this is not working. Do you maybe know why?

Marlin/EEPROMwrite.h

   EEPROM_writeAnything(i,max_xy_jerk);
   EEPROM_writeAnything(i,max_z_jerk);
   #ifdef PIDTEMP
-  EEPROM_writeAnything(i,Kp);
-  EEPROM_writeAnything(i,Ki);
-  EEPROM_writeAnything(i,Kd);
+  EEPROM_writeAnything(i,Heater::Kp);
+  EEPROM_writeAnything(i,Heater::Ki);
+  EEPROM_writeAnything(i,Heater::Kd);
 #else
   EEPROM_writeAnything(i,3000);
   EEPROM_writeAnything(i,0);
       EEPROM_readAnything(i,max_xy_jerk);
       EEPROM_readAnything(i,max_z_jerk);
 #ifndef PIDTEMP
-      float Kp,Ki,Kd;
+      float Kp,Ki,Kd; //read and ignore..
 #endif
-      EEPROM_readAnything(i,Kp);
-      EEPROM_readAnything(i,Ki);
-      EEPROM_readAnything(i,Kd);
+      EEPROM_readAnything(i,Heater::Kp);
+      EEPROM_readAnything(i,Heater::Ki);
+      EEPROM_readAnything(i,Heater::Kd);
 
       ECHOLN("Stored settings retreived:");
   }
   ECHOLN("   M205 S"  <<_FLOAT(minimumfeedrate/60,2) << " T" << _FLOAT(mintravelfeedrate/60,2) << " B" << _FLOAT(minsegmenttime,2) << " X" << _FLOAT(max_xy_jerk/60,2) << " Z" << _FLOAT(max_z_jerk/60,2));
 #ifdef PIDTEMP
   ECHOLN("PID settings:");
-  ECHOLN("   M301 P"  << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3));  
+  ECHOLN("   M301 P"  << _FLOAT(Heater::Kp,3) << " I" << _FLOAT(Heater::Ki,3) << " D" << _FLOAT(Heater::Kd,3));  
 #endif
   
 }  

Marlin/Marlin.h

 #define ECHO(x) Serial << "echo: " << x;
 #define ECHOLN(x) Serial << "echo: "<<x<<endl;
 
+
 void get_command();
 void process_commands();
 

Marlin/Marlin.pde

   #include "Simplelcd.h"
 #endif
 
+Heater htr;
 char version_string[] = "1.0.0 Alpha 1";
 
 #ifdef SDSUPPORT
 #endif //SDSUPPORT
   plan_init();  // Initialize planner;
   st_init();    // Initialize stepper;
-  tp_init();    // Initialize temperature loop
+  //tp_init();    // Initialize temperature loop is now done by the constructor of the Heater class
 	//checkautostart();
 }
 
