sys/main: Simplify power off routine.

We can turn off sensor lights as soon as poweroff begins to indicate that the user may release the button.

We can avoid platform specific poweroff quirks to turn VCC back on in some cases. This can be done the poweroff function which is already platform-specific.

Author: laurensvalk

lib/pbio/drv/ioport/ioport.c

@@ -64,21 +64,11 @@ pbio_error_t pbdrv_ioport_p5p6_set_mode(const pbdrv_ioport_pins_t *pins, pbdrv_u
     return PBIO_ERROR_NOT_SUPPORTED;
 }
 
-void pbdrv_ioport_enable_vcc(pbdrv_ioport_vcc_mode_t mode) {
-    switch (mode) {
-        case PBDRV_IOPORT_VCC_OFF:
-            pbdrv_gpio_out_low(&pbdrv_ioport_platform_data_vcc_pin);
-            return;
-        case PBDRV_IOPORT_VCC_ON:
-            pbdrv_gpio_out_high(&pbdrv_ioport_platform_data_vcc_pin);
-            return;
-        default:
-        case PBDRV_IOPORT_VCC_SHUTDOWN:
-            // 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_platform_data_vcc_pin);
-            return;
+void pbdrv_ioport_enable_vcc(bool enable) {
+    if (enable) {
+        pbdrv_gpio_out_high(&pbdrv_ioport_platform_data_vcc_pin);
+    } else {
+        pbdrv_gpio_out_low(&pbdrv_ioport_platform_data_vcc_pin);
     }
 }
 

lib/pbio/include/pbdrv/ioport.h

@@ -17,24 +17,6 @@
 
 #include <stdbool.h>
 
-/**
- * Modes of the common vcc for the I/O port.
- */
-typedef enum {
-    /**
-     * Power to the ports is off.
-     */
-    PBDRV_IOPORT_VCC_OFF,
-    /**
-     * Power to the ports is on.
-     */
-    PBDRV_IOPORT_VCC_ON,
-    /**
-     * Power is set to the platform-specific needs during shutdown.
-     */
-    PBDRV_IOPORT_VCC_SHUTDOWN,
-} pbdrv_ioport_vcc_mode_t;
-
 /**
  * Modes of one I/O port. Governs the behavior of the P5 and P6 pins.
  */
@@ -115,9 +97,9 @@ typedef struct {
 /**
  * Enables or disables VCC on pin 4 of all ioports.
  *
- * @param [in]  mode        The power state to set.
+ * @param [in]  enable        Choose true to enable VCC, false to disable.
  */
-void pbdrv_ioport_enable_vcc(pbdrv_ioport_vcc_mode_t mode);
+void pbdrv_ioport_enable_vcc(bool enable);
 
 /**
  * Sets the mode of the P5P6 pins on this port.

lib/pbio/include/pbio/port_interface.h

@@ -57,7 +57,7 @@ typedef enum {
 
 void pbio_port_init(void);
 
-bool pbio_port_poweroff_is_ready(void);
+void pbio_port_power_off(void);
 
 void pbio_port_stop_user_actions(bool reset);
 
@@ -88,8 +88,7 @@ pbio_error_t pbio_port_set_mode(pbio_port_t *port, pbio_port_mode_t mode);
 static inline void pbio_port_init(void) {
 }
 
-static inline bool pbio_port_poweroff_is_ready(void) {
-    return true;
+static inline void pbio_port_power_off(void) {
 }
 
 static inline void pbio_port_stop_user_actions(bool reset) {

lib/pbio/platform/city_hub/platform.c

@@ -330,7 +330,10 @@ const pbdrv_pwm_stm32_tim_platform_data_t
 // RESET
 
 void pbdrv_reset_power_off(void) {
-    // setting PB11 low cuts the power
+    // This hub turns itself back on if VCC is off during power off.
+    pbdrv_ioport_enable_vcc(true);
+
+    // Setting PB11 low cuts the power.
     GPIOB->BRR = GPIO_BRR_BR_11;
 }
 

lib/pbio/platform/move_hub/platform.c

@@ -293,6 +293,9 @@ const pbdrv_pwm_stm32_tim_platform_data_t
 // RESET
 
 void pbdrv_reset_power_off(void) {
+    // This hub turns itself back on if VCC is off during power off.
+    pbdrv_ioport_enable_vcc(true);
+
     // setting PB11 low cuts the power
     GPIOB->BRR = GPIO_BRR_BR_11;
 }

lib/pbio/src/port.c

@@ -484,22 +484,19 @@ void pbio_port_stop_user_actions(bool reset) {
  * @return  Whether the system is ready to power off.
  */
 
-bool pbio_port_poweroff_is_ready(void) {
+void pbio_port_power_off(void) {
     // Stops motors if active, ignoring sensors that need permanent power.
     pbio_port_stop_user_actions(true);
 
-    // We also want to power off sensors that need power now and stop their
-    // processes from triggering any further actions.
+    // We also want to turn off sensors powered through the motor terminals
+    // and stop their processes from triggering any further actions.
     for (uint8_t i = 0; i < PBIO_CONFIG_PORT_NUM_PORTS; i++) {
         pbio_port_t *port = &ports[i];
         pbio_port_set_mode(port, PBIO_PORT_MODE_NONE);
     }
 
-    // Use ioport platform-specific needs for power off.
-    pbdrv_ioport_enable_vcc(PBDRV_IOPORT_VCC_SHUTDOWN);
-
-    // REVISIT: Test button quirk here.
-    return true;
+    // This turns off any sensor lights that run on VCC.
+    pbdrv_ioport_enable_vcc(false);
 }
 
 void pbio_port_process_poll(void *port) {

lib/pbio/sys/main.c

@@ -123,6 +123,10 @@ int main(int argc, char **argv) {
         program.start_request_type = PBSYS_MAIN_PROGRAM_START_REQUEST_TYPE_NONE;
     }
 
+    // Power off sensors and motors, including the ones that are always powered.
+    // This also makes it easier to see that users can let go of the button.
+    pbio_port_power_off();
+
     // Stop system processes and save user data before we shutdown.
     pbsys_deinit();
 
@@ -132,29 +136,12 @@ int main(int argc, char **argv) {
     // The power could be held on due to someone pressing the center button
     // or USB being plugged in, so we have this loop to keep pumping events
     // to turn off most of the peripherals and keep the battery charger running.
-    for (;;) {
-        // We must handle all pending events before turning the power off the
-        // first time, otherwise the city hub turns itself back on sometimes.
-        while (pbio_do_one_event()) {
-        }
-
-        // Prepare ports for power off but don't turn off power yet if
-        // ports are not ready.
-        if (!pbio_port_poweroff_is_ready()) {
-            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
-        // the battery voltage to the ADC.
-        if (pbdrv_usb_get_bcd() != PBDRV_USB_BCD_NONE) {
-            continue;
-        }
-        #endif
-
-        pbdrv_reset_power_off();
+    while (pbsys_status_test(PBIO_PYBRICKS_STATUS_POWER_BUTTON_PRESSED) || pbdrv_usb_get_bcd() != PBDRV_USB_BCD_NONE) {
+        pbio_do_one_event();
     }
+
+    // Platform-specific power off.
+    pbdrv_reset_power_off();
 }
 
 #endif // PBSYS_CONFIG_MAIN