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>

goTool/README.md

@@ -24,6 +24,8 @@ go run . -port /dev/ttyUSB0 clients
 |---------|--------------|-------------|
 | `version` | `0x03` | Prints `version` and `git_hash` from firmware |
 | `clients` | `0x04` | Lists slaves registered on the master via ESP-NOW |
+| `deadzone` | `0x06` | Get/set accelerometer deadzone LSB (`-set`, `-value`, `-client`, `-all`) |
+| `accel` | `0x18` | Read current BMA456 XYZ (raw LSB, ±2g); alias `accel-read` |
 | `unicast-test` | `0x07` | Sends ESP-NOW unicast test to one slave (`-client`, `-seq`) |
 | `test` | — | Run an automated scenario (JSON configs under `testdata/`) |
 | `serve` | — | Web dashboard at `http://localhost:8080` (WebSocket live updates) |

goTool/client_api.go

@@ -101,6 +101,25 @@ func decodeClientsPayload(payload []byte) ([]*pb.ClientInfo, error) {
 	return info.GetClients(), nil
 }
 
+func (s *serialPort) readAccel() (*pb.AccelReadResponse, error) {
+	payload, err := s.exchange(byte(pb.MessageType_ACCEL_READ), "ACCEL_READ")
+	if err != nil {
+		return nil, err
+	}
+	var msg pb.UartMessage
+	if err := proto.Unmarshal(payload[1:], &msg); err != nil {
+		return nil, fmt.Errorf("decode: %w", err)
+	}
+	if msg.GetType() != pb.MessageType_ACCEL_READ {
+		return nil, fmt.Errorf("unexpected type %v", msg.GetType())
+	}
+	r := msg.GetAccelReadResponse()
+	if r == nil {
+		return nil, fmt.Errorf("missing accel_read_response")
+	}
+	return r, nil
+}
+
 func (s *serialPort) getVersion() (*pb.VersionResponse, error) {
 	payload, err := s.exchange(byte(pb.MessageType_VERSION), "VERSION")
 	if err != nil {

goTool/cmd_accel.go

@@ -0,0 +1,17 @@
+package main
+
+import (
+	"fmt"
+)
+
+func runAccel(sp *serialPort) error {
+	r, err := sp.readAccel()
+	if err != nil {
+		return err
+	}
+	if !r.GetSuccess() {
+		return fmt.Errorf("accel read failed (sensor not ready?)")
+	}
+	fmt.Printf("accel: x=%d y=%d z=%d (raw LSB, ±2g)\n", r.GetX(), r.GetY(), r.GetZ())
+	return nil
+}

goTool/main.go

@@ -16,6 +16,7 @@ func usage() {
 	fmt.Fprintf(os.Stderr, "  version   firmware version and git hash\n")
 	fmt.Fprintf(os.Stderr, "  clients   registered ESP-NOW slaves on the master\n")
 	fmt.Fprintf(os.Stderr, "  deadzone      get/set accelerometer deadzone (LSB)\n")
+	fmt.Fprintf(os.Stderr, "  accel         read current accelerometer XYZ (raw LSB)\n")
 	fmt.Fprintf(os.Stderr, "  unicast-test  send ESP-NOW unicast test to one slave\n")
 	fmt.Fprintf(os.Stderr, "  test          run automated scenario (see testdata/)\n")
 	fmt.Fprintf(os.Stderr, "  serve         web dashboard (Bootstrap + WebSocket)\n")
@@ -50,7 +51,7 @@ func main() {
 			os.Exit(2)
 		}
 		runErr = runServe(*portName, *baud, flag.Args()[1:])
-	case "version", "clients", "client-info", "deadzone", "accel-deadzone", "unicast-test", "unicast_test", "led-ring", "led_ring", "find-me", "find_me", "restart", "ota", "ota-progress", "ota_progress":
+	case "version", "clients", "client-info", "deadzone", "accel-deadzone", "accel", "accel-read", "accel_read", "unicast-test", "unicast_test", "led-ring", "led_ring", "find-me", "find_me", "restart", "ota", "ota-progress", "ota_progress":
 		if *portName == "" {
 			fmt.Fprintf(os.Stderr, "command %q requires -port\n\n", cmd)
 			usage()
@@ -68,6 +69,8 @@ func main() {
 			runErr = runClients(sp)
 		case "deadzone", "accel-deadzone":
 			runErr = runDeadzone(sp, flag.Args()[1:])
+		case "accel", "accel-read", "accel_read":
+			runErr = runAccel(sp)
 		case "unicast-test", "unicast_test":
 			runErr = runUnicastTest(sp, flag.Args()[1:])
 		case "led-ring", "led_ring":

goTool/pb/uart_messages.pb.go

@@ -41,6 +41,7 @@ const (
 	MessageType_OTA_SLAVE_PROGRESS  MessageType = 21
 	MessageType_FIND_ME             MessageType = 22
 	MessageType_RESTART             MessageType = 23
+	MessageType_ACCEL_READ          MessageType = 24
 )
 
 // Enum value maps for MessageType.
@@ -63,6 +64,7 @@ var (
 		21: "OTA_SLAVE_PROGRESS",
 		22: "FIND_ME",
 		23: "RESTART",
+		24: "ACCEL_READ",
 	}
 	MessageType_value = map[string]int32{
 		"UNKNOWN":             0,
@@ -82,6 +84,7 @@ var (
 		"OTA_SLAVE_PROGRESS":  21,
 		"FIND_ME":             22,
 		"RESTART":             23,
+		"ACCEL_READ":          24,
 	}
 )
 
@@ -138,6 +141,8 @@ type UartMessage struct {
 	//	*UartMessage_EspnowFindMeResponse
 	//	*UartMessage_RestartRequest
 	//	*UartMessage_RestartResponse
+	//	*UartMessage_AccelReadRequest
+	//	*UartMessage_AccelReadResponse
 	Payload       isUartMessage_Payload `protobuf_oneof:"payload"`
 	unknownFields protoimpl.UnknownFields
 	sizeCache     protoimpl.SizeCache
@@ -376,6 +381,24 @@ func (x *UartMessage) GetRestartResponse() *RestartResponse {
 	return nil
 }
 
