Send ESP-NOW accel only on deadzone change and harden BLE+WiFi OTA coex.

Quiet pods no longer spam 100 Hz samples; mute wifi logs and throttle BLE
notifies during slave distribution so the wifi task stack does not panic.

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

main/cmd/cmd_ota.c

@@ -5,8 +5,10 @@
 #include "pod_reboot.h"
 #include "uart_cmd.h"
 #include "esp_log.h"
+#include "esp_timer.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/idf_additions.h"
+#include <stdint.h>
 #include <stdlib.h>
 #include <string.h>
 
@@ -32,6 +34,14 @@ typedef struct {
   uint32_t written;
   int slot;
 } ota_dist_job_t;
+
+/** Cap host DISTRIBUTING pushes (BLE notifies compete with ESP-NOW OTA TX). */
+#define OTA_DIST_NOTIFY_MIN_US (250 * 1000ull)
+
+static int64_t s_last_dist_agg_us;
+static int64_t s_last_dist_slave_us;
+static uint32_t s_last_dist_agg_bytes = UINT32_MAX;
+
 static void send_ota_status(ota_uart_status_t status, uint32_t err_code) {
   alox_UartMessage response;
   uart_cmd_init_response(&response, alox_MessageType_OTA_STATUS,
@@ -64,15 +74,33 @@ static void send_ota_distributing(uint32_t kind, uint32_t bytes_done,
 
 static void ota_dist_aggregate(uint32_t bytes_done, uint32_t total_bytes,
                                uint8_t slave_count) {
-  (void)slave_count;
   led_ring_show_ota_progress(bytes_done, total_bytes, OTA_LED_ESPNOW_TX_R,
                              OTA_LED_ESPNOW_TX_G, OTA_LED_ESPNOW_TX_B);
+
+  const int64_t now = esp_timer_get_time();
+  const bool first = (s_last_dist_agg_bytes == UINT32_MAX);
+  const bool boundary =
+      (bytes_done == 0) || (total_bytes > 0 && bytes_done >= total_bytes);
+  const bool paced =
+      (now - s_last_dist_agg_us) >= (int64_t)OTA_DIST_NOTIFY_MIN_US;
+  if (!first && !boundary && !paced) {
+    return;
+  }
+  s_last_dist_agg_us = now;
+  s_last_dist_agg_bytes = bytes_done;
   send_ota_distributing(OTA_DIST_AGGREGATE, bytes_done, (uint32_t)slave_count);
 }
 
 static void ota_dist_per_slave(uint32_t slave_id, uint32_t bytes_done,
                              uint32_t total_bytes) {
   (void)total_bytes;
+  /* Host also polls OTA_SLAVE_PROGRESS; keep per-slave pushes rare on BLE. */
+  const int64_t now = esp_timer_get_time();
+  if ((now - s_last_dist_slave_us) < (int64_t)OTA_DIST_NOTIFY_MIN_US &&
+      bytes_done > 0) {
+    return;
+  }
+  s_last_dist_slave_us = now;
   send_ota_distributing(OTA_DIST_PER_SLAVE, bytes_done, slave_id);
 }
 
@@ -225,6 +253,9 @@ static void ota_distribute_task(void *param) {
 
   led_ring_show_ota_progress(0, image_size, OTA_LED_ESPNOW_TX_R, OTA_LED_ESPNOW_TX_G,
                              OTA_LED_ESPNOW_TX_B);
+  s_last_dist_agg_us = 0;
+  s_last_dist_slave_us = 0;
+  s_last_dist_agg_bytes = UINT32_MAX;
   send_ota_distributing(OTA_DIST_AGGREGATE, 0, 0);
 
   esp_err_t err = ota_espnow_distribute(part, image_size, &s_dist_progress);
@@ -315,6 +346,10 @@ static void ota_start_espnow_task(void *param) {
     return;
   }
 
+  s_last_dist_agg_us = 0;
+  s_last_dist_slave_us = 0;
+  s_last_dist_agg_bytes = UINT32_MAX;
+
   esp_err_t err = ota_espnow_distribute(part, image_size, &s_dist_progress);
   if (err != ESP_OK) {
     send_ota_failed(42);