Add 8Servos2

Author: renletao

README.md

@@ -143,3 +143,16 @@ https://docs.m5stack.com/en/products/sku/U227
 
 ## License
 - [MIT](https://github.com/m5stack/M5Chain/blob/main/LICENSE)
+
+# Unit 8Servos2 Chain
+
+## Overview
+Unit 8Servos2 Chain is an 8-channel multifunction output node in the M5Stack Chain series. It supports GPIO input and output, ADC sampling, servo angle control, RGB LED buffer control, PWM duty configuration, and voltage/current monitoring through the Chain UART daisy-chain protocol. It is suitable for robot control, smart toys, servo expansion, and mixed GPIO/PWM interaction applications.
+
+### SKU: U223
+
+## Related Link
+https://docs.m5stack.com/en/products/sku/U223
+
+## License
+- [MIT](https://github.com/m5stack/M5Chain/blob/main/LICENSE)

examples/Unit8Servos2Chain_Example/ADC/ADC_All/ADC_All.ino

@@ -0,0 +1,297 @@
+/*
+ * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
+ *
+ * SPDX-License-Identifier: MIT
+ */
+
+#include "M5Chain.h"
+
+// Serial Pin Definitions / 串口引脚定义
+#define TXD_PIN (GPIO_NUM_32) /**< Transmit Pin / 发送引脚 */
+#define RXD_PIN (GPIO_NUM_33) /**< Receive Pin / 接收引脚 */
+
+// Configuration Constants / 配置常量
+#define LOOP_DELAY_MS (500) /**< Loop delay in milliseconds / 循环延迟(毫秒) */
+
+// Global Objects and Variables / 全局对象和变量
+Chain M5Chain;                          /**< M5Chain instance / M5Chain实例 */
+device_list_t *devices_list = NULL;     /**< Device list pointer / 设备列表指针 */
+uint16_t device_nums        = 0;        /**< Device count / 设备数量 */
+uint8_t operation_status    = 0;        /**< Operation status / 操作状态 */
+chain_status_t chain_status = CHAIN_OK; /**< Chain status / 链路状态 */
+
+// Function Declarations / 函数声明
+void printDeviceList(device_list_t *devices);
+void updateDeviceList();
+bool initializeAdcModes();
+bool readAndDisplayAdcValues();
+
+void setup()
+{
+    Serial.begin(115200);
+    Serial.println("M5Chain Unit 8Servos2 Chain ADC Test");
+
+    // Initialize M5Chain communication / 初始化M5Chain通信
+    M5Chain.begin(&Serial2, 115200, RXD_PIN, TXD_PIN);
+
+    // Update device list / 更新设备列表
+    updateDeviceList();
+
+    // Initialize all ADC modes / 初始化所有ADC模式
+    if (!initializeAdcModes()) {
+        Serial.println("ADC mode initialization failed / ADC模式初始化失败");
+    }
+}
+
+void loop()
+{
+    // Validate device list validity / 验证设备列表有效性
+    if (!devices_list) {
+        Serial.println("Device list is NULL / 设备列表为空");
+        delay(LOOP_DELAY_MS);
+        return;
+    }
+
+    // Read and display ADC values / 读取并显示ADC值
+    if (!readAndDisplayAdcValues()) {
+        Serial.println("ADC reading or validation failed / ADC读取或验证失败");
+    }
+
+    delay(LOOP_DELAY_MS);
+}
+
+/**
+ * @brief Initialize ADC modes for all 8Servos2 devices / 初始化所有8Servos2设备的ADC模式
+ *
+ * Set all channels to ADC mode and verify the operation / 将所有通道设置为ADC模式并验证操作
+ *
+ * @return true if successful / 成功返回true
+ * @return false if failed / 失败返回false
+ */
+bool initializeAdcModes()
+{
+    if (!devices_list) {
+        Serial.println("Device list is NULL, cannot initialize / 设备列表为空，无法初始化");
+        return false;
+    }
+
+    // Prepare ADC mode configuration / 准备ADC模式配置
+    user_gpio_mode_t mode[SERVOS2_GPIO_NUM_MAX];
+    for (uint8_t i = 0; i < SERVOS2_GPIO_NUM_MAX; i++) {
+        mode[i] = USER_GPIO_ADC_MODE;
+    }
+
+    bool all_success = true;
+
+    // Iterate through all devices / 遍历所有设备
+    for (uint8_t i = 0; i < devices_list->count; i++) {
+        // Check device type / 检查设备类型
+        if (devices_list->devices[i].device_type != UNIT_8SERVOS2_CHAIN_TYPE_CODE) {
+            continue;
+        }
+
+        uint8_t device_id = devices_list->devices[i].id;
+
