increase command flexibility

flight/src/hardware/mcp23017/task.rs

@@ -107,9 +107,7 @@ impl PinData {
         // Do this twice to check both the current and the current next
         // If the current is currently invalid, we'd upgrade the next to current
         for _ in 0..2 {
-            let is_current_valid = self
-                .valid_until
-                .is_some_and(|current| current >= now);
+            let is_current_valid = self.valid_until.is_some_and(|current| current >= now);
             if is_current_valid {
                 self.value = self.state;
                 return;
@@ -135,10 +133,10 @@ impl PinData {
         );
         let can_replace_current = self
             .valid_until
-            .is_none_or(|current| current <= valid_until);
-        let can_replace_next = self
-            .next_validity
-            .is_none_or(|next| next <= valid_until);
+            .is_none_or(|current| current <= valid_until)
+            || self.priority == priority;
+        let can_replace_next = self.next_validity.is_none_or(|next| next <= valid_until)
+            || self.next_priority == priority;
 
         if priority >= self.priority {
             // This is now the highest priority thing (or most recent of equal priority)

flight/src/hardware/mct8316a/driver.rs

@@ -158,7 +158,6 @@ where
         }
     }
 
-
     #[allow(clippy::identity_op)]
     pub(super) fn write(&self, address: u32, data: Mct8316AVData) -> Result<()> {
         trace!("Mct8316AVDriver::write(self: {self:?}, address: {address:06x}, data: {data})");

flight/src/hardware/mct8316a/eeprom.rs

@@ -78,33 +78,31 @@ where
     pub fn set_isd_config(self, isd_config: IsdConfig) -> Result<Self> {
         trace!("Mct8316AVEeprom::set_isd_config(self: {self:?}, isd_config: {isd_config:?})");
 
-        let expected_value = if isd_config.enable_isd { 0x4000_0000 } else { 0 }
-            | if isd_config.enable_brake {
-                0x2000_0000
-            } else {
-                0
-            }
-            | if isd_config.enable_high_impedance {
-                0x1000_0000
-            } else {
-                0
-            }
-            | if isd_config.enable_reverse_drive {
-                0x0800_0000
-            } else {
-                0
-            }
-            | if isd_config.enable_resynchronization {
-                0x0400_0000
-            } else {
-                0
-            }
-            | if isd_config.enable_stationary_brake {
-                0x0200_0000
-            } else {
-                0
-            }
-            | (((isd_config.stationary_detect_threshold as u32) & 0x7) << 22)
+        let expected_value = if isd_config.enable_isd {
+            0x4000_0000
+        } else {
+            0
+        } | if isd_config.enable_brake {
+            0x2000_0000
+        } else {
+            0
+        } | if isd_config.enable_high_impedance {
+            0x1000_0000
+        } else {
+            0
+        } | if isd_config.enable_reverse_drive {
+            0x0800_0000
+        } else {
+            0
+        } | if isd_config.enable_resynchronization {
+            0x0400_0000
+        } else {
+            0
+        } | if isd_config.enable_stationary_brake {
+            0x0200_0000
+        } else {
+            0
+        } | (((isd_config.stationary_detect_threshold as u32) & 0x7) << 22)
             | ((isd_config.brake_mode as u32) & 0x1) << 21
             | ((isd_config.brake_config as u32) & 0x1) << 20
             | ((isd_config.brake_current_threshold as u32) & 0x7) << 17

flight/src/hardware/pin.rs

@@ -1,8 +1,23 @@
 use embedded_hal::digital::PinState;
+use nautilus_common::command::{SetPin, ValidPriorityCommand};
 use std::time::Instant;
 
 pub trait PinDevice {
     fn set_pin(&self, pin: u8, value: PinState, valid_until: Instant, priority: u8);
+
+    fn new_pinset_callback(self) -> impl Fn(ValidPriorityCommand<SetPin>)
+    where
+        Self: Sized,
+    {
+        move |cmd| {
+            self.set_pin(
+                cmd.pin,
+                cmd.value.into(),
+                cmd.get_valid_until_instant(),
+                cmd.priority,
+            )
+        }
+    }
 }
 
 pub trait Pin {