #endif
  #if ENABLED(HEATER_0_MAXTEMP)
    TEMP_MAX_ROUTINE(0);
  #endif
  #if HOTENDS > 1
    #if ENABLED(HEATER_1_MINTEMP)
      TEMP_MIN_ROUTINE(1);
    #endif
    #if ENABLED(HEATER_1_MAXTEMP)
      TEMP_MAX_ROUTINE(1);
    #endif
    #if HOTENDS > 2
      #if ENABLED(HEATER_2_MINTEMP)
        TEMP_MIN_ROUTINE(2);
      #endif
      #if ENABLED(HEATER_2_MAXTEMP)
        TEMP_MAX_ROUTINE(2);
      #endif
      #if HOTENDS > 3
        #if ENABLED(HEATER_3_MINTEMP)
          TEMP_MIN_ROUTINE(3);
        #endif
        #if ENABLED(HEATER_3_MAXTEMP)
          TEMP_MAX_ROUTINE(3);
        #endif
      #endif // HOTENDS > 3
    #endif // HOTENDS > 2
  #endif // HOTENDS > 1

  #if ENABLED(BED_MINTEMP)
    while(analog2tempBed(bed_minttemp_raw) < BED_MINTEMP) {
      #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP
        bed_minttemp_raw += OVERSAMPLENR;
      #else
        bed_minttemp_raw -= OVERSAMPLENR;
      #endif
    }
  #endif //BED_MINTEMP
  #if ENABLED(BED_MAXTEMP)
    while(analog2tempBed(bed_maxttemp_raw) > BED_MAXTEMP) {
      #if HEATER_BED_RAW_LO_TEMP < HEATER_BED_RAW_HI_TEMP
        bed_maxttemp_raw -= OVERSAMPLENR;
      #else
        bed_maxttemp_raw += OVERSAMPLENR;
      #endif
    }
  #endif // BED_MAXTEMP
}

#if ENABLED(THERMAL_PROTECTION_HOTENDS)
  /**
   * Start Heating Sanity Check for hotends that are below
   * their target temperature by a configurable margin.
   * This is called when the temperature is set. (M104, M109)
   */
  void start_watching_heater(int h) {
    if (degHotend(h) < degTargetHotend(h) - (WATCH_TEMP_INCREASE + TEMP_HYSTERESIS + 1)) {
      watch_target_temp[h] = degHotend(h) + WATCH_TEMP_INCREASE;
      watch_heater_next_ms[h] = millis() + WATCH_TEMP_PERIOD * 1000UL;
    }
    else
      watch_heater_next_ms[h] = 0;
  }
#endif

#if ENABLED(THERMAL_PROTECTION_HOTENDS) || ENABLED(THERMAL_PROTECTION_BED)

  void thermal_runaway_protection(TRState* state, millis_t* timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {

    static float tr_target_temperature[HOTENDS + 1] = { 0.0 };

    /*
        ECHO_SM(DB, "Thermal Thermal Runaway Running. Heater ID: ");
        if (heater_id < 0) ECHO_M("bed"); else ECHO_V(heater_id);
        ECHO_MV(" ;  State:", *state);
        ECHO_MV(" ;  Timer:", *timer);
        ECHO_MV(" ;  Temperature:", temperature);
        ECHO_EMV(" ;  Target Temp:", target_temperature);
    */

    int heater_index = heater_id >= 0 ? heater_id : HOTENDS;

    // If the target temperature changes, restart
    if (tr_target_temperature[heater_index] != target_temperature)
      *state = TRReset;

    switch (*state) {
      case TRReset:
        *timer = 0;
        *state = TRInactive;
      // Inactive state waits for a target temperature to be set
      case TRInactive:
        if (target_temperature > 0) {
          tr_target_temperature[heater_index] = target_temperature;
          *state = TRFirstHeating;
        }
        break;
      // When first heating, wait for the temperature to be reached then go to Stable state
      case TRFirstHeating:
        if (temperature >= tr_target_temperature[heater_index]) *state = TRStable;
        break;
      // While the temperature is stable watch for a bad temperature
      case TRStable:
        // If the temperature is over the target (-hysteresis) restart the timer
        if (temperature >= tr_target_temperature[heater_index] - hysteresis_degc)
          *timer = millis();
        // If the timer goes too long without a reset, trigger shutdown
        else if (millis() > *timer + period_seconds * 1000UL)
          *state = TRRunaway;
        break;
      case TRRunaway:
        _temp_error(heater_id, PSTR(SERIAL_T_THERMAL_RUNAWAY), PSTR(MSG_THERMAL_RUNAWAY));
    }
  }

