Add UART ACCEL_READ command for on-demand BMA456 samples.
Expose MessageType 24 with protobuf response (success, x, y, z in raw LSB), firmware handler with mutex-safe I2C read, goTool `accel` CLI, and docs. Co-authored-by: Cursor <cursoragent@cursor.com>
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Cursor
@@ -36,6 +36,12 @@ PB_BIND(alox_AccelDeadzoneRequest, alox_AccelDeadzoneRequest, AUTO)
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PB_BIND(alox_AccelDeadzoneResponse, alox_AccelDeadzoneResponse, AUTO)
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PB_BIND(alox_AccelReadRequest, alox_AccelReadRequest, AUTO)
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PB_BIND(alox_AccelReadResponse, alox_AccelReadResponse, AUTO)
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PB_BIND(alox_EspNowUnicastTestRequest, alox_EspNowUnicastTestRequest, AUTO)
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@@ -27,7 +27,8 @@ typedef enum _alox_MessageType {
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alox_MessageType_OTA_START_ESPNOW = 20,
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alox_MessageType_OTA_SLAVE_PROGRESS = 21,
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alox_MessageType_FIND_ME = 22,
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alox_MessageType_RESTART = 23
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alox_MessageType_RESTART = 23,
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alox_MessageType_ACCEL_READ = 24
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} alox_MessageType;
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/* Struct definitions */
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@@ -88,6 +89,18 @@ typedef struct _alox_AccelDeadzoneResponse {
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uint32_t slaves_updated;
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} alox_AccelDeadzoneResponse;
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/* Host → device: read current BMA456 accelerometer sample (raw LSB, ±2g range). */
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typedef struct _alox_AccelReadRequest {
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char dummy_field;
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} alox_AccelReadRequest;
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typedef struct _alox_AccelReadResponse {
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bool success;
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int32_t x;
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int32_t y;
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int32_t z;
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} alox_AccelReadResponse;
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typedef struct _alox_EspNowUnicastTestRequest {
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uint32_t client_id;
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uint32_t seq;
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@@ -218,6 +231,8 @@ typedef struct _alox_UartMessage {
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alox_EspNowFindMeResponse espnow_find_me_response;
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alox_RestartRequest restart_request;
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alox_RestartResponse restart_response;
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alox_AccelReadRequest accel_read_request;
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alox_AccelReadResponse accel_read_response;
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} payload;
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} alox_UartMessage;
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@@ -228,8 +243,8 @@ extern "C" {
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/* Helper constants for enums */
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#define _alox_MessageType_MIN alox_MessageType_UNKNOWN
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#define _alox_MessageType_MAX alox_MessageType_RESTART
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#define _alox_MessageType_ARRAYSIZE ((alox_MessageType)(alox_MessageType_RESTART+1))
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#define _alox_MessageType_MAX alox_MessageType_ACCEL_READ
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#define _alox_MessageType_ARRAYSIZE ((alox_MessageType)(alox_MessageType_ACCEL_READ+1))
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#define alox_UartMessage_type_ENUMTYPE alox_MessageType
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@@ -255,6 +270,8 @@ extern "C" {
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@@ -269,6 +286,8 @@ extern "C" {
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#define alox_ClientInputResponse_init_default {{{NULL}, NULL}}
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#define alox_AccelDeadzoneRequest_init_default {0, 0, 0, 0}
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#define alox_AccelDeadzoneResponse_init_default {0, 0, 0, 0}
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#define alox_AccelReadRequest_init_default {0}
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#define alox_AccelReadResponse_init_default {0, 0, 0, 0}
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#define alox_EspNowUnicastTestRequest_init_default {0, 0}
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#define alox_EspNowUnicastTestResponse_init_default {0, 0}
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#define alox_LedRingProgressRequest_init_default {0, 0, 0, 0, 0, 0, 0, 0, 0}
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@@ -294,6 +313,8 @@ extern "C" {
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#define alox_ClientInputResponse_init_zero {{{NULL}, NULL}}
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#define alox_AccelDeadzoneRequest_init_zero {0, 0, 0, 0}