     bufindr = (bufindr + 1)%BUFSIZE;
   }
   //check heater every n milliseconds
-  manage_heater();
+  Heater::manage_heater();
   manage_inactivity(1);
   LCD_STATUS;
 }
       if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
       codenum += millis();  // keep track of when we started waiting
       while(millis()  < codenum ){
-        manage_heater();
+        Heater::manage_heater();
       }
       break;
     case 28: //G28 Home all Axis one at a time
         }
         break;
       case 104: // M104
-                if (code_seen('S')) target_raw[TEMPSENSOR_HOTEND] = temp2analog(code_value());
-#ifdef PIDTEMP
-                pid_setpoint = code_value();
-#endif //PIDTEM
+        if (code_seen('S')) Heater::setCelsius(TEMPSENSOR_HOTEND,code_value());
         #ifdef WATCHPERIOD
-            if(target_raw[TEMPSENSOR_HOTEND] > current_raw[TEMPSENSOR_HOTEND]){
+            if(Heater::isHeating(TEMPSENSOR_HOTEND)){
                 watchmillis = max(1,millis());
                 watch_raw[TEMPSENSOR_HOTEND] = current_raw[TEMPSENSOR_HOTEND];
             }else{
         #endif
         break;
       case 140: // M140 set bed temp
-                if (code_seen('S')) target_raw[TEMPSENSOR_BED] = temp2analogBed(code_value());
+                if (code_seen('S')) Heater::setCelsius(TEMPSENSOR_BED,code_value());
         break;
       case 105: // M105
         #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595)
-                tt = analog2temp(current_raw[TEMPSENSOR_HOTEND]);
+                tt = Heater::celsius(TEMPSENSOR_HOTEND);
         #endif
         #if TEMP_1_PIN > -1
-                bt = analog2tempBed(current_raw[TEMPSENSOR_BED]);
+                bt = Heater::celsius(TEMPSENSOR_BED);
         #endif
         #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595)
             Serial.print("ok T:");
 #ifdef PIDTEMP
             Serial.print(" B:");
             #if TEMP_1_PIN > -1
-            Serial.println(bt); 
+	      Serial.println(bt); 
             #else
-            Serial.println(HeaterPower); 
+	      Serial.println(Heater::HeaterPower); 
             #endif
 #else
             Serial.println();
 #endif
-          #else
+          #else<
             Serial.println();
           #endif
         #else
         //break;
       case 109: {// M109 - Wait for extruder heater to reach target.
             LCD_MESSAGE("Heating...");
-               if (code_seen('S')) target_raw[TEMPSENSOR_HOTEND] = temp2analog(code_value());
-            #ifdef PIDTEMP
-            pid_setpoint = code_value();
-            #endif //PIDTEM
+               if (code_seen('S')) Heater::setCelsius(TEMPSENSOR_HOTEND,code_value());
+            
             #ifdef WATCHPERIOD
-          if(target_raw[TEMPSENSOR_HOTEND]>current_raw[TEMPSENSOR_HOTEND]){
+          if(Heater::isHeating(TEMPSENSOR_HOTEND)){
               watchmillis = max(1,millis());
-              watch_raw[TEMPSENSOR_HOTEND] = current_raw[TEMPSENSOR_HOTEND];
+              watch_raw[TEMPSENSOR_HOTEND] = Heater::current_raw[TEMPSENSOR_HOTEND];
             } else {
               watchmillis = 0;
             }
             codenum = millis(); 
      
                /* See if we are heating up or cooling down */
-              bool target_direction = (current_raw[0] < target_raw[0]); // true if heating, false if cooling
+              bool target_direction = Heater::isHeating(TEMPSENSOR_HOTEND); // true if heating, false if cooling
 
