pbio/sys/main: turn off all motor outputs on shutdown

In most cases, pbio_stop_all() was already stopping motors, but it
doesn't turn off motor outputs for non-motor devices that need extra
power. This was causing the SPIKE Light Matrix to turn on all green LEDs
when any hub was turned off.

This fix is a bit of a hack since it is going behind the back of the
higher-level I/O port stuff, but it works for now.

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

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/sys/main.c

@@ -8,6 +8,7 @@
 #include <stdint.h>
 
 #include <pbdrv/ioport.h>
+#include <pbdrv/motor_driver.h>
 #include <pbdrv/reset.h>
 #include <pbdrv/usb.h>
 #include <pbio/main.h>
@@ -113,10 +114,22 @@ int main(int argc, char **argv) {
         while (pbio_do_one_event()) {
         }
 
+<<<<<<< HEAD
         // 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.
+||||||| parent of b693ffcf3 (pbio/sys/main: turn off all motor outputs on shutdown)
+        // Some hubs will turn themselves back on if 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.
+=======
+        pbdrv_motor_driver_power_off();
+
+        // Some hubs will turn themselves back on if 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.
+>>>>>>> b693ffcf3 (pbio/sys/main: turn off all motor outputs on shutdown)
         if (pbdrv_ioport_power_off()) {
             continue;
         }