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#define alox_AccelDeadzoneResponse_init_zero {0, 0, 0, 0}
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#define alox_AccelReadRequest_init_zero {0}
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#define alox_AccelReadResponse_init_zero {0, 0, 0, 0}
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#define alox_EspNowUnicastTestRequest_init_zero {0, 0}
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#define alox_EspNowUnicastTestResponse_init_zero {0, 0}
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#define alox_LedRingProgressRequest_init_zero {0, 0, 0, 0, 0, 0, 0, 0, 0}
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@@ -336,6 +357,10 @@ extern "C" {
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#define alox_AccelDeadzoneResponse_client_id_tag 2
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#define alox_AccelDeadzoneResponse_success_tag 3
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#define alox_AccelDeadzoneResponse_slaves_updated_tag 4
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#define alox_AccelReadResponse_success_tag 1
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#define alox_AccelReadResponse_x_tag 2
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#define alox_AccelReadResponse_y_tag 3
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#define alox_AccelReadResponse_z_tag 4
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#define alox_EspNowUnicastTestRequest_client_id_tag 1
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#define alox_EspNowUnicastTestRequest_seq_tag 2
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#define alox_EspNowUnicastTestResponse_success_tag 1
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@@ -399,6 +424,8 @@ extern "C" {
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#define alox_UartMessage_espnow_find_me_response_tag 20
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#define alox_UartMessage_restart_request_tag 21
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#define alox_UartMessage_restart_response_tag 22
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#define alox_UartMessage_accel_read_request_tag 23
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#define alox_UartMessage_accel_read_response_tag 24
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/* Struct field encoding specification for nanopb */
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#define alox_UartMessage_FIELDLIST(X, a) \
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@@ -423,7 +450,9 @@ X(a, STATIC, ONEOF, MESSAGE, (payload,led_ring_progress_response,payload.l
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X(a, STATIC, ONEOF, MESSAGE, (payload,espnow_find_me_request,payload.espnow_find_me_request), 19) \
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X(a, STATIC, ONEOF, MESSAGE, (payload,espnow_find_me_response,payload.espnow_find_me_response), 20) \
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X(a, STATIC, ONEOF, MESSAGE, (payload,restart_request,payload.restart_request), 21) \
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X(a, STATIC, ONEOF, MESSAGE, (payload,restart_response,payload.restart_response), 22)
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X(a, STATIC, ONEOF, MESSAGE, (payload,restart_response,payload.restart_response), 22) \
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X(a, STATIC, ONEOF, MESSAGE, (payload,accel_read_request,payload.accel_read_request), 23) \
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X(a, STATIC, ONEOF, MESSAGE, (payload,accel_read_response,payload.accel_read_response), 24)
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#define alox_UartMessage_CALLBACK NULL
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#define alox_UartMessage_DEFAULT NULL
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#define alox_UartMessage_payload_ack_payload_MSGTYPE alox_Ack
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@@ -447,6 +476,8 @@ X(a, STATIC, ONEOF, MESSAGE, (payload,restart_response,payload.restart_res
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#define alox_UartMessage_payload_espnow_find_me_response_MSGTYPE alox_EspNowFindMeResponse
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#define alox_UartMessage_payload_restart_request_MSGTYPE alox_RestartRequest
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#define alox_UartMessage_payload_restart_response_MSGTYPE alox_RestartResponse
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#define alox_UartMessage_payload_accel_read_request_MSGTYPE alox_AccelReadRequest
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#define alox_UartMessage_payload_accel_read_response_MSGTYPE alox_AccelReadResponse
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#define alox_Ack_FIELDLIST(X, a) \
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@@ -512,6 +543,19 @@ X(a, STATIC, SINGULAR, UINT32, slaves_updated, 4)
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#define alox_AccelDeadzoneResponse_CALLBACK NULL
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#define alox_AccelDeadzoneResponse_DEFAULT NULL
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#define alox_AccelReadRequest_FIELDLIST(X, a) \
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#define alox_AccelReadRequest_CALLBACK NULL
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#define alox_AccelReadRequest_DEFAULT NULL
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#define alox_AccelReadResponse_FIELDLIST(X, a) \
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X(a, STATIC, SINGULAR, BOOL, success, 1) \
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X(a, STATIC, SINGULAR, SINT32, x, 2) \
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X(a, STATIC, SINGULAR, SINT32, y, 3) \