             #ifdef TEMP_RESIDENCY_TIME
             long residencyStart;
             residencyStart = -1;
             /* continue to loop until we have reached the target temp   
               _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
-            while((target_direction ? (current_raw[0] < target_raw[0]) : (current_raw[0] > target_raw[0])) ||
+            while((target_direction ? Heater::isHeating(TEMPSENSOR_HOTEND) : Heater::isCooling(TEMPSENSOR_HOTEND)) ||
                     (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
             #else
-            while ( target_direction ? (current_raw[0] < target_raw[0]) : (current_raw[0] > target_raw[0]) ) {
+            while ( target_direction ? Heater::isHeating(TEMPSENSOR_HOTEND) : Heater::isCooling(TEMPSENSOR_HOTEND) ) {
             #endif //TEMP_RESIDENCY_TIME
               if( (millis() - codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up/cooling down
                 Serial.print("T:");
-              Serial.println( analog2temp(current_raw[TEMPSENSOR_HOTEND]) ); 
+              Serial.println( Heater::celsius(TEMPSENSOR_HOTEND) ); 
                 codenum = millis();
               }
-              manage_heater();
+              Heater::manage_heater();
               LCD_STATUS;
               #ifdef TEMP_RESIDENCY_TIME
                /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
                   or when current temp falls outside the hysteresis after target temp was reached */
-              if ((residencyStart == -1 &&  target_direction && current_raw[0] >= target_raw[0]) ||
-                  (residencyStart == -1 && !target_direction && current_raw[0] <= target_raw[0]) ||
-                  (residencyStart > -1 && labs(analog2temp(current_raw[0]) - analog2temp(target_raw[0])) > TEMP_HYSTERESIS) ) {
+              if ((residencyStart == -1 &&  target_direction && !Heater::isHeating(TEMPSENSOR_HOTEND)) ||
+                  (residencyStart == -1 && !target_direction && !Heater::isCooling(TEMPSENSOR_HOTEND)) ||
+                  (residencyStart > -1 && labs(Heater::celsius(TEMPSENSOR_HOTEND) - Heater::celsiusTarget(TEMPSENSOR_HOTEND)) > TEMP_HYSTERESIS) ) {
                 residencyStart = millis();
               }
               #endif //TEMP_RESIDENCY_TIME
           break;
       case 190: // M190 - Wait bed for heater to reach target.
       #if TEMP_1_PIN > -1
-          if (code_seen('S')) target_raw[TEMPSENSOR_BED] = temp2analog(code_value());
+          if (code_seen('S')) Heater::setCelsius(TEMPSENSOR_BED,code_value());
         codenum = millis(); 
-          while(current_raw[TEMPSENSOR_BED] < target_raw[TEMPSENSOR_BED]) 
-                                {
+          while(Heater::isHeating(TEMPSENSOR_BED)) 
+          {
           if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
           {
-            float tt=analog2temp(current_raw[TEMPSENSOR_HOTEND]);
+            float tt=Heater::celsius(TEMPSENSOR_HOTEND);
             Serial.print("T:");
             Serial.println( tt );
             Serial.print("ok T:");
             Serial.print( tt ); 
             Serial.print(" B:");
-            Serial.println( analog2temp(current_raw[TEMPSENSOR_BED]) ); 
+            Serial.println( Heater::celsius(TEMPSENSOR_BED) ); 
             codenum = millis(); 
           }
-            manage_heater();
+            Heater::manage_heater();
         }
       #endif
       break;
       break;
 #ifdef PIDTEMP
     case 301: // M301
-      if(code_seen('P')) Kp = code_value();
-      if(code_seen('I')) Ki = code_value()*PID_dT;
-      if(code_seen('D')) Kd = code_value()/PID_dT;
+      if(code_seen('P')) Heater::Kp = code_value();
+      if(code_seen('I')) Heater::Ki = code_value()*PID_dT;
+      if(code_seen('D')) Heater::Kd = code_value()/PID_dT;
+      #ifdef PID_ADD_EXTRUSION_RATE
+	 if(code_seen('C')) Heater::Kc = code_value();
+      #endif
+
 //      ECHOLN("Kp "<<_FLOAT(Kp,2));
 //      ECHOLN("Ki "<<_FLOAT(Ki/PID_dT,2));
 //      ECHOLN("Kd "<<_FLOAT(Kd*PID_dT,2));
 inline void kill()
 {
   #if TEMP_0_PIN > -1
-  target_raw[0]=0;
+  Heater::setCelsius(TEMPSENSOR_HOTEND,0);
    #if HEATER_0_PIN > -1  
      WRITE(HEATER_0_PIN,LOW);
    #endif
   #endif
   #if TEMP_1_PIN > -1
-  target_raw[1]=0;
+  Heater::setCelsius(TEMPSENSOR_BED,0);
   #if HEATER_1_PIN > -1 
     WRITE(HEATER_1_PIN,LOW);
   #endif
   #endif
   #if TEMP_2_PIN > -1
-  target_raw[2]=0;
+  Heater::setCelsius(TEMPSENSOR_AUX,0);
   #if HEATER_2_PIN > -1  
     WRITE(HEATER_2_PIN,LOW);
   #endif

Marlin/planner.cpp

   // If the buffer is full: good! That means we are well ahead of the robot. 
   // Rest here until there is room in the buffer.
   while(block_buffer_tail == next_buffer_head) { 
-    manage_heater(); 
+    htr.manage_heater(); 
     manage_inactivity(1); 
     LCD_STATUS;
   }

Marlin/stepper.cpp

 void st_synchronize()
 {
   while(plan_get_current_block()) {
-    manage_heater();
+    htr.manage_heater();
     manage_inactivity(1);
     LCD_STATUS;
   }   

Marlin/temperature.cpp

 #include "streaming.h"
 #include "temperature.h"
 
-int target_bed_raw = 0;
-int current_bed_raw = 0;
 
-int target_raw[3] = {0, 0, 0};
-int current_raw[3] = {0, 0, 0};
-unsigned char temp_meas_ready = false;
 
-unsigned long previous_millis_heater, previous_millis_bed_heater;
 
