ESP32 Radio Firmware Upgrade

#include <Arduino.h>
#include <LovyanGFX.hpp>
#include <WiFi.h>
#include <HTTPClient.h>
#include <time.h>
#include <esp_wifi.h>
#include <NimBLEDevice.h>
#include <esp32-hal-bt.h>
// Keep BLE controller memory before setup(), not merely after startup.
#if __has_include("esp32-hal-alloc-ble-mem.h")
#include "esp32-hal-alloc-ble-mem.h"
#else
extern "C" bool btInUse() { return true; }
#endif
#include <SPI.h>
#include <Wire.h>
#include <SD.h>
#include <Preferences.h>
#include <atomic>
#include <math.h>
#include <TinyGPS++.h>
#include "cities.h"
uint16_t uiColor[]={0x0001,0x4FFB,0x10C4,0x21C8,0xFEA8,0xFFFF,0xAD75,0x8C92,0x032A,0xCE79,0x07DF};
#define BG uiColor[0]
#define ACCENT uiColor[1]
#define PANEL uiColor[2]
#define GRID uiColor[3]
#define AMBER uiColor[4]
TinyGPSPlus gps;
TinyGPSCustom gpQuality(gps,"GPGGA",6), gnQuality(gps,"GNGGA",6);
TinyGPSCustom gpStatus(gps,"GPRMC",2), gnStatus(gps,"GNRMC",2);
bool gpsHasFix() {
  if(gpStatus.isValid() && gpStatus.age()<5000 && gpStatus.age()<=gnStatus.age() && gpStatus.value()[0]!='A')return false;
  if(gnStatus.isValid() && gnStatus.age()<5000 && gnStatus.age()<gpStatus.age() && gnStatus.value()[0]!='A')return false;
  bool recent=gps.location.isValid() && gps.location.age()<5000;
  if(gpQuality.isValid() && gpQuality.age()<5000 && gpQuality.age()<=gnQuality.age())return recent && atoi(gpQuality.value())>0;
  if(gnQuality.isValid() && gnQuality.age()<5000)return recent && atoi(gnQuality.value())>0;
  return recent;
}
HardwareSerial gpsPort(2);
const uint32_t gpsBauds[]={9600,38400,115200,4800,19200,57600};
int gpsBaudIndex=0;
uint32_t gpsProbeAt=0, gpsValidAt=0, gpsLastByte=0, gpsBytes=0;
bool gpsSeen=false;

// Flash-resident gazetteer; never claims municipal boundaries or an exact address.
String nearbyCity() {
  if(!gpsHasFix())return "Ciudad: esperando FIX";
  static String cached="Ciudad: --";
  static double lastLat=1000,lastLon=1000;
  double lat=gps.location.lat(),lon=gps.location.lng();
  if(lastLat!=1000 && TinyGPSPlus::distanceBetween(lat,lon,lastLat,lastLon)<250)return cached;
  lastLat=lat;lastLon=lon;
  double best=1e30;size_t idx=0;
  double scale=cos(lat*DEG_TO_RAD);
  for(size_t i=0;i<cityCount;i++) {
    double dx=remainder((double)cities[i].lon-lon,360.0)*scale;
    double dy=cities[i].lat-lat, d=dx*dx+dy*dy;
    if(d<best){best=d;idx=i;}
  }
  double km=TinyGPSPlus::distanceBetween(lat,lon,cities[idx].lat,cities[idx].lon)/1000.0;
  cached=km<=50?"Cerca: "+String(cities[idx].name):"Ciudad: fuera de cobertura";
  return cached;
}

// One Arduino SPI owner for SD and touch. Avoid a second touch bus init
// and explicitly restore full-duplex SPI settings after SD transactions.