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X(a, STATIC, SINGULAR, SINT32, z, 4)
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#define alox_AccelReadResponse_CALLBACK NULL
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#define alox_AccelReadResponse_DEFAULT NULL
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#define alox_EspNowUnicastTestRequest_FIELDLIST(X, a) \
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X(a, STATIC, SINGULAR, UINT32, client_id, 1) \
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X(a, STATIC, SINGULAR, UINT32, seq, 2)
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@@ -625,6 +669,8 @@ extern const pb_msgdesc_t alox_ClientInput_msg;
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extern const pb_msgdesc_t alox_ClientInputResponse_msg;
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extern const pb_msgdesc_t alox_AccelDeadzoneRequest_msg;
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extern const pb_msgdesc_t alox_AccelDeadzoneResponse_msg;
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extern const pb_msgdesc_t alox_AccelReadRequest_msg;
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extern const pb_msgdesc_t alox_AccelReadResponse_msg;
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extern const pb_msgdesc_t alox_EspNowUnicastTestRequest_msg;
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extern const pb_msgdesc_t alox_EspNowUnicastTestResponse_msg;
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extern const pb_msgdesc_t alox_LedRingProgressRequest_msg;
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@@ -652,6 +698,8 @@ extern const pb_msgdesc_t alox_OtaSlaveProgressResponse_msg;
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#define alox_ClientInputResponse_fields &alox_ClientInputResponse_msg
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#define alox_AccelDeadzoneRequest_fields &alox_AccelDeadzoneRequest_msg
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#define alox_AccelDeadzoneResponse_fields &alox_AccelDeadzoneResponse_msg
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#define alox_AccelReadRequest_fields &alox_AccelReadRequest_msg
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#define alox_AccelReadResponse_fields &alox_AccelReadResponse_msg
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#define alox_EspNowUnicastTestRequest_fields &alox_EspNowUnicastTestRequest_msg
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#define alox_EspNowUnicastTestResponse_fields &alox_EspNowUnicastTestResponse_msg
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#define alox_LedRingProgressRequest_fields &alox_LedRingProgressRequest_msg
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@@ -678,6 +726,8 @@ extern const pb_msgdesc_t alox_OtaSlaveProgressResponse_msg;
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#define ALOX_UART_MESSAGES_PB_H_MAX_SIZE alox_OtaSlaveProgressResponse_size
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#define alox_AccelDeadzoneRequest_size 16
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#define alox_AccelDeadzoneResponse_size 20
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#define alox_AccelReadRequest_size 0
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#define alox_AccelReadResponse_size 20
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#define alox_Ack_size 0
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#define alox_ClientInput_size 22
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#define alox_EspNowFindMeRequest_size 6
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@@ -22,6 +22,7 @@ enum MessageType {
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OTA_SLAVE_PROGRESS = 21;
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FIND_ME = 22;
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RESTART = 23;
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ACCEL_READ = 24;
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}
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message UartMessage {
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@@ -48,6 +49,8 @@ message UartMessage {
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EspNowFindMeResponse espnow_find_me_response = 20;
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RestartRequest restart_request = 21;
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RestartResponse restart_response = 22;
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AccelReadRequest accel_read_request = 23;
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AccelReadResponse accel_read_response = 24;
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}
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}
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@@ -106,6 +109,16 @@ message AccelDeadzoneResponse {
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uint32 slaves_updated = 4;
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}
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// Host → device: read current BMA456 accelerometer sample (raw LSB, ±2g range).
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message AccelReadRequest {}
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message AccelReadResponse {
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bool success = 1;
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sint32 x = 2;
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sint32 y = 3;
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sint32 z = 4;
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}
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message EspNowUnicastTestRequest {
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uint32 client_id = 1;
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uint32 seq = 2;
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