Power off improvements

CHANGELOG.md

@@ -38,6 +38,7 @@
 - Fixed not able to connect to new Technic Move hub with `LWP3Device()`.
 - Removed `gc_collect()` from `tools.run_task()` loop to fix unwanted delays.
 - Fixed `await wait(0)` never yielding, so parallel tasks could lock up ([support#1429]).
+- Fixed some sensors not powering off when the hub is turned off.
 
 ### Removed
 - Removed `loop_time` argument to `pybricks.tools.run_task` as this wasn't

bricks/_common/sources.mk

@@ -228,7 +228,6 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	sys/command.c \
 	sys/core.c \
 	sys/hmi.c \
-	sys/io_ports.c \
 	sys/light_matrix.c \
 	sys/light.c \
 	sys/main.c \

lib/pbio/drv/ioport/ioport.h

@@ -11,16 +11,11 @@
 
 void pbdrv_ioport_init(void);
 
-void pbdrv_ioport_deinit(void);
-
 #else // PBDRV_CONFIG_IOPORT
 
 static inline void pbdrv_ioport_init(void) {
 }
 
-static inline void pbdrv_ioport_deinit(void) {
-}
-
 #endif // PBDRV_CONFIG_IOPORT
 
 #endif // _INTERNAL_PBDRV_IOPORT_H

lib/pbio/drv/ioport/ioport_pup.c

@@ -54,13 +54,31 @@ void pbdrv_ioport_init(void) {
     #endif
 }
 
-void pbdrv_ioport_deinit(void) {
+bool pbdrv_ioport_power_off(void) {
     init_ports();
 
-    // Turn off power on pin 4 on all ports. This is set to input instead of
-    // low to avoid city/move hubs turning back on when button released.
-    // as soon as the user releases the power button
-    pbdrv_gpio_input(&pbdrv_ioport_pup_platform_data.port_vcc);
+    // Turn off power on pin 4 on all ports.
+    #if PBDRV_CONFIG_IOPORT_PUP_QUIRK_SHUTDOWN
+    if (pbdrv_ioport_needs_shutdown_quirk()) {
+        // Some hubs will turn themselves back on if VCC is off when power is
+        // turned off, so we have to turn VCC back on as a workaround.
+        pbdrv_ioport_enable_vcc(true);
+
+        return false;
+    }
+
+    // We want VCC off so that lights on sensors turn off while the power
+    // button is held down. But, this would cause the hub to turn back on
+    // immediately. So return true to indicate that it is safe to turn off
+    // power.
+    pbdrv_ioport_enable_vcc(false);
+
+    return true;
+    #else
+    pbdrv_ioport_enable_vcc(false);
+
+    return false;
+    #endif
 }
 
 #if PBDRV_CONFIG_IOPORT_PUP_QUIRK_POWER_CYCLE

lib/pbio/drv/ioport/ioport_pup.h

@@ -41,6 +41,11 @@ typedef struct {
 
 extern const pbdrv_ioport_pup_platform_data_t pbdrv_ioport_pup_platform_data;
 
+#if PBDRV_CONFIG_IOPORT_PUP_QUIRK_SHUTDOWN
+// this function must be defined in platform.c when quirk is enabled
+bool pbdrv_ioport_needs_shutdown_quirk(void);
+#endif
+
 #endif // PBDRV_CONFIG_IOPORT_PUP
 
 #endif // _INTERNAL_PBDRV_IOPORT_PUP_H_

lib/pbio/include/pbdrv/ioport.h

@@ -22,11 +22,26 @@
  */
 void pbdrv_ioport_enable_vcc(bool enable);
 
