CANopen: optionally raise EMCY 8130h (life guard/heartbeat) and 81xxh (CAN controller state) #423

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1. dborgards commented on Oct 27, 2026

   

   dborgards

   on Oct 27, 2026 – with ChatGPT Codex Connector

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   Completed independent feature parts:

   • 8130h heartbeat-consumer/local life guarding: merged in feat(canopen): add opt-in guarding error EMCYs #486 (72f83407), opt-in EmitGuardingErrorEmcy, default false.
   • 8120h observed controller error passive: merged in feat(canopen): add opt-in controller passive EMCYs #487 (d80bf712), separate opt-in EmitControllerErrorEmcy, default false. It uses the existing actor-driven BusStateMonitor, fresh reset baselines and generation invalidation for queued jobs/retries, preserves reset/LSS completion on diagnostic errors, and cleans up monitoring on disposal/construction failure.

   Both use the existing communication-error aggregate: 1001h bits 4/0 while active, application bits preserved, one report per error event and 0000h only when the last cause repairs. All issue/PR review findings were addressed in their original threads. Final #487 validation: 3104 local net10 tests, net48 compile, format, nine verified packages, 50 engineering tests and traceability; 14 actual source mutations runtime-red/restored. Both final CI-Cobertura copies cover every changed executable entry with no missing/partials. Main CI 40493261604 and CodeQL 40493261636 are fully successful at d80bf71 (18 documented retained CodeQL recommendations, no new alerts).

   Leaving this issue open for the genuine remaining contracts:

   • 8110h overrun: pinned CanKit 0.5.6 exposes RxOverflow/TxOverflow as error-frame events, without an unambiguous persistent repair signal. A normal controller level alone must not be guessed to repair an overrun. Recommendation: require a reliable adapter recovery signal or an explicitly defined application acknowledgement/clear contract before implementing its active lifetime.
   • 8140h recovered from bus-off: relate it to actual recovery, not bus-off entry, and confirm the error-register/0000h sequence against the applicable CiA 301 Table 26/Figure 37 text. That normative sequencing has not been verified; no conformance claim or guessed implementation was added.

   These remaining scope/norm decisions are collected with the other backlog prerequisites. No real NuGet publication was performed.