Add accelerometer deadzone via UART and ESP-NOW.

Filter BMA456 logs by configurable LSB threshold; master can set deadzone
for local sensor or slaves using ACCEL_DEADZONE (UART) and ESP-NOW broadcast
until unicast delivery is restored.

Co-authored-by: Cursor <cursoragent@cursor.com>

goTool/cmd_deadzone.go

@@ -0,0 +1,58 @@
+package main
+
+import (
+	"flag"
+	"fmt"
+
+	"google.golang.org/protobuf/proto"
+
+	"powerpod/gotool/pb"
+)
+
+func runDeadzone(sp *serialPort, args []string) error {
+	fs := flag.NewFlagSet("deadzone", flag.ExitOnError)
+	write := fs.Bool("set", false, "write deadzone (default: read)")
+	deadzone := fs.Uint("value", 100, "deadzone in raw accel LSB (with -set)")
+	clientID := fs.Uint("client", 0, "client id (0=local master BMA456)")
+	all := fs.Bool("all", false, "apply to all registered slaves (master only)")
+	if err := fs.Parse(args); err != nil {
+		return err
+	}
+
+	req := &pb.AccelDeadzoneRequest{
+		Write:       *write,
+		Deadzone:    uint32(*deadzone),
+		ClientId:    uint32(*clientID),
+		AllClients:  *all,
+	}
+	msg := &pb.UartMessage{
+		Type: pb.MessageType_ACCEL_DEADZONE,
+		Payload: &pb.UartMessage_AccelDeadzoneRequest{
+			AccelDeadzoneRequest: req,
+		},
+	}
+	body, err := proto.Marshal(msg)
+	if err != nil {
+		return fmt.Errorf("encode request: %w", err)
+	}
+
+	payload := append([]byte{byte(pb.MessageType_ACCEL_DEADZONE)}, body...)
+	respPayload, err := sp.exchangePayload(payload, "ACCEL_DEADZONE")
+	if err != nil {
+		return err
+	}
+
+	var respMsg pb.UartMessage
+	if err := proto.Unmarshal(respPayload[1:], &respMsg); err != nil {
+		return fmt.Errorf("decode response: %w", err)
+	}
+
+	r := respMsg.GetAccelDeadzoneResponse()
+	if r == nil {
+		return fmt.Errorf("response missing accel_deadzone_response")
+	}
+
+	fmt.Printf("deadzone=%d client_id=%d success=%v slaves_updated=%d\n",
+		r.GetDeadzone(), r.GetClientId(), r.GetSuccess(), r.GetSlavesUpdated())
+	return nil
+}

goTool/main.go

@@ -13,7 +13,8 @@ func usage() {
 	fmt.Fprintf(os.Stderr, "usage: gotool -port /dev/ttyUSB0 <command>\n\n")
 	fmt.Fprintf(os.Stderr, "commands:\n")
 	fmt.Fprintf(os.Stderr, "  version   firmware version and git hash\n")
-	fmt.Fprintf(os.Stderr, "  clients   registered ESP-NOW slaves on the master\n\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\n")
 	flag.PrintDefaults()
 }
 
@@ -41,6 +42,8 @@ func main() {
 		runErr = runVersion(sp)
 	case "clients", "client-info":
 		runErr = runClients(sp)
+	case "deadzone", "accel-deadzone":
+		runErr = runDeadzone(sp, flag.Args()[1:])
 	default:
 		fmt.Fprintf(os.Stderr, "unknown command %q\n\n", cmd)
 		usage()

goTool/pb/uart_messages.pb.go

@@ -30,6 +30,7 @@ const (
 	MessageType_VERSION          MessageType = 3
 	MessageType_CLIENT_INFO      MessageType = 4
 	MessageType_CLIENT_INPUT     MessageType = 5
+	MessageType_ACCEL_DEADZONE   MessageType = 6
 	MessageType_OTA_START        MessageType = 16
 	MessageType_OTA_PAYLOAD      MessageType = 17
 	MessageType_OTA_END          MessageType = 18
@@ -46,6 +47,7 @@ var (
 		3:  "VERSION",
 		4:  "CLIENT_INFO",
 		5:  "CLIENT_INPUT",
+		6:  "ACCEL_DEADZONE",
 		16: "OTA_START",
 		17: "OTA_PAYLOAD",
 		18: "OTA_END",
@@ -59,6 +61,7 @@ var (
 		"VERSION":          3,
 		"CLIENT_INFO":      4,
 		"CLIENT_INPUT":     5,
+		"ACCEL_DEADZONE":   6,
 		"OTA_START":        16,
 		"OTA_PAYLOAD":      17,
 		"OTA_END":          18,
@@ -108,6 +111,8 @@ type UartMessage struct {
 	//	*UartMessage_OtaPayload
 	//	*UartMessage_OtaEnd
 	//	*UartMessage_OtaStatus
+	//	*UartMessage_AccelDeadzoneRequest
+	//	*UartMessage_AccelDeadzoneResponse
 	Payload       isUartMessage_Payload `protobuf_oneof:"payload"`
 	unknownFields protoimpl.UnknownFields
 	sizeCache     protoimpl.SizeCache
@@ -238,6 +243,24 @@ func (x *UartMessage) GetOtaStatus() *OtaStatusPayload {
 	return nil
 }
 
+func (x *UartMessage) GetAccelDeadzoneRequest() *AccelDeadzoneRequest {
+	if x != nil {
+		if x, ok := x.Payload.(*UartMessage_AccelDeadzoneRequest); ok {
+			return x.AccelDeadzoneRequest
+		}
+	}
+	return nil
+}
+
+func (x *UartMessage) GetAccelDeadzoneResponse() *AccelDeadzoneResponse {
+	if x != nil {
+		if x, ok := x.Payload.(*UartMessage_AccelDeadzoneResponse); ok {
+			return x.AccelDeadzoneResponse
+		}
+	}
+	return nil
+}
+
 type isUartMessage_Payload interface {
 	isUartMessage_Payload()
 }
@@ -278,6 +301,14 @@ type UartMessage_OtaStatus struct {
 	OtaStatus *OtaStatusPayload `protobuf:"bytes,10,opt,name=ota_status,json=otaStatus,proto3,oneof"`
 }
 
+type UartMessage_AccelDeadzoneRequest struct {
+	AccelDeadzoneRequest *AccelDeadzoneRequest `protobuf:"bytes,11,opt,name=accel_deadzone_request,json=accelDeadzoneRequest,proto3,oneof"`
+}
+
+type UartMessage_AccelDeadzoneResponse struct {
+	AccelDeadzoneResponse *AccelDeadzoneResponse `protobuf:"bytes,12,opt,name=accel_deadzone_response,json=accelDeadzoneResponse,proto3,oneof"`
+}
+
 func (*UartMessage_AckPayload) isUartMessage_Payload() {}
 
 func (*UartMessage_EchoPayload) isUartMessage_Payload() {}
@@ -296,6 +327,10 @@ func (*UartMessage_OtaEnd) isUartMessage_Payload() {}
 
 func (*UartMessage_OtaStatus) isUartMessage_Payload() {}
 
+func (*UartMessage_AccelDeadzoneRequest) isUartMessage_Payload() {}
+
+func (*UartMessage_AccelDeadzoneResponse) isUartMessage_Payload() {}
+
 type Ack struct {
 	state         protoimpl.MessageState `protogen:"open.v1"`
 	unknownFields protoimpl.UnknownFields
@@ -676,6 +711,145 @@ func (x *ClientInputResponse) GetClients() []*ClientInput {
 	return nil
 }
 
