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Update all components for ESP-IDF 6.0 compatibility with version-conditional code to maintain backward compatibility with v5.5. Update CI workflows to use espressif/idf:v6.0 containers and add a build-compat job to verify the project still builds on ESP-IDF 5.5.
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Summary
#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(6, 0, 0))build.yml,docs.yml) to useespressif/idf:v6.0containersbuild-compatCI job to verify backward compatibility with ESP-IDF 5.5