diff --git a/firmware/esp32/xterra-controller/bms.cpp b/firmware/esp32/xterra-controller/bms.cpp
index 1aa9c02..8baaa33 100644
--- a/firmware/esp32/xterra-controller/bms.cpp
+++ b/firmware/esp32/xterra-controller/bms.cpp
@@ -19,6 +19,7 @@ static bool responseReady = false;
 
 static unsigned long lastReadAttempt = 0;
 static unsigned long bmsReconnectPausedUntil = 0;
+static bool bmsSetupMode = false;
 static const unsigned long READ_INTERVAL_MS = 5000;
 
 BmsData bmsData;
@@ -124,6 +125,45 @@ void pauseBmsReconnect(uint32_t pauseMs) {
     bmsReconnectPausedUntil = millis() + pauseMs;
 }
 
+
+void enterBmsSetupMode() {
+    Serial.print(logTimestamp());
+    Serial.println(" BMS setup: entering setup mode");
+
+    bmsSetupMode = true;
+    pauseBmsReconnect(3600000UL);
+
+    if (client && client->isConnected()) {
+        Serial.print(logTimestamp());
+        Serial.println(" BMS setup: disconnecting BMS");
+        client->disconnect();
+    }
+
+    if (client) {
+        NimBLEDevice::deleteClient(client);
+        client = nullptr;
+    }
+
+    notifyChar = nullptr;
+    writeChar = nullptr;
+    bmsData.connected = false;
+
+    Serial.print(logTimestamp());
+    Serial.println(" BMS setup: ready for BLE scans");
+}
+
+void exitBmsSetupMode() {
+    Serial.print(logTimestamp());
+    Serial.println(" BMS setup: exiting setup mode");
+
+    bmsSetupMode = false;
+    bmsReconnectPausedUntil = 0;
+}
+
+bool isBmsSetupMode() {
+    return bmsSetupMode;
+}
+
 int getBleScanResultCount() {
     return bleScanResultCount;
 }
@@ -138,61 +178,85 @@ const BleScanResult* getBleScanResult(int index) {
 
 int scanBleDevices(uint32_t scanSeconds) {
     Serial.print(logTimestamp());
-    Serial.println(" BLE: Starting scan...");
-    pauseBmsReconnect(60000UL);
+    Serial.println(" BLE: Starting setup scan...");
 
-    if (client && client->isConnected()) {
+    if (!bmsSetupMode) {
         Serial.print(logTimestamp());
-        Serial.println(" BLE: Disconnecting BMS before scan");
-        client->disconnect();
-        bmsData.connected = false;
-
-        Serial.print(logTimestamp());
-        Serial.println(" BLE: Waiting 5 seconds for device advertising...");
-        delay(5000);
+        Serial.println(" BLE: auto-entering BMS setup mode for scan");
+        enterBmsSetupMode();
     }
 
     bleScanResultCount = 0;
 
+    Serial.print(logTimestamp());
+    Serial.println(" BLE: waiting 5 seconds before scan");
+    delay(5000);
+
     NimBLEScan* scan = NimBLEDevice::getScan();
-    scan->setScanCallbacks(&bleScanCallbacks, false);
     scan->setActiveScan(true);
     scan->setInterval(100);
     scan->setWindow(99);
     scan->clearResults();
 
     Serial.print(logTimestamp());
-    Serial.print(" BLE: Blocking scan requested for ");
+    Serial.print(" BLE: scanning for ");
     Serial.print(scanSeconds);
     Serial.println(" seconds...");
 
     unsigned long scanStart = millis();
 
-    bool started = scan->start(scanSeconds, false, true);
+    NimBLEScanResults results = scan->getResults(scanSeconds, false);
 
-    unsigned long scanElapsed = (millis() - scanStart) / 1000;
+    unsigned long elapsed = (millis() - scanStart) / 1000;
 
     Serial.print(logTimestamp());
-    Serial.print(" BLE: scan call returned after ");
-    Serial.print(scanElapsed);
+    Serial.print(" BLE: scan returned after ");
+    Serial.print(elapsed);
     Serial.println(" seconds");
 
