Make controller input best-effort and harden OTA rollback.

Accel/tap use fire-and-forget ESP-NOW with a 10 ms FreeRTOS-safe cadence, OTA recovers from seq gaps and auto-reboots after success, and bootloader app rollback confirms after a stable boot.

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

main/ble_stream.c

@@ -15,9 +15,10 @@
 
 static const char *TAG = "[BLE_STREAM]";
 
-#define BLE_STREAM_PERIOD_MIN_MS 8u
+/* Min matches FreeRTOS tick (HZ=100 → 10 ms); 8 ms would delay 0 ticks. */
+#define BLE_STREAM_PERIOD_MIN_MS 10u
 #define BLE_STREAM_PERIOD_MAX_MS 16u
-#define BLE_STREAM_PERIOD_DEFAULT_MS 16u
+#define BLE_STREAM_PERIOD_DEFAULT_MS 10u
 
 static uint32_t s_period_ms = BLE_STREAM_PERIOD_DEFAULT_MS;
 static TaskHandle_t s_task;
@@ -164,7 +165,11 @@ static void ble_stream_task(void *param) {
       }
     }
 
-    vTaskDelay(pdMS_TO_TICKS(period));
+    TickType_t delay_ticks = pdMS_TO_TICKS(period);
+    if (delay_ticks < 1) {
+      delay_ticks = 1;
+    }
+    vTaskDelay(delay_ticks);
   }
 
   s_task = NULL;