SPIClass storageBus(VSPI);
class SharedTouch : public lgfx::Touch_XPT2046 {
public:
  bool init() override {
    pinMode(21,OUTPUT);digitalWrite(21,HIGH);
    return true;
  }
  uint_fast8_t getTouchRaw(lgfx::touch_point_t* tp, uint_fast8_t count) override {
    if(!count)return 0;
    tp->size=0;
    uint8_t tx[57]={},rx[57]={};
    // XPT2046 pipelined conversion sequence, as in LovyanGFX's driver.
    for(int j=0;j<7;j++){
      tx[j*8]=0x91;tx[j*8+2]=0xB1;
      tx[j*8+4]=0xD1;tx[j*8+6]=0xC1;
    }
    tx[56]=0x80;
    digitalWrite(17,HIGH);digitalWrite(14,HIGH);
    storageBus.beginTransaction(SPISettings(1000000,MSBFIRST,SPI_MODE0));
    digitalWrite(21,LOW);
    storageBus.transferBytes(tx,rx,sizeof(tx));
    digitalWrite(21,HIGH);
    storageBus.endTransaction();
    uint16_t xs[7],ys[7],zs[7];int nx=0,ny=0,nz=0;
    for(int j=0;j<7;j++){
      uint8_t* d=rx+j*8;
      int x=(d[5]<<8|d[6])>>3,y=(d[1]<<8|d[2])>>3;
      int z=0x3200+y-x+(((d[3]<<8|d[4])-(d[7]<<8|d[8]))>>1);
      if(x>128 && x<=3968)xs[nx++]=x;
      if(y>128 && y<=3968)ys[ny++]=y;
      if(z>0)zs[nz++]=z;
    }
    if(nx<3 || ny<3 || nz<3)return 0;
    std::sort(xs,xs+nx);std::sort(ys,ys+ny);std::sort(zs,zs+nz);
    tp->x=xs[nx/2];tp->y=ys[ny/2];tp->size=zs[nz/2]>>8;
    return tp->size?1:0;
  }
};
// Official Marauder v6.1: User_Setup_og_marauder.h and configs.h.
class Screen : public lgfx::LGFX_Device {
  lgfx::Bus_SPI bus;
  lgfx::Panel_ILI9341 panel;
  SharedTouch touch;
public:
  Screen() {
    auto b=bus.config(); b.spi_host=SPI3_HOST; b.pin_sclk=18;
    b.pin_mosi=23; b.pin_miso=19; b.pin_dc=16;
    b.freq_write=27000000; b.freq_read=16000000; b.spi_3wire=false;
    bus.config(b); panel.setBus(&bus);
    auto p=panel.config(); p.pin_cs=17; p.pin_rst=5;
    p.panel_width=240; p.panel_height=320; p.bus_shared=true;
    panel.config(p);
    auto t=touch.config();t.spi_host=SPI3_HOST;t.pin_sclk=18;t.pin_mosi=23;t.pin_miso=19;
    t.pin_cs=21;t.pin_int=-1;t.bus_shared=true;t.freq=1000000;
    t.x_min=280;t.x_max=3850;t.y_min=320;t.y_max=3750;
    touch.config(t);panel.setTouch(&touch);setPanel(&panel);
  }
} lcd;
lgfx::LGFX_Sprite hudBuffer(&lcd);
lgfx::LGFXBase* canvas=&lcd;
bool hudBuffered=false, fullBuffered=false;
bool displayReady=false;
// SD, display and touch are serviced sequentially on the main task.