#endif // THERMAL_PROTECTION_HOTENDS || THERMAL_PROTECTION_BED

void disable_all_heaters() {
  for (int i = 0; i < HOTENDS; i++) setTargetHotend(0, i);
  setTargetBed(0);

  #define DISABLE_HEATER(NR) { \
    target_temperature[NR] = 0; \
    soft_pwm[NR] = 0; \
    WRITE_HEATER_ ## NR (LOW); \
  }

  #if HAS(TEMP_0)
    target_temperature[0] = 0;
    soft_pwm[0] = 0;
    WRITE_HEATER_0P(LOW); // Should HEATERS_PARALLEL apply here? Then change to DISABLE_HEATER(0)
  #endif

  #if HOTENDS > 1 && HAS(TEMP_1)
    DISABLE_HEATER(1);
  #endif

  #if HOTENDS > 2 && HAS(TEMP_2)
    DISABLE_HEATER(2);
  #endif

  #if HOTENDS > 3 && HAS(TEMP_3)
    DISABLE_HEATER(3);
  #endif

  #if HAS(TEMP_BED)
    target_temperature_bed = 0;
    soft_pwm_bed = 0;
    #if HAS(HEATER_BED)
      WRITE_HEATER_BED(LOW);
    #endif
  #endif
}

#if ENABLED(HEATER_0_USES_MAX6675)
  #define MAX6675_HEAT_INTERVAL 250u
  static millis_t next_max6675_ms = 0;
  int max6675_temp = 2000;

  static int read_max6675() {

    millis_t ms = millis();

    if (ms < next_max6675_ms)
      return max6675_temp;

    next_max6675_ms = ms + MAX6675_HEAT_INTERVAL;

    max6675_temp = 0;

    #ifdef PRR
      PRR &= ~BIT(PRSPI);
    #elif defined(PRR0)
      PRR0 &= ~BIT(PRSPI);
    #endif

    SPCR = BIT(MSTR) | BIT(SPE) | BIT(SPR0);

    // enable TT_MAX6675
    WRITE(MAX6675_SS, 0);

    // ensure 100ns delay - a bit extra is fine
    asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz
    asm("nop");//50ns on 20Mhz, 62.5ns on 16Mhz

    // read MSB
    SPDR = 0;
    for (; (SPSR & BIT(SPIF)) == 0;);
    max6675_temp = SPDR;
    max6675_temp <<= 8;

    // read LSB
    SPDR = 0;
    for (; (SPSR & BIT(SPIF)) == 0;);
    max6675_temp |= SPDR;

    // disable TT_MAX6675
    WRITE(MAX6675_SS, 1);

    if (max6675_temp & 4) {
      // thermocouple open
      max6675_temp = 4000;
    }
    else {
      max6675_temp = max6675_temp >> 3;
    }

    return max6675_temp;
  }

#endif // HEATER_0_USES_MAX6675

/**
 * Stages in the ISR loop
 */
enum TempState {
  PrepareTemp_0,
  MeasureTemp_0,
  PrepareTemp_BED,
  MeasureTemp_BED,
  PrepareTemp_1,
  MeasureTemp_1,
  PrepareTemp_2,
  MeasureTemp_2,
  PrepareTemp_3,
  MeasureTemp_3,
  Prepare_FILWIDTH,
  Measure_FILWIDTH,
  Prepare_POWCONSUMPTION,
  Measure_POWCONSUMPTION,
  StartupDelay // Startup, delay initial temp reading a tiny bit so the hardware can settle
};

static unsigned long raw_temp_value[4] = { 0 };
static unsigned long raw_temp_bed_value = 0;

static void set_current_temp_raw() {
  #if HAS(TEMP_0) && DISABLED(HEATER_0_USES_MAX6675)
    current_temperature_raw[0] = raw_temp_value[0];
  #endif
  #if HAS(TEMP_1)
    #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)
      redundant_temperature_raw = raw_temp_value[1];
    #else
      current_temperature_raw[1] = raw_temp_value[1];
    #endif
    #if HAS(TEMP_2)
      current_temperature_raw[2] = raw_temp_value[2];
      #if HAS(TEMP_3)
        current_temperature_raw[3] = raw_temp_value[3];
      #endif
    #endif
  #endif
  current_temperature_bed_raw = raw_temp_bed_value;

