Diagnostics

The errors reported by the board are in the form of audible beeps.
For a more detailed troubleshooting you can use Debug Serial.

1 beep (low pitch)

The motor is constantly monitored for errors. These errors are:

• Error 001: Hall sensor not connected. At any moment, at least one Hall sensor should be high. This error can be triggered if a Hall sensor is defective or not connected, or if you haven't connected a motor.
• Error 002: Hall sensor short circuit. At any moment, at most 2 Halls sensors should be high. If 3 Halls sensors are high, one sensor is probably defective/shorted.
• Error 004: Motor NOT able to spin (Possible causes: motor phase disconnected, MOSFET defective, operational Amplifier defective, motor blocked, too much load). If this error is triggered because there is too much load on the motors, you can increase parameters r_errInpTgtThres and t_errQual in BLDC_controller_data.c file.

You can disable motors if not connected.
Motor diagnostic is enabled by default, it can be disabled in config.h with DIAG_ENA parameter.

2 beeps (low pitch)

ADC timeout triggered by the ADC protection

3 beeps (low pitch)

Serial communication timeout. Check possible reasons/troubleshooting tips in the wiki section for USART variant

4 beeps (low pitch)

General timeout (PPM, PWM, Nunchuk). Check possible reasons/troubleshooting tips in the wiki section for PPM variant/PWM variant/Nunchuk variant

5 beeps (low pitch)

Mainboard temperature warning. This warning is not enabled by default.

1 beep slow (medium pitch)

Low battery voltage < 36V. More details in the battery section.

1 beep fast (medium pitch)

Low battery voltage < 35V. More details in the battery section.

1 beep fast (high pitch)

Backward spinning motors.This is enabled by default, but can be disable in config.h with BEEPS_BACKWARD parameter