NimBLEScan* ble=nullptr;
std::atomic<int> bleInitState{0}; // 0 idle, 1 starting, 2 ready, -1 failed
uint32_t bleStarted=0;
int bleSeconds=-1;
void initBleTask(void*) {
  Serial.printf("BLE init: RAM %u, bloque %u\n",ESP.getFreeHeap(),ESP.getMaxAllocHeap());
  bool ok=NimBLEDevice::init("Sentinel");
  Serial.printf("BLE init: %s\n",ok?"OK":"ERROR");
  bleInitState.store(ok?2:-1);
  vTaskDelete(nullptr);
}
String rows[40]; int count=0, page=0, view=0;
String status="Listo";
bool sdOK=false, scanning=false, dirty=true;
String sdState="Sin tarjeta";
String logPending[32];
int logHead=0,logSize=0;
uint32_t logDropped=0,lastStorage=0;
size_t cityExport=0;
bool exportingCities=false;
void queueLog(const String& line) {
  if(logSize==32){logHead=(logHead+1)%32;logSize--;logDropped++;}
  logPending[(logHead+logSize)%32]=line;logSize++;
}
void storageFailure() {
  sdOK=false;exportingCities=false;sdState="Error de escritura";dirty=true;
  Serial.println("microSD: error de escritura; registro en RAM limitado");
}
uint32_t lastTap=0;
bool monitor=false;
uint32_t nextScan=0, scanDeadline=0;
uint8_t wifiScanRetries=0;
int nextRadio=1, threshold=-55, strongest=-127, nearCount=0;
String history[24]; int historyCount=0;
int signalLog[24], signalCount=0;
int lastWifi=0,lastBle=0;
int scanKind=0;
struct Contact { String id; int rssi; uint32_t seen; int kind; String label; };
Contact contacts[80];
const uint32_t CONTACT_TTL=12000;
void updateContact(const String& id,int rssi,int kind,const String& label="") {
  int slot=-1;
  for(int i=0;i<80;i++) {
    if(contacts[i].kind==kind && contacts[i].id==id){slot=i;break;}
    if(slot<0 && contacts[i].kind==0)slot=i;
  }
  if(slot<0){slot=0;for(int i=1;i<80;i++)if((uint32_t)(millis()-contacts[i].seen)>(uint32_t)(millis()-contacts[slot].seen))slot=i;}
  bool changed=contacts[slot].kind!=kind || contacts[slot].id!=id || contacts[slot].rssi!=rssi;
  String shown=label.length()?label:(contacts[slot].id==id?contacts[slot].label:id);
  if(shown!=contacts[slot].label)changed=true;
  contacts[slot]={id,rssi,millis(),kind,shown};if(changed)dirty=true;
}
// BLE callbacks run on another task: transfer plain data, never draw there.
String bleHint(const NimBLEAdvertisedDevice* d);
String safeText(String s);
void recordEvent(String text);
struct BleUpdate { char id[20]; char name[64]; int rssi; };
QueueHandle_t bleUpdates=nullptr;
class LiveBleCallbacks : public NimBLEScanCallbacks {
  void onResult(const NimBLEAdvertisedDevice* d) override {
    BleUpdate u{};
    snprintf(u.id,sizeof(u.id),"%s",d->getAddress().toString().c_str());
    snprintf(u.name,sizeof(u.name),"%s",(bleHint(d)+String(d->haveName()?d->getName().c_str():u.id)).c_str());
    u.rssi=d->getRSSI();
    if(bleUpdates)xQueueSend(bleUpdates,&u,0);
  }
} liveBleCallbacks;
void receiveBleUpdates() {
  BleUpdate u;
  for(int budget=0;budget<64 && bleUpdates && xQueueReceive(bleUpdates,&u,0)==pdTRUE;budget++) {
    if(scanKind==2) {
      bool known=false;
      for(auto &c:contacts)if(c.kind==2 && c.id==u.id){known=true;break;}
      updateContact(String(u.id),u.rssi,2,safeText(String(u.name)));
      if(!known && String(u.name).indexOf('?')>=0)recordEvent(safeText(String(u.name)));
    }
  }
}
void liveSummary() {
  static uint32_t at=0;
  if(millis()-at<300)return;
  at=millis();
  if(view!=0 && view!=1 && view!=2)return;
  int best=-127,near=0,n=0;
  String fresh[40];
