From aa40e7b16910c338bacce7003bc2b3d51f1b2468 Mon Sep 17 00:00:00 2001
From: Peli de Halleux <pelikhan@users.noreply.github.com>
Date: Wed, 28 Aug 2019 08:52:01 -0700
Subject: [PATCH] Endprogram (#884)

* moving end program logic to c++

* typo

* always stop on reset
---
 libs/core/buttons.ts |  1 -
 libs/core/linux.cpp  | 13 +++++++++++--
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/libs/core/buttons.ts b/libs/core/buttons.ts
index 8faad1b4..a50464e9 100644
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@@ -162,7 +162,6 @@ namespace brick {
         // this needs to be done in query(), which is run without the main JS execution mutex
         // otherwise, while(true){} will lock the device
         if (ret & DAL.BUTTON_ID_ESCAPE) {
-            motors.stopAll(); // ensuring that all motors are off
             control.reset()
         }
         return ret
diff --git a/libs/core/linux.cpp b/libs/core/linux.cpp
index 22ab7aa3..9f8df9f6 100644
--- a/libs/core/linux.cpp
+++ b/libs/core/linux.cpp
@@ -14,6 +14,7 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <malloc.h>
+#include "ev3const.h"
 
 #define THREAD_DBG(...)
 
@@ -489,14 +490,22 @@ void runLMS() {
 }
 
 void stopMotors() {
-    uint8_t cmd[2] = { 0xA3, 0x0F };
+    uint8_t cmd[3] = { opOutputStop, 0x0F, 0 };
     int fd = open("/dev/lms_pwm", O_RDWR);
-    write(fd, cmd, 2);
+    write(fd, cmd, 3);
+    close(fd);
+}
+
+void stopProgram() {
+    uint8_t cmd[1] = { opOutputProgramStop };
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 1);
     close(fd);
 }
 
 extern "C" void target_reset() {
     stopMotors();
+    stopProgram();
     if (lmsPid)
         runLMS();
     else