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+The errors reported by the board are in the form of audible beeps:
+- **1 beep  (low pitch)**: Motor error (see [possible causes](https://github.com/EmanuelFeru/bldc-motor-control-FOC#diagnostics))
+- **2 beeps (low pitch)**: ADC timeout
+- **3 beeps (low pitch)**: Serial communication timeout
+- **4 beeps (low pitch)**: General timeout (PPM, PWM, Nunchuk)
+- **5 beeps (low pitch)**: Mainboard temperature warning
+- **1 beep slow (medium pitch)**: Low battery voltage < 36V
+- **1 beep fast (medium pitch)**: Low battery voltage < 35V
+- **1 beep fast (high pitch)**: Backward spinning motors
+
+For a more detailed troubleshooting connect an [FTDI Serial adapter](https://s.click.aliexpress.com/e/_AqPOBr) or a [Bluetooth module](https://s.click.aliexpress.com/e/_A4gkMD) to the DEBUG_SERIAL cable (Left or Right) and monitor the output data using the [Hoverboard Web Serial Control](https://candas1.github.io/Hoverboard-Web-Serial-Control/) tool developed by [Candas](https://github.com/Candas1/).
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