+// write=false: read deadzone; write=true: apply deadzone (LSB per axis, raw accel units).
+// client_id 0 = local BMA456 on this node; >0 = slave id on master; ignored on slave.
+// all_clients = true (master only): push deadzone to every registered slave via ESP-NOW.
+type AccelDeadzoneRequest struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	Write         bool                   `protobuf:"varint,1,opt,name=write,proto3" json:"write,omitempty"`
+	Deadzone      uint32                 `protobuf:"varint,2,opt,name=deadzone,proto3" json:"deadzone,omitempty"`
+	ClientId      uint32                 `protobuf:"varint,3,opt,name=client_id,json=clientId,proto3" json:"client_id,omitempty"`
+	AllClients    bool                   `protobuf:"varint,4,opt,name=all_clients,json=allClients,proto3" json:"all_clients,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *AccelDeadzoneRequest) Reset() {
+	*x = AccelDeadzoneRequest{}
+	mi := &file_uart_messages_proto_msgTypes[8]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *AccelDeadzoneRequest) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*AccelDeadzoneRequest) ProtoMessage() {}
+
+func (x *AccelDeadzoneRequest) ProtoReflect() protoreflect.Message {
+	mi := &file_uart_messages_proto_msgTypes[8]
+	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 AccelDeadzoneRequest.ProtoReflect.Descriptor instead.
+func (*AccelDeadzoneRequest) Descriptor() ([]byte, []int) {
+	return file_uart_messages_proto_rawDescGZIP(), []int{8}
+}
+
+func (x *AccelDeadzoneRequest) GetWrite() bool {
+	if x != nil {
+		return x.Write
+	}
+	return false
+}
+
+func (x *AccelDeadzoneRequest) GetDeadzone() uint32 {
+	if x != nil {
+		return x.Deadzone
+	}
+	return 0
+}
+
+func (x *AccelDeadzoneRequest) GetClientId() uint32 {
+	if x != nil {
+		return x.ClientId
+	}
+	return 0
+}
+
+func (x *AccelDeadzoneRequest) GetAllClients() bool {
+	if x != nil {
+		return x.AllClients
+	}
+	return false
+}
+
+type AccelDeadzoneResponse struct {
+	state         protoimpl.MessageState `protogen:"open.v1"`
+	Deadzone      uint32                 `protobuf:"varint,1,opt,name=deadzone,proto3" json:"deadzone,omitempty"`
+	ClientId      uint32                 `protobuf:"varint,2,opt,name=client_id,json=clientId,proto3" json:"client_id,omitempty"`
+	Success       bool                   `protobuf:"varint,3,opt,name=success,proto3" json:"success,omitempty"`
+	SlavesUpdated uint32                 `protobuf:"varint,4,opt,name=slaves_updated,json=slavesUpdated,proto3" json:"slaves_updated,omitempty"`
+	unknownFields protoimpl.UnknownFields
+	sizeCache     protoimpl.SizeCache
+}
+
+func (x *AccelDeadzoneResponse) Reset() {
+	*x = AccelDeadzoneResponse{}
+	mi := &file_uart_messages_proto_msgTypes[9]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *AccelDeadzoneResponse) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*AccelDeadzoneResponse) ProtoMessage() {}
+
+func (x *AccelDeadzoneResponse) ProtoReflect() protoreflect.Message {
+	mi := &file_uart_messages_proto_msgTypes[9]
+	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 AccelDeadzoneResponse.ProtoReflect.Descriptor instead.
+func (*AccelDeadzoneResponse) Descriptor() ([]byte, []int) {
+	return file_uart_messages_proto_rawDescGZIP(), []int{9}
+}
+
+func (x *AccelDeadzoneResponse) GetDeadzone() uint32 {
+	if x != nil {
+		return x.Deadzone
+	}
+	return 0
+}
+
+func (x *AccelDeadzoneResponse) GetClientId() uint32 {
+	if x != nil {
+		return x.ClientId
+	}
+	return 0
+}
+
+func (x *AccelDeadzoneResponse) GetSuccess() bool {
+	if x != nil {
+		return x.Success
+	}
+	return false
+}
+
+func (x *AccelDeadzoneResponse) GetSlavesUpdated() uint32 {
+	if x != nil {
+		return x.SlavesUpdated
+	}
+	return 0
+}
+
 type OtaStartPayload struct {
 	state         protoimpl.MessageState `protogen:"open.v1"`
 	TotalSize     uint32                 `protobuf:"varint,1,opt,name=total_size,json=totalSize,proto3" json:"total_size,omitempty"`
@@ -686,7 +860,7 @@ type OtaStartPayload struct {
 
 func (x *OtaStartPayload) Reset() {
 	*x = OtaStartPayload{}
-	mi := &file_uart_messages_proto_msgTypes[8]
+	mi := &file_uart_messages_proto_msgTypes[10]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -698,7 +872,7 @@ func (x *OtaStartPayload) String() string {
 func (*OtaStartPayload) ProtoMessage() {}
 
 func (x *OtaStartPayload) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[8]
+	mi := &file_uart_messages_proto_msgTypes[10]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -711,7 +885,7 @@ func (x *OtaStartPayload) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaStartPayload.ProtoReflect.Descriptor instead.
 func (*OtaStartPayload) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{8}
+	return file_uart_messages_proto_rawDescGZIP(), []int{10}
 }
 
 func (x *OtaStartPayload) GetTotalSize() uint32 {
@@ -739,7 +913,7 @@ type OtaPayload struct {
 
 func (x *OtaPayload) Reset() {
 	*x = OtaPayload{}
-	mi := &file_uart_messages_proto_msgTypes[9]
+	mi := &file_uart_messages_proto_msgTypes[11]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -751,7 +925,7 @@ func (x *OtaPayload) String() string {
 func (*OtaPayload) ProtoMessage() {}
 
 func (x *OtaPayload) ProtoReflect() protoreflect.Message {
-	mi := &file_uart_messages_proto_msgTypes[9]
+	mi := &file_uart_messages_proto_msgTypes[11]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -764,7 +938,7 @@ func (x *OtaPayload) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaPayload.ProtoReflect.Descriptor instead.
 func (*OtaPayload) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{9}
+	return file_uart_messages_proto_rawDescGZIP(), []int{11}
 }
 
 func (x *OtaPayload) GetBlockId() uint32 {
@@ -797,7 +971,7 @@ type OtaEndPayload struct {
 
 func (x *OtaEndPayload) Reset() {
 	*x = OtaEndPayload{}
-	mi := &file_uart_messages_proto_msgTypes[10]
+	mi := &file_uart_messages_proto_msgTypes[12]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -809,7 +983,7 @@ func (x *OtaEndPayload) String() string {
 func (*OtaEndPayload) ProtoMessage() {}
 
 func (x *OtaEndPayload) 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 {
@@ -822,7 +996,7 @@ func (x *OtaEndPayload) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaEndPayload.ProtoReflect.Descriptor instead.
 func (*OtaEndPayload) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{10}
+	return file_uart_messages_proto_rawDescGZIP(), []int{12}
 }
 
 func (x *OtaEndPayload) GetStatus() uint32 {
@@ -841,7 +1015,7 @@ type OtaStatusPayload struct {
 
 func (x *OtaStatusPayload) Reset() {
 	*x = OtaStatusPayload{}
-	mi := &file_uart_messages_proto_msgTypes[11]
+	mi := &file_uart_messages_proto_msgTypes[13]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -853,7 +1027,7 @@ func (x *OtaStatusPayload) String() string {
 func (*OtaStatusPayload) ProtoMessage() {}
 
 func (x *OtaStatusPayload) 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 {
@@ -866,7 +1040,7 @@ func (x *OtaStatusPayload) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use OtaStatusPayload.ProtoReflect.Descriptor instead.
 func (*OtaStatusPayload) Descriptor() ([]byte, []int) {
-	return file_uart_messages_proto_rawDescGZIP(), []int{11}
+	return file_uart_messages_proto_rawDescGZIP(), []int{13}
 }
 
 func (x *OtaStatusPayload) GetStatus() uint32 {
@@ -880,7 +1054,7 @@ var File_uart_messages_proto protoreflect.FileDescriptor
 
