val3101.yaml

# =============================================================================
# VAL3101 — ESP32-C6 + AS5600 magnetic encoder (closed-loop)
# =============================================================================
# The VAL3101 is a VAL3100 (ESP32-C6) with an AS5600 12-bit magnetic encoder
# soldered on the back and a dipole magnet on the motor shaft, giving absolute
# position that survives power loss and true closed-loop feedback.
#
# It shares the VAL3100 pin map and status LED; the only addition is the AS5600
# on the I2C bus. Everything else lives in ../../common/valar-core.yaml.
#
# The VAL3101 is not a separate PCB: it is the VAL3100 board with the AS5600
# populated. The VAL3100 layout already carries the AS5600 footprint and its
# I2C routing (the encoder is simply left unstuffed on a plain VAL3100), so the
# encoder pins below are read directly from the VAL3100 schematic:
#   AS5600 SDA -> ESP32-C6 IO14   |   AS5600 SCL -> ESP32-C6 IO15
# =============================================================================
substitutions:
  device_name: "val3101"
  friendly_name: "VAL3101"
  device_prefix: "val3101"
  board_id: "VAL3101 (ESP32-C6 + AS5600)"
  ota_asset: "val3101"
  esp_board: "esp32-c6-devkitc-1"
  log_uart: "USB_SERIAL_JTAG"
  pin_uart_tx: "0"
  pin_uart_rx: "1"
  pin_enn: "5"
  pin_index: "7"
  pin_diag: "6"
  pin_btn1: "3"
  pin_btn2: "19"
  pin_btn_wifi: "4"
  pin_i2c_sda: "14"   # AS5600 SDA -> ESP32-C6 IO14 (verified from VAL3100 schematic)
  pin_i2c_scl: "15"   # AS5600 SCL -> ESP32-C6 IO15 (verified from VAL3100 schematic)

packages:
  core: !include ../../common/valar-core.yaml

light:
  - platform: status_led
    name: "Status LED"
    pin: 23
    entity_category: DIAGNOSTIC

# --- AS5600 magnetic encoder (VAL3101 only) ---------------------------------
i2c:
  sda: ${pin_i2c_sda}
  scl: ${pin_i2c_scl}
  scan: true
  frequency: 400kHz

# Top-level hub for the AS5600 (0x36 on I2C). Absolute magnetic position that
# survives power loss — use it for closed-loop homing instead of StallGuard:
# the encoder always knows where the shaft is. See docs for the homing recipe.
as5600:
  id: encoder

sensor:
  - platform: as5600
    name: "Encoder Position"
    id: encoder_position
    # Add more AS5600 readouts (raw_position, magnitude, gain) as separate
    # platform: as5600 entries if you want them exposed.