feat(encoder): CRTP magnetic_encoder base, espp::Timer update path, AS5600 12-bit fix

.github/workflows/upload_components.yml

@@ -31,9 +31,14 @@ jobs:
           #       esp32-p4-nano), which depend on espp/ethernet, so it is
           #       uploaded to the registry first.
           #
+          # Note: magnetic_encoder is intentionally listed ahead of as5600 and
+          #       mt6701, which depend on espp/magnetic_encoder, so it is
+          #       uploaded to the registry first.
+          #
           # Note: comments are not allowed in the "components" list, so please
           #       do not add any comments here.
           components: |
+            components/magnetic_encoder
             components/adc
             components/adrc
             components/ads1x15

components/as5600/CMakeLists.txt

@@ -1,4 +1,4 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  REQUIRES "base_peripheral" "timer" "task"
+  REQUIRES "magnetic_encoder" "base_peripheral" "timer"
   )

components/as5600/Kconfig

@@ -10,12 +10,15 @@ menu "AS5600 Configuration"
           the velocity will be set to 0. This helps filter out noise and
           small jitter in the encoder readings.
 
-    config AS5600_USE_TIMER
-        bool "Use high resolution timer instead of task"
+    config AS5600_USE_HIGH_RESOLUTION_TIMER
+        bool "Use high resolution timer instead of software timer"
         default y
         help
-          Use the high resolution timer instead of a FreeRTOS task for
-          periodic updates. The timer is more precise and has lower overhead.
-          Disable this if you prefer to use a task-based implementation.
+          Drive the periodic encoder update with an esp_timer-backed
+          HighResolutionTimer (microsecond resolution). This is the right
+          choice for sub-millisecond update periods. Disable this to instead
+          use an espp::Timer, which schedules against an absolute wake-up time
+          (drift-free and in phase) but is limited to the FreeRTOS tick
+          resolution.
 
 endmenu

components/as5600/README.md

@@ -13,9 +13,11 @@ measure
 * Accumulated degrees (since the component was created)
 * Speed (rotations per minute / RPM)
 
-It does so by spawning a task which periodically reads the magnetic encoder,
+It does so by spawning a timer which periodically reads the magnetic encoder,
 updates the accumulator, and computes the velocity. The component can be
-configured to optionally filter the velocity.
+configured to optionally filter the velocity. The timer can be either a
+`espp::HighResolutionTimer` (default) or an `espp::Timer`, selected via KConfig /
+menuconfig.
 
 The periodicity / update rate of the encoder can be configured at time of
 creation.

components/as5600/example/README.md

@@ -9,8 +9,9 @@ ESP32-S3. If you wish to use a different chip / board, changes those and rebuild
 This example shows the use of the `As5600` component to communicate with an
 AS5600 I2C magnetic encoder chip. 
 
-It uses the `task` component to periodically read the raw count, position, and
-velocity of the encoder, the `filters` component (specifically the
+It uses the `task` component to periodically poll and print the raw count,
+position, and velocity of the encoder (the `As5600` itself maintains that state
+with its own internal timer), the `filters` component (specifically the
 `espp::ButterworthFilter` class) to filter the raw values from the sensor, and
 the `format` component to print the data to the console in CSV format.
 

components/as5600/idf_component.yml

@@ -18,6 +18,6 @@ tags:
 dependencies:
   idf:
     version: '>=5.0'
+  espp/magnetic_encoder: '>=1.0'
   espp/base_peripheral: '>=1.0'
-  espp/task: '>=1.0'
   espp/timer: '>=1.0'