 const file_uart_messages_proto_rawDesc = "" +
 	"\n" +
-	"\x13uart_messages.proto\x12\x04alox\"\xdc\x04\n" +
+	"\x13uart_messages.proto\x12\x04alox\"\x87\x06\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" +
@@ -895,7 +1069,9 @@ const file_uart_messages_proto_rawDesc = "" +
 	"\aota_end\x18\t \x01(\v2\x13.alox.OtaEndPayloadH\x00R\x06otaEnd\x127\n" +
 	"\n" +
 	"ota_status\x18\n" +
-	" \x01(\v2\x16.alox.OtaStatusPayloadH\x00R\totaStatusB\t\n" +
+	" \x01(\v2\x16.alox.OtaStatusPayloadH\x00R\totaStatus\x12R\n" +
+	"\x16accel_deadzone_request\x18\v \x01(\v2\x1a.alox.AccelDeadzoneRequestH\x00R\x14accelDeadzoneRequest\x12U\n" +
+	"\x17accel_deadzone_response\x18\f \x01(\v2\x1b.alox.AccelDeadzoneResponseH\x00R\x15accelDeadzoneResponseB\t\n" +
 	"\apayload\"\x05\n" +
 	"\x03Ack\"!\n" +
 	"\vEchoPayload\x12\x12\n" +
@@ -920,7 +1096,18 @@ const file_uart_messages_proto_rawDesc = "" +
 	"\x06lage_y\x18\x03 \x01(\x02R\x05lageY\x12\x18\n" +
 	"\abitmask\x18\x04 \x01(\rR\abitmask\"B\n" +
 	"\x13ClientInputResponse\x12+\n" +
-	"\aclients\x18\x01 \x03(\v2\x11.alox.ClientInputR\aclients\"O\n" +
+	"\aclients\x18\x01 \x03(\v2\x11.alox.ClientInputR\aclients\"\x86\x01\n" +
+	"\x14AccelDeadzoneRequest\x12\x14\n" +
+	"\x05write\x18\x01 \x01(\bR\x05write\x12\x1a\n" +
+	"\bdeadzone\x18\x02 \x01(\rR\bdeadzone\x12\x1b\n" +
+	"\tclient_id\x18\x03 \x01(\rR\bclientId\x12\x1f\n" +
+	"\vall_clients\x18\x04 \x01(\bR\n" +
+	"allClients\"\x91\x01\n" +
+	"\x15AccelDeadzoneResponse\x12\x1a\n" +
+	"\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\"O\n" +
 	"\x0fOtaStartPayload\x12\x1d\n" +
 	"\n" +
 	"total_size\x18\x01 \x01(\rR\ttotalSize\x12\x1d\n" +
@@ -934,14 +1121,15 @@ const file_uart_messages_proto_rawDesc = "" +
 	"\rOtaEndPayload\x12\x16\n" +
 	"\x06status\x18\x01 \x01(\rR\x06status\"*\n" +
 	"\x10OtaStatusPayload\x12\x16\n" +
-	"\x06status\x18\x01 \x01(\rR\x06status*\xb0\x01\n" +
+	"\x06status\x18\x01 \x01(\rR\x06status*\xc4\x01\n" +
 	"\vMessageType\x12\v\n" +
 	"\aUNKNOWN\x10\x00\x12\a\n" +
 	"\x03ACK\x10\x01\x12\b\n" +
 	"\x04ECHO\x10\x02\x12\v\n" +
 	"\aVERSION\x10\x03\x12\x0f\n" +
 	"\vCLIENT_INFO\x10\x04\x12\x10\n" +
-	"\fCLIENT_INPUT\x10\x05\x12\r\n" +
+	"\fCLIENT_INPUT\x10\x05\x12\x12\n" +
+	"\x0eACCEL_DEADZONE\x10\x06\x12\r\n" +
 	"\tOTA_START\x10\x10\x12\x0f\n" +
 	"\vOTA_PAYLOAD\x10\x11\x12\v\n" +
 	"\aOTA_END\x10\x12\x12\x0e\n" +
@@ -962,7 +1150,7 @@ 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, 12)
+var file_uart_messages_proto_msgTypes = make([]protoimpl.MessageInfo, 14)
 var file_uart_messages_proto_goTypes = []any{
 	(MessageType)(0),              // 0: alox.MessageType
 	(*UartMessage)(nil),           // 1: alox.UartMessage
@@ -973,10 +1161,12 @@ var file_uart_messages_proto_goTypes = []any{
 	(*ClientInfoResponse)(nil),    // 6: alox.ClientInfoResponse
 	(*ClientInput)(nil),           // 7: alox.ClientInput
 	(*ClientInputResponse)(nil),   // 8: alox.ClientInputResponse
-	(*OtaStartPayload)(nil),     // 9: alox.OtaStartPayload
+	(*AccelDeadzoneRequest)(nil),  // 9: alox.AccelDeadzoneRequest
-	(*OtaPayload)(nil),          // 10: alox.OtaPayload
+	(*AccelDeadzoneResponse)(nil), // 10: alox.AccelDeadzoneResponse
-	(*OtaEndPayload)(nil),       // 11: alox.OtaEndPayload
+	(*OtaStartPayload)(nil),       // 11: alox.OtaStartPayload
-	(*OtaStatusPayload)(nil),    // 12: alox.OtaStatusPayload
+	(*OtaPayload)(nil),            // 12: alox.OtaPayload
+	(*OtaEndPayload)(nil),         // 13: alox.OtaEndPayload
+	(*OtaStatusPayload)(nil),      // 14: alox.OtaStatusPayload
 }
 var file_uart_messages_proto_depIdxs = []int32{
 	0,  // 0: alox.UartMessage.type:type_name -> alox.MessageType
@@ -985,17 +1175,19 @@ 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
-	9,  // 6: alox.UartMessage.ota_start:type_name -> alox.OtaStartPayload
+	11, // 6: alox.UartMessage.ota_start:type_name -> alox.OtaStartPayload
-	10, // 7: alox.UartMessage.ota_payload:type_name -> alox.OtaPayload
+	12, // 7: alox.UartMessage.ota_payload:type_name -> alox.OtaPayload
-	11, // 8: alox.UartMessage.ota_end:type_name -> alox.OtaEndPayload
+	13, // 8: alox.UartMessage.ota_end:type_name -> alox.OtaEndPayload
-	12, // 9: alox.UartMessage.ota_status:type_name -> alox.OtaStatusPayload
+	14, // 9: alox.UartMessage.ota_status:type_name -> alox.OtaStatusPayload
-	5,  // 10: alox.ClientInfoResponse.clients:type_name -> alox.ClientInfo
+	9,  // 10: alox.UartMessage.accel_deadzone_request:type_name -> alox.AccelDeadzoneRequest
-	7,  // 11: alox.ClientInputResponse.clients:type_name -> alox.ClientInput
+	10, // 11: alox.UartMessage.accel_deadzone_response:type_name -> alox.AccelDeadzoneResponse
-	12, // [12:12] is the sub-list for method output_type
+	5,  // 12: alox.ClientInfoResponse.clients:type_name -> alox.ClientInfo
-	12, // [12:12] is the sub-list for method input_type
+	7,  // 13: alox.ClientInputResponse.clients:type_name -> alox.ClientInput
-	12, // [12:12] is the sub-list for extension type_name
+	14, // [14:14] is the sub-list for method output_type
-	12, // [12:12] is the sub-list for extension extendee
+	14, // [14:14] is the sub-list for method input_type
-	0,  // [0:12] is the sub-list for field type_name
+	14, // [14:14] is the sub-list for extension type_name
+	14, // [14:14] is the sub-list for extension extendee
+	0,  // [0:14] is the sub-list for field type_name
 }
 
 func init() { file_uart_messages_proto_init() }
@@ -1013,6 +1205,8 @@ func file_uart_messages_proto_init() {
 		(*UartMessage_OtaPayload)(nil),
 		(*UartMessage_OtaEnd)(nil),
 		(*UartMessage_OtaStatus)(nil),
+		(*UartMessage_AccelDeadzoneRequest)(nil),
+		(*UartMessage_AccelDeadzoneResponse)(nil),
 	}
 	type x struct{}
 	out := protoimpl.TypeBuilder{
@@ -1020,7 +1214,7 @@ 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:   12,
+			NumMessages:   14,
 			NumExtensions: 0,
 			NumServices:   0,
 		},

goTool/serialport.go

@@ -38,6 +38,32 @@ func (s *serialPort) Close() error {
 	return s.port.Close()
 }
 
+func (s *serialPort) exchangePayload(payload []byte, cmdName string) ([]byte, error) {
+	if len(payload) == 0 {
+		return nil, fmt.Errorf("empty payload")
+	}
+	frame, err := uartframe.EncodeFrame(payload)
+	if err != nil {
+		return nil, fmt.Errorf("encode frame: %w", err)
+	}
+
+	log.Printf("sending %s command (%d bytes): % x", cmdName, len(frame), frame)
+	if _, err := s.port.Write(frame); err != nil {
+		return nil, fmt.Errorf("write: %w", err)
+	}
+
+	respPayload, err := uartframe.ReadFrame(s.port, nil)
+	if err != nil {
+		return nil, fmt.Errorf("read response: %w", err)
+	}
+
+	log.Printf("response payload (%d bytes): % x", len(respPayload), respPayload)
+	if len(respPayload) == 0 {
+		return nil, fmt.Errorf("empty response payload")
+	}
+	return respPayload, nil
+}
+
 func (s *serialPort) exchange(cmdID byte, cmdName string) ([]byte, error) {
 	frame, err := uartframe.EncodeFrame([]byte{cmdID})
 	if err != nil {

main/CMakeLists.txt

@@ -16,6 +16,7 @@ idf_component_register(
   "cmd_handler.c"
   "cmd_version.c"
   "cmd_client_info.c"
+  "cmd_accel_deadzone.c"
   "client_registry.c"
   "esp_now_comm.c"
   "esp_now_proto.c"

main/README.md

@@ -73,6 +73,7 @@ Schema: `proto/esp_now_messages.proto`. Encode/decode: `esp_now_proto.c`. The ES
 | `ESPNOW_DISCOVER` | Master → broadcast `FF:FF:FF:FF:FF:FF` | `EspNowDiscover` (`network`) |
 | `ESPNOW_SLAVE_INFO` | Slave → master | `EspNowSlavePresence` |
 | `ESPNOW_HEARTBEAT` | Slave → master | `EspNowSlavePresence` (same fields) |
+| `ESPNOW_SET_ACCEL_DEADZONE` | Master → slave | `EspNowAccelDeadzone` (`deadzone` LSB) |
 
 `EspNowSlavePresence`: `network`, `mac` (6 bytes), `version`, `slave_id`, `available`, `used`.
 