+/**
+ * Sets port I/O pins to default state and powers off VCC.
+ *
+ * Some hubs have a quirk where VCC can't be turned off without causing the
+ * hub to immediately power back on. The return value indicates if it is safe
+ * to attempt to power off the hub or not.
+ *
+ * @return true if the hub cannot be powered off, false otherwise.
+ */
+bool pbdrv_ioport_power_off(void);
+
 #else // PBDRV_CONFIG_IOPORT
 
 static inline void pbdrv_ioport_enable_vcc(bool enable) {
 }
 
+static inline bool pbdrv_ioport_power_off(void) {
+    return false;
+}
+
 #endif // PBDRV_CONFIG_IOPORT
 
 #endif // PBDRV_IOPORT_H

lib/pbio/include/pbdrv/motor_driver.h

@@ -75,6 +75,18 @@ pbio_error_t pbdrv_motor_driver_set_duty_cycle(pbdrv_motor_driver_dev_t *driver,
  */
 pbio_error_t pbdrv_motor_driver_get_device_type_id(pbio_port_id_t port, pbdrv_legodev_type_id_t *type_id);
 
+/**
+ * Powers off all motor outputs.
+ */
+static inline void pbdrv_motor_driver_power_off(void) {
+    for (uint8_t i = 0; i < PBDRV_CONFIG_MOTOR_DRIVER_NUM_DEV; i++) {
+        pbdrv_motor_driver_dev_t *driver;
+        if (pbdrv_motor_driver_get_dev(i, &driver) == PBIO_SUCCESS) {
+            pbdrv_motor_driver_coast(driver);
+        }
+    }
+}
+
 #else
 
 static inline pbio_error_t pbdrv_motor_driver_get_dev(uint8_t id, pbdrv_motor_driver_dev_t **driver) {
@@ -94,6 +106,9 @@ static inline pbio_error_t pbdrv_motor_driver_get_device_type_id(pbio_port_id_t
     return PBIO_ERROR_NOT_SUPPORTED;
 }
 
+static inline void pbdrv_motor_driver_power_off(void) {
+}
+
 #endif
 
 #endif // _PBDRV_MOTOR_DRIVER_H_

lib/pbio/platform/city_hub/pbdrvconfig.h

@@ -45,6 +45,7 @@
 #define PBDRV_CONFIG_IOPORT_PUP                     (1)
 #define PBDRV_CONFIG_IOPORT_NUM_DEV                 (2)
 #define PBDRV_CONFIG_IOPORT_PUP_QUIRK_POWER_CYCLE   (1)
+#define PBDRV_CONFIG_IOPORT_PUP_QUIRK_SHUTDOWN      (1)
 #define PBDRV_CONFIG_IOPORT_DEBUG_UART              (0) // Doesn't work.
 
 #define PBDRV_CONFIG_LED                            (1)

lib/pbio/platform/city_hub/platform.c

@@ -208,6 +208,11 @@ const pbdrv_ioport_pup_platform_data_t pbdrv_ioport_pup_platform_data = {
     },
 };
 
+bool pbdrv_ioport_needs_shutdown_quirk(void) {
+    // quirk is not needed when button is pressed - button is active low
+    return !!(GPIOC->IDR & GPIO_IDR_13);
+}
+
 // LED
 
 // The constants below are derived from the SunLED XZM2CRKM2DGFBB45SCCB

lib/pbio/platform/essential_hub/pbdrvconfig.h

@@ -69,6 +69,7 @@
 #define PBDRV_CONFIG_IOPORT_PUP                     (1)
 #define PBDRV_CONFIG_IOPORT_NUM_DEV                 (2)
 #define PBDRV_CONFIG_IOPORT_PUP_QUIRK_POWER_CYCLE   (0)
+#define PBDRV_CONFIG_IOPORT_PUP_QUIRK_SHUTDOWN      (0)
 #define PBDRV_CONFIG_IOPORT_DEBUG_UART              (0)
 
 #define PBDRV_CONFIG_LED                            (1)

lib/pbio/platform/move_hub/pbdrvconfig.h

@@ -44,6 +44,7 @@
 #define PBDRV_CONFIG_IOPORT_PUP                     (1)
 #define PBDRV_CONFIG_IOPORT_NUM_DEV                 (2)
 #define PBDRV_CONFIG_IOPORT_PUP_QUIRK_POWER_CYCLE   (0)
+#define PBDRV_CONFIG_IOPORT_PUP_QUIRK_SHUTDOWN      (1)
 #define PBDRV_CONFIG_IOPORT_DEBUG_UART              (0) // Doesn't work.
 