+func (x *UartMessage) GetAccelReadRequest() *AccelReadRequest {
+	if x != nil {
+		if x, ok := x.Payload.(*UartMessage_AccelReadRequest); ok {
+			return x.AccelReadRequest
+		}
+	}
+	return nil
+}
+
+func (x *UartMessage) GetAccelReadResponse() *AccelReadResponse {
+	if x != nil {
+		if x, ok := x.Payload.(*UartMessage_AccelReadResponse); ok {
+			return x.AccelReadResponse
+		}
+	}
+	return nil
+}
+
 type isUartMessage_Payload interface {
 	isUartMessage_Payload()
 }
@@ -464,6 +487,14 @@ type UartMessage_RestartResponse struct {
 	RestartResponse *RestartResponse `protobuf:"bytes,22,opt,name=restart_response,json=restartResponse,proto3,oneof"`
 }
 
+type UartMessage_AccelReadRequest struct {
+	AccelReadRequest *AccelReadRequest `protobuf:"bytes,23,opt,name=accel_read_request,json=accelReadRequest,proto3,oneof"`
+}
+
+type UartMessage_AccelReadResponse struct {
+	AccelReadResponse *AccelReadResponse `protobuf:"bytes,24,opt,name=accel_read_response,json=accelReadResponse,proto3,oneof"`
+}
+
 func (*UartMessage_AckPayload) isUartMessage_Payload() {}
 
 func (*UartMessage_EchoPayload) isUartMessage_Payload() {}
@@ -506,6 +537,10 @@ func (*UartMessage_RestartRequest) isUartMessage_Payload() {}
 
 func (*UartMessage_RestartResponse) isUartMessage_Payload() {}
 
+func (*UartMessage_AccelReadRequest) isUartMessage_Payload() {}
+
+func (*UartMessage_AccelReadResponse) isUartMessage_Payload() {}
+
 type Ack struct {
 	state         protoimpl.MessageState `protogen:"open.v1"`
 	unknownFields protoimpl.UnknownFields
@@ -1034,6 +1069,111 @@ func (x *AccelDeadzoneResponse) GetSlavesUpdated() uint32 {
 	return 0
 }
 
+// Host → device: read current BMA456 accelerometer sample (raw LSB, ±2g range).
+type AccelReadRequest struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *AccelReadRequest) Reset() {
+	*x = AccelReadRequest{}
+	mi := &file_uart_messages_proto_msgTypes[10]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *AccelReadRequest) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*AccelReadRequest) ProtoMessage() {}
+
+func (x *AccelReadRequest) ProtoReflect() protoreflect.Message {
+	mi := &file_uart_messages_proto_msgTypes[10]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use AccelReadRequest.ProtoReflect.Descriptor instead.
+func (*AccelReadRequest) Descriptor() ([]byte, []int) {
+	return file_uart_messages_proto_rawDescGZIP(), []int{10}
+}
+
+type AccelReadResponse struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	Success       bool                   `protobuf:"varint,1,opt,name=success,proto3" json:"success,omitempty"`
+	X             int32                  `protobuf:"zigzag32,2,opt,name=x,proto3" json:"x,omitempty"`
+	Y             int32                  `protobuf:"zigzag32,3,opt,name=y,proto3" json:"y,omitempty"`
+	Z             int32                  `protobuf:"zigzag32,4,opt,name=z,proto3" json:"z,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *AccelReadResponse) Reset() {
+	*x = AccelReadResponse{}
+	mi := &file_uart_messages_proto_msgTypes[11]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *AccelReadResponse) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*AccelReadResponse) ProtoMessage() {}
+
+func (x *AccelReadResponse) ProtoReflect() protoreflect.Message {
+	mi := &file_uart_messages_proto_msgTypes[11]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use AccelReadResponse.ProtoReflect.Descriptor instead.
+func (*AccelReadResponse) Descriptor() ([]byte, []int) {
+	return file_uart_messages_proto_rawDescGZIP(), []int{11}
+}
+
+func (x *AccelReadResponse) GetSuccess() bool {
+	if x != nil {
+		return x.Success
+	}
+	return false
+}
+
+func (x *AccelReadResponse) GetX() int32 {
+	if x != nil {
+		return x.X
+	}
+	return 0
+}
+
+func (x *AccelReadResponse) GetY() int32 {
+	if x != nil {
+		return x.Y
+	}
+	return 0
+}
+
+func (x *AccelReadResponse) GetZ() int32 {
+	if x != nil {
+		return x.Z
+	}
+	return 0
+}
+
 type EspNowUnicastTestRequest struct {
 	state         protoimpl.MessageState `protogen:"open.v1"`
 	ClientId      uint32                 `protobuf:"varint,1,opt,name=client_id,json=clientId,proto3" json:"client_id,omitempty"`
@@ -1044,7 +1184,7 @@ type EspNowUnicastTestRequest struct {
 
 func (x *EspNowUnicastTestRequest) Reset() {
 	*x = EspNowUnicastTestRequest{}
-	mi := &file_uart_messages_proto_msgTypes[10]
+	mi := &file_uart_messages_proto_msgTypes[12]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1056,7 +1196,7 @@ func (x *EspNowUnicastTestRequest) String() string {
 func (*EspNowUnicastTestRequest) ProtoMessage() {}
 
 func (x *EspNowUnicastTestRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[10]
+	mi := &file_uart_messages_proto_msgTypes[12]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1069,7 +1209,7 @@ func (x *EspNowUnicastTestRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use EspNowUnicastTestRequest.ProtoReflect.Descriptor instead.
 func (*EspNowUnicastTestRequest) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{10}
+	return file_uart_messages_proto_rawDescGZIP(), []int{12}
 }
 
 func (x *EspNowUnicastTestRequest) GetClientId() uint32 {
@@ -1096,7 +1236,7 @@ type EspNowUnicastTestResponse struct {
 
 func (x *EspNowUnicastTestResponse) Reset() {
 	*x = EspNowUnicastTestResponse{}
-	mi := &file_uart_messages_proto_msgTypes[11]
+	mi := &file_uart_messages_proto_msgTypes[13]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1108,7 +1248,7 @@ func (x *EspNowUnicastTestResponse) String() string {
 func (*EspNowUnicastTestResponse) ProtoMessage() {}
 
 func (x *EspNowUnicastTestResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[11]
+	mi := &file_uart_messages_proto_msgTypes[13]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1121,7 +1261,7 @@ func (x *EspNowUnicastTestResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use EspNowUnicastTestResponse.ProtoReflect.Descriptor instead.
 func (*EspNowUnicastTestResponse) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{11}
+	return file_uart_messages_proto_rawDescGZIP(), []int{13}
 }
 
