diff --git a/Diagnostics.md b/Diagnostics.md
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--- a/Diagnostics.md
+++ b/Diagnostics.md
@@ -1,13 +1,34 @@
-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/EFeru/bldc-motor-control-FOC#diagnostics)). Are you using a [single wheel](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Parameters#cd-single-wheel-use) ?
-- **2 beeps (low pitch)**: ADC timeout triggered by the [ADC protection](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Input-Calibration#adc-protection)
-- **3 beeps (low pitch)**: Serial communication timeout. Check possible reasons/troubleshooting tips in the wiki section for [USART variant](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-USART#toolbox-troubleshooting)
-- **4 beeps (low pitch)**: General timeout (PPM, PWM, Nunchuk). Check possible reasons/troubleshooting tips in the wiki section for [PPM variant](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-PPM#toolbox-troubleshooting)/[PWM variant](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-PWM#toolbox-troubleshooting)/[Nunchuk variant](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-Nunchuk#toolbox-troubleshooting)
-- **5 beeps (low pitch)**: Mainboard temperature warning
-- **1 beep slow (medium pitch)**: Low battery voltage < 36V. More details in the [battery](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Battery) section.
-- **1 beep fast (medium pitch)**: Low battery voltage < 35V. More details in the [battery](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Battery) section.
-- **1 beep fast (high pitch)**: Backward spinning motors
+The errors reported by the board are in the form of audible beeps.<br>
 
+### 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 should be high.
+- **Error 002**: Hall sensor short circuit. At any moment, at most 2 Halls should be high.
+- **Error 004**: Motor NOT able to spin (Possible causes: motor phase disconnected, MOSFET defective, operational Amplifier defective, motor blocked)
+
+If you are using a [single wheel](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Parameters#cd-single-wheel-use), you can disable the unused wheel.<br>
+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](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Input-Calibration#adc-protection)<br>
+
+### 3 beeps (low pitch)
+Serial communication timeout. Check possible reasons/troubleshooting tips in the wiki section for [USART variant](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-USART#toolbox-troubleshooting)<br>
+
+### 4 beeps (low pitch)
+General timeout (PPM, PWM, Nunchuk). Check possible reasons/troubleshooting tips in the wiki section for [PPM variant](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-PPM#toolbox-troubleshooting)/[PWM variant](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-PWM#toolbox-troubleshooting)/[Nunchuk variant](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-Nunchuk#toolbox-troubleshooting)<br>
+
+### 5 beeps (low pitch)
+Mainboard temperature warning. This warning is not enabled by default.<br>
+
+### 1 beep slow (medium pitch)
+Low battery voltage < 36V. More details in the [battery](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Battery) section.<br>
+
+### 1 beep fast (medium pitch)
+Low battery voltage < 35V. More details in the [battery](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Battery) section.<br>
+
+### 1 beep fast (high pitch)
+Backward spinning motors.<br>
 Please also note that with `BEEPS_BACKWARD = 1` (default setting) the board also makes a beep when the motors go backwards. If running [hoverserial.ino](/Arduino/hoverserial) from Arduino the backward beeps are normal, unless you intentionally disable them.<br>
 
 For a more detailed troubleshooting you can use [Debug Serial](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki/Debug-Serial)
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