Key-on, engine start. "Brake failure" light comes on solid and stays that way for the duration of the ride--it never flashes, as in the "normal" diagnostic procedure. It's sensing a fault in the system, even before wheels are rolling, which I understand is when the system checks the wheel sensors.
I guess I need a GS-911 to pull the codes. Odd thing is I've only ridden it a few times since changing the gear oil in the final drive--and then the fault code displayed. Could be just a coincidence, but I don't like coincidences...