-#ifdef PIDTEMP
-  double temp_iState = 0;
-  double temp_dState = 0;
-  double pTerm;
-  double iTerm;
-  double dTerm;
-      //int output;
-  double pid_error;
-  double temp_iState_min;
-  double temp_iState_max;
-  double pid_setpoint = 0.0;
-  double pid_input;
-  double pid_output;
-  bool pid_reset;
-  float HeaterPower;
-  
-  float Kp=DEFAULT_Kp;
-  float Ki=DEFAULT_Ki;
-  float Kd=DEFAULT_Kd;
-  float Kc=DEFAULT_Kc;
-#endif //PIDTEMP
-
-#ifdef MINTEMP
-int minttemp = temp2analog(MINTEMP);
-#endif //MINTEMP
-#ifdef MAXTEMP
-int maxttemp = temp2analog(MAXTEMP);
-#endif //MAXTEMP
-
-#ifdef BED_MINTEMP
-int bed_minttemp = temp2analog(BED_MINTEMP);
-#endif //BED_MINTEMP
-#ifdef BED_MAXTEMP
-int bed_maxttemp = temp2analog(BED_MAXTEMP);
-#endif //BED_MAXTEMP
 
-void manage_heater()
+void static Heater::manage_heater()
 {
 #ifdef USE_WATCHDOG
   wd_reset();
   
   float pid_input;
   float pid_output;
-  if(temp_meas_ready != true)   //better readability
+  if(htr.temp_meas_ready != true)   //better readability
     return; 
 
 CRITICAL_SECTION_START;
-    temp_meas_ready = false;
+    htr.temp_meas_ready = false;
 CRITICAL_SECTION_END;
 
 #ifdef PIDTEMP
 // For a thermistor, it uses the RepRap thermistor temp table.
 // This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
 // This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
-float temp2analog(int celsius) {
+float const static temp2analog(const int celsius)
+{
   #ifdef HEATER_USES_THERMISTOR_1
     int raw = 0;
     byte i;
 // For a thermistor, it uses the RepRap thermistor temp table.
 // This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
 // This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
-float temp2analogBed(int celsius) {
+float const static temp2analogBed(const int celsius)
+{
   #ifdef BED_USES_THERMISTOR
 
     int raw = 0;
 
 // Derived from RepRap FiveD extruder::getTemperature()
 // For hot end temperature measurement.
-float analog2temp(int raw) {
+float const static Heater::analog2temp(const int raw) {
   #ifdef HEATER_1_USES_THERMISTOR
     int celsius = 0;
     byte i;  
 
 // Derived from RepRap FiveD extruder::getTemperature()
 // For bed temperature measurement.
-float analog2tempBed(int raw) {
+float const static Heater::analog2tempBed(const int raw) {
   #ifdef BED_USES_THERMISTOR
     int celsius = 0;
     byte i;
   #endif
 }
 
-void tp_init()
+Heater::Heater()
 {
+  for(short i=0;i<3;i++)
+  {
+    target_raw[i]=0;
+    current_raw[i] =0;
+  }
+  htr.temp_meas_ready = false;
+  #ifdef MINTEMP
+  minttemp = temp2analog(MINTEMP);
+  #endif //MINTEMP
+  #ifdef MAXTEMP
+  maxttemp = temp2analog(MAXTEMP);
+  #endif //MAXTEMP
+
+  #ifdef BED_MINTEMP
+  bed_minttemp = temp2analog(BED_MINTEMP);
+  #endif //BED_MINTEMP
+  #ifdef BED_MAXTEMP
+  bed_maxttemp = temp2analog(BED_MAXTEMP);
+  #endif //BED_MAXTEMP
+  
 #if (HEATER_0_PIN > -1) 
   SET_OUTPUT(HEATER_0_PIN);
 #endif  
 #ifdef PIDTEMP
   temp_iState_min = 0.0;
   temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
+  temp_iState = 0;
+  temp_dState = 0;
+  Kp=DEFAULT_Kp;
+  Ki=DEFAULT_Ki;
+  Kd=DEFAULT_Kd;
+  Kc=DEFAULT_Kc;
+  pid_setpoint = 0.0;
+
 #endif //PIDTEMP
 