+        // Write operation: Set ADC mode for all channels / 写入操作：设置所有通道ADC模式
+        chain_status = M5Chain.setServosModeAll(device_id, mode, SERVOS2_GPIO_NUM_MAX, &operation_status);
+
+        // Validate write operation / 验证写入操作
+        if (chain_status != CHAIN_OK) {
+            Serial.printf(
+                "Device ID[%d] set all channel ADC mode failed (communication error) / "
+                "设备ID[%d]设置所有通道ADC模式失败(通信错误)\r\n",
+                device_id, device_id);
+            all_success = false;
+            continue;
+        }
+
+        if (operation_status != 1) {
+            Serial.printf(
+                "Device ID[%d] set all channel ADC mode failed (operation status error) / "
+                "设备ID[%d]设置所有通道ADC模式失败(操作状态异常)\r\n",
+                device_id, device_id);
+            all_success = false;
+            continue;
+        }
+
+        // Read verification: Confirm mode was set correctly / 读取验证：确认模式设置正确
+        user_gpio_mode_t read_mode[SERVOS2_GPIO_NUM_MAX];
+        if (M5Chain.getServosModeAll(device_id, read_mode, SERVOS2_GPIO_NUM_MAX) != CHAIN_OK) {
+            Serial.printf("Device ID[%d] read all channel ADC mode failed / 设备ID[%d]读取所有通道ADC模式失败\r\n",
+                          device_id, device_id);
+            all_success = false;
+            continue;
+        }
+
+        // Verify data consistency for all channels / 验证所有通道的数据一致性
+        uint8_t err_count = 0;
+        for (uint8_t j = 0; j < SERVOS2_GPIO_NUM_MAX; j++) {
+            if (read_mode[j] != USER_GPIO_ADC_MODE) {
+                err_count++;
+                Serial.printf(
+                    "Device ID[%d] channel %d mode verification failed: expected ADC_MODE, got %d / "
+                    "设备ID[%d]通道%d模式验证失败：期望ADC_MODE，实际%d\r\n",
+                    device_id, j, read_mode[j], device_id, j, read_mode[j]);
+            }
+        }
+
+        if (err_count == 0) {
+            Serial.printf(
+                "Device ID[%d] all channel ADC mode set and verified successfully / "
+                "设备ID[%d]所有通道ADC模式设置并验证成功\r\n",
+                device_id, device_id);
+        } else {
+            Serial.printf("Device ID[%d] has %d channels with incorrect mode / 设备ID[%d]有%d个通道模式不正确\r\n",
+                          device_id, err_count, device_id, err_count);
+            all_success = false;
+        }
+    }
+
+    return all_success;
+}
+
+/**
+ * @brief Read and display ADC values from all channels / 读取并显示所有通道的ADC值
+ *
+ * Process: Verify mode -> Read ADC values -> Display values /
+ * 流程：验证模式 -> 读取ADC值 -> 显示数值
+ *
+ * @return true if successful / 成功返回true
+ * @return false if failed / 失败返回false
+ */
+bool readAndDisplayAdcValues()
+{
+    bool all_success = true;
+
+    // Iterate through all devices / 遍历所有设备
+    for (uint8_t i = 0; i < devices_list->count; i++) {
+        // Check device type / 检查设备类型
+        if (devices_list->devices[i].device_type != UNIT_8SERVOS2_CHAIN_TYPE_CODE) {
+            continue;
+        }
+
+        uint8_t device_id = devices_list->devices[i].id;
+        user_gpio_mode_t mode[SERVOS2_GPIO_NUM_MAX];
+        uint16_t adc_val[SERVOS2_GPIO_NUM_MAX];
+
+        // Step 1: Read and verify current mode / 步骤1：读取并验证当前模式
+        if (M5Chain.getServosModeAll(device_id, mode, SERVOS2_GPIO_NUM_MAX) != CHAIN_OK) {
+            Serial.printf(
+                "Device ID[%d] get all channel ADC mode failed (communication error) / "
+                "设备ID[%d]获取所有通道ADC模式失败(通信错误)\r\n",
+                device_id, device_id);
+            all_success = false;
+            continue;
+        }
+
+        // Verify all channels are in ADC mode / 验证所有通道都处于ADC模式
+        uint8_t err_count = 0;
+        for (uint8_t j = 0; j < SERVOS2_GPIO_NUM_MAX; j++) {