  #if HAS(POWER_CONSUMPTION_SENSOR)
    current_raw_powconsumption = raw_powconsumption_value;
  #endif
  temp_meas_ready = true;
}

/**
 * Timer 0 is shared with millies
 *  - Manage PWM to all the heaters and fan
 *  - Update the raw temperature values
 *  - Check new temperature values for MIN/MAX errors
 *  - Step the babysteps value for each axis towards 0
 */
ISR(TIMER0_COMPB_vect) {

  static unsigned char temp_count = 0;
  static TempState temp_state = StartupDelay;
  static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);

  // Static members for each heater
  #if ENABLED(SLOW_PWM_HEATERS)
    static unsigned char slow_pwm_count = 0;
    #define ISR_STATICS(n) \
      static unsigned char soft_pwm_ ## n; \
      static unsigned char state_heater_ ## n = 0; \
      static unsigned char state_timer_heater_ ## n = 0
  #else
    #define ISR_STATICS(n) static unsigned char soft_pwm_ ## n
  #endif

  // Statics per heater
  ISR_STATICS(0);
  #if (HOTENDS > 1) || ENABLED(HEATERS_PARALLEL)
    ISR_STATICS(1);
    #if HOTENDS > 2
      ISR_STATICS(2);
      #if HOTENDS > 3
        ISR_STATICS(3);
      #endif
    #endif
  #endif
  #if HAS(HEATER_BED)
    ISR_STATICS(BED);
  #endif

  #if HAS(FILAMENT_SENSOR)
    static unsigned long raw_filwidth_value = 0;
  #endif

  #if DISABLED(SLOW_PWM_HEATERS)
    /**
     * standard PWM modulation
     */
    if (pwm_count == 0) {
      soft_pwm_0 = soft_pwm[0];
      if (soft_pwm_0 > 0) {
        WRITE_HEATER_0(1);
      }
      else WRITE_HEATER_0P(0); // If HEATERS_PARALLEL should apply, change to WRITE_HEATER_0

      #if HOTENDS > 1
        soft_pwm_1 = soft_pwm[1];
        WRITE_HEATER_1(soft_pwm_1 > 0 ? 1 : 0);
        #if HOTENDS > 2
          soft_pwm_2 = soft_pwm[2];
          WRITE_HEATER_2(soft_pwm_2 > 0 ? 1 : 0);
          #if HOTENDS > 3
            soft_pwm_3 = soft_pwm[3];
            WRITE_HEATER_3(soft_pwm_3 > 0 ? 1 : 0);
          #endif
        #endif
      #endif

      #if HAS(HEATER_BED)
        soft_pwm_BED = soft_pwm_bed;
        WRITE_HEATER_BED(soft_pwm_BED > 0 ? 1 : 0);
      #endif
      #if ENABLED(FAN_SOFT_PWM)
        soft_pwm_fan = fanSpeedSoftPwm / 2;
        #if HAS(CONTROLLERFAN)
          soft_pwm_fan_controller = fanSpeedSoftPwm_controller / 2;
          WRITE(CONTROLLERFAN_PIN, soft_pwm_fan_controller > 0 ? 1 : 0);
        #endif
        WRITE_FAN(soft_pwm_fan > 0 ? 1 : 0);
        #if HAS(AUTO_FAN)
          soft_pwm_fan_auto = fanSpeedSoftPwm_auto / 2;
        #endif
        #if HAS(AUTO_FAN_0)
          WRITE(EXTRUDER_0_AUTO_FAN_PIN, soft_pwm_fan_auto > 0 ? 1 : 0);
        #endif
        #if HAS(AUTO_FAN_1)
          WRITE(EXTRUDER_1_AUTO_FAN_PIN, soft_pwm_fan_auto > 0 ? 1 : 0);
        #endif
        #if HAS(AUTO_FAN_2)
          WRITE(EXTRUDER_2_AUTO_FAN_PIN, soft_pwm_fan_auto > 0 ? 1 : 0);
        #endif
        #if HAS(AUTO_FAN_3)
          WRITE(EXTRUDER_3_AUTO_FAN_PIN, soft_pwm_fan_auto > 0 ? 1 : 0);
        #endif
      #endif
    }