  for(auto &c:contacts)if(c.kind) {
    best=max(best,c.rssi);if(c.rssi>=threshold)near++;
    if(n<40 && c.kind==view)fresh[n++]=String(c.rssi)+"dBm "+c.label;
  }
  if(strongest!=best || nearCount!=near){strongest=best;nearCount=near;dirty=true;}
  if(view==1 || view==2){
    if(count!=n)dirty=true;
    for(int i=0;i<n;i++){if(rows[i]!=fresh[i])dirty=true;rows[i]=fresh[i];}
    count=n;page=min(page,max(0,(count-1)/6));
  }
}
void clearRadio(int kind) {
  for(auto &c:contacts)if(c.kind==kind)c.kind=0;
}
void expireContacts() {
  int w=0,b=0;
  for(auto &c:contacts) {
    if(c.kind && millis()-c.seen>CONTACT_TTL){c.kind=0;dirty=true;}
    if(c.kind==1)w++;else if(c.kind==2)b++;
  }
  if(w!=lastWifi || b!=lastBle){lastWifi=w;lastBle=b;dirty=true;}
}
void radarContacts() {
  for(auto &c:contacts)if(c.kind) {
    uint32_t hash=2166136261u;
    for(size_t i=0;i<c.id.length();i++)hash=(hash^(uint8_t)c.id[i])*16777619u;
    float angle=(hash%360)*0.0174532925f;
    int radius=constrain((-c.rssi-25)*42/75,8,44);
    int x=63+int(cosf(angle)*radius),y=103+int(sinf(angle)*radius);
    // Use the UI palette for both framebuffer depths (4-bit uses indices).
    uint16_t color=c.kind==1?uiColor[10]:AMBER;
    if(millis()-c.seen>8000)canvas->drawCircle(x,y,3,color);
    else canvas->fillCircle(x,y,3,color);
  }
}
void recordEvent(String text) {
  for(int i=min(historyCount,23);i>0;--i)history[i]=history[i-1];
  history[0]=String(millis()/1000)+"s "+text;
  if(historyCount<24)historyCount++;
  queueLog(history[0]);
}
void finishScan(const String& label) {
  expireContacts();
  if(strongest>-127){if(signalCount==24){for(int i=1;i<24;i++)signalLog[i-1]=signalLog[i];signalCount--;}signalLog[signalCount++]=strongest;}
  recordEvent(label+" "+String(count)+" / cerca "+String(nearCount));
  if(nearCount>0)status="AVISO: "+String(nearCount)+" senal fuerte";
  if(monitor){nextRadio=scanKind==1?2:1;nextScan=millis()+150;}
}


void add(String s) { if(count<40) rows[count++]=s; }
String safeText(String s) {
  for(size_t i=0;i<s.length();i++) if((uint8_t)s[i]<32 || (uint8_t)s[i]>126) s.setCharAt(i,'?');
  return s;
}
void home() { view=6; page=0; count=0; dirty=true; }
#include "languages.h"
void text(int x,int y,const String& value,uint16_t color=uiColor[5],int size=1){
  String localized=translateUI(value);
  if(uiLanguage==2)canvas->setFont(&fonts::efontCN_10);else canvas->setFont(&fonts::Font0);
  canvas->setTextSize(size);canvas->setTextColor(color);canvas->setCursor(x,y);canvas->print(localized);
}
void button(int x,int y,int w,const char* label,const char* detail) {
  canvas->fillRoundRect(x,y,w,44,5,PANEL);canvas->drawRoundRect(x,y,w,44,5,GRID);
  canvas->drawFastHLine(x+10,y+1,w-20,ACCENT);
  text(x+10,y+8,label,ACCENT);text(x+10,y+26,detail,uiColor[6]);
}
void signalBar(int x,int y,int w) {
  int power=strongest==-127?0:constrain((strongest+100)*100/70,0,100);
  for(int i=0;i<20;i++)canvas->fillRect(x+i*(w/20),y,w/20-2,8,i*5<power?(power>65?AMBER:ACCENT):GRID);
}
void trend(int x,int y,int w,int h) {
  for(int j=0;j<3;j++)canvas->drawFastHLine(x,y+j*h/2,w,GRID);
  for(int i=1;i<signalCount;i++) {
    int y1=y+h-constrain(signalLog[i-1]+100,0,80)*h/80;
    int y2=y+h-constrain(signalLog[i]+100,0,80)*h/80;
    canvas->drawLine(x+(i-1)*w/23,y1,x+i*w/23,y2,ACCENT);
  }
}
// Original v6.1: IP5306 I2C, SDA33/SCL22. Read only; never change power registers.