-    if (!started) {
-        Serial.print(logTimestamp());
-        Serial.println(" BLE: scan failed to start");
-        return 0;
+    int resultCount = results.getCount();
+
+    Serial.print(logTimestamp());
+    Serial.print(" BLE: raw devices seen: ");
+    Serial.println(resultCount);
+
+    for (int i = 0; i < resultCount && bleScanResultCount < MAX_BLE_SCAN_RESULTS; i++) {
+        const NimBLEAdvertisedDevice* device = results.getDevice(i);
+
+        String address = device->getAddress().toString().c_str();
+
+        bool alreadySeen = false;
+        for (int existing = 0; existing < bleScanResultCount; existing++) {
+            if (bleScanResults[existing].address == address) {
+                alreadySeen = true;
+                break;
+            }
+        }
+
+        if (alreadySeen) {
+            continue;
+        }
+
+        String name = "";
+        if (device->haveName()) {
+            name = device->getName().c_str();
+        }
+
+        bleScanResults[bleScanResultCount].address = address;
+        bleScanResults[bleScanResultCount].name = name;
+        bleScanResults[bleScanResultCount].rssi = device->getRSSI();
+        bleScanResultCount++;
     }
 
-    scan->stop();
     scan->clearResults();
 
     Serial.print(logTimestamp());
-    Serial.print(" BLE: Devices found: ");
+    Serial.print(" BLE: devices found: ");
     Serial.println(bleScanResultCount);
 
     if (bleScanResultCount == 0) {
         Serial.println("No BLE devices found.");
-        return bleScanResultCount;
+        return 0;
     }
 
     Serial.println("BLE devices:");
@@ -214,6 +278,7 @@ int scanBleDevices(uint32_t scanSeconds) {
     }
 
     Serial.println("Use: select bms <number>");
+    Serial.println("Use: exit setup when finished");
 
     return bleScanResultCount;
 }
@@ -429,6 +494,10 @@ void initBms() {
 }
 
 void updateBms() {
+    if (bmsSetupMode) {
+        return;
+    }
+
     if ((long)(bmsReconnectPausedUntil - millis()) > 0) {
         return;
     }
diff --git a/firmware/esp32/xterra-controller/bms.h b/firmware/esp32/xterra-controller/bms.h
index 3cbbe4c..b8b4b8d 100644
--- a/firmware/esp32/xterra-controller/bms.h
+++ b/firmware/esp32/xterra-controller/bms.h
@@ -42,3 +42,6 @@ int scanBleDevices(uint32_t scanSeconds = 10);
 int getBleScanResultCount();
 const BleScanResult* getBleScanResult(int index);
 void pauseBmsReconnect(uint32_t pauseMs);
+void enterBmsSetupMode();
+void exitBmsSetupMode();
+bool isBmsSetupMode();
diff --git a/firmware/esp32/xterra-controller/xterra-controller.ino b/firmware/esp32/xterra-controller/xterra-controller.ino
index c595b40..d0b08b3 100644
--- a/firmware/esp32/xterra-controller/xterra-controller.ino
+++ b/firmware/esp32/xterra-controller/xterra-controller.ino
@@ -374,39 +374,18 @@ void handleDebugSerial() {
         return;
     }
 
+    if (command == "enter setup") {
+        enterBmsSetupMode();
+        return;
+    }
+
+    if (command == "exit setup") {
+        exitBmsSetupMode();
+        return;
+    }
+
     if (command == "scan ble") {
-        int count = scanBleDevices(20);
-
-        if (count == 0) {
-            Serial.println("No BLE devices found.");
-            return;
-        }
-
-        Serial.println("BLE devices:");
-
-        for (int i = 0; i < count; i++) {
-            const BleScanResult* result = getBleScanResult(i);
-
-            if (!result) {
-                continue;
-            }
-
-            Serial.print(i + 1);
-            Serial.print(") ");
-
-            if (result->name.length() > 0) {
-                Serial.print(result->name);
-            } else {
-                Serial.print("(no name)");
-            }
-
-            Serial.print(" | ");
-            Serial.print(result->address);
-            Serial.print(" | RSSI ");
-            Serial.println(result->rssi);
-        }
-
-        Serial.println("Use: select bms <number>");
+        scanBleDevices(20);
         return;
     }
 
@@ -442,6 +421,7 @@ void handleDebugSerial() {
         Serial.print(" / ");
         Serial.println(appConfig.bms.address);
         Serial.println("BMS will reconnect on next update cycle.");
+        exitBmsSetupMode();
         return;
     }