    if (soft_pwm_0 < pwm_count) { WRITE_HEATER_0(0); }
    #if HOTENDS > 1
      if (soft_pwm_1 < pwm_count) WRITE_HEATER_1(0);
      #if HOTENDS > 2
        if (soft_pwm_2 < pwm_count) WRITE_HEATER_2(0);
        #if HOTENDS > 3
          if (soft_pwm_3 < pwm_count) WRITE_HEATER_3(0);
        #endif
      #endif
    #endif

    #if HAS(HEATER_BED)
      if (soft_pwm_BED < pwm_count) WRITE_HEATER_BED(0);
    #endif

    #if ENABLED(FAN_SOFT_PWM)
      if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
      #if HAS(CONTROLLERFAN)
        if (soft_pwm_fan_controller < pwm_count) WRITE(CONTROLLERFAN_PIN, 0);
      #endif
      #if HAS(AUTO_FAN)
        if (soft_pwm_fan_auto < pwm_count) {
          #if HAS(AUTO_FAN_0)
            WRITE(EXTRUDER_0_AUTO_FAN_PIN, 0);
          #endif
          #if HAS(AUTO_FAN_1)
            WRITE(EXTRUDER_1_AUTO_FAN_PIN, 0);
          #endif
          #if HAS(AUTO_FAN_2)
            WRITE(EXTRUDER_2_AUTO_FAN_PIN, 0);
          #endif
          #if HAS(AUTO_FAN_3)
            WRITE(EXTRUDER_3_AUTO_FAN_PIN, 0);
          #endif
        }
      #endif
    #endif

    pwm_count += BIT(SOFT_PWM_SCALE);
    pwm_count &= 0x7f;

  #else // SLOW_PWM_HEATERS

    /*
     * SLOW PWM HEATERS
     *
     * for heaters drived by relay
     */
    #if DISABLED(MIN_STATE_TIME)
      #define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds
    #endif

    // Macros for Slow PWM timer logic - HEATERS_PARALLEL applies
    #define _SLOW_PWM_ROUTINE(NR, src) \
      soft_pwm_ ## NR = src; \
      if (soft_pwm_ ## NR > 0) { \
        if (state_timer_heater_ ## NR == 0) { \
          if (state_heater_ ## NR == 0) state_timer_heater_ ## NR = MIN_STATE_TIME; \
          state_heater_ ## NR = 1; \
          WRITE_HEATER_ ## NR(1); \
        } \
      } \
      else { \
        if (state_timer_heater_ ## NR == 0) { \
          if (state_heater_ ## NR == 1) state_timer_heater_ ## NR = MIN_STATE_TIME; \
          state_heater_ ## NR = 0; \
          WRITE_HEATER_ ## NR(0); \
        } \
      }
    #define SLOW_PWM_ROUTINE(n) _SLOW_PWM_ROUTINE(n, soft_pwm[n])

    #define PWM_OFF_ROUTINE(NR) \
      if (soft_pwm_ ## NR < slow_pwm_count) { \
        if (state_timer_heater_ ## NR == 0) { \
          if (state_heater_ ## NR == 1) state_timer_heater_ ## NR = MIN_STATE_TIME; \
          state_heater_ ## NR = 0; \
          WRITE_HEATER_ ## NR (0); \
        } \
      }

    if (slow_pwm_count == 0) {

      SLOW_PWM_ROUTINE(0); // HOTEND 0
      #if HOTENDS > 1
        SLOW_PWM_ROUTINE(1); // HOTEND 1
        #if HOTENDS > 2
          SLOW_PWM_ROUTINE(2); // HOTEND 2
          #if HOTENDS > 3
            SLOW_PWM_ROUTINE(3); // HOTEND 3
          #endif
        #endif
      #endif
      #if HAS(HEATER_BED)
        _SLOW_PWM_ROUTINE(BED, soft_pwm_bed); // BED
      #endif

