From 5ad9ef8f4975023f186dd9d59c5ad88a9c74539c Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 10:23:54 +0800
Subject: [PATCH] add offline

---
 User/module/balance_chassis.c | 32 +++++++++++++++++++++++++++++++-
 User/module/balance_chassis.h |  5 +++++
 2 files changed, 36 insertions(+), 1 deletion(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 8d08335..c1b7c55 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -31,7 +31,6 @@ static void Chassis_UpdateChassisState(Chassis_t *c);
 static void Chassis_ResetControllers(Chassis_t *c);
 static void Chassis_SelectYawZeroPoint(Chassis_t *c);
 static void Chassis_JumpControl(Chassis_t *c, const Chassis_CMD_t *c_cmd, float *target_L0, float *extra_force);
-static void Chassis_RecoverControl(Chassis_t *c);
 
 /* Private functions -------------------------------------------------------- */
 
@@ -543,6 +542,9 @@ int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq) {
   c->jump.launch_force = c->param->jump.launch_force;
   c->jump.retract_leg_length = c->param->jump.retract_leg_length;
 
+  /* 初始化电机离线检测 */
+  c->motor_status.any_offline = false;
+
   return CHASSIS_OK;
 }
 
@@ -559,10 +561,19 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c) {
   MOTOR_LK_UpdateAll();
 
   /* 更新关节电机反馈 */
+  uint64_t now_us = BSP_TIME_Get_us();
+  bool any_offline = false;
+
   for (int i = 0; i < 4; i++) {
     MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_param[i]);
     if (joint_motor != NULL) {
       c->feedback.joint[i] = joint_motor->motor.feedback;
+      /* 检测关节电机离线：500ms 无更新 */
+      if (now_us - joint_motor->motor.header.last_online_time > 500000u) {
+        any_offline = true;
+      }
+    } else {
+      any_offline = true;
     }
 
     /* 机械零点调整 */
@@ -580,9 +591,17 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c) {
     MOTOR_LK_t *wheel_motor = MOTOR_LK_GetMotor(&c->param->wheel_param[i]);
     if (wheel_motor != NULL) {
       c->feedback.wheel[i] = wheel_motor->motor.feedback;
+      /* 检测轮子电机离线：500ms 无更新 */
+      if (now_us - wheel_motor->motor.header.last_online_time > 500000u) {
+        any_offline = true;
+      }
+    } else {
+      any_offline = true;
     }
   }
 
+  c->motor_status.any_offline = any_offline;
+
   /* 更新机体状态估计 */
   Chassis_UpdateChassisState(c);
 
@@ -615,6 +634,17 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
   c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) / 1000000.0f;
   c->lask_wakeup = BSP_TIME_Get_us();
 
+  /* 电机离线保护：有电机离线时强制 RELAX 并持续使能 */
+  if (c->motor_status.any_offline) {
+    if (c->mode != CHASSIS_MODE_RELAX) {
+      c->mode = CHASSIS_MODE_RELAX;
+      Chassis_ResetControllers(c);
+    }
+    Chassis_MotorRelax(c);
+    Chassis_MotorEnable(c);
+    return CHASSIS_OK;
+  }
+
   /* 设置底盘模式 */
   if (Chassis_SetMode(c, c_cmd->mode) != CHASSIS_OK) {
     return CHASSIS_ERR_MODE;
diff --git a/User/module/balance_chassis.h b/User/module/balance_chassis.h
index e0c498a..5fd3f0e 100644
--- a/User/module/balance_chassis.h
+++ b/User/module/balance_chassis.h
@@ -215,6 +215,11 @@ typedef struct {
     Recover_State_t state[2]; /* 左右腿自起状态 */
   } recover;
 
+  /* 电机离线检测 */
+  struct {
+    bool any_offline;        /* 是否有电机离线 */
+  } motor_status;
+
   /* PID计算的目标值 */
   struct {
     AHRS_Eulr_t chassis;