int batteryPercent=-1;
uint32_t batteryReadAt=0;
void serviceBattery(){
  if(batteryReadAt && millis()-batteryReadAt<3000)return;
  batteryReadAt=millis();int next=-1;
  Wire.beginTransmission(0x75);Wire.write(0x78);
  if(Wire.endTransmission(false)==0 && Wire.requestFrom((uint8_t)0x75,(uint8_t)1)==1){
    switch(Wire.read()&0xF0){case 0xE0:next=25;break;case 0xC0:next=50;break;case 0x80:next=75;break;case 0:next=100;break;case 0xF0:next=0;break;}
  }
  if(next!=batteryPercent){batteryPercent=next;dirty=true;}
}
void drawBattery(int x,int y){
  uint16_t color=batteryPercent<0?uiColor[6]:batteryPercent<=25?AMBER:ACCENT;
  canvas->drawRect(x,y,16,9,color);canvas->fillRect(x+16,y+3,2,3,color);
  if(batteryPercent>0)canvas->fillRect(x+2,y+2,max(1,batteryPercent*12/100),5,color);
  text(x+21,y+1,batteryPercent<0?"--%":String(batteryPercent)+"%",color);
}
// Compare composed strips before sending them: never clear the physical LCD
// between frames. Only changed 10-pixel-high strips cross the shared SPI bus.
bool forceFrame=true;
void presentFrame(){
  static uint64_t hashes[32]={};
  static int lastView=-1;
  const uint8_t* pixels=static_cast<const uint8_t*>(hudBuffer.getBuffer());
  if(!pixels)return;
  const int stride=120; // 240 pixels at 4 bits, fixed in setup.
  for(int strip=0;strip<32;strip++){
    uint64_t hash=14695981039346656037ULL;
    for(int i=0;i<stride*10;i++){hash^=pixels[strip*stride*10+i];hash*=1099511628211ULL;}
    if(forceFrame || lastView!=view || hashes[strip]!=hash){
      lcd.setClipRect(0,strip*10,240,10);hudBuffer.pushSprite(0,0);
      hashes[strip]=hash;
    }
  }
  lcd.clearClipRect();lastView=view;forceFrame=false;
}
#include "dashboard.h"
// Live inspector uses the same expiring observations as the radar.
int contactPage=0, contactFilter=0, selectedContact=-1;
String selectedID;
int liveOrder[80],liveCount=0;
void sortLiveContacts(){
  liveCount=0;
  for(int i=0;i<80;i++)if(contacts[i].kind && (!contactFilter || contacts[i].kind==contactFilter)){
    int j=liveCount++;
    while(j>0 && contacts[liveOrder[j-1]].rssi<contacts[i].rssi){liveOrder[j]=liveOrder[j-1];j--;}
    liveOrder[j]=i;
  }
  contactPage=min(contactPage,max(0,(liveCount-1)/4));
}
void drawLiveContacts(){
  dirty=false;sortLiveContacts();
  canvas=fullBuffered?static_cast<lgfx::LGFXBase*>(&hudBuffer):static_cast<lgfx::LGFXBase*>(&lcd);
  canvas->startWrite();canvas->fillScreen(BG);
  text(10,10,"CONTACTOS",ACCENT,2);
  text(10,34,"RSSI no equivale a distancia",uiColor[6]);
  const char* filters[]={"TODOS","WI-FI","BLE"};
  for(int i=0;i<3;i++){
    canvas->fillRoundRect(8+i*77,51,70,25,4,contactFilter==i?GRID:PANEL);
    text(16+i*77,60,filters[i],contactFilter==i?ACCENT:uiColor[6]);
  }
  if(selectedContact>=0){
    Contact &c=contacts[selectedContact];
    bool alive=c.kind && c.id==selectedID;
