opt-in firmware compat for the teaching-handle encoder - #1
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The YAM teaching-handle passive encoder (read via DriverArx, the shared CAN driver) changed its EEPROM reply format across firmware revisions. Add a config field `passive_encoder_firmware_compat` (bool, default false) that, when set, makes setup tolerant of multiple revisions: - read_passive_encoder_eeprom accepts both the <=2.2.x READINGS reply (cmd 0x86, 5 bytes) and the >=2.3.x dedicated GET_EEPROM reply (cmd 0x87, 3 bytes); - read_passive_encoder_frequency falls back to the 8-bit low byte when the 16-bit high-byte offset is unimplemented on <=2.2.12 EEPROMs. Default false preserves the original strict single-format behavior, so ARX arms and any encoder that does not opt in are unchanged. The flag is threaded servo config -> register_passive_encoder -> PassiveEncoderRoute -> configure_passive_encoder -> the two read functions. Rather than change the canonical E_Yam_Handle config, ship a separate effector variant E_Yam_Handle_compat (model + instance + mass) that enables the flag, registered in SUPPORTED_EFFECTORS. The passive encoder exists only on the YAM handle, so the change stays isolated; select E_Yam_Handle_compat as the effector_model on hosts whose handle firmware needs the compatibility layer.
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The YAM teaching-handle passive encoder (read via DriverArx, the shared CAN driver) changed its EEPROM reply format across firmware revisions. Add a config field
passive_encoder_firmware_compat(bool, default false) that, when set, makes setup tolerant of multiple revisions:Default false preserves the original strict single-format behavior, so ARX arms and any encoder that does not opt in are unchanged. The flag is threaded servo config -> register_passive_encoder -> PassiveEncoderRoute -> configure_passive_encoder -> the two read functions.
Rather than change the canonical E_Yam_Handle config, ship a separate effector variant E_Yam_Handle_compat (model + instance + mass) that enables the flag, registered in SUPPORTED_EFFECTORS. The passive encoder exists only on the YAM handle, so the change stays isolated; select E_Yam_Handle_compat as the effector_model on hosts whose handle firmware needs the compatibility layer.