    } // slow_pwm_count == 0

    PWM_OFF_ROUTINE(0); // HOTEND 0
    #if HOTENDS > 1
      PWM_OFF_ROUTINE(1); // HOTEND 1
      #if HOTENDS > 2
        PWM_OFF_ROUTINE(2); // HOTEND 2
        #if HOTENDS > 3
          PWM_OFF_ROUTINE(3); // HOTEND 3
        #endif
      #endif
    #endif
    #if HAS(HEATER_BED)
      PWM_OFF_ROUTINE(BED); // BED
    #endif

    #if ENABLED(FAN_SOFT_PWM)
      if (pwm_count == 0) {
        soft_pwm_fan = fanSpeedSoftPwm / 2;
        WRITE_FAN(soft_pwm_fan > 0 ? 1 : 0);
        #if HAS(CONTROLLERFAN)
          soft_pwm_fan_controller = fanSpeedSoftPwm_controller / 2;
          WRITE(CONTROLLERFAN_PIN, soft_pwm_fan_controller > 0 ? 1 : 0);
        #endif
        #if HAS(AUTO_FAN)
          soft_pwm_fan_auto = fanSpeedSoftPwm_auto / 2;
        #endif
        #if HAS(AUTO_FAN_0)
          WRITE(EXTRUDER_0_AUTO_FAN_PIN, soft_pwm_fan_auto > 0 ? 1 : 0);
        #endif
        #if HAS(AUTO_FAN_1)
          WRITE(EXTRUDER_1_AUTO_FAN_PIN, soft_pwm_fan_auto > 0 ? 1 : 0);
        #endif
        #if HAS(AUTO_FAN_2)
          WRITE(EXTRUDER_2_AUTO_FAN_PIN, soft_pwm_fan_auto > 0 ? 1 : 0);
        #endif
        #if HAS(AUTO_FAN_3)
          WRITE(EXTRUDER_3_AUTO_FAN_PIN, soft_pwm_fan_auto > 0 ? 1 : 0);
        #endif
      }
      if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
      #if HAS(CONTROLLERFAN)
        if (soft_pwm_fan_controller < pwm_count) WRITE(CONTROLLERFAN_PIN, 0);
      #endif
      #if HAS(AUTO_FAN)
        if (soft_pwm_fan_auto < pwm_count) {
          #if HAS(AUTO_FAN_0)
            WRITE(EXTRUDER_0_AUTO_FAN_PIN, 0);
          #endif
          #if HAS(AUTO_FAN_1)
            WRITE(EXTRUDER_1_AUTO_FAN_PIN, 0);
          #endif
          #if HAS(AUTO_FAN_2)
            WRITE(EXTRUDER_2_AUTO_FAN_PIN, 0);
          #endif
          #if HAS(AUTO_FAN_3)
            WRITE(EXTRUDER_3_AUTO_FAN_PIN, 0);
          #endif
        }
      #endif
    #endif // FAN_SOFT_PWM

    pwm_count += BIT(SOFT_PWM_SCALE);
    pwm_count &= 0x7f;

    // increment slow_pwm_count only every 64 pwm_count circa 65.5ms
    if ((pwm_count % 64) == 0) {
      slow_pwm_count++;
      slow_pwm_count &= 0x7f;

      // HOTEND 0
      if (state_timer_heater_0 > 0) state_timer_heater_0--;
      #if HOTENDS > 1    // HOTEND 1
        if (state_timer_heater_1 > 0) state_timer_heater_1--;
        #if HOTENDS > 2    // HOTEND 2
          if (state_timer_heater_2 > 0) state_timer_heater_2--;
          #if HOTENDS > 3    // HOTEND 3
            if (state_timer_heater_3 > 0) state_timer_heater_3--;
          #endif
        #endif
      #endif
      #if HAS(HEATER_BED)
        if (state_timer_heater_BED > 0) state_timer_heater_BED--;
      #endif
    } // (pwm_count % 64) == 0

