diff --git a/scripts/logextract.py b/scripts/logextract.py
index 95e87da7..85632d2a 100755
--- a/scripts/logextract.py
+++ b/scripts/logextract.py
@@ -45,6 +45,103 @@ class GatherConfig:
         f.close()
 
 
+######################################################################
+# TMC UART message parsing
+######################################################################
+
+uart_r = re.compile(r"tmcuart_(?:send|response) oid=[0-9]+ (?:read|write)=")
+
+class TMCUartHelper:
+    def _calc_crc8(self, data):
+        # Generate a CRC8-ATM value for a bytearray
+        crc = 0
+        for b in data:
+            for i in range(8):
+                if (crc >> 7) ^ (b & 0x01):
+                    crc = (crc << 1) ^ 0x07
+                else:
+                    crc = (crc << 1)
+                crc &= 0xff
+                b >>= 1
+        return crc
+    def _add_serial_bits(self, data):
+        # Add serial start and stop bits to a message in a bytearray
+        out = 0
+        pos = 0
+        for d in data:
+            b = (d << 1) | 0x200
+            out |= (b << pos)
+            pos += 10
+        res = bytearray()
+        for i in range((pos+7)//8):
+            res.append((out >> (i*8)) & 0xff)
+        return res
+    def _encode_read(self, sync, addr, reg):
+        # Generate a uart read register message
+        msg = bytearray([sync, addr, reg])
+        msg.append(self._calc_crc8(msg))
+        return self._add_serial_bits(msg)
+    def _encode_write(self, sync, addr, reg, val):
+        # Generate a uart write register message
+        msg = bytearray([sync, addr, reg, (val >> 24) & 0xff,
+                         (val >> 16) & 0xff, (val >> 8) & 0xff, val & 0xff])
+        msg.append(self._calc_crc8(msg))
+        return self._add_serial_bits(msg)
+    def _decode_read(self, data):
+        # Extract a uart read request message
+        if len(data) != 5:
+            return
+        # Convert data into a long integer for easy manipulation
+        mval = pos = 0
+        for d in bytearray(data):
+            mval |= d << pos
+            pos += 8
+        # Extract register value
+        addr = (mval >> 11) & 0xff
+        reg = (mval >> 21) & 0xff
+        # Verify start/stop bits and crc
+        encoded_data = self._encode_read(0xf5, addr, reg)
+        if data != encoded_data:
+            return "Invalid: %s" % (self.pretty_print(addr, reg),)
+        return self.pretty_print(addr, reg)
+    def _decode_reg(self, data):
+        # Extract a uart read response message
+        if len(data) != 10:
+            return
+        # Convert data into a long integer for easy manipulation
+        mval = pos = 0
+        for d in bytearray(data):
+            mval |= d << pos
+            pos += 8
+        # Extract register value
+        addr = (mval >> 11) & 0xff
+        reg = (mval >> 21) & 0xff
+        val = ((((mval >> 31) & 0xff) << 24) | (((mval >> 41) & 0xff) << 16)
+               | (((mval >> 51) & 0xff) << 8) | ((mval >> 61) & 0xff))
+        sync = 0xf5
+        if addr == 0xff:
+            sync = 0x05
+        # Verify start/stop bits and crc
+        encoded_data = self._encode_write(sync, addr, reg, val)
+        if data != encoded_data:
+            #print("Got %s vs %s" % (repr(data), repr(encoded_data)))
+            return "Invalid:%s" % (self.pretty_print(addr, reg, val),)
+        return self.pretty_print(addr, reg, val)
+    def pretty_print(self, addr, reg, val=None):
+        if val is None:
+            return "(%x@%x)" % (reg, addr)
+        return "(%x@%x=%08x)" % (reg, addr, val)
+    def parse_msg(self, msg):
+        data = bytearray(msg)
+        if len(data) == 10:
+            return self._decode_reg(data)
+        elif len(data) == 5:
+            return self._decode_read(data)
+        elif len(data) == 0:
+            return ""
+        return "(length?)"
+
+
 ######################################################################
 # Shutdown extraction
 ######################################################################
@@ -69,6 +166,9 @@ clock_r = re.compile(r"^clocksync state: .* clock_est=\((?P<st>[^ ]+)"
                      + r" (?P<sc>[0-9]+) (?P<f>[^ ]+)\)")
 repl_seq_r = re.compile(r": seq: 1" + shortseq_s)
 repl_clock_r = re.compile(r"clock=(?P<clock>[0-9]+)(?: |$)")
+repl_uart_r = re.compile(r"tmcuart_(?:response|send) oid=[0-9]+"
+                         + r" (?:read|write)=(?P<msg>(?:'[^']*'"
+                         + r'|"[^"]*"))(?: |$)')
 mcu_r = re.compile(r"MCU '(?P<mcu>[^']+)' (is_)?shutdown: (?P<reason>.*)$")
 
 def add_high_bits(val, ref, mask):
@@ -178,6 +278,10 @@ class GatherShutdown:
             return m.group(0).rstrip() + "(%.6f) " % (
                 self.trans_clock(int(m.group('clock')), ts),)
         line = repl_clock_r.sub(clock_update, line)
+        def uart_update(m):
+            msg = TMCUartHelper().parse_msg(ast.literal_eval(m.group('msg')))
+            return m.group(0).rstrip() + "%s " % (msg,)
+        line = repl_uart_r.sub(uart_update, line)
         if mcu_name != 'mcu':
             line = "mcu '%s': %s" % (mcu_name, line)
         return line