Refactor PID inner core out

source/Core/Threads/PIDThread.cpp

@@ -21,6 +21,7 @@ uint32_t          currentTempTargetDegC   = 0; // Current temperature target in
 int32_t           powerSupplyWattageLimit = 0;
 bool              heaterThermalRunaway    = false;
 
+static int32_t getPIDResultX10Watts(int32_t tError);
 static void    detectThermalRunaway(const int16_t currentTipTempInC, const int tError);
 static void    setOutputx10WattsViaFilters(int32_t x10Watts);
 
@@ -32,7 +33,6 @@ void startPIDTask(void const *argument __unused) {
    */
   setTipX10Watts(0); // disable the output at startup
 
-  history<int32_t, PID_TIM_HZ> tempError = {{0}, 0, 0};
   currentTempTargetDegC = 0; // Force start with no output (off). If in sleep / soldering this will
                              // be over-ridden rapidly
   pidTaskNotification    = xTaskGetCurrentTaskHandle();
@@ -42,12 +42,12 @@ void startPIDTask(void const *argument __unused) {
     vTaskDelay(2);
     TipThermoModel::getTipInC(true);
   }
+  int32_t x10WattsOut = 0;
   for (;;) {
-
+    x10WattsOut = 0;
     // This is a call to block this thread until the ADC does its samples
     if (ulTaskNotifyTake(pdTRUE, 2000)) {
 
-      int32_t x10WattsOut = 0;
       // Do the reading here to keep the temp calculations churning along
       uint32_t currentTipTempInC = TipThermoModel::getTipInC(true);
       PIDTempTarget              = currentTempTargetDegC;
@@ -61,15 +61,24 @@ void startPIDTask(void const *argument __unused) {
         if (PIDTempTarget > TipThermoModel::getTipMaxInC()) {
           PIDTempTarget = TipThermoModel::getTipMaxInC();
         }
-
-        // As we get close to our target, temp noise causes the system
-        //  to be unstable. Use a rolling average to dampen it.
-        // We overshoot by roughly 1 degree C.
-        //  This helps stabilize the display.
         int32_t tError = PIDTempTarget - currentTipTempInC;
         tError         = tError > INT16_MAX ? INT16_MAX : tError;
         tError         = tError < INT16_MIN ? INT16_MIN : tError;
-        tempError.update(tError);
+
+        detectThermalRunaway(currentTipTempInC, tError);
+        x10WattsOut = getPIDResultX10Watts(tError);
+      } else {
+        detectThermalRunaway(currentTipTempInC, 0);
+      }
+      setOutputx10WattsViaFilters(x10WattsOut);
+    } else {
+      // ADC interrupt timeout
+      setTipPWM(0);
+    }
+  }
+}
+
+int32_t getPIDResultX10Watts(int32_t tError) {
 
   // Now for the PID!
 
@@ -83,7 +92,7 @@ void startPIDTask(void const *argument __unused) {
   int32_t x10WattsNeeded = tempToX10Watts(tError);
   // note that milliWattsNeeded is sometimes negative, this counters overshoot
   //  from I term's inertia.
-        x10WattsOut += x10WattsNeeded;
+  int32_t x10WattsOut = x10WattsNeeded;
 
   // I term - energy needed to compensate for heat loss.
   // We track energy put into the system over some window.
@@ -96,17 +105,7 @@ void startPIDTask(void const *argument __unused) {
   //  and counters extra power if the iron is no longer losing temp.
   // basically: temp - lastTemp
   //  Unfortunately, our temp signal is too noisy to really help.
-
+  return x10WattsOut;
-        detectThermalRunaway(currentTipTempInC, tError);
-      } else {
-        detectThermalRunaway(currentTipTempInC, 0);
-      }
-      setOutputx10WattsViaFilters(x10WattsOut);
-    } else {
-      // ADC interrupt timeout
-      setTipPWM(0);
-    }
-  }
 }
 
 void detectThermalRunaway(const int16_t currentTipTempInC, const int tError) {