 func (x *EspNowUnicastTestResponse) GetSuccess() bool {
@@ -1162,7 +1302,7 @@ type LedRingProgressRequest struct {
 
 func (x *LedRingProgressRequest) Reset() {
 	*x = LedRingProgressRequest{}
-	mi := &file_uart_messages_proto_msgTypes[12]
+	mi := &file_uart_messages_proto_msgTypes[14]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1174,7 +1314,7 @@ func (x *LedRingProgressRequest) String() string {
 func (*LedRingProgressRequest) ProtoMessage() {}
 
 func (x *LedRingProgressRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[12]
+	mi := &file_uart_messages_proto_msgTypes[14]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1187,7 +1327,7 @@ func (x *LedRingProgressRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use LedRingProgressRequest.ProtoReflect.Descriptor instead.
 func (*LedRingProgressRequest) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{12}
+	return file_uart_messages_proto_rawDescGZIP(), []int{14}
 }
 
 func (x *LedRingProgressRequest) GetMode() uint32 {
@@ -1265,7 +1405,7 @@ type LedRingProgressResponse struct {
 
 func (x *LedRingProgressResponse) Reset() {
 	*x = LedRingProgressResponse{}
-	mi := &file_uart_messages_proto_msgTypes[13]
+	mi := &file_uart_messages_proto_msgTypes[15]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1277,7 +1417,7 @@ func (x *LedRingProgressResponse) String() string {
 func (*LedRingProgressResponse) ProtoMessage() {}
 
 func (x *LedRingProgressResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[13]
+	mi := &file_uart_messages_proto_msgTypes[15]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1290,7 +1430,7 @@ func (x *LedRingProgressResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use LedRingProgressResponse.ProtoReflect.Descriptor instead.
 func (*LedRingProgressResponse) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{13}
+	return file_uart_messages_proto_rawDescGZIP(), []int{15}
 }
 
 func (x *LedRingProgressResponse) GetSuccess() bool {
@@ -1331,7 +1471,7 @@ type EspNowFindMeRequest struct {
 
 func (x *EspNowFindMeRequest) Reset() {
 	*x = EspNowFindMeRequest{}
-	mi := &file_uart_messages_proto_msgTypes[14]
+	mi := &file_uart_messages_proto_msgTypes[16]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1343,7 +1483,7 @@ func (x *EspNowFindMeRequest) String() string {
 func (*EspNowFindMeRequest) ProtoMessage() {}
 
 func (x *EspNowFindMeRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[14]
+	mi := &file_uart_messages_proto_msgTypes[16]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1356,7 +1496,7 @@ func (x *EspNowFindMeRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use EspNowFindMeRequest.ProtoReflect.Descriptor instead.
 func (*EspNowFindMeRequest) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{14}
+	return file_uart_messages_proto_rawDescGZIP(), []int{16}
 }
 
 func (x *EspNowFindMeRequest) GetClientId() uint32 {
@@ -1376,7 +1516,7 @@ type EspNowFindMeResponse struct {
 
 func (x *EspNowFindMeResponse) Reset() {
 	*x = EspNowFindMeResponse{}
-	mi := &file_uart_messages_proto_msgTypes[15]
+	mi := &file_uart_messages_proto_msgTypes[17]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1388,7 +1528,7 @@ func (x *EspNowFindMeResponse) String() string {
 func (*EspNowFindMeResponse) ProtoMessage() {}
 
 func (x *EspNowFindMeResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[15]
+	mi := &file_uart_messages_proto_msgTypes[17]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1401,7 +1541,7 @@ func (x *EspNowFindMeResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use EspNowFindMeResponse.ProtoReflect.Descriptor instead.
 func (*EspNowFindMeResponse) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{15}
+	return file_uart_messages_proto_rawDescGZIP(), []int{17}
 }
 
 func (x *EspNowFindMeResponse) GetSuccess() bool {
@@ -1428,7 +1568,7 @@ type RestartRequest struct {
 
 func (x *RestartRequest) Reset() {
 	*x = RestartRequest{}
-	mi := &file_uart_messages_proto_msgTypes[16]
+	mi := &file_uart_messages_proto_msgTypes[18]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1440,7 +1580,7 @@ func (x *RestartRequest) String() string {
 func (*RestartRequest) ProtoMessage() {}
 
 func (x *RestartRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[16]
+	mi := &file_uart_messages_proto_msgTypes[18]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1453,7 +1593,7 @@ func (x *RestartRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use RestartRequest.ProtoReflect.Descriptor instead.
 func (*RestartRequest) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{16}
+	return file_uart_messages_proto_rawDescGZIP(), []int{18}
 }
 
 func (x *RestartRequest) GetClientId() uint32 {
@@ -1473,7 +1613,7 @@ type RestartResponse struct {
 
 func (x *RestartResponse) Reset() {
 	*x = RestartResponse{}
-	mi := &file_uart_messages_proto_msgTypes[17]
+	mi := &file_uart_messages_proto_msgTypes[19]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1485,7 +1625,7 @@ func (x *RestartResponse) String() string {
 func (*RestartResponse) ProtoMessage() {}
 
 func (x *RestartResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[17]
+	mi := &file_uart_messages_proto_msgTypes[19]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1498,7 +1638,7 @@ func (x *RestartResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use RestartResponse.ProtoReflect.Descriptor instead.
 func (*RestartResponse) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{17}
+	return file_uart_messages_proto_rawDescGZIP(), []int{19}
 }
 
 func (x *RestartResponse) GetSuccess() bool {
@@ -1525,7 +1665,7 @@ type OtaStartPayload struct {
 
 func (x *OtaStartPayload) Reset() {
 	*x = OtaStartPayload{}
-	mi := &file_uart_messages_proto_msgTypes[18]
+	mi := &file_uart_messages_proto_msgTypes[20]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1537,7 +1677,7 @@ func (x *OtaStartPayload) String() string {
 func (*OtaStartPayload) ProtoMessage() {}
 
 func (x *OtaStartPayload) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[18]
+	mi := &file_uart_messages_proto_msgTypes[20]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1550,7 +1690,7 @@ func (x *OtaStartPayload) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaStartPayload.ProtoReflect.Descriptor instead.
 func (*OtaStartPayload) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{18}
+	return file_uart_messages_proto_rawDescGZIP(), []int{20}
 }
 
 func (x *OtaStartPayload) GetTotalSize() uint32 {
@@ -1571,7 +1711,7 @@ type OtaPayload struct {
 