@@ -146,6 +147,7 @@ Host and master speak nanopb-encoded `UartMessage` inside UART frames (byte 0 =
 | 3 | `VERSION` | Implemented (`cmd_version.c`) |
 | 4 | `CLIENT_INFO` | Implemented (`cmd_client_info.c`) — slave list from registry |
 | 5 | `CLIENT_INPUT` | Planned |
+| 6 | `ACCEL_DEADZONE` | Implemented (`cmd_accel_deadzone.c`) — get/set accel filter LSB |
 | 16–20 | OTA / ESP-NOW OTA | Planned |
 
 Regenerate C code:
@@ -173,6 +175,21 @@ Build embeds `POWERPOD_GIT_HASH` via `git rev-parse` in `main/CMakeLists.txt`.
 
 Encoding: `uart_send_uart_message()` in `uart_proto.c`.
 
+### ACCEL_DEADZONE command
+
+Filters BMA456 logs: a new accel line is emitted only when any axis changes by more than `deadzone` raw LSB since the last reported sample (default **100**).
+
+**Request:** framed `06` + nanopb `UartMessage` with `accel_deadzone_request`:
+
+| Field | Meaning |
+|-------|---------|
+| `write` | `false` = read, `true` = write |
+| `deadzone` | Threshold in LSB (write) |
+| `client_id` | `0` = local sensor on this node; `>0` = slave id (master) |
+| `all_clients` | Master: ESP-NOW push to every registered slave |
+
+**Response:** `accel_deadzone_response` with applied `deadzone`, `success`, and `slaves_updated` (ESP-NOW count).
+
 ### CLIENT_INFO command
 
 **Request:** framed payload `04` only (`MessageType.CLIENT_INFO`).

main/bosch456.c

@@ -18,6 +18,11 @@ static const char *TAG = "[BMA456]";
 static i2c_master_dev_handle_t bma456_dev_handle;
 static bool s_bma456_ready;
 static struct bma4_dev bma456_struct;
+static uint32_t s_accel_deadzone = BMA456_DEFAULT_ACCEL_DEADZONE;
+static int16_t s_last_x;
+static int16_t s_last_y;
+static int16_t s_last_z;
+static bool s_have_last_sample;
 
 volatile uint8_t interrupt_status = 0;
 uint8_t int_line;
@@ -134,6 +139,49 @@ static esp_err_t check_bma4(const char *api_name, int8_t rslt) {
   return ESP_FAIL;
 }
 
+static int16_t axis_delta(int16_t a, int16_t b) {
+  int32_t d = (int32_t)a - (int32_t)b;
+  return (int16_t)(d < 0 ? -d : d);
+}
+
+static bool sample_exceeds_deadzone(int16_t x, int16_t y, int16_t z) {
+  if (!s_have_last_sample) {
+    return true;
+  }
+  return axis_delta(x, s_last_x) > (int16_t)s_accel_deadzone ||
+         axis_delta(y, s_last_y) > (int16_t)s_accel_deadzone ||
+         axis_delta(z, s_last_z) > (int16_t)s_accel_deadzone;
+}
+
+bool bma456_is_ready(void) { return s_bma456_ready; }
+
+void bma456_set_accel_deadzone(uint32_t deadzone_lsb) {
+  s_accel_deadzone = deadzone_lsb;
+  s_have_last_sample = false;
+  if (s_bma456_ready) {
+    ESP_LOGI(TAG, "accel deadzone applied: %lu LSB", (unsigned long)deadzone_lsb);
+  }
+}
+
+uint32_t bma456_get_accel_deadzone(void) { return s_accel_deadzone; }
+
+void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z) {
+  if (!s_bma456_ready) {
+    return;
+  }
+  if (!sample_exceeds_deadzone(x, y, z)) {
+    return;
+  }
+
+  s_last_x = x;
+  s_last_y = y;
+  s_last_z = z;
+  s_have_last_sample = true;
+
+  ESP_LOGI(TAG, "ACC X=%d Y=%d Z=%d (deadzone %lu)", x, y, z,
+           (unsigned long)s_accel_deadzone);
+}
+
 static void remove_bma456_device(void) {
   if (bma456_dev_handle != NULL) {
     i2c_master_bus_rm_device(bma456_dev_handle);
@@ -153,10 +201,11 @@ void read_sensor_task(void *params) {
 
   while (1) {
     ret = bma4_read_accel_xyz(&sens_data, &bma456_struct);
+    if (ret == BMA4_OK) {
+      bma456_report_accel_if_changed(sens_data.x, sens_data.y, sens_data.z);
+    } else {
       bma4_error_codes_print_result("bma4_read_accel_xyz", ret);
-
+    }
-    ESP_LOGI("ACC", "X: %d, Y: %d, Z: %d", sens_data.x, sens_data.y,
-             sens_data.z);
 
     if (interrupt_status) {
       ESP_LOGI("INTERRUPT", "Da war der Interrupt resetting");

main/bosch456.h

@@ -9,7 +9,17 @@
 
 #define BMA456_ADDRESS 0x18
 
+#define BMA456_DEFAULT_ACCEL_DEADZONE 100u
+
 /** Initialize BMA456 on the shared I2C bus. Returns ESP_OK or logs and skips sensor use. */
 esp_err_t init_bma456(i2c_master_bus_handle_t bus_handle);
 
+bool bma456_is_ready(void);
+
+void bma456_set_accel_deadzone(uint32_t deadzone_lsb);
+uint32_t bma456_get_accel_deadzone(void);
+
+/** Log accel sample only when any axis changed more than deadzone since last report. */
+void bma456_report_accel_if_changed(int16_t x, int16_t y, int16_t z);
+
 #endif

main/client_registry.c

@@ -60,6 +60,7 @@ static client_slot_t *alloc_slot(const uint8_t mac[CLIENT_MAC_LEN],
       slot = &s_clients[i];
       slot->active = true;
       memcpy(slot->info.mac, mac, CLIENT_MAC_LEN);
+      slot->info.accel_deadzone = CLIENT_REGISTRY_DEFAULT_ACCEL_DEADZONE;
       if (out_is_new != NULL) {
         *out_is_new = true;
       }
@@ -169,6 +170,59 @@ size_t client_registry_count(void) {
   return n;
 }
 
+const client_info_t *client_registry_find_by_id(uint32_t id) {
+  for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
+    if (s_clients[i].active && s_clients[i].info.id == id) {
+      return &s_clients[i].info;
+    }
+  }
+  return NULL;
+}
+
+esp_err_t client_registry_set_accel_deadzone(uint32_t client_id,
+                                             uint32_t deadzone) {
+  const client_info_t *info = client_registry_find_by_id(client_id);
+  if (info == NULL) {
+    return ESP_ERR_NOT_FOUND;
+  }
+
+  for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
+    if (s_clients[i].active && s_clients[i].info.id == client_id) {
+      s_clients[i].info.accel_deadzone = deadzone;
+      return ESP_OK;
+    }
+  }
+  return ESP_ERR_NOT_FOUND;
+}
+
+esp_err_t client_registry_get_accel_deadzone(uint32_t client_id,
+                                             uint32_t *deadzone_out) {
+  if (deadzone_out == NULL) {
+    return ESP_ERR_INVALID_ARG;
+  }
+
+  const client_info_t *info = client_registry_find_by_id(client_id);
+  if (info == NULL) {
+    return ESP_ERR_NOT_FOUND;
+  }
+
+  *deadzone_out = info->accel_deadzone;
+  return ESP_OK;
+}
+
+size_t client_registry_set_accel_deadzone_all(uint32_t deadzone) {
+  size_t n = 0;
+
+  for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {
+    if (!s_clients[i].active) {
+      continue;
+    }
+    s_clients[i].info.accel_deadzone = deadzone;
+    n++;
+  }
+  return n;
+}
+
 const client_info_t *client_registry_at(size_t index) {
   size_t n = 0;
   for (size_t i = 0; i < CLIENT_REGISTRY_MAX; i++) {

main/client_registry.h

@@ -19,8 +19,12 @@ typedef struct {
   /** Milliseconds since boot when last heartbeat / SLAVE_INFO was accepted. */
   uint32_t last_success_ping_at;
   uint32_t version;
+  /** Accel deadzone in raw LSB per axis (master copy for ESP-NOW config). */
+  uint32_t accel_deadzone;
 } client_info_t;
 
+#define CLIENT_REGISTRY_DEFAULT_ACCEL_DEADZONE 100u
+
 void client_registry_init(void);
 
