Updated Lightning to Determine Its Own Lightning State

[bjackson312006]

Lightning now determines the lightning board light state on its own, independent of VCU.

[Copilot]

Pull request overview

This PR shifts Lightning’s board light behavior to be derived locally from incoming CAN status messages (IMD + BMS), rather than being directly commanded by the VCU.

Changes:

• Reworked the lightning light “statemachine” to compute GREEN/RED/OFF from IMD/BMS status messages.
• Updated CAN inbox routing and enabled FDCAN2 interrupts (IT0/IT1) to support receiving relevant status frames.
• Added autogenerated CAN RX decode sources and wired them into the build.

Reviewed changes

Copilot reviewed 18 out of 19 changed files in this pull request and generated 8 comments.

Show a summary per file

File	Description
Lightning.ioc	Enables FDCAN2 interrupt lines and updates CubeMX project metadata.
Core/Src/u_threads.c	GPIO lights thread now queries statemachine_getState() instead of reading an externally-set state.
Core/Src/u_test.c	Removes test-driven random state setting (now a no-op).
Core/Src/u_statemachine.c	Implements derived light state from IMD/BMS messages with “first contact” gating.
Core/Src/u_mutexes.c	Removes statemachine mutex initialization (statemachine now uses atomics).
Core/Src/u_inbox.c	Routes IMD/BMS CAN messages to the statemachine handlers.
Core/Src/stm32h5xx_it.c	Adds FDCAN2 IT0/IT1 IRQ handlers that call HAL_FDCAN_IRQHandler.
Core/Src/stm32h5xx_hal_msp.c	Enables/disables NVIC IRQs for FDCAN2 IT0/IT1.
Core/Src/can_messages_tx.c	Cleans up/improves message length initialization for several TX messages.
Core/Src/can_messages_rx.c	Adds autogenerated CAN RX unpacking implementation.
Core/Inc/u_statemachine.h	Updates statemachine API to “get state + handle messages”.
Core/Inc/u_mutexes.h	Removes exported statemachine mutex declaration.
Core/Inc/u_can.h	Adds CAN IDs for IMD/BMS status messages (BMS ID currently marked placeholder).
Core/Inc/stm32h5xx_it.h	Declares new FDCAN2 IRQ handlers.
Core/Inc/can_messages_rx.h	Adds autogenerated CAN RX unpacking header.
compose.yml	Moves container image tag to embedded-base:main.
CMakeLists.txt	Adds can_messages_rx.c to build and removes unconditional toolchain include.
.mxproject	Updates CubeMX project bookkeeping.

Comments suppressed due to low confidence (1)

CMakeLists.txt:27

• Toolchain selection is no longer enforced from CMakeLists.txt. If someone configures with plain cmake -S . -B build (without presets), CMake will likely pick the host compiler instead of gcc-arm-none-eabi, producing a broken build. Consider adding a guarded fallback to set CMAKE_TOOLCHAIN_FILE when not provided, or document that presets are required.

endif()

# Set the project name
set(CMAKE_PROJECT_NAME Lightning)


# Enable compile command to ease indexing with e.g. clangd
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

[Copilot]

Pull request overview

Copilot reviewed 21 out of 22 changed files in this pull request and generated 5 comments.

---

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.