 func (x *OtaPayload) Reset() {
 	*x = OtaPayload{}
-	mi := &file_uart_messages_proto_msgTypes[19]
+	mi := &file_uart_messages_proto_msgTypes[21]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1583,7 +1723,7 @@ func (x *OtaPayload) String() string {
 func (*OtaPayload) ProtoMessage() {}
 
 func (x *OtaPayload) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[19]
+	mi := &file_uart_messages_proto_msgTypes[21]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1596,7 +1736,7 @@ func (x *OtaPayload) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaPayload.ProtoReflect.Descriptor instead.
 func (*OtaPayload) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{19}
+	return file_uart_messages_proto_rawDescGZIP(), []int{21}
 }
 
 func (x *OtaPayload) GetSeq() uint32 {
@@ -1622,7 +1762,7 @@ type OtaEndPayload struct {
 
 func (x *OtaEndPayload) Reset() {
 	*x = OtaEndPayload{}
-	mi := &file_uart_messages_proto_msgTypes[20]
+	mi := &file_uart_messages_proto_msgTypes[22]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1634,7 +1774,7 @@ func (x *OtaEndPayload) String() string {
 func (*OtaEndPayload) ProtoMessage() {}
 
 func (x *OtaEndPayload) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[20]
+	mi := &file_uart_messages_proto_msgTypes[22]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1647,7 +1787,7 @@ func (x *OtaEndPayload) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaEndPayload.ProtoReflect.Descriptor instead.
 func (*OtaEndPayload) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{20}
+	return file_uart_messages_proto_rawDescGZIP(), []int{22}
 }
 
 // Device → host status (also used as ACK after each 4 KiB written).
@@ -1664,7 +1804,7 @@ type OtaStatusPayload struct {
 
 func (x *OtaStatusPayload) Reset() {
 	*x = OtaStatusPayload{}
-	mi := &file_uart_messages_proto_msgTypes[21]
+	mi := &file_uart_messages_proto_msgTypes[23]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1676,7 +1816,7 @@ func (x *OtaStatusPayload) String() string {
 func (*OtaStatusPayload) ProtoMessage() {}
 
 func (x *OtaStatusPayload) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[21]
+	mi := &file_uart_messages_proto_msgTypes[23]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1689,7 +1829,7 @@ func (x *OtaStatusPayload) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaStatusPayload.ProtoReflect.Descriptor instead.
 func (*OtaStatusPayload) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{21}
+	return file_uart_messages_proto_rawDescGZIP(), []int{23}
 }
 
 func (x *OtaStatusPayload) GetStatus() uint32 {
@@ -1730,7 +1870,7 @@ type OtaSlaveProgressRequest struct {
 
 func (x *OtaSlaveProgressRequest) Reset() {
 	*x = OtaSlaveProgressRequest{}
-	mi := &file_uart_messages_proto_msgTypes[22]
+	mi := &file_uart_messages_proto_msgTypes[24]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1742,7 +1882,7 @@ func (x *OtaSlaveProgressRequest) String() string {
 func (*OtaSlaveProgressRequest) ProtoMessage() {}
 
 func (x *OtaSlaveProgressRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[22]
+	mi := &file_uart_messages_proto_msgTypes[24]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1755,7 +1895,7 @@ func (x *OtaSlaveProgressRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaSlaveProgressRequest.ProtoReflect.Descriptor instead.
 func (*OtaSlaveProgressRequest) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{22}
+	return file_uart_messages_proto_rawDescGZIP(), []int{24}
 }
 
 func (x *OtaSlaveProgressRequest) GetClientId() uint32 {
@@ -1779,7 +1919,7 @@ type OtaSlaveProgressEntry struct {
 
 func (x *OtaSlaveProgressEntry) Reset() {
 	*x = OtaSlaveProgressEntry{}
-	mi := &file_uart_messages_proto_msgTypes[23]
+	mi := &file_uart_messages_proto_msgTypes[25]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1791,7 +1931,7 @@ func (x *OtaSlaveProgressEntry) String() string {
 func (*OtaSlaveProgressEntry) ProtoMessage() {}
 
 func (x *OtaSlaveProgressEntry) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[23]
+	mi := &file_uart_messages_proto_msgTypes[25]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1804,7 +1944,7 @@ func (x *OtaSlaveProgressEntry) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaSlaveProgressEntry.ProtoReflect.Descriptor instead.
 func (*OtaSlaveProgressEntry) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{23}
+	return file_uart_messages_proto_rawDescGZIP(), []int{25}
 }
 
 func (x *OtaSlaveProgressEntry) GetClientId() uint32 {
@@ -1855,7 +1995,7 @@ type OtaSlaveProgressResponse struct {
 
 func (x *OtaSlaveProgressResponse) Reset() {
 	*x = OtaSlaveProgressResponse{}
-	mi := &file_uart_messages_proto_msgTypes[24]
+	mi := &file_uart_messages_proto_msgTypes[26]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1867,7 +2007,7 @@ func (x *OtaSlaveProgressResponse) String() string {
 func (*OtaSlaveProgressResponse) ProtoMessage() {}
 
 func (x *OtaSlaveProgressResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[24]
+	mi := &file_uart_messages_proto_msgTypes[26]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1880,7 +2020,7 @@ func (x *OtaSlaveProgressResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaSlaveProgressResponse.ProtoReflect.Descriptor instead.
 func (*OtaSlaveProgressResponse) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{24}
+	return file_uart_messages_proto_rawDescGZIP(), []int{26}
 }
 
 func (x *OtaSlaveProgressResponse) GetActive() bool {
@@ -1922,7 +2062,7 @@ var File_uart_messages_proto protoreflect.FileDescriptor
 