  #endif // SLOW_PWM_HEATERS

  #define SET_ADMUX_ADCSRA(pin) ADMUX = BIT(REFS0) | (pin & 0x07); ADCSRA |= BIT(ADSC)
  #ifdef MUX5
    #define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
  #else
    #define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
  #endif

  // Prepare or measure a sensor, each one every 14th frame
  switch (temp_state) {
    case PrepareTemp_0:
      #if HAS(TEMP_0)
        START_ADC(TEMP_0_PIN);
      #endif
      lcd_buttons_update();
      temp_state = MeasureTemp_0;
      break;
    case MeasureTemp_0:
      #if HAS(TEMP_0)
        raw_temp_value[0] += ADC;
      #endif
      temp_state = PrepareTemp_BED;
      break;

    case PrepareTemp_BED:
      #if HAS(TEMP_BED)
        START_ADC(TEMP_BED_PIN);
      #endif
      lcd_buttons_update();
      temp_state = MeasureTemp_BED;
      break;
    case MeasureTemp_BED:
      #if HAS(TEMP_BED)
        raw_temp_bed_value += ADC;
      #endif
      temp_state = PrepareTemp_1;
      break;

    case PrepareTemp_1:
      #if HAS(TEMP_1)
        START_ADC(TEMP_1_PIN);
      #endif
      lcd_buttons_update();
      temp_state = MeasureTemp_1;
      break;
    case MeasureTemp_1:
      #if HAS(TEMP_1)
        raw_temp_value[1] += ADC;
      #endif
      temp_state = PrepareTemp_2;
      break;

    case PrepareTemp_2:
      #if HAS(TEMP_2)
        START_ADC(TEMP_2_PIN);
      #endif
      lcd_buttons_update();
      temp_state = MeasureTemp_2;
      break;
    case MeasureTemp_2:
      #if HAS(TEMP_2)
        raw_temp_value[2] += ADC;
      #endif
      temp_state = PrepareTemp_3;
      break;

    case PrepareTemp_3:
      #if HAS(TEMP_3)
        START_ADC(TEMP_3_PIN);
      #endif
      lcd_buttons_update();
      temp_state = MeasureTemp_3;
      break;
    case MeasureTemp_3:
      #if HAS(TEMP_3)
        raw_temp_value[3] += ADC;
      #endif
      temp_state = Prepare_FILWIDTH;
      break;

    case Prepare_FILWIDTH:
      #if HAS(FILAMENT_SENSOR)
        START_ADC(FILWIDTH_PIN);
      #endif
      lcd_buttons_update();
      temp_state = Measure_FILWIDTH;
      break;
    case Measure_FILWIDTH:
      #if HAS(FILAMENT_SENSOR)
        // raw_filwidth_value += ADC;  //remove to use an IIR filter approach
        if (ADC > 102) { //check that ADC is reading a voltage > 0.5 volts, otherwise don't take in the data.
          raw_filwidth_value -= (raw_filwidth_value >> 7); //multiply raw_filwidth_value by 127/128
          raw_filwidth_value += ((unsigned long)ADC << 7); //add new ADC reading
        }
      #endif
      temp_state = Prepare_POWCONSUMPTION;
      break;

    case Prepare_POWCONSUMPTION:
      #if HAS(POWER_CONSUMPTION_SENSOR)
        START_ADC(POWER_CONSUMPTION_PIN);
      #endif
      lcd_buttons_update();
      temp_state = Measure_POWCONSUMPTION;
      break;
    case Measure_POWCONSUMPTION:
      #if HAS(POWER_CONSUMPTION_SENSOR)
        raw_powconsumption_value += ADC;
      #endif
      temp_state = PrepareTemp_0;
      temp_count++;
      break;

    case StartupDelay:
      temp_state = PrepareTemp_0;
      break;

