From 41442ac764a84b0c1ea051bfcb8259313a708dac Mon Sep 17 00:00:00 2001
From: Ryan howard <ryan.howard@opentrons.com>
Date: Thu, 8 Dec 2022 12:13:20 -0500
Subject: [PATCH 1/3] add an estop release err code

---
 hardware/opentrons_hardware/firmware_bindings/constants.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/hardware/opentrons_hardware/firmware_bindings/constants.py b/hardware/opentrons_hardware/firmware_bindings/constants.py
index 633b7f63d68..8ff3080d260 100644
--- a/hardware/opentrons_hardware/firmware_bindings/constants.py
+++ b/hardware/opentrons_hardware/firmware_bindings/constants.py
@@ -169,6 +169,7 @@ class ErrorCode(int, Enum):
     estop_detected = 0x07
     collision_detected = 0x08
     labware_dropped = 0x09
+    estop_released = 0x0A
 
 
 @unique

From e88e71eb5ab47ea89697421271030b72103e50cd Mon Sep 17 00:00:00 2001
From: Ryan howard <ryan.howard@opentrons.com>
Date: Thu, 8 Dec 2022 12:31:37 -0500
Subject: [PATCH 2/3] add warning style to can_mon

---
 .../opentrons_hardware/scripts/can_mon.py     | 21 ++++++++++++++++---
 1 file changed, 18 insertions(+), 3 deletions(-)

diff --git a/hardware/opentrons_hardware/scripts/can_mon.py b/hardware/opentrons_hardware/scripts/can_mon.py
index b3cd8b400f8..d4815580be9 100644
--- a/hardware/opentrons_hardware/scripts/can_mon.py
+++ b/hardware/opentrons_hardware/scripts/can_mon.py
@@ -8,7 +8,7 @@
 import sys
 from datetime import datetime
 from logging.config import dictConfig
-from typing import List, TextIO
+from typing import List, TextIO, cast
 
 from opentrons_hardware.drivers.can_bus import (
     build,
@@ -18,6 +18,10 @@
 from opentrons_hardware.firmware_bindings.constants import (
     MessageId,
     NodeId,
+    ErrorSeverity,
+)
+from opentrons_hardware.firmware_bindings.messages.message_definitions import (
+    ErrorMessage,
 )
 
 from opentrons_hardware.scripts.can_args import add_can_args, build_settings
@@ -89,6 +93,9 @@ async def task(
     info_header_style = "\033[0;36;40m"
     info_data_style = "\033[1;36;40m"
 
+    warn_header_style = "\033[0;33;40m"
+    warn_data_style = "\033[1;33;40m"
+
     err_header_style = "\033[0;31;40m"
     err_data_style = "\033[1;31;40m"
 
@@ -103,8 +110,16 @@ async def task(
                 arb_id_str = f"0x{arbitration_id.id:x}"
 
             if arbitration_id.parts.message_id == MessageId.error_message:
-                header_style = err_header_style
-                data_style = err_data_style
+                err_msg = err_msg = cast(ErrorMessage, message)
+                if (
+                    ErrorSeverity(err_msg.payload.severity.value)
+                    == ErrorSeverity.warning
+                ):
+                    header_style = warn_header_style
+                    data_style = warn_data_style
+                else:
+                    header_style = err_header_style
+                    data_style = err_data_style
             else:
                 header_style = info_header_style
                 data_style = info_data_style

From 4a543365c333268861d2bc4bfb3fdcbfb5c36116 Mon Sep 17 00:00:00 2001
From: Ryan howard <ryan.howard@opentrons.com>
Date: Tue, 3 Jan 2023 12:03:59 -0500
Subject: [PATCH 3/3] sleep at the end of gpio init so that we don't crash the
 can messenger on startup

---
 hardware/opentrons_hardware/drivers/gpio/__init__.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/hardware/opentrons_hardware/drivers/gpio/__init__.py b/hardware/opentrons_hardware/drivers/gpio/__init__.py
index c70880ddb47..8138189037a 100644
--- a/hardware/opentrons_hardware/drivers/gpio/__init__.py
+++ b/hardware/opentrons_hardware/drivers/gpio/__init__.py
@@ -3,6 +3,7 @@
 from typing_extensions import Final
 from unittest import mock
 from logging import getLogger
+from time import sleep
 
 CONSUMER_NAME_DEFAULT: Final[str] = "opentrons"
 ESTOP_OUT_GPIO_NAME: Final[str] = "SODIMM_210"
@@ -47,6 +48,7 @@ def __init__(self, consumer_name: Optional[str] = None) -> None:
         )
         self.deactivate_estop()
         self.deactivate_nsync_out()
+        sleep(1)
 
     def activate_estop(self) -> None:
         """Assert the emergency stop, which will disable all motors."""