 const file_uart_messages_proto_rawDesc = "" +
 	"\n" +
-	"\x13uart_messages.proto\x12\x04alox\x1a\fnanopb.proto\"\xf0\f\n" +
+	"\x13uart_messages.proto\x12\x04alox\x1a\fnanopb.proto\"\x83\x0e\n" +
 	"\vUartMessage\x12%\n" +
 	"\x04type\x18\x01 \x01(\x0e2\x11.alox.MessageTypeR\x04type\x12,\n" +
 	"\vack_payload\x18\x02 \x01(\v2\t.alox.AckH\x00R\n" +
@@ -1949,7 +2089,9 @@ const file_uart_messages_proto_rawDesc = "" +
 	"\x16espnow_find_me_request\x18\x13 \x01(\v2\x19.alox.EspNowFindMeRequestH\x00R\x13espnowFindMeRequest\x12S\n" +
 	"\x17espnow_find_me_response\x18\x14 \x01(\v2\x1a.alox.EspNowFindMeResponseH\x00R\x14espnowFindMeResponse\x12?\n" +
 	"\x0frestart_request\x18\x15 \x01(\v2\x14.alox.RestartRequestH\x00R\x0erestartRequest\x12B\n" +
-	"\x10restart_response\x18\x16 \x01(\v2\x15.alox.RestartResponseH\x00R\x0frestartResponseB\t\n" +
+	"\x10restart_response\x18\x16 \x01(\v2\x15.alox.RestartResponseH\x00R\x0frestartResponse\x12F\n" +
+	"\x12accel_read_request\x18\x17 \x01(\v2\x16.alox.AccelReadRequestH\x00R\x10accelReadRequest\x12I\n" +
+	"\x13accel_read_response\x18\x18 \x01(\v2\x17.alox.AccelReadResponseH\x00R\x11accelReadResponseB\t\n" +
 	"\apayload\"\x05\n" +
 	"\x03Ack\"!\n" +
 	"\vEchoPayload\x12\x12\n" +
@@ -1986,7 +2128,13 @@ const file_uart_messages_proto_rawDesc = "" +
 	"\bdeadzone\x18\x01 \x01(\rR\bdeadzone\x12\x1b\n" +
 	"\tclient_id\x18\x02 \x01(\rR\bclientId\x12\x18\n" +
 	"\asuccess\x18\x03 \x01(\bR\asuccess\x12%\n" +
-	"\x0eslaves_updated\x18\x04 \x01(\rR\rslavesUpdated\"I\n" +
+	"\x0eslaves_updated\x18\x04 \x01(\rR\rslavesUpdated\"\x12\n" +
+	"\x10AccelReadRequest\"W\n" +
+	"\x11AccelReadResponse\x12\x18\n" +
+	"\asuccess\x18\x01 \x01(\bR\asuccess\x12\f\n" +
+	"\x01x\x18\x02 \x01(\x11R\x01x\x12\f\n" +
+	"\x01y\x18\x03 \x01(\x11R\x01y\x12\f\n" +
+	"\x01z\x18\x04 \x01(\x11R\x01z\"I\n" +
 	"\x18EspNowUnicastTestRequest\x12\x1b\n" +
 	"\tclient_id\x18\x01 \x01(\rR\bclientId\x12\x10\n" +
 	"\x03seq\x18\x02 \x01(\rR\x03seq\"G\n" +
@@ -2049,7 +2197,7 @@ const file_uart_messages_proto_rawDesc = "" +
 	"\x0faggregate_bytes\x18\x03 \x01(\rR\x0eaggregateBytes\x12\x1f\n" +
 	"\vslave_count\x18\x04 \x01(\rR\n" +
 	"slaveCount\x12:\n" +
-	"\x06slaves\x18\x05 \x03(\v2\x1b.alox.OtaSlaveProgressEntryB\x05\x92?\x02\x10\x10R\x06slaves*\x9d\x02\n" +
+	"\x06slaves\x18\x05 \x03(\v2\x1b.alox.OtaSlaveProgressEntryB\x05\x92?\x02\x10\x10R\x06slaves*\xad\x02\n" +
 	"\vMessageType\x12\v\n" +
 	"\aUNKNOWN\x10\x00\x12\a\n" +
 	"\x03ACK\x10\x01\x12\b\n" +
@@ -2068,7 +2216,9 @@ const file_uart_messages_proto_rawDesc = "" +
 	"\x10OTA_START_ESPNOW\x10\x14\x12\x16\n" +
 	"\x12OTA_SLAVE_PROGRESS\x10\x15\x12\v\n" +
 	"\aFIND_ME\x10\x16\x12\v\n" +
-	"\aRESTART\x10\x17b\x06proto3"
+	"\aRESTART\x10\x17\x12\x0e\n" +
+	"\n" +
+	"ACCEL_READ\x10\x18b\x06proto3"
 
 var (
 	file_uart_messages_proto_rawDescOnce sync.Once
@@ -2083,7 +2233,7 @@ func file_uart_messages_proto_rawDescGZIP() []byte {
 }
 