    text(10,91,alive?"OBSERVACION RECIENTE":"CONTACTO CADUCADO",alive?ACCENT:AMBER);
    text(10,115,selectedID,uiColor[5]);
    if(alive){
      text(10,139,c.label.substring(0,35),uiColor[5]);
      text(10,165,String(c.rssi)+" dBm",ACCENT,2);
      text(10,193,"Hace "+String((millis()-c.seen)/1000)+" s / TTL 12 s",uiColor[6]);
      text(10,216,c.kind==1?"Red Wi-Fi de 2.4 GHz":"Anuncio Bluetooth LE",uiColor[6]);
    }else text(10,151,"Sin recepcion reciente",uiColor[6]);
    text(10,247,"Toca el centro para volver",ACCENT);
  }else{
    for(int n=0;n<4;n++){
      int k=contactPage*4+n;if(k>=liveCount)break;
      Contact &c=contacts[liveOrder[k]];int y=84+n*44;
      canvas->fillRoundRect(8,y,224,40,4,PANEL);
      text(14,y+5,c.label.substring(0,34),uiColor[5]);
      text(14,y+22,String(c.kind==1?"WIFI ":"BLE  ")+String(c.rssi)+" dBm",c.kind==1?ACCENT:AMBER);
      text(169,y+22,String((millis()-c.seen)/1000)+"s",uiColor[6]);
      int w=constrain(c.rssi+100,0,75)*214/75;
      if(w)canvas->fillRect(13,y+36,w,2,c.kind==1?ACCENT:AMBER);
    }
    if(!liveCount){text(15,113,"Sin contactos recientes",AMBER);text(15,137,"Activa Monitor en el radar",uiColor[6]);}
    text(10,267,String(liveCount)+" activos / "+String(contactPage+1)+"/"+String(max(1,(liveCount+3)/4)),uiColor[6]);
  }
  canvas->fillRect(0,285,240,35,PANEL);
  text(12,299,"RADAR",ACCENT);text(89,299,"PAGINA",ACCENT);text(171,299,"INICIO",ACCENT);
  canvas->endWrite();if(fullBuffered)presentFrame();
}
void tapLiveContacts(int x,int y){
  if(y>=285){if(x<77)view=0;else if(x<157){selectedContact=-1;contactPage=(contactPage+1)%max(1,(liveCount+3)/4);}else home();}
  else if(y>=51 && y<77){contactFilter=min(2,x/77);contactPage=0;selectedContact=-1;}
  else if(selectedContact>=0)selectedContact=-1;
  else if(y>=84 && y<260){int k=contactPage*4+(y-84)/44;if(k<liveCount){selectedContact=liveOrder[k];selectedID=contacts[selectedContact].id;}}
  dirty=true;
}
void draw() {
  if(view==12){drawLiveContacts();return;}
  if(view>=6){drawDashboard();return;}
  static int previousView=-1;
  static bool previousMonitor=false;
  bool full=previousView!=view || previousMonitor!=monitor;
  previousView=view;previousMonitor=monitor;
  dirty=false;
  canvas=(view==0 && hudBuffered)?static_cast<lgfx::LGFXBase*>(&hudBuffer):static_cast<lgfx::LGFXBase*>(&lcd);
  if(fullBuffered)canvas=&hudBuffer;
  canvas->startWrite();canvas->fillScreen(BG);
  text(10,8,"SENTINEL",uiColor[5],2);
  drawBattery(123,13);
  text(11,30,"M61 / PASIVO",uiColor[7]);
  text(167,30,sdOK?"SD OK":sdState=="Error de escritura"?"SD ERROR":"SIN SD",sdOK?ACCENT:AMBER);
  canvas->fillRoundRect(185,8,46,20,6,monitor?uiColor[8]:PANEL);
  text(191,15,monitor?"AUTO":"IDLE",monitor?ACCENT:uiColor[6]);
  canvas->drawFastHLine(10,45,220,GRID);
  if(view==0) {
    // Same touch regions and buffered rendering; no animated full-screen sweep.
