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.h

@@ -4,7 +4,7 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-/** Clamp and store BLE push period (8–16 ms). */
+/** Clamp and store BLE push period (10–16 ms; min = FreeRTOS tick). */
 void ble_stream_set_period_ms(uint32_t period_ms);
 
 uint32_t ble_stream_period_ms(void);