 var file_uart_messages_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_uart_messages_proto_msgTypes = make([]protoimpl.MessageInfo, 25)
+var file_uart_messages_proto_msgTypes = make([]protoimpl.MessageInfo, 27)
 var file_uart_messages_proto_goTypes = []any{
 	(MessageType)(0),                  // 0: alox.MessageType
 	(*UartMessage)(nil),               // 1: alox.UartMessage
@@ -2096,21 +2246,23 @@ var file_uart_messages_proto_goTypes = []any{
 	(*ClientInputResponse)(nil),       // 8: alox.ClientInputResponse
 	(*AccelDeadzoneRequest)(nil),      // 9: alox.AccelDeadzoneRequest
 	(*AccelDeadzoneResponse)(nil),     // 10: alox.AccelDeadzoneResponse
-	(*EspNowUnicastTestRequest)(nil),  // 11: alox.EspNowUnicastTestRequest
+	(*AccelReadRequest)(nil),          // 11: alox.AccelReadRequest
-	(*EspNowUnicastTestResponse)(nil), // 12: alox.EspNowUnicastTestResponse
+	(*AccelReadResponse)(nil),         // 12: alox.AccelReadResponse
-	(*LedRingProgressRequest)(nil),    // 13: alox.LedRingProgressRequest
+	(*EspNowUnicastTestRequest)(nil),  // 13: alox.EspNowUnicastTestRequest
-	(*LedRingProgressResponse)(nil),   // 14: alox.LedRingProgressResponse
+	(*EspNowUnicastTestResponse)(nil), // 14: alox.EspNowUnicastTestResponse
-	(*EspNowFindMeRequest)(nil),       // 15: alox.EspNowFindMeRequest
+	(*LedRingProgressRequest)(nil),    // 15: alox.LedRingProgressRequest
-	(*EspNowFindMeResponse)(nil),      // 16: alox.EspNowFindMeResponse
+	(*LedRingProgressResponse)(nil),   // 16: alox.LedRingProgressResponse
-	(*RestartRequest)(nil),            // 17: alox.RestartRequest
+	(*EspNowFindMeRequest)(nil),       // 17: alox.EspNowFindMeRequest
-	(*RestartResponse)(nil),           // 18: alox.RestartResponse
+	(*EspNowFindMeResponse)(nil),      // 18: alox.EspNowFindMeResponse
-	(*OtaStartPayload)(nil),           // 19: alox.OtaStartPayload
+	(*RestartRequest)(nil),            // 19: alox.RestartRequest
-	(*OtaPayload)(nil),                // 20: alox.OtaPayload
+	(*RestartResponse)(nil),           // 20: alox.RestartResponse
-	(*OtaEndPayload)(nil),             // 21: alox.OtaEndPayload
+	(*OtaStartPayload)(nil),           // 21: alox.OtaStartPayload
-	(*OtaStatusPayload)(nil),          // 22: alox.OtaStatusPayload
+	(*OtaPayload)(nil),                // 22: alox.OtaPayload
-	(*OtaSlaveProgressRequest)(nil),   // 23: alox.OtaSlaveProgressRequest
+	(*OtaEndPayload)(nil),             // 23: alox.OtaEndPayload
-	(*OtaSlaveProgressEntry)(nil),     // 24: alox.OtaSlaveProgressEntry
+	(*OtaStatusPayload)(nil),          // 24: alox.OtaStatusPayload
-	(*OtaSlaveProgressResponse)(nil),  // 25: alox.OtaSlaveProgressResponse
+	(*OtaSlaveProgressRequest)(nil),   // 25: alox.OtaSlaveProgressRequest
+	(*OtaSlaveProgressEntry)(nil),     // 26: alox.OtaSlaveProgressEntry
+	(*OtaSlaveProgressResponse)(nil),  // 27: alox.OtaSlaveProgressResponse
 }
 var file_uart_messages_proto_depIdxs = []int32{
 	0,  // 0: alox.UartMessage.type:type_name -> alox.MessageType
@@ -2119,30 +2271,32 @@ var file_uart_messages_proto_depIdxs = []int32{
 	4,  // 3: alox.UartMessage.version_response:type_name -> alox.VersionResponse
 	6,  // 4: alox.UartMessage.client_info_response:type_name -> alox.ClientInfoResponse
 	8,  // 5: alox.UartMessage.client_input_response:type_name -> alox.ClientInputResponse
-	19, // 6: alox.UartMessage.ota_start:type_name -> alox.OtaStartPayload
+	21, // 6: alox.UartMessage.ota_start:type_name -> alox.OtaStartPayload
-	20, // 7: alox.UartMessage.ota_payload:type_name -> alox.OtaPayload
+	22, // 7: alox.UartMessage.ota_payload:type_name -> alox.OtaPayload
-	21, // 8: alox.UartMessage.ota_end:type_name -> alox.OtaEndPayload
+	23, // 8: alox.UartMessage.ota_end:type_name -> alox.OtaEndPayload
-	22, // 9: alox.UartMessage.ota_status:type_name -> alox.OtaStatusPayload
+	24, // 9: alox.UartMessage.ota_status:type_name -> alox.OtaStatusPayload
 	9,  // 10: alox.UartMessage.accel_deadzone_request:type_name -> alox.AccelDeadzoneRequest
 	10, // 11: alox.UartMessage.accel_deadzone_response:type_name -> alox.AccelDeadzoneResponse
-	11, // 12: alox.UartMessage.espnow_unicast_test_request:type_name -> alox.EspNowUnicastTestRequest
+	13, // 12: alox.UartMessage.espnow_unicast_test_request:type_name -> alox.EspNowUnicastTestRequest
-	12, // 13: alox.UartMessage.espnow_unicast_test_response:type_name -> alox.EspNowUnicastTestResponse
+	14, // 13: alox.UartMessage.espnow_unicast_test_response:type_name -> alox.EspNowUnicastTestResponse
-	23, // 14: alox.UartMessage.ota_slave_progress_request:type_name -> alox.OtaSlaveProgressRequest
+	25, // 14: alox.UartMessage.ota_slave_progress_request:type_name -> alox.OtaSlaveProgressRequest
-	25, // 15: alox.UartMessage.ota_slave_progress_response:type_name -> alox.OtaSlaveProgressResponse
+	27, // 15: alox.UartMessage.ota_slave_progress_response:type_name -> alox.OtaSlaveProgressResponse
-	13, // 16: alox.UartMessage.led_ring_progress_request:type_name -> alox.LedRingProgressRequest
+	15, // 16: alox.UartMessage.led_ring_progress_request:type_name -> alox.LedRingProgressRequest
-	14, // 17: alox.UartMessage.led_ring_progress_response:type_name -> alox.LedRingProgressResponse
+	16, // 17: alox.UartMessage.led_ring_progress_response:type_name -> alox.LedRingProgressResponse
-	15, // 18: alox.UartMessage.espnow_find_me_request:type_name -> alox.EspNowFindMeRequest
+	17, // 18: alox.UartMessage.espnow_find_me_request:type_name -> alox.EspNowFindMeRequest
-	16, // 19: alox.UartMessage.espnow_find_me_response:type_name -> alox.EspNowFindMeResponse
+	18, // 19: alox.UartMessage.espnow_find_me_response:type_name -> alox.EspNowFindMeResponse
-	17, // 20: alox.UartMessage.restart_request:type_name -> alox.RestartRequest
+	19, // 20: alox.UartMessage.restart_request:type_name -> alox.RestartRequest
-	18, // 21: alox.UartMessage.restart_response:type_name -> alox.RestartResponse
+	20, // 21: alox.UartMessage.restart_response:type_name -> alox.RestartResponse
-	5,  // 22: alox.ClientInfoResponse.clients:type_name -> alox.ClientInfo
+	11, // 22: alox.UartMessage.accel_read_request:type_name -> alox.AccelReadRequest
-	7,  // 23: alox.ClientInputResponse.clients:type_name -> alox.ClientInput
+	12, // 23: alox.UartMessage.accel_read_response:type_name -> alox.AccelReadResponse
-	24, // 24: alox.OtaSlaveProgressResponse.slaves:type_name -> alox.OtaSlaveProgressEntry
+	5,  // 24: alox.ClientInfoResponse.clients:type_name -> alox.ClientInfo
-	25, // [25:25] is the sub-list for method output_type
+	7,  // 25: alox.ClientInputResponse.clients:type_name -> alox.ClientInput
-	25, // [25:25] is the sub-list for method input_type
+	26, // 26: alox.OtaSlaveProgressResponse.slaves:type_name -> alox.OtaSlaveProgressEntry
-	25, // [25:25] is the sub-list for extension type_name
+	27, // [27:27] is the sub-list for method output_type
-	25, // [25:25] is the sub-list for extension extendee
+	27, // [27:27] is the sub-list for method input_type
-	0,  // [0:25] is the sub-list for field type_name
+	27, // [27:27] is the sub-list for extension type_name
+	27, // [27:27] is the sub-list for extension extendee
+	0,  // [0:27] is the sub-list for field type_name
 }
 