+            if (mode[j] != USER_GPIO_ADC_MODE) {
+                err_count++;
+            }
+        }
+
+        if (err_count != 0) {
+            Serial.printf("Device ID[%d] has %d channels not in ADC mode / 设备ID[%d]有%d个通道不在ADC模式\r\n",
+                          device_id, err_count, device_id, err_count);
+            all_success = false;
+            continue;
+        }
+
+        // Step 2: Read ADC values from all channels / 步骤2：读取所有通道的ADC值
+        if (M5Chain.getServosAdcValueAll(device_id, adc_val, SERVOS2_GPIO_NUM_MAX) != CHAIN_OK) {
+            Serial.printf(
+                "Device ID[%d] get all channel ADC value failed (communication error) / "
+                "设备ID[%d]获取所有通道ADC值失败(通信错误)\r\n",
+                device_id, device_id);
+            all_success = false;
+            continue;
+        }
+
+        // Step 3: Display ADC values for all channels / 步骤3：显示所有通道的ADC值
+        Serial.printf("=== Device ID[%d] ADC Values / 设备ID[%d] ADC值 ===\r\n", device_id, device_id);
+        for (uint8_t j = 0; j < SERVOS2_GPIO_NUM_MAX; j++) {
+            Serial.printf("  Channel %d: %d (0x%04X) / 通道 %d: %d (0x%04X)\r\n", j, adc_val[j], adc_val[j], j,
+                          adc_val[j], adc_val[j]);
+        }
+        Serial.println("==========================================");
+    }
+
+    return all_success;
+}
+
+/**
+ * @brief Print device list information / 打印设备列表信息
+ *
+ * @param devices Device list pointer / 设备列表指针
+ */
+void printDeviceList(device_list_t *devices)
+{
+    if (devices == NULL) {
+        Serial.println("Device list is NULL / 设备列表为空");
+        return;
+    }
+
+    Serial.print("Device count / 设备数量: ");
+    Serial.println(devices->count);
+
+    for (uint8_t i = 0; i < devices->count; i++) {
+        Serial.printf("Device #%d - ID: %d, Type: 0x%02X / 设备 #%d - ID: %d, 类型: 0x%02X\r\n", i,
+                      devices->devices[i].id, devices->devices[i].device_type, i, devices->devices[i].id,
+                      devices->devices[i].device_type);
+    }
+}
+
+/**
+ * @brief Update device list / 更新设备列表
+ *
+ * Detect connected devices and retrieve device information / 检测连接的设备并获取设备信息
+ */
+void updateDeviceList()
+{
+    // Check device connection status / 检查设备连接状态
+    if (!M5Chain.isDeviceConnected()) {
+        Serial.println("Devices not connected / 设备未连接");
+        return;
+    }
+
+    Serial.println("Devices connected / 设备已连接");
+
+    // Get device count / 获取设备数量
+    chain_status = M5Chain.getDeviceNum(&device_nums);
+    if (chain_status != CHAIN_OK) {
+        Serial.printf("Get device count failed, error code: %d / 获取设备数量失败，错误码: %d\r\n", chain_status,
+                      chain_status);
+        return;
+    }
+
+    // Allocate device list memory / 分配设备列表内存
+    devices_list = (device_list_t *)malloc(sizeof(device_list_t));
+    if (!devices_list) {
+        Serial.println("Memory allocation failed / 内存分配失败");
+        return;
+    }
+
+    devices_list->count   = device_nums;
+    devices_list->devices = (device_info_t *)malloc(sizeof(device_info_t) * device_nums);
+
+    if (!devices_list->devices) {
+        Serial.println("Device info memory allocation failed / 设备信息内存分配失败");
+        free(devices_list);
+        devices_list = NULL;
+        return;
+    }
+
+    // Get device list / 获取设备列表
+    if (M5Chain.getDeviceList(devices_list)) {
+        Serial.println("Get device list success / 获取设备列表成功");
+        printDeviceList(devices_list);
+    } else {
+        Serial.println("Get device list failed / 获取设备列表失败");
+        // Clean up allocated memory / 清理已分配的内存
+        free(devices_list->devices);
+        free(devices_list);
+        devices_list = NULL;
+    }
+}