    // default:
    //  ECHO_LM(ER, MSG_TEMP_READ_ERROR);
    //  break;
  } // switch(temp_state)

  if (temp_count >= OVERSAMPLENR) { // 14 * 16 * 1/(16000000/64/256)
    // Update the raw values if they've been read. Else we could be updating them during reading.
    if (!temp_meas_ready) set_current_temp_raw();

    // Filament Sensor - can be read any time since IIR filtering is used
    #if HAS(FILAMENT_SENSOR)
      current_raw_filwidth = raw_filwidth_value >> 10;  // Divide to get to 0-16384 range since we used 1/128 IIR filter approach
    #endif

    temp_count = 0;
    for (int i = 0; i < 4; i++) raw_temp_value[i] = 0;
    raw_temp_bed_value = 0;

    #if HAS(POWER_CONSUMPTION_SENSOR)
      raw_powconsumption_value = 0;
    #endif

    #if HAS(TEMP_0) && DISABLED(HEATER_0_USES_MAX6675)
      #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
        #define GE0 <=
      #else
        #define GE0 >=
      #endif
      if (current_temperature_raw[0] GE0 maxttemp_raw[0]) max_temp_error(0);
      if (minttemp_raw[0] GE0 current_temperature_raw[0]) min_temp_error(0);
    #endif

    #if HAS(TEMP_1) && HOTENDS > 1
      #if HEATER_1_RAW_LO_TEMP > HEATER_1_RAW_HI_TEMP
        #define GE1 <=
      #else
        #define GE1 >=
      #endif
      if (current_temperature_raw[1] GE1 maxttemp_raw[1]) max_temp_error(1);
      if (minttemp_raw[1] GE1 current_temperature_raw[1]) min_temp_error(1);
    #endif // TEMP_SENSOR_1

    #if HAS(TEMP_2) && HOTENDS > 2
      #if HEATER_2_RAW_LO_TEMP > HEATER_2_RAW_HI_TEMP
        #define GE2 <=
      #else
        #define GE2 >=
      #endif
      if (current_temperature_raw[2] GE2 maxttemp_raw[2]) max_temp_error(2);
      if (minttemp_raw[2] GE2 current_temperature_raw[2]) min_temp_error(2);
    #endif // TEMP_SENSOR_2

    #if HAS(TEMP_3) && HOTENDS > 3
      #if HEATER_3_RAW_LO_TEMP > HEATER_3_RAW_HI_TEMP
        #define GE3 <=
      #else
        #define GE3 >=
      #endif
      if (current_temperature_raw[3] GE3 maxttemp_raw[3]) max_temp_error(3);
      if (minttemp_raw[3] GE3 current_temperature_raw[3]) min_temp_error(3);
    #endif // TEMP_SENSOR_3

    #if HAS(TEMP_BED)
      #if HEATER_BED_RAW_LO_TEMP > HEATER_BED_RAW_HI_TEMP
        #define GEBED <=
      #else
        #define GEBED >=
      #endif
      if (current_temperature_bed_raw GEBED bed_maxttemp_raw) _temp_error(-1, PSTR(SERIAL_T_MAXTEMP), PSTR(MSG_ERR_MAXTEMP_BED));
      if (bed_minttemp_raw GEBED current_temperature_bed_raw) _temp_error(-1, PSTR(SERIAL_T_MINTEMP), PSTR(MSG_ERR_MINTEMP_BED));
    #endif

  } // temp_count >= OVERSAMPLENR

  #if ENABLED(BABYSTEPPING)
    for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) {
      int curTodo = babystepsTodo[axis]; //get rid of volatile for performance

      if (curTodo > 0) {
        babystep(axis,/*fwd*/true);
        babystepsTodo[axis]--; //fewer to do next time
      }
      else if (curTodo < 0) {
        babystep(axis,/*fwd*/false);
        babystepsTodo[axis]++; //fewer to do next time
      }
    }
  #endif //BABYSTEPPING
}

#if ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
  // Apply the scale factors to the PID values
  float scalePID_i(float i)   { return i * PID_dT; }
  float unscalePID_i(float i) { return i / PID_dT; }
  float scalePID_d(float d)   { return d / PID_dT; }
  float unscalePID_d(float d) { return d * PID_dT; }
#endif // ENABLED(PIDTEMP) || ENABLED(PIDTEMPBED)