 func init() { file_uart_messages_proto_init() }
@@ -2172,6 +2326,8 @@ func file_uart_messages_proto_init() {
 		(*UartMessage_EspnowFindMeResponse)(nil),
 		(*UartMessage_RestartRequest)(nil),
 		(*UartMessage_RestartResponse)(nil),
+		(*UartMessage_AccelReadRequest)(nil),
+		(*UartMessage_AccelReadResponse)(nil),
 	}
 	type x struct{}
 	out := protoimpl.TypeBuilder{
@@ -2179,7 +2335,7 @@ func file_uart_messages_proto_init() {
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: unsafe.Slice(unsafe.StringData(file_uart_messages_proto_rawDesc), len(file_uart_messages_proto_rawDesc)),
 			NumEnums:      1,
-			NumMessages:   25,
+			NumMessages:   27,
 			NumExtensions: 0,
 			NumServices:   0,
 		},

main/CMakeLists.txt

@@ -18,6 +18,7 @@ idf_component_register(
   "cmd/cmd_version.c"
   "cmd/cmd_client_info.c"
   "cmd/cmd_accel_deadzone.c"
+  "cmd/cmd_accel_read.c"
   "cmd/cmd_espnow_unicast_test.c"
   "cmd/cmd_espnow_find_me.c"
   "cmd/cmd_restart.c"

main/README.md

@@ -217,6 +217,7 @@ Host and master speak nanopb-encoded `UartMessage` inside UART frames (byte 0 =
 | 21 | `OTA_SLAVE_PROGRESS` | Implemented (`cmd/cmd_ota_slave_progress.c`) — query per-slave ESP-NOW OTA progress |
 | 22 | `FIND_ME` | Implemented (`cmd/cmd_espnow_find_me.c`) — `client_id=0` local ring, `>0` ESP-NOW to slave |
 | 23 | `RESTART` | Implemented (`cmd/cmd_restart.c`) — `client_id=0` reboot master, `>0` ESP-NOW reboot slave |
+| 24 | `ACCEL_READ` | Implemented (`cmd/cmd_accel_read.c`) — on-demand BMA456 XYZ (raw LSB) |
 
 Regenerate C code:
 
@@ -310,6 +311,29 @@ Sets the **software** deadzone used by `bosch456.c` when logging accel (see [BMA
 
 **Response:** `accel_deadzone_response` with applied `deadzone`, `success`, and `slaves_updated` (ESP-NOW count).
 
+### ACCEL_READ command
+
+Read the **current** BMA456 accelerometer sample on this node (master or slave with sensor). Values are raw LSB in the configured **±2g** range; they are **not** filtered by the software deadzone (unlike periodic `ACC X=…` logs in `bosch456.c`).
+
+**Request:** framed `18` (`0x18`) only, or `18` + empty `accel_read_request`.
+
+**Response:** `accel_read_response`:
+
+| Field | Meaning |
+|-------|---------|
+| `success` | `true` if BMA456 is ready and I2C read succeeded |
+| `x`, `y`, `z` | Raw accel LSB (`sint32`; meaningful only when `success`) |
+
+If the sensor was not probed at boot (`bma456_is_ready()` false), `success` is `false` and axes are zero.
+
+Host:
+
+```bash
+go run . -port /dev/ttyUSB0 accel
+```
+
+Implementation: `bma456_read_accel()` in `bosch456.c` (mutex with the 10 Hz poll task), handler in `cmd/cmd_accel_read.c`.
+
 ### ESPNOW_UNICAST_TEST command
 
 Minimal master→slave ESP-NOW unicast check (no BMA456). Use this before debugging `ACCEL_DEADZONE` unicast.
@@ -454,7 +478,8 @@ Target: ESP32-S3. Close serial monitor on the UART adapter port before running `
 | `cmd/cmd_version.c/h` | VERSION handler |
 | `cmd/cmd_client_info.c/h` | CLIENT_INFO handler |
 | `client_registry.c/h` | Registered slave table |
-| `bosch456.c/h` | BMA456H I2C driver, accel poll, tap INT, deadzone filter |
+| `bosch456.c/h` | BMA456H I2C driver, accel poll, on-demand read, tap INT, deadzone filter |
+| `cmd/cmd_accel_read.c` | UART `ACCEL_READ` — current accel XYZ |
 | `board_input.c/h` | Taster GPIO12, LiPo ADC on GPIO1 / GPIO12 |
 | `pod_settings.c/h` | NVS persistence (accel deadzone, …) |
 | `led_ring.c/h` | LED ring (digit display, progress bar) |

main/bosch456.c

@@ -14,6 +14,7 @@
 #include "esp_err.h"
 #include "esp_log.h"
 #include "freertos/idf_additions.h"
+#include "freertos/semphr.h"
 #include <rom/ets_sys.h>
 #include <string.h>
 
@@ -34,6 +35,7 @@ static int16_t s_last_z;
 static bool s_have_last_sample;
 
 static volatile bool s_int_pending;
+static SemaphoreHandle_t s_accel_mutex;
 
 static esp_err_t check_bma4(const char *api_name, int8_t rslt);
 
@@ -121,6 +123,30 @@ void bma456_set_accel_deadzone(uint32_t deadzone_lsb) {
 
 uint32_t bma456_get_accel_deadzone(void) { return s_accel_deadzone; }
 
+esp_err_t bma456_read_accel(int16_t *x, int16_t *y, int16_t *z) {
+  if (!s_bma456_ready || x == NULL || y == NULL || z == NULL) {
+    return ESP_ERR_INVALID_STATE;
+  }
+  if (s_accel_mutex == NULL ||
+      xSemaphoreTake(s_accel_mutex, pdMS_TO_TICKS(500)) != pdTRUE) {
+    return ESP_ERR_TIMEOUT;
+  }
+
+  struct bma4_accel sens_data = {0};
+  int8_t ret = bma4_read_accel_xyz(&sens_data, &s_bma456);
+  xSemaphoreGive(s_accel_mutex);
+
+  if (ret != BMA4_OK) {
+    bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
+    return ESP_FAIL;
+  }
+
+  *x = sens_data.x;
+  *y = sens_data.y;
+  *z = sens_data.z;
+  return ESP_OK;
+}
+
 void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z) {
   if (!s_bma456_ready || !sample_exceeds_deadzone(x, y, z)) {
     return;
@@ -187,12 +213,20 @@ static void read_sensor_task(void *param) {
   struct bma4_accel sens_data = {0};
 
