Segway RMP Lite 220 - Page 23

23
“uint32_t get_err_state(board_name_e board_name)”
interface, and the corresponding information is as follows:
Table 12 Error code
Board name
Bit
Error info
host
0x00000000
No error
0x00000001
Loss of control board
0x00000002
Unplug the serial port
module
Central
0x00000000
No error
0x00000001
Car control command
communication
interrupted
0x00000002
Motor board
communication
interrupted
0x00000004
IMU initialization failed
0x00000008
IMU failed to read
data
0x00000010
Lost control
0x00000020
Locked rotor
0x00000040
Failed to calibrate IMU
0x00000080
Read Flash failed
0x00000100
IMU data update failed
0x00000200
Bms initialization failed
to enter test mode
0x00000400
Rollover
0x00000800
Any motor board
restart is detected
0x00001000
Left magnetic encoder
fault
0x00002000
Right magnetic
encoder fault
0x00004000
Battery
communication
interrupted
0x00008000
Battery
communication
interrupted（30s）
Motor
0x00000000
No error