 /** Milliseconds since boot (same clock as stored ping timestamps). */
@@ -49,5 +53,14 @@ void client_registry_check_timeouts(uint32_t timeout_ms);
 size_t client_registry_count(void);
 const client_info_t *client_registry_at(size_t index);
 const client_info_t *client_registry_find_by_mac(const uint8_t mac[CLIENT_MAC_LEN]);
+const client_info_t *client_registry_find_by_id(uint32_t id);
+
+esp_err_t client_registry_set_accel_deadzone(uint32_t client_id,
+                                             uint32_t deadzone);
+esp_err_t client_registry_get_accel_deadzone(uint32_t client_id,
+                                             uint32_t *deadzone_out);
+
+/** Push deadzone to all active registry entries; returns count updated. */
+size_t client_registry_set_accel_deadzone_all(uint32_t deadzone);
 
 #endif

main/cmd_accel_deadzone.c

@@ -0,0 +1,124 @@
+#include "bosch456.h"
+#include "client_registry.h"
+#include "cmd_accel_deadzone.h"
+#include "cmd_handler.h"
+#include "esp_log.h"
+#include "esp_now_comm.h"
+#include "pb_decode.h"
+#include "uart_messages.pb.h"
+#include "uart_proto.h"
+#include <string.h>
+
+static const char *TAG = "[ACCEL_DZ]";
+
+static void send_response(uint32_t deadzone, uint32_t client_id, bool success,
+                          uint32_t slaves_updated) {
+  alox_UartMessage response = alox_UartMessage_init_zero;
+  response.type = alox_MessageType_ACCEL_DEADZONE;
+  response.which_payload = alox_UartMessage_accel_deadzone_response_tag;
+  response.payload.accel_deadzone_response.deadzone = deadzone;
+  response.payload.accel_deadzone_response.client_id = client_id;
+  response.payload.accel_deadzone_response.success = success;
+  response.payload.accel_deadzone_response.slaves_updated = slaves_updated;
+
+  if (uart_send_uart_message(&response) != ESP_OK) {
+    ESP_LOGE(TAG, "failed to send response");
+  }
+}
+
+static esp_err_t push_deadzone_to_slave(const client_info_t *client,
+                                        uint32_t deadzone) {
+  if (client == NULL) {
+    return ESP_ERR_INVALID_ARG;
+  }
+
+  esp_err_t err =
+      client_registry_set_accel_deadzone(client->id, deadzone);
+  if (err != ESP_OK) {
+    return err;
+  }
+
+  return esp_now_comm_send_accel_deadzone(client->id, deadzone);
+}
+
+static void handle_accel_deadzone(const uint8_t *data, size_t len) {
+  alox_UartMessage uart_msg = alox_UartMessage_init_zero;
+  alox_AccelDeadzoneRequest req = alox_AccelDeadzoneRequest_init_zero;
+  bool have_request = false;
+
+  if (len > 0) {
+    pb_istream_t stream = pb_istream_from_buffer(data, len);
+    if (!pb_decode(&stream, alox_UartMessage_fields, &uart_msg)) {
+      ESP_LOGW(TAG, "decode failed");
+      send_response(BMA456_DEFAULT_ACCEL_DEADZONE, 0, false, 0);
+      return;
+    }
+    if (uart_msg.which_payload ==
+        alox_UartMessage_accel_deadzone_request_tag) {
+      req = uart_msg.payload.accel_deadzone_request;
+      have_request = true;
+    }
+  }
+
+  if (!have_request) {
+    req.write = false;
+    req.client_id = 0;
+    req.all_clients = false;
+  }
+
+  if (req.write) {
+    if (req.all_clients) {
+      size_t n = client_registry_set_accel_deadzone_all(req.deadzone);
+      esp_err_t send_err = esp_now_comm_send_accel_deadzone(0, req.deadzone);
+
+      if (bma456_is_ready()) {
+        bma456_set_accel_deadzone(req.deadzone);
+      }
+
+      ESP_LOGI(TAG, "set deadzone %lu broadcast (registry %u)",
+               (unsigned long)req.deadzone, (unsigned)n);
+      send_response(req.deadzone, 0, send_err == ESP_OK || bma456_is_ready(),
+                    send_err == ESP_OK ? (uint32_t)n : 0);
+      return;
+    }
+
+    if (req.client_id == 0) {
+      bma456_set_accel_deadzone(req.deadzone);
+      ESP_LOGI(TAG, "set local deadzone %lu (no ESP-NOW; use -client or -all "
+                    "for slaves)",
+               (unsigned long)req.deadzone);
+      send_response(req.deadzone, 0, true, 0);
+      return;
+    }
+
+    const client_info_t *client = client_registry_find_by_id(req.client_id);
+    if (client == NULL) {
+      ESP_LOGW(TAG, "client id %lu not found",
+               (unsigned long)req.client_id);
+      send_response(req.deadzone, req.client_id, false, 0);
+      return;
+    }
+
+    esp_err_t err = push_deadzone_to_slave(client, req.deadzone);
+    send_response(req.deadzone, req.client_id, err == ESP_OK, err == ESP_OK);
+    return;
+  }
+
+  /* Read */
+  if (req.all_clients || req.client_id == 0) {
+    uint32_t dz = bma456_get_accel_deadzone();
+    send_response(dz, 0, true, 0);
+    return;
+  }
+
+  uint32_t dz = 0;
+  esp_err_t err = client_registry_get_accel_deadzone(req.client_id, &dz);
+  send_response(dz, req.client_id, err == ESP_OK, 0);
+}
+
+void cmd_accel_deadzone_register(void) {
+  if (msg_register_handler(alox_MessageType_ACCEL_DEADZONE,
+                           handle_accel_deadzone) != ESP_OK) {
+    ESP_LOGE(TAG, "register failed");
+  }
+}

main/cmd_accel_deadzone.h

@@ -0,0 +1,6 @@
+#ifndef CMD_ACCEL_DEADZONE_H
+#define CMD_ACCEL_DEADZONE_H
+
+void cmd_accel_deadzone_register(void);
+
+#endif

main/cmd_handler.c

@@ -26,6 +26,8 @@ static const char *message_type_name(uint16_t id) {
     return "CLIENT_INFO";
   case alox_MessageType_CLIENT_INPUT:
     return "CLIENT_INPUT";
+  case alox_MessageType_ACCEL_DEADZONE:
+    return "ACCEL_DEADZONE";
   case alox_MessageType_OTA_START:
     return "OTA_START";
   case alox_MessageType_OTA_PAYLOAD:

main/esp_now_comm.c

@@ -1,3 +1,4 @@
+#include "bosch456.h"
 #include "client_registry.h"
 #include "esp_now_comm.h"
 #include "esp_now_proto.h"
@@ -109,6 +110,35 @@ static esp_err_t send_message(const uint8_t *dest_mac,
   return err;
 }
 
+static esp_err_t send_accel_deadzone(uint32_t client_id, uint32_t deadzone) {
+  alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
+
+  msg.type = alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE;
+  msg.which_payload = alox_EspNowMessage_accel_deadzone_tag;
+  msg.payload.accel_deadzone.deadzone = deadzone;
+  msg.payload.accel_deadzone.client_id = client_id;
+
+  return send_message(ESPNOW_BCAST, &msg);
+}
+
+esp_err_t esp_now_comm_send_accel_deadzone(uint32_t client_id, uint32_t deadzone) {
+  if (!s_config.master) {
+    return ESP_ERR_INVALID_STATE;
+  }
+
+  esp_err_t err = send_accel_deadzone(client_id, deadzone);
+  if (err == ESP_OK) {
+    ESP_LOGI(TAG,
+             "broadcast SET_ACCEL_DEADZONE deadzone=%lu client_id=%lu%s",
+             (unsigned long)deadzone, (unsigned long)client_id,
+             client_id == 0 ? " (all slaves)" : "");
+  } else {
+    ESP_LOGW(TAG, "broadcast SET_ACCEL_DEADZONE failed: %s",
+             esp_err_to_name(err));
+  }
+  return err;
+}
+
 static void send_presence(const uint8_t *dest_mac,
                           alox_EspNowMessageType type) {
   alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
@@ -133,6 +163,29 @@ static void slave_reset_join(void) {
   s_last_discover_ms = 0;
 }
 
