Good day to all. I'm from Russia. So I apologize in advance for my English.
I would like to share information. I have about 150 defective Bafang M600 bicycles at my disposal. Below I will attach a photo of the board, it was made on STM 32. There is no magnetic field sensor on my board; instead, I use sensors inside the motor (cold sensor). It is connected to the same connector as the engine temperature sensor, on the connector these pins are designated as U, V, W. I think it will be noticeable in the photo.
Some bicycles will only ride while holding down the "-" button. In this case, they do not respond to the pedals. To monitor the CAN bus, I use the CANHacker software and a homemade adapter based on Arduino + mpc2515 + mpc2551. In serviceable bicycles, the pedal sensor seems to be fine, but for some reason some of them do not ride. But later I think I'll figure it out. In the meantime, I am attaching a photo of the controller.
Thanks for the CAN tutorial, it came in handy.
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