 // Set analog inputs
   if(temp_count >= 16) // 6 ms * 16 = 96ms.
   {
     #ifdef HEATER_1_USES_AD595
-      current_raw[0] = raw_temp_0_value;
+      htr.current_raw[0] = raw_temp_0_value;
     #else
-      current_raw[0] = 16383 - raw_temp_0_value;
+      htr.current_raw[0] = 16383 - raw_temp_0_value;
     #endif
     
     #ifdef HEATER_2_USES_AD595
-      current_raw[2] = raw_temp_2_value;
+      htr.current_raw[2] = raw_temp_2_value;
     #else
-      current_raw[2] = 16383 - raw_temp_2_value;
+      htr.current_raw[2] = 16383 - raw_temp_2_value;
     #endif
     
     #ifdef BED_USES_AD595
-      current_raw[1] = raw_temp_1_value;
+      htr.current_raw[1] = raw_temp_1_value;
     #else
-      current_raw[1] = 16383 - raw_temp_1_value;
+      htr.current_raw[1] = 16383 - raw_temp_1_value;
     #endif
     
-    temp_meas_ready = true;
+   htr.temp_meas_ready = true;
     temp_count = 0;
     raw_temp_0_value = 0;
     raw_temp_1_value = 0;
     raw_temp_2_value = 0;
 #ifdef MAXTEMP
   #if (HEATER_0_PIN > -1)
-    if(current_raw[TEMPSENSOR_HOTEND] >= maxttemp) {
-      target_raw[TEMPSENSOR_HOTEND] = 0;
+    if(htr.current_raw[TEMPSENSOR_HOTEND] >= htr.maxttemp) {
+      htr.target_raw[TEMPSENSOR_HOTEND] = 0;
       analogWrite(HEATER_0_PIN, 0);
       Serial.println("!! Temperature extruder 0 switched off. MAXTEMP triggered !!");
     }
   #endif
   #if (HEATER_2_PIN > -1)
-    if(current_raw[TEMPSENSOR_AUX] >= maxttemp) {
-      target_raw[TEMPSENSOR_AUX] = 0;
+    if(htr.current_raw[TEMPSENSOR_AUX] >= htr.maxttemp) {
+      htr.target_raw[TEMPSENSOR_AUX] = 0;
       analogWrite(HEATER_2_PIN, 0);
       Serial.println("!! Temperature extruder 1 switched off. MAXTEMP triggered !!");
     }
 #endif //MAXTEMP
 #ifdef MINTEMP
   #if (HEATER_0_PIN > -1)
-    if(current_raw[TEMPSENSOR_HOTEND] <= minttemp) {
-      target_raw[TEMPSENSOR_HOTEND] = 0;
+    if(htr.current_raw[TEMPSENSOR_HOTEND] <= htr.minttemp) {
+      htr.target_raw[TEMPSENSOR_HOTEND] = 0;
       analogWrite(HEATER_0_PIN, 0);
       Serial.println("!! Temperature extruder 0 switched off. MINTEMP triggered !!");
     }
   #endif
   #if (HEATER_2_PIN > -1)
-    if(current_raw[TEMPSENSOR_AUX] <= minttemp) {
-      target_raw[TEMPSENSOR_AUX] = 0;
+    if(htr.current_raw[TEMPSENSOR_AUX] <= htr.minttemp) {
+      htr.target_raw[TEMPSENSOR_AUX] = 0;
       analogWrite(HEATER_2_PIN, 0);
       Serial.println("!! Temperature extruder 1 switched off. MINTEMP triggered !!");
     }
 #endif //MAXTEMP
 #ifdef BED_MINTEMP
   #if (HEATER_1_PIN > -1)
-    if(current_raw[1] <= bed_minttemp) {
-      target_raw[1] = 0;
+    if(htr.current_raw[1] <= htr.bed_minttemp) {
+      htr.target_raw[1] = 0;
       WRITE(HEATER_1_PIN, 0);
       Serial.println("!! Temperatur heated bed switched off. MINTEMP triggered !!");
     }
 #endif
 #ifdef BED_MAXTEMP
   #if (HEATER_1_PIN > -1)
-    if(current_raw[1] >= bed_maxttemp) {
-      target_raw[1] = 0;
+    if(htr.current_raw[1] >= htr.bed_maxttemp) {
+      htr.target_raw[1] = 0;
       WRITE(HEATER_1_PIN, 0);
       Serial.println("!! Temperature heated bed switched off. MAXTEMP triggered !!");
     }
 #endif
   }
 }
+
+//Heater htr;
+