+static void handle_slave_accel_deadzone(const uint8_t *master_mac,
+                                        const alox_EspNowAccelDeadzone *cfg) {
+  uint32_t my_id = s_own_mac[5];
+
+  if (cfg->client_id != 0 && cfg->client_id != my_id) {
+    return;
+  }
+
+  if (s_slave_joined && !mac_equal(master_mac, s_master_mac)) {
+    return;
+  }
+
+  char mac_str[18];
+  mac_to_str(master_mac, mac_str, sizeof(mac_str));
+
+  ESP_LOGI(TAG,
+           "accel deadzone from master %s: %lu LSB id=%lu (sensor %s)",
+           mac_str, (unsigned long)cfg->deadzone, (unsigned long)my_id,
+           bma456_is_ready() ? "ok" : "not installed");
+
+  bma456_set_accel_deadzone(cfg->deadzone);
+}
+
 static void handle_client_presence(const alox_EspNowSlavePresence *presence,
                                    const uint8_t mac[CLIENT_MAC_LEN]) {
   if (presence->network != s_config.network) {
@@ -184,6 +237,7 @@ static void handle_discover(const uint8_t *sender_mac,
   memcpy(s_master_mac, sender_mac, ESP_NOW_ETH_ALEN);
   s_slave_joined = true;
   s_last_discover_ms = now;
+  ensure_peer(sender_mac);
 
   char mac_str[18];
   mac_to_str(sender_mac, mac_str, sizeof(mac_str));
@@ -247,34 +301,42 @@ static void espnow_recv_cb(const esp_now_recv_info_t *info, const uint8_t *data,
     return;
   }
 
+  if (!s_config.master) {
+    alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
+
+    if (esp_now_proto_decode(data, (size_t)len, &msg) != ESP_OK) {
+      ESP_LOGW(TAG, "slave: ESP-NOW decode failed (%d bytes)", len);
+      return;
+    }
+
+    switch (msg.which_payload) {
+    case alox_EspNowMessage_discover_tag:
+      handle_discover(info->src_addr, &msg.payload.discover);
+      break;
+    case alox_EspNowMessage_accel_deadzone_tag:
+      handle_slave_accel_deadzone(info->src_addr, &msg.payload.accel_deadzone);
+      break;
+    default:
+      ESP_LOGW(TAG, "slave: unhandled ESP-NOW which=%u type=%u", msg.which_payload,
+               (unsigned)msg.type);
+      break;
+    }
+    return;
+  }
+
   alox_EspNowMessage msg = alox_EspNowMessage_init_zero;
   uint8_t peer_mac[CLIENT_MAC_LEN];
 
-  esp_now_proto_setup_message_decode(&msg, peer_mac);
+  if (esp_now_proto_decode_with_mac(data, (size_t)len, &msg, peer_mac) !=
-  if (esp_now_proto_decode(data, (size_t)len, &msg) != ESP_OK) {
+      ESP_OK) {
-    return;
+    ESP_LOGW(TAG, "master: ESP-NOW decode failed (%d bytes)", len);
-  }
-
-  if (!s_config.master) {
-    if (msg.type != alox_EspNowMessageType_ESPNOW_DISCOVER ||
-        msg.which_payload != alox_EspNowMessage_discover_tag) {
-      return;
-    }
-    handle_discover(info->src_addr, &msg.payload.discover);
     return;
   }
 
   const alox_EspNowSlavePresence *presence = esp_now_proto_get_presence(&msg);
-  if (presence == NULL) {
+  if (presence != NULL) {
-    return;
-  }
-
-  if (msg.type != alox_EspNowMessageType_ESPNOW_SLAVE_INFO &&
-      msg.type != alox_EspNowMessageType_ESPNOW_HEARTBEAT) {
-    return;
-  }
-
     handle_client_presence(presence, peer_mac);
+  }
 }
 
 static void master_discover_task(void *param) {

main/esp_now_comm.h

@@ -2,8 +2,15 @@
 #define ESP_NOW_COMM_H
 
 #include "app_config.h"
+#include "client_registry.h"
 #include "esp_err.h"
 
 esp_err_t esp_now_comm_init(const app_config_t *config);
 
+/**
+ * Master: broadcast accel deadzone (same path as DISCOVER).
+ * client_id 0 = all slaves; otherwise only the slave with that id applies it.
+ */
+esp_err_t esp_now_comm_send_accel_deadzone(uint32_t client_id, uint32_t deadzone);
+
 #endif

main/esp_now_proto.c

@@ -77,6 +77,16 @@ esp_err_t esp_now_proto_decode(const uint8_t *data, size_t len,
   return ESP_OK;
 }
 
+esp_err_t esp_now_proto_decode_with_mac(const uint8_t *data, size_t len,
+                                        alox_EspNowMessage *msg,
+                                        uint8_t mac_out[6]) {
+  if (mac_out == NULL) {
+    return ESP_ERR_INVALID_ARG;
+  }
+  esp_now_proto_setup_message_decode(msg, mac_out);
+  return esp_now_proto_decode(data, len, msg);
+}
+
 const alox_EspNowSlavePresence *
 esp_now_proto_get_presence(const alox_EspNowMessage *msg) {
   if (msg == NULL) {

main/esp_now_proto.h

@@ -14,6 +14,11 @@ esp_err_t esp_now_proto_encode(const alox_EspNowMessage *msg, uint8_t *buf,
 esp_err_t esp_now_proto_decode(const uint8_t *data, size_t len,
                                alox_EspNowMessage *msg);
 
+/** Decode messages that carry EspNowSlavePresence (mac callback required). */
+esp_err_t esp_now_proto_decode_with_mac(const uint8_t *data, size_t len,
+                                        alox_EspNowMessage *msg,
+                                        uint8_t mac_out[6]);
+
 void esp_now_proto_setup_presence_encode(alox_EspNowSlavePresence *presence,
                                          const uint8_t mac[6]);
 

main/powerpod.c

@@ -1,5 +1,6 @@
 #include "app_config.h"
 #include "cmd_handler.h"
+#include "cmd_accel_deadzone.h"
 #include "cmd_client_info.h"
 #include "cmd_version.h"
 #include "esp_now_comm.h"
@@ -144,6 +145,7 @@ void app_main(void) {
     init_uart(cmd_queue);
     cmd_version_register();
     cmd_client_info_register();
+    cmd_accel_deadzone_register();
   }
 
   uint8_t current_digit = 10;

main/proto/esp_now_messages.pb.c

@@ -12,6 +12,9 @@ PB_BIND(alox_EspNowDiscover, alox_EspNowDiscover, AUTO)
 PB_BIND(alox_EspNowSlavePresence, alox_EspNowSlavePresence, AUTO)
 
 
+PB_BIND(alox_EspNowAccelDeadzone, alox_EspNowAccelDeadzone, AUTO)
+
+
 PB_BIND(alox_EspNowMessage, alox_EspNowMessage, AUTO)
 
 

main/proto/esp_now_messages.pb.h

@@ -14,7 +14,8 @@ typedef enum _alox_EspNowMessageType {
     alox_EspNowMessageType_ESPNOW_UNKNOWN = 0,
     alox_EspNowMessageType_ESPNOW_DISCOVER = 1,
     alox_EspNowMessageType_ESPNOW_SLAVE_INFO = 2,
-    alox_EspNowMessageType_ESPNOW_HEARTBEAT = 3
+    alox_EspNowMessageType_ESPNOW_HEARTBEAT = 3,
+    alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE = 4
 } alox_EspNowMessageType;
 
 /* Struct definitions */
@@ -31,6 +32,11 @@ typedef struct _alox_EspNowSlavePresence {
     bool used;
 } alox_EspNowSlavePresence;
 
+typedef struct _alox_EspNowAccelDeadzone {
+    uint32_t deadzone;
+    uint32_t client_id; /* 0 = all slaves; otherwise only matching slave_id applies */
+} alox_EspNowAccelDeadzone;
+
 typedef struct _alox_EspNowMessage {
     alox_EspNowMessageType type;
     pb_size_t which_payload;
@@ -38,6 +44,7 @@ typedef struct _alox_EspNowMessage {
         alox_EspNowDiscover discover;
         alox_EspNowSlavePresence slave_info;
         alox_EspNowSlavePresence heartbeat;
+        alox_EspNowAccelDeadzone accel_deadzone;
     } payload;
 } alox_EspNowMessage;
 
@@ -48,8 +55,9 @@ extern "C" {
 
 /* Helper constants for enums */
 #define _alox_EspNowMessageType_MIN alox_EspNowMessageType_ESPNOW_UNKNOWN
-#define _alox_EspNowMessageType_MAX alox_EspNowMessageType_ESPNOW_HEARTBEAT
+#define _alox_EspNowMessageType_MAX alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE
-#define _alox_EspNowMessageType_ARRAYSIZE ((alox_EspNowMessageType)(alox_EspNowMessageType_ESPNOW_HEARTBEAT+1))
+#define _alox_EspNowMessageType_ARRAYSIZE ((alox_EspNowMessageType)(alox_EspNowMessageType_ESPNOW_SET_ACCEL_DEADZONE+1))
+
 
 
 
