+ def get_reset(self):
+ reset = struct.unpack(">B", i2c_read_reg(0x50, 0xA0, 1))[0]
+
+ msg = DiagnosticArray()
+ msg.header.stamp = rospy.Time.now()
+ stat = DiagnosticStatus()
+ stat.name = "Reset reason"
+ stat.level = DiagnosticStatus.ERROR if reset & 0x0c else DiagnosticStatus.OK
+ stat.message = "0x%02x" % reset
+
+ stat.values.append(KeyValue("Watchdog Reset Flag", str(bool(reset & (1 << 3)))))
+ stat.values.append(KeyValue("Brown-out Reset Flag", str(bool(reset & (1 << 2)))))
+ stat.values.append(KeyValue("External Reset Flag", str(bool(reset & (1 << 1)))))
+ stat.values.append(KeyValue("Power-on Reset Flag", str(bool(reset & (1 << 0)))))
+
+ msg.status.append(stat)
+ self.pub_diag.publish(msg)
+ return reset
+
+