 #define PBDRV_CONFIG_LED                            (1)

lib/pbio/platform/move_hub/platform.c

@@ -129,6 +129,11 @@ const pbdrv_ioport_pup_platform_data_t pbdrv_ioport_pup_platform_data = {
     }
 };
 
+bool pbdrv_ioport_needs_shutdown_quirk(void) {
+    // quirk is not needed when button is pressed - button is active low
+    return !!(GPIOC->IDR & GPIO_IDR_13);
+}
+
 // LED
 
 // The constants below are derived from the SunLED XZM2CRKM2DGFBB45SCCB

lib/pbio/platform/prime_hub/pbdrvconfig.h

@@ -70,6 +70,7 @@
 #define PBDRV_CONFIG_IOPORT_PUP                     (1)
 #define PBDRV_CONFIG_IOPORT_NUM_DEV                 (6)
 #define PBDRV_CONFIG_IOPORT_PUP_QUIRK_POWER_CYCLE   (0)
+#define PBDRV_CONFIG_IOPORT_PUP_QUIRK_SHUTDOWN      (0)
 #define PBDRV_CONFIG_IOPORT_DEBUG_UART              (0)
 
 #define PBDRV_CONFIG_LED                            (1)

lib/pbio/platform/technic_hub/pbdrvconfig.h

@@ -55,6 +55,7 @@
 #define PBDRV_CONFIG_IOPORT_PUP                     (1)
 #define PBDRV_CONFIG_IOPORT_NUM_DEV                 (4)
 #define PBDRV_CONFIG_IOPORT_PUP_QUIRK_POWER_CYCLE   (1)
+#define PBDRV_CONFIG_IOPORT_PUP_QUIRK_SHUTDOWN      (0)
 #define PBDRV_CONFIG_IOPORT_DEBUG_UART              (0)
 
 #define PBDRV_CONFIG_LED                            (1)

lib/pbio/sys/core.c

@@ -12,7 +12,6 @@
 
 #include "core.h"
 #include "hmi.h"
-#include "io_ports.h"
 #include "light.h"
 #include "storage.h"
 #include "supervisor.h"
@@ -36,7 +35,6 @@ PROCESS_THREAD(pbsys_system_process, ev, data) {
             etimer_reset(&timer);
             pbsys_battery_poll();
             pbsys_hmi_poll();
-            pbsys_io_ports_poll();
             pbsys_supervisor_poll();
             pbsys_program_stop_poll();
         }

lib/pbio/sys/main.c

@@ -7,6 +7,8 @@
 
 #include <stdint.h>
 
+#include <pbdrv/ioport.h>
+#include <pbdrv/motor_driver.h>
 #include <pbdrv/reset.h>
 #include <pbdrv/usb.h>
 #include <pbio/main.h>
@@ -112,6 +114,16 @@ int main(int argc, char **argv) {
         while (pbio_do_one_event()) {
         }
 
+        pbdrv_motor_driver_power_off();
+
+        // Some hubs will turn themselves back on if I/O port VCC is off when
+        // we call pbdrv_reset_power_off(). So don't turn off power until the
+        // return value of pbdrv_ioport_power_off() tells us it is safe to do
+        // so.
+        if (pbdrv_ioport_power_off()) {
+            continue;
+        }
+
         #if PBSYS_CONFIG_BATTERY_CHARGER
         // On hubs with USB battery chargers, we can't turn off power while
         // USB is connected, otherwise it disables the op-amp that provides