diff --git a/examples/BUILD.bazel b/examples/BUILD.bazel
index bfa9b66..74faa58 100644
--- a/examples/BUILD.bazel
+++ b/examples/BUILD.bazel
@@ -3,7 +3,10 @@ load("@rules_cc//cc:defs.bzl", "cc_binary")
 cc_binary(
     name = "vesc_cmd",
     srcs = ["vesc_cmd.cpp"],
-    deps = ["//third_party/vesc_uart"],
+    deps = [
+        "//third_party/vesc_uart",
+        "@fmt",
+    ],
 )
 
 cc_binary(
diff --git a/examples/vesc_cmd.cpp b/examples/vesc_cmd.cpp
index 8e40f4b..f901011 100644
--- a/examples/vesc_cmd.cpp
+++ b/examples/vesc_cmd.cpp
@@ -1,8 +1,59 @@
 #include "third_party/vesc_uart/VescUart.h"
+//#include ""
+
+#include <cstdint>
+#include <fmt/core.h>
+#include <fmt/ranges.h>
+#include <chrono>
+#include <thread>
+#include <array>
+#include <span>
+
+auto buffer = std::array<std::uint8_t, 256>{};
+
+template <std::size_t N>
+auto read_payload(std::span<std::uint8_t, N> buf) -> void
+{
+  static constexpr auto serial_device = 0;
+
+  static auto cmd_get_values = std::uint8_t{ COMM_GET_VALUES };
+  ::PackSendPayload(&cmd_get_values, sizeof(cmd_get_values), serial_device);
+
+  {
+    const auto version = Serial.read();
+    assert(version == 2 and "only version 2 is handled");
+  }
+
+  const auto payload_size = Serial.read();
+  static constexpr auto footer_size = 3;
+
+  fmt::print("payload_size: {}\n", payload_size);
+
+  Serial.read(std::span{buf.data(), payload_size + footer_size});
+
+  fmt::print("got data\n");
+}
 
 auto main() -> int
 {
   ::VescUartSetCurrent(1.0F);
 
+  while (true) {
+    const auto format = Serial.read();
+    assert(format == 2 and "format 3 is not handled");
+
+    auto payload_size = Serial.read();
+
+    constexpr auto footer_size = 3;
+
+    for (auto i = 0; i != footer_size + payload_size; ++i) {
+      buffer[std::size_t(i)] = Serial.read();
+    }
+
+    fmt::print("payload_size: {}\n", payload_size);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds{100});
+  }
+
   return 0;
 }
diff --git a/uart_abstraction/HardwareSerial.hpp b/uart_abstraction/HardwareSerial.hpp
index 0a5af4d..3c52380 100644
--- a/uart_abstraction/HardwareSerial.hpp
+++ b/uart_abstraction/HardwareSerial.hpp
@@ -1,9 +1,10 @@
-// Fake API for UART read/write.
+// API for UART read/write.
 
 #pragma once
 
 #include <cstddef>
 #include <cstdint>
+#include <span>
 
 struct HardwareSerial
 {
@@ -14,6 +15,9 @@ struct HardwareSerial
 
   auto read() const -> std::uint8_t;
 
+  template <std::size_t N>
+  auto read(std::span<std::uint8_t, N> buffer) const -> void;
+
   auto write(std::uint8_t* buffer, std::size_t size) const -> void;
 };
 
diff --git a/uart_abstraction/rpi/HardwareSerial.cpp b/uart_abstraction/rpi/HardwareSerial.cpp
index 2107bd7..860de41 100644
--- a/uart_abstraction/rpi/HardwareSerial.cpp
+++ b/uart_abstraction/rpi/HardwareSerial.cpp
@@ -65,6 +65,18 @@ auto HardwareSerial::read() const -> std::uint8_t
   return static_cast<std::uint8_t>(c);
 }
 
+// NOLINTNEXTLINE(readability-convert-member-functions-to-static)
+template <std::size_t N>
+auto HardwareSerial::read(std::span<std::uint8_t, N> buf) const -> void
+{
+  auto buf_ = asio::buffer(buf.data(), buf.size());
+
+  while (buf_.size() != 0) {
+    // NOLINTNEXTLINE(bugprone-unchecked-optional-access)
+    buf_ += underlying->read_some(buf_);
+  }
+}
+
 // NOLINTNEXTLINE(readability-convert-member-functions-to-static)
 auto HardwareSerial::write(std::uint8_t* buffer, std::size_t size) const -> void
 {