diff --git a/.github/workflows/pr-lint-typecheck.yml b/.github/workflows/pr-lint-typecheck.yml
index 04eb80a..8095725 100644
--- a/.github/workflows/pr-lint-typecheck.yml
+++ b/.github/workflows/pr-lint-typecheck.yml
@@ -4,17 +4,28 @@ on:
   push:
     branches:
       - main
+      - develop
     paths:
       - ".github/workflows/pr-lint-typecheck.yml"
+      - "Makefile"
+      - "platformio.ini"
+      - "platformio-m5stack.ini"
       - "pyproject.toml"
+      - "protobuf/**"
       - "uv.lock"
+      - "firmware/lib/generated_protobuf/**"
       - "stackchan_server/**"
       - "example_apps/**"
   pull_request:
     paths:
       - ".github/workflows/pr-lint-typecheck.yml"
+      - "Makefile"
+      - "platformio.ini"
+      - "platformio-m5stack.ini"
       - "pyproject.toml"
+      - "protobuf/**"
       - "uv.lock"
+      - "firmware/lib/generated_protobuf/**"
       - "stackchan_server/**"
       - "example_apps/**"
 
@@ -42,3 +53,14 @@ jobs:
 
       - name: ty
         run: uv run ty check stackchan_server example_apps
+
+      - name: Install PlatformIO
+        run: python -m pip install platformio
+
+      - name: Verify generated protobuf files are up to date
+        run: |
+          set -euo pipefail
+          pio pkg install -e m5stack-cores3-m5unified
+          make protobuf
+          git diff --stat -- stackchan_server/generated_protobuf firmware/lib/generated_protobuf
+          git diff --exit-code -- stackchan_server/generated_protobuf firmware/lib/generated_protobuf
diff --git a/.github/workflows/pr-platformio-build.yml b/.github/workflows/pr-platformio-build.yml
new file mode 100644
index 0000000..87ec970
--- /dev/null
+++ b/.github/workflows/pr-platformio-build.yml
@@ -0,0 +1,42 @@
+name: PR PlatformIO Build
+
+on:
+  push:
+    branches:
+      - main
+      - develop
+    paths:
+      - ".github/workflows/pr-platformio-build.yml"
+      - "platformio.ini"
+      - "platformio-m5stack.ini"
+      - "protobuf/**"
+      - "firmware/**"
+  pull_request:
+    paths:
+      - ".github/workflows/pr-platformio-build.yml"
+      - "platformio.ini"
+      - "platformio-m5stack.ini"
+      - "protobuf/**"
+      - "firmware/**"
+
+jobs:
+  platformio-build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.13"
+
+      - name: Install PlatformIO
+        run: python -m pip install platformio
+
+      - name: Prepare firmware config
+        run: cp firmware/include/config.template.h firmware/include/config.h
+
+      - name: Build firmware
+        run: pio run --environment m5stack-cores3-m5unified
diff --git a/firmware/include/config.template.h b/firmware/include/config.template.h
index c9db3e8..8921ab7 100644
--- a/firmware/include/config.template.h
+++ b/firmware/include/config.template.h
@@ -23,8 +23,8 @@
 // #define SERVO_SG90_Y_PIN 6
 // Center offset added to the logical 90-degree center
 // Positive values bias X to the right and Y upward; negative values bias X to the left and Y downward
-// #define SERVO_SG90_X_CENTER_OFFSET 0
-// #define SERVO_SG90_Y_CENTER_OFFSET 0
+#define SERVO_SG90_X_CENTER_OFFSET 0
+#define SERVO_SG90_Y_CENTER_OFFSET 0
 
 // -- using SCS0009 --
 // #define USE_SERVO_SCS0009 1