@@ -59,9 +67,11 @@ extern "C" {
 /* Initializer values for message structs */
 #define alox_EspNowDiscover_init_default         {0}
 #define alox_EspNowSlavePresence_init_default    {0, {{NULL}, NULL}, 0, 0, 0, 0}
+#define alox_EspNowAccelDeadzone_init_default    {0, 0}
 #define alox_EspNowMessage_init_default          {_alox_EspNowMessageType_MIN, 0, {alox_EspNowDiscover_init_default}}
 #define alox_EspNowDiscover_init_zero            {0}
 #define alox_EspNowSlavePresence_init_zero       {0, {{NULL}, NULL}, 0, 0, 0, 0}
+#define alox_EspNowAccelDeadzone_init_zero       {0, 0}
 #define alox_EspNowMessage_init_zero             {_alox_EspNowMessageType_MIN, 0, {alox_EspNowDiscover_init_zero}}
 
 /* Field tags (for use in manual encoding/decoding) */
@@ -72,10 +82,13 @@ extern "C" {
 #define alox_EspNowSlavePresence_slave_id_tag    4
 #define alox_EspNowSlavePresence_available_tag   5
 #define alox_EspNowSlavePresence_used_tag        6
+#define alox_EspNowAccelDeadzone_deadzone_tag    1
+#define alox_EspNowAccelDeadzone_client_id_tag   2
 #define alox_EspNowMessage_type_tag              1
 #define alox_EspNowMessage_discover_tag          2
 #define alox_EspNowMessage_slave_info_tag        3
 #define alox_EspNowMessage_heartbeat_tag         4
+#define alox_EspNowMessage_accel_deadzone_tag    5
 
 /* Struct field encoding specification for nanopb */
 #define alox_EspNowDiscover_FIELDLIST(X, a) \
@@ -93,30 +106,41 @@ X(a, STATIC,   SINGULAR, BOOL,     used,              6)
 #define alox_EspNowSlavePresence_CALLBACK pb_default_field_callback
 #define alox_EspNowSlavePresence_DEFAULT NULL
 
+#define alox_EspNowAccelDeadzone_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, UINT32,   deadzone,          1) \
+X(a, STATIC,   SINGULAR, UINT32,   client_id,         2)
+#define alox_EspNowAccelDeadzone_CALLBACK NULL
+#define alox_EspNowAccelDeadzone_DEFAULT NULL
+
 #define alox_EspNowMessage_FIELDLIST(X, a) \
 X(a, STATIC,   SINGULAR, UENUM,    type,              1) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload,discover,payload.discover),   2) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload,slave_info,payload.slave_info),   3) \
-X(a, STATIC,   ONEOF,    MESSAGE,  (payload,heartbeat,payload.heartbeat),   4)
+X(a, STATIC,   ONEOF,    MESSAGE,  (payload,heartbeat,payload.heartbeat),   4) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (payload,accel_deadzone,payload.accel_deadzone),   5)
 #define alox_EspNowMessage_CALLBACK NULL
 #define alox_EspNowMessage_DEFAULT NULL
 #define alox_EspNowMessage_payload_discover_MSGTYPE alox_EspNowDiscover
 #define alox_EspNowMessage_payload_slave_info_MSGTYPE alox_EspNowSlavePresence
 #define alox_EspNowMessage_payload_heartbeat_MSGTYPE alox_EspNowSlavePresence
+#define alox_EspNowMessage_payload_accel_deadzone_MSGTYPE alox_EspNowAccelDeadzone
 
 extern const pb_msgdesc_t alox_EspNowDiscover_msg;
 extern const pb_msgdesc_t alox_EspNowSlavePresence_msg;
+extern const pb_msgdesc_t alox_EspNowAccelDeadzone_msg;
 extern const pb_msgdesc_t alox_EspNowMessage_msg;
 
 /* Defines for backwards compatibility with code written before nanopb-0.4.0 */
 #define alox_EspNowDiscover_fields &alox_EspNowDiscover_msg
 #define alox_EspNowSlavePresence_fields &alox_EspNowSlavePresence_msg
+#define alox_EspNowAccelDeadzone_fields &alox_EspNowAccelDeadzone_msg
 #define alox_EspNowMessage_fields &alox_EspNowMessage_msg
 
 /* Maximum encoded size of messages (where known) */
 /* alox_EspNowSlavePresence_size depends on runtime parameters */
 /* alox_EspNowMessage_size depends on runtime parameters */
-#define ALOX_MAIN_PROTO_ESP_NOW_MESSAGES_PB_H_MAX_SIZE alox_EspNowDiscover_size
+#define ALOX_MAIN_PROTO_ESP_NOW_MESSAGES_PB_H_MAX_SIZE alox_EspNowAccelDeadzone_size
+#define alox_EspNowAccelDeadzone_size            12
 #define alox_EspNowDiscover_size                 6
 
 #ifdef __cplusplus

main/proto/esp_now_messages.proto

@@ -7,6 +7,7 @@ enum EspNowMessageType {
   ESPNOW_DISCOVER = 1;
   ESPNOW_SLAVE_INFO = 2;
   ESPNOW_HEARTBEAT = 3;
+  ESPNOW_SET_ACCEL_DEADZONE = 4;
 }
 
 message EspNowDiscover {
@@ -22,11 +23,17 @@ message EspNowSlavePresence {
   bool used = 6;
 }
 
+message EspNowAccelDeadzone {
+  uint32 deadzone = 1;
+  uint32 client_id = 2; // 0 = all slaves; otherwise only matching slave_id applies
+}
+
 message EspNowMessage {
   EspNowMessageType type = 1;
   oneof payload {
     EspNowDiscover discover = 2;
     EspNowSlavePresence slave_info = 3;
     EspNowSlavePresence heartbeat = 4;
+    EspNowAccelDeadzone accel_deadzone = 5;
   }
 }

main/proto/uart_messages.pb.c

@@ -30,6 +30,12 @@ PB_BIND(alox_ClientInput, alox_ClientInput, AUTO)
 PB_BIND(alox_ClientInputResponse, alox_ClientInputResponse, AUTO)
 
 
+PB_BIND(alox_AccelDeadzoneRequest, alox_AccelDeadzoneRequest, AUTO)
+
+
+PB_BIND(alox_AccelDeadzoneResponse, alox_AccelDeadzoneResponse, AUTO)
+
+
 PB_BIND(alox_OtaStartPayload, alox_OtaStartPayload, AUTO)
 
 

main/proto/uart_messages.pb.h

@@ -17,6 +17,7 @@ typedef enum _alox_MessageType {
     alox_MessageType_VERSION = 3,
     alox_MessageType_CLIENT_INFO = 4,
     alox_MessageType_CLIENT_INPUT = 5,
+    alox_MessageType_ACCEL_DEADZONE = 6,
     alox_MessageType_OTA_START = 16,
     alox_MessageType_OTA_PAYLOAD = 17,
     alox_MessageType_OTA_END = 18,
@@ -63,6 +64,23 @@ typedef struct _alox_ClientInputResponse {
     pb_callback_t clients;
 } alox_ClientInputResponse;
 
+/* write=false: read deadzone; write=true: apply deadzone (LSB per axis, raw accel units).
+ client_id 0 = local BMA456 on this node; >0 = slave id on master; ignored on slave.
+ all_clients = true (master only): push deadzone to every registered slave via ESP-NOW. */
+typedef struct _alox_AccelDeadzoneRequest {
+    bool write;
+    uint32_t deadzone;
+    uint32_t client_id;
+    bool all_clients;
+} alox_AccelDeadzoneRequest;
+
+typedef struct _alox_AccelDeadzoneResponse {
+    uint32_t deadzone;
+    uint32_t client_id;
+    bool success;
+    uint32_t slaves_updated;
+} alox_AccelDeadzoneResponse;
+
 typedef struct _alox_OtaStartPayload {
     uint32_t total_size;
     uint32_t block_size;
@@ -95,6 +113,8 @@ typedef struct _alox_UartMessage {
         alox_OtaPayload ota_payload;
         alox_OtaEndPayload ota_end;
         alox_OtaStatusPayload ota_status;
+        alox_AccelDeadzoneRequest accel_deadzone_request;
+        alox_AccelDeadzoneResponse accel_deadzone_response;
     } payload;
 } alox_UartMessage;
 
@@ -122,6 +142,8 @@ extern "C" {
 
 
 