   while (1) {
+    bool got_sample = false;
+    if (s_accel_mutex != NULL &&
+        xSemaphoreTake(s_accel_mutex, pdMS_TO_TICKS(500)) == pdTRUE) {
       int8_t ret = bma4_read_accel_xyz(&sens_data, &s_bma456);
+      xSemaphoreGive(s_accel_mutex);
       if (ret == BMA4_OK) {
-      bma456_report_accel_if_changed(sens_data.x, sens_data.y, sens_data.z);
+        got_sample = true;
       } else {
         bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
       }
+    }
+    if (got_sample) {
+      bma456_report_accel_if_changed(sens_data.x, sens_data.y, sens_data.z);
+    }
 
     if (s_int_pending) {
       s_int_pending = false;
@@ -343,6 +377,13 @@ esp_err_t init_bma456(i2c_master_bus_handle_t bus_handle) {
     goto fail;
   }
 
+  if (s_accel_mutex == NULL) {
+    s_accel_mutex = xSemaphoreCreateMutex();
+    if (s_accel_mutex == NULL) {
+      goto fail;
+    }
+  }
+
   if (xTaskCreate(read_sensor_task, "bma456_poll", 4096, NULL, 1, NULL) !=
       pdPASS) {
     goto fail;

main/bosch456.h

@@ -35,4 +35,7 @@ uint32_t bma456_get_accel_deadzone(void);
 /** Log accel when any axis moved more than deadzone since last reported sample. */
 void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z);
 
+/** On-demand read of current accel XYZ (raw LSB). Returns ESP_ERR_INVALID_STATE if sensor not ready. */
+esp_err_t bma456_read_accel(int16_t *x, int16_t *y, int16_t *z);
+
 #endif

main/cmd/cmd_accel_read.c

@@ -0,0 +1,34 @@
+#include "bosch456.h"
+#include "cmd_accel_read.h"
+#include "uart_cmd.h"
+
+static const char *TAG = "[ACCEL_READ]";
+
+static void reply(bool success, int16_t x, int16_t y, int16_t z) {
+  alox_UartMessage response;
+  uart_cmd_init_response(&response, alox_MessageType_ACCEL_READ,
+                         alox_UartMessage_accel_read_response_tag);
+  response.payload.accel_read_response.success = success;
+  response.payload.accel_read_response.x = x;
+  response.payload.accel_read_response.y = y;
+  response.payload.accel_read_response.z = z;
+  uart_cmd_send(&response, TAG);
+}
+
+static void handle_accel_read(const uint8_t *data, size_t len) {
+  (void)data;
+  (void)len;
+
+  int16_t x = 0;
+  int16_t y = 0;
+  int16_t z = 0;
+  if (bma456_read_accel(&x, &y, &z) == ESP_OK) {
+    reply(true, x, y, z);
+    return;
+  }
+  reply(false, 0, 0, 0);
+}
+
+void cmd_accel_read_register(void) {
+  uart_cmd_register(alox_MessageType_ACCEL_READ, handle_accel_read);
+}

main/cmd/cmd_accel_read.h

@@ -0,0 +1,6 @@
+#ifndef CMD_ACCEL_READ_H
+#define CMD_ACCEL_READ_H
+
+void cmd_accel_read_register(void);
+
+#endif

main/cmd/cmd_handler.c

@@ -48,6 +48,8 @@ static const char *message_type_name(uint16_t id) {
     return "FIND_ME";
   case alox_MessageType_RESTART:
     return "RESTART";
+  case alox_MessageType_ACCEL_READ:
+    return "ACCEL_READ";
   default:
     return "UNKNOWN";
   }

main/powerpod.c

@@ -1,6 +1,7 @@
 #include "app_config.h"
 #include "cmd_handler.h"
 #include "cmd_accel_deadzone.h"
+#include "cmd_accel_read.h"
 #include "cmd_espnow_unicast_test.h"
 #include "cmd_espnow_find_me.h"
 #include "cmd_restart.h"
@@ -177,6 +178,7 @@ void app_main(void) {
     cmd_version_register();
     cmd_client_info_register();
     cmd_accel_deadzone_register();
+    cmd_accel_read_register();
     cmd_espnow_unicast_test_register();
     cmd_espnow_find_me_register();
     cmd_restart_register();

main/proto/uart_messages.pb.c

@@ -36,6 +36,12 @@ PB_BIND(alox_AccelDeadzoneRequest, alox_AccelDeadzoneRequest, AUTO)
 PB_BIND(alox_AccelDeadzoneResponse, alox_AccelDeadzoneResponse, AUTO)
 
 
+PB_BIND(alox_AccelReadRequest, alox_AccelReadRequest, AUTO)
+
+
+PB_BIND(alox_AccelReadResponse, alox_AccelReadResponse, AUTO)
+
+
 PB_BIND(alox_EspNowUnicastTestRequest, alox_EspNowUnicastTestRequest, AUTO)
 
 

main/proto/uart_messages.pb.h

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

main/proto/uart_messages.proto

@@ -22,6 +22,7 @@ enum MessageType {
   OTA_SLAVE_PROGRESS = 21;
   FIND_ME = 22;
   RESTART = 23;
+  ACCEL_READ = 24;
 }
 
 message UartMessage {
@@ -48,6 +49,8 @@ message UartMessage {
     EspNowFindMeResponse espnow_find_me_response = 20;
     RestartRequest restart_request = 21;
     RestartResponse restart_response = 22;
+    AccelReadRequest accel_read_request = 23;
+    AccelReadResponse accel_read_response = 24;
   }
 }
 
@@ -106,6 +109,16 @@ message AccelDeadzoneResponse {
   uint32 slaves_updated = 4;
 }
 
+// Host → device: read current BMA456 accelerometer sample (raw LSB, ±2g range).
+message AccelReadRequest {}
+
+message AccelReadResponse {
+  bool success = 1;
+  sint32 x = 2;
+  sint32 y = 3;
+  sint32 z = 4;
+}
+
 message EspNowUnicastTestRequest {
   uint32 client_id = 1;
   uint32 seq = 2;