Marlin/temperature.h

 #ifdef PID_ADD_EXTRUSION_RATE
   #include "stepper.h"
 #endif
-void tp_init();
-void manage_heater();
-//int temp2analogu(int celsius, const short table[][2], int numtemps);
-//float analog2tempu(int raw, const short table[][2], int numtemps);
-float temp2analog(int celsius);
-float temp2analogBed(int celsius);
-float analog2temp(int raw);
-float analog2tempBed(int raw);
+
+enum TempSensor {TEMPSENSOR_HOTEND=0,TEMPSENSOR_BED=1, TEMPSENSOR_AUX=2};
+
+// ther must be only one instance of this class, and it is created in temperature.cpp by itself and is called "htr".
+// all the variables are static, so that of the compiler optimization is more easy.
+// I honestly hope that this increases readability and structure.
+// none of the variables or routines should be called from an secondary process/interrupt with the exceptino of current_raw[].
+
+class Heater
+{
+public:
+  Heater(); //treplaces tp_init();
+  ~Heater(); 
+  
+  void static manage_heater(); /// it is critical that this is called continously. 
+  
+  // conversion routines, const since they don't change any class variables.
+  float const static temp2analog(const int celsius);
+  float const static temp2analogBed(const int celsius);
+  float const static analog2temp(const int raw);
+  float const static analog2tempBed(const int raw);
+  
+  inline float const static celsius(const TempSensor s) 
+    {
+      if(s==TEMPSENSOR_BED) 
+	return analog2tempBed(Heater::current_raw[s]); 
+      else 
+	return analog2temp(Heater::current_raw[s]);
+    };
+  inline float const static celsiusTarget(const TempSensor s) 
+    {
+      if(s==TEMPSENSOR_BED) 
+	return analog2tempBed(Heater::target_raw[s]); 
+      else 
+	return analog2temp(Heater::target_raw[s]);
+    };
+  inline float static setCelsius(const TempSensor s, const int celsius) 
+    {
+      #ifdef PIDTEMP
+	if(s==TEMPSENSOR_HOTEND)
+            Heater::pid_setpoint = celsius;
+      #endif //PIDTEM
+      if(s==TEMPSENSOR_BED) 
+	Heater::target_raw[s] = temp2analog(celsius); 
+      else 
+	Heater::target_raw[s] = temp2analogBed(celsius); 
+    };
+
+   inline bool const static isHeating(TempSensor s)
+   { return (Heater::target_raw[s]>Heater::current_raw[s]);};
+   inline bool const static isCooling(TempSensor s)
+   { return (Heater::target_raw[s]<Heater::current_raw[s]);};
+
+public:
+  #ifdef PIDTEMP
+    static float Kp;
+    static float Ki;
+    static float Kd;
+    static float Kc;
+  #endif
+  
+  static int target_raw[3];
+  static float pid_setpoint;
+  
+  volatile static int current_raw[3]; //this are written by an ISR, so volatile.
+  volatile static bool temp_meas_ready ; //also this is set by the ISR
+  
+  
+private:
+ 
+  
+
+  static unsigned long previous_millis_heater, previous_millis_bed_heater;
+
+  #ifdef PIDTEMP
+    static float temp_iState;
+    static float temp_dState;
+    static float pTerm;
+    static float iTerm;
+    static float dTerm;
+	//int output;
+    static float pid_error;
+    static float temp_iState_min;
+    static float temp_iState_max;
+    static float pid_input;
+    static float pid_output;
+    
+    static bool pid_reset;
+    static float HeaterPower;
+    
+  #endif //PIDTEMP
+
+public: //but only accesed from the ISR hence not volatile
+   #ifdef MINTEMP
+  static int minttemp;
+  #endif //MINTEMP
+  #ifdef MAXTEMP
+  static int maxttemp;
+  #endif //MAXTEMP
+
+  #ifdef BED_MINTEMP
+  static int bed_minttemp ;
+  #endif //BED_MINTEMP
+  #ifdef BED_MAXTEMP
+  static int bed_maxttemp;
+  #endif //BED_MAXTEMP
+  
+};
+
+extern Heater htr; //this creates the single, global instance 
 