+
+
 /* Initializer values for message structs */
 #define alox_UartMessage_init_default            {_alox_MessageType_MIN, 0, {alox_Ack_init_default}}
 #define alox_Ack_init_default                    {0}
@@ -131,6 +153,8 @@ extern "C" {
 #define alox_ClientInfoResponse_init_default     {{{NULL}, NULL}}
 #define alox_ClientInput_init_default            {0, 0, 0, 0}
 #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_OtaStartPayload_init_default        {0, 0}
 #define alox_OtaPayload_init_default             {0, 0, {{NULL}, NULL}}
 #define alox_OtaEndPayload_init_default          {0}
@@ -143,6 +167,8 @@ extern "C" {
 #define alox_ClientInfoResponse_init_zero        {{{NULL}, NULL}}
 #define alox_ClientInput_init_zero               {0, 0, 0, 0}
 #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_OtaStartPayload_init_zero           {0, 0}
 #define alox_OtaPayload_init_zero                {0, 0, {{NULL}, NULL}}
 #define alox_OtaEndPayload_init_zero             {0}
@@ -165,6 +191,14 @@ extern "C" {
 #define alox_ClientInput_lage_y_tag              3
 #define alox_ClientInput_bitmask_tag             4
 #define alox_ClientInputResponse_clients_tag     1
+#define alox_AccelDeadzoneRequest_write_tag      1
+#define alox_AccelDeadzoneRequest_deadzone_tag   2
+#define alox_AccelDeadzoneRequest_client_id_tag  3
+#define alox_AccelDeadzoneRequest_all_clients_tag 4
+#define alox_AccelDeadzoneResponse_deadzone_tag  1
+#define alox_AccelDeadzoneResponse_client_id_tag 2
+#define alox_AccelDeadzoneResponse_success_tag   3
+#define alox_AccelDeadzoneResponse_slaves_updated_tag 4
 #define alox_OtaStartPayload_total_size_tag      1
 #define alox_OtaStartPayload_block_size_tag      2
 #define alox_OtaPayload_block_id_tag             1
@@ -182,6 +216,8 @@ extern "C" {
 #define alox_UartMessage_ota_payload_tag         8
 #define alox_UartMessage_ota_end_tag             9
 #define alox_UartMessage_ota_status_tag          10
+#define alox_UartMessage_accel_deadzone_request_tag 11
+#define alox_UartMessage_accel_deadzone_response_tag 12
 
 /* Struct field encoding specification for nanopb */
 #define alox_UartMessage_FIELDLIST(X, a) \
@@ -194,7 +230,9 @@ X(a, STATIC,   ONEOF,    MESSAGE,  (payload,client_input_response,payload.client
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload,ota_start,payload.ota_start),   7) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload,ota_payload,payload.ota_payload),   8) \
 X(a, STATIC,   ONEOF,    MESSAGE,  (payload,ota_end,payload.ota_end),   9) \
-X(a, STATIC,   ONEOF,    MESSAGE,  (payload,ota_status,payload.ota_status),  10)
+X(a, STATIC,   ONEOF,    MESSAGE,  (payload,ota_status,payload.ota_status),  10) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (payload,accel_deadzone_request,payload.accel_deadzone_request),  11) \
+X(a, STATIC,   ONEOF,    MESSAGE,  (payload,accel_deadzone_response,payload.accel_deadzone_response),  12)
 #define alox_UartMessage_CALLBACK NULL
 #define alox_UartMessage_DEFAULT NULL
 #define alox_UartMessage_payload_ack_payload_MSGTYPE alox_Ack
@@ -206,6 +244,8 @@ X(a, STATIC,   ONEOF,    MESSAGE,  (payload,ota_status,payload.ota_status),  10)
 #define alox_UartMessage_payload_ota_payload_MSGTYPE alox_OtaPayload
 #define alox_UartMessage_payload_ota_end_MSGTYPE alox_OtaEndPayload
 #define alox_UartMessage_payload_ota_status_MSGTYPE alox_OtaStatusPayload
+#define alox_UartMessage_payload_accel_deadzone_request_MSGTYPE alox_AccelDeadzoneRequest
+#define alox_UartMessage_payload_accel_deadzone_response_MSGTYPE alox_AccelDeadzoneResponse
 
 #define alox_Ack_FIELDLIST(X, a) \
 
@@ -254,6 +294,22 @@ X(a, CALLBACK, REPEATED, MESSAGE,  clients,           1)
 #define alox_ClientInputResponse_DEFAULT NULL
 #define alox_ClientInputResponse_clients_MSGTYPE alox_ClientInput
 
+#define alox_AccelDeadzoneRequest_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, BOOL,     write,             1) \
+X(a, STATIC,   SINGULAR, UINT32,   deadzone,          2) \
+X(a, STATIC,   SINGULAR, UINT32,   client_id,         3) \
+X(a, STATIC,   SINGULAR, BOOL,     all_clients,       4)
+#define alox_AccelDeadzoneRequest_CALLBACK NULL
+#define alox_AccelDeadzoneRequest_DEFAULT NULL
+
+#define alox_AccelDeadzoneResponse_FIELDLIST(X, a) \
+X(a, STATIC,   SINGULAR, UINT32,   deadzone,          1) \
+X(a, STATIC,   SINGULAR, UINT32,   client_id,         2) \
+X(a, STATIC,   SINGULAR, BOOL,     success,           3) \
+X(a, STATIC,   SINGULAR, UINT32,   slaves_updated,    4)
+#define alox_AccelDeadzoneResponse_CALLBACK NULL
+#define alox_AccelDeadzoneResponse_DEFAULT NULL
+
 #define alox_OtaStartPayload_FIELDLIST(X, a) \
 X(a, STATIC,   SINGULAR, UINT32,   total_size,        1) \
 X(a, STATIC,   SINGULAR, UINT32,   block_size,        2)
@@ -285,6 +341,8 @@ extern const pb_msgdesc_t alox_ClientInfo_msg;
 extern const pb_msgdesc_t alox_ClientInfoResponse_msg;
 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_OtaStartPayload_msg;
 extern const pb_msgdesc_t alox_OtaPayload_msg;
 extern const pb_msgdesc_t alox_OtaEndPayload_msg;
@@ -299,6 +357,8 @@ extern const pb_msgdesc_t alox_OtaStatusPayload_msg;
 #define alox_ClientInfoResponse_fields &alox_ClientInfoResponse_msg
 #define alox_ClientInput_fields &alox_ClientInput_msg
 #define alox_ClientInputResponse_fields &alox_ClientInputResponse_msg
+#define alox_AccelDeadzoneRequest_fields &alox_AccelDeadzoneRequest_msg
+#define alox_AccelDeadzoneResponse_fields &alox_AccelDeadzoneResponse_msg
 #define alox_OtaStartPayload_fields &alox_OtaStartPayload_msg
 #define alox_OtaPayload_fields &alox_OtaPayload_msg
 #define alox_OtaEndPayload_fields &alox_OtaEndPayload_msg
@@ -313,6 +373,8 @@ extern const pb_msgdesc_t alox_OtaStatusPayload_msg;
 /* alox_ClientInputResponse_size depends on runtime parameters */
 /* alox_OtaPayload_size depends on runtime parameters */
 #define ALOX_MAIN_PROTO_UART_MESSAGES_PB_H_MAX_SIZE alox_ClientInput_size
+#define alox_AccelDeadzoneRequest_size           16
+#define alox_AccelDeadzoneResponse_size          20
 #define alox_Ack_size                            0
 #define alox_ClientInput_size                    22
 #define alox_OtaEndPayload_size                  6

main/proto/uart_messages.proto

@@ -9,6 +9,7 @@ enum MessageType {
   VERSION = 3;
   CLIENT_INFO = 4;
   CLIENT_INPUT = 5;
+  ACCEL_DEADZONE = 6;
   OTA_START = 16;
   OTA_PAYLOAD = 17;
   OTA_END = 18;
@@ -28,6 +29,8 @@ message UartMessage {
     OtaPayload ota_payload = 8;
     OtaEndPayload ota_end = 9;
     OtaStatusPayload ota_status = 10;
+    AccelDeadzoneRequest accel_deadzone_request = 11;
+    AccelDeadzoneResponse accel_deadzone_response = 12;
   }
 }
 
@@ -67,6 +70,23 @@ message ClientInputResponse {
   repeated ClientInput clients = 1; 
 }
 
+// write=false: read deadzone; write=true: apply deadzone (LSB per axis, raw accel units).
+// client_id 0 = local BMA456 on this node; >0 = slave id on master; ignored on slave.
+// all_clients = true (master only): push deadzone to every registered slave via ESP-NOW.
+message AccelDeadzoneRequest {
+  bool write = 1;
+  uint32 deadzone = 2;
+  uint32 client_id = 3;
+  bool all_clients = 4;
+}
+
+message AccelDeadzoneResponse {
+  uint32 deadzone = 1;
+  uint32 client_id = 2;
+  bool success = 3;
+  uint32 slaves_updated = 4;
+}
+
 message OtaStartPayload {
   uint32 total_size = 1;
   uint32 block_size = 2;