 #ifdef HEATER_USES_THERMISTOR
     #define HEATERSOURCE 1
     #define BEDSOURCE 1
 #endif
 
-//#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS)
-//#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS
-
-
-extern float Kp;
-extern float Ki;
-extern float Kd;
-extern float Kc;
-
-enum {TEMPSENSOR_HOTEND=0,TEMPSENSOR_BED=1, TEMPSENSOR_AUX=2};
-extern int target_raw[3];
-extern int current_raw[3];
-extern double pid_setpoint;
 
 #endif

Marlin/ultralcd.pde

 #include "ultralcd.h"
-
+#include "temperature.h"
 
 #ifdef ULTRA_LCD
 extern volatile int feedmultiply;
 void MainMenu::showStatus()
 { 
 #if LCD_HEIGHT==4
-  static int oldcurrentraw=-1;
-  static int oldtargetraw=-1;
+  static int oldcurrent=-1;
+  static int oldtarget=-1;
   //force_lcd_update=true;
   if(force_lcd_update||feedmultiplychanged)  //initial display of content
   {
 #endif
   }
     
-
-  if((abs(current_raw[TEMPSENSOR_HOTEND]-oldcurrentraw)>3)||force_lcd_update)
+  int tt=Heater::celsius(TEMPSENSOR_HOTEND);
+  if((abs(tt-oldcurrent)>1)||force_lcd_update)
   {
     lcd.setCursor(1,0);
-    lcd.print(ftostr3(analog2temp(current_raw[TEMPSENSOR_HOTEND])));
-    oldcurrentraw=current_raw[TEMPSENSOR_HOTEND];
+    lcd.print(ftostr3(tt));
+    oldcurrent=tt;
   }
-  if((target_raw[TEMPSENSOR_HOTEND]!=oldtargetraw)||force_lcd_update)
+  int ttg=Heater::celsiusTarget(TEMPSENSOR_HOTEND);
+  if((ttg!=oldtarget)||force_lcd_update)
   {
     lcd.setCursor(5,0);
-    lcd.print(ftostr3(analog2temp(target_raw[TEMPSENSOR_HOTEND])));
-    oldtargetraw=target_raw[TEMPSENSOR_HOTEND];
+    lcd.print(ftostr3(ttg));
+    oldtarget=ttg;
   }
   #if defined BED_USES_THERMISTOR || defined BED_USES_AD595 
-  static int oldcurrentbedraw=-1;
-  static int oldtargetbedraw=-1; 
-  if((current_bed_raw!=oldcurrentbedraw)||force_lcd_update)
+  static int oldcurrentbed=-1;
+  static int oldtargetbed=-1;
+  int tb=Heater::celsius(TEMPSENSOR_BED);
+  if((tb!=oldcurrentbed)||force_lcd_update)
   {
     lcd.setCursor(1,0);
-    lcd.print(ftostr3(analog2temp(current_bed_raw)));
-    oldcurrentraw=current_raw[TEMPSENSOR_BED];
+    lcd.print(ftostr3(tb));
+    oldcurrentbed=tb;
   }
-  if((target_bed_raw!=oldtargebedtraw)||force_lcd_update)
+  int tg=Heater::celsiusTarget(TEMPSENSOR_BED);
+  if((tg!=oldtargebed)||force_lcd_update)
   {
     lcd.setCursor(5,0);
-    lcd.print(ftostr3(analog2temp(target_bed_raw)));
-    oldtargetraw=target_bed_raw;
+    lcd.print(Heater::celsiusTarget(TEMPSENSOR_BED));
+    oldtargebed=tg;
   }
   #endif
   //starttime=2;
     messagetext[0]='\0';
   }
 #else //smaller LCDS----------------------------------
-  static int oldcurrentraw=-1;
-  static int oldtargetraw=-1;
+  static int oldcurrent=-1;
+  static int oldtarget=-1;
   if(force_lcd_update)  //initial display of content
   {
     encoderpos=feedmultiply;
     #endif
   }
     
-
-  if((abs(current_raw[TEMPSENSOR_HOTEND]-oldcurrentraw)>3)||force_lcd_update)
+  int tt=Heater::celsius(TEMPSENSOR_HOTEND);
+  if((abs(tt-oldcurrent)>1)||force_lcd_update)
   {
     lcd.setCursor(1,0);
-    lcd.print(ftostr3(analog2temp(current_raw[TEMPSENSOR_HOTEND])));
-    oldcurrentraw=current_raw[TEMPSENSOR_HOTEND];
+    lcd.print(ftostr3(tt));
+    oldcurrent=tt;
   }
-  if((target_raw[TEMPSENSOR_HOTEND]!=oldtargetraw)||force_lcd_update)
+  int ttg=Heater::celsiusTarget(TEMPSENSOR_HOTEND);
+  if((ttg!=oldtarget)||force_lcd_update)
   {
     lcd.setCursor(5,0);
-    lcd.print(ftostr3(analog2temp(target_raw[TEMPSENSOR_HOTEND])));
-    oldtargetraw=target_raw[TEMPSENSOR_HOTEND];
+    lcd.print(ftostr3(ttg));
+    oldtarge=ttg;
   }
 
   if(messagetext[0]!='\0')
         if((activeline==line) && CLICKED)
         {
           BLOCK
-          target_raw[TEMPSENSOR_HOTEND] = temp2analog(170);
+          Heater::setCelsius(TEMPSENSOR_HOTEND, 170);
           beepshort();
         }
       }break;
         if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcd.print(" \002Nozzle:");
-          lcd.setCursor(13,line);lcd.print(ftostr3(analog2temp(target_raw[TEMPSENSOR_HOTEND])));
+          lcd.setCursor(13,line);lcd.print(ftostr3(Heater::celsiusTarget(TEMPSENSOR_HOTEND)));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)analog2temp(target_raw[TEMPSENSOR_HOTEND]);
+               encoderpos=(int)Heater::celsiusTarget(TEMPSENSOR_HOTEND);
             }
             else
             {
-              target_raw[TEMPSENSOR_HOTEND] = temp2analog(encoderpos);
+              Heater::setCelsius(TEMPSENSOR_HOTEND,encoderpos);
               encoderpos=activeline*lcdslow;
               beepshort();
             }
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcd.print(" PID-P: ");
-          lcd.setCursor(13,line);lcd.print(itostr4(Kp));
+          lcd.setCursor(13,line);lcd.print(itostr4(Heater::Kp));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)Kp/5;
+               encoderpos=(int)Heater::Kp/5;
             }
             else
             {
-              Kp= encoderpos*5;
+              Heater::Kp= encoderpos*5;
               encoderpos=activeline*lcdslow;
                 
             }
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcd.print(" PID-I: ");
-          lcd.setCursor(13,line);lcd.print(ftostr51(Ki));
+          lcd.setCursor(13,line);lcd.print(ftostr51(Heater::Ki));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)(Ki*10);
+               encoderpos=(int)(Heater::Ki*10);
             }
             else
             {
-              Ki= encoderpos/10.;
+              Heater::Ki= encoderpos/10.;
               encoderpos=activeline*lcdslow;
                 
             }
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcd.print(" PID-D: ");
-          lcd.setCursor(13,line);lcd.print(itostr4(Kd));
+          lcd.setCursor(13,line);lcd.print(itostr4(Heater::Kd));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)Kd/5;
+               encoderpos=(int)(Heater::Kd/5.);
             }
             else
             {
-              Kd= encoderpos*5;
+              Heater::Kd= encoderpos*5;
               encoderpos=activeline*lcdslow;
                 
             }
       if(force_lcd_update)
         {
           lcd.setCursor(0,line);lcd.print(" PID-C: ");
-          lcd.setCursor(13,line);lcd.print(itostr3(Kc));
+          lcd.setCursor(13,line);lcd.print(itostr3(Heater::Kc));
         }
         
         if((activeline==line) )
             linechanging=!linechanging;
             if(linechanging)
             {
-               encoderpos=(int)Kc;
+               encoderpos=(int)Heater::Kc;
             }
             else
             {
-              Kc= encoderpos;
+              Heater::Kc= encoderpos;
               encoderpos=activeline*lcdslow;
                 
             }