    canvas->fillRoundRect(8,51,106,101,8,PANEL);
    for(int r=18;r<=45;r+=14)canvas->drawCircle(63,103,r,GRID);
    canvas->drawFastHLine(18,103,90,GRID);canvas->drawFastVLine(63,58,90,GRID);
    canvas->fillCircle(63,103,2,ACCENT);
    radarContacts();
    canvas->fillRoundRect(122,51,109,45,6,PANEL);
    canvas->fillRoundRect(122,100,109,45,6,PANEL);
    text(130,58,"WI-FI",ACCENT);text(190,62,String(lastWifi),uiColor[5],2);
    text(130,75,"2.4 GHz",uiColor[7]);
    text(130,107,"BLE",AMBER);text(190,111,String(lastBle),uiColor[5],2);
    text(130,124,"Pasivo",uiColor[7]);
    text(12,157,gpsHasFix()?"GPS FIX >":gpsSeen?"GPS BUSCA >":"GPS -- >",gpsHasFix()?ACCENT:uiColor[7]);
    text(125,157,strongest==-127?"RSSI --":String(strongest)+"dBm C:"+String(nearCount),nearCount?AMBER:uiColor[6]);
    if(hudBuffered && !fullBuffered){
      canvas->endWrite();hudBuffer.pushSprite(0,0);canvas=&lcd;
      if(!full)return;
      lcd.startWrite();lcd.fillRect(0,168,240,152,BG);
    }
    button(10,177,106,"WI-FI","Explorar");button(124,177,106,"BLUETOOTH","Explorar BLE");
    button(10,228,106,"MONITOR",monitor?"AUTO > IDLE":"IDLE > AUTO");button(124,228,106,"HISTORIAL","Ajustar umbral");
    canvas->fillRoundRect(10,279,220,25,4,PANEL);
    canvas->drawFastVLine(75,280,23,GRID);canvas->drawFastVLine(151,280,23,GRID);
    text(28,288,"GPS",ACCENT);text(86,288,"SISTEMA",ACCENT);
    text(169,288,"CALIBRAR",ACCENT);
    text(10,311,monitor?(scanKind==1?"AUTO / ESCUCHANDO WI-FI":"AUTO / ESCUCHANDO BLE"):"IDLE / TOCA MONITOR PARA INICIAR",uiColor[7]);
  } else {
    text(10,53,status.substring(0,36),scanning?AMBER:ACCENT);
    canvas->fillRoundRect(10,68,220,57,5,PANEL);
    text(18,75,view==1?"WI-FI":view==2?"BLE":view==4?"GPS / SD":"REGISTRO",ACCENT);
    if(view==4) {
      bool valid=gpsHasFix();
      text(18,92,valid&&gps.speed.isValid()&&gps.speed.age()<5000?String(gps.speed.mph(),1)+" mph":"-- mph",AMBER,2);
      text(144,75,"SAT USADOS",uiColor[6]);
      text(151,96,gps.satellites.isValid()&&gps.satellites.age()<5000?String(gps.satellites.value()):"--",ACCENT,2);
    } else {
      text(18,92,strongest==-127?"-- dBm":String(strongest)+" dBm",AMBER,2);
      text(144,75,"RSSI / HIST.",uiColor[6]);trend(145,91,75,25);
    }
    for(int i=0;i<6;i++) {int k=page*6+i;if(k>=count)break;
      int y=134+i*23;
      if(i%2==0)canvas->fillRect(7,y-3,226,21,PANEL);
      text(11,y,rows[k].substring(0,36),uiColor[5]);
    }
    text(10,271,String(page+1)+"/"+String(max(1,(count+5)/6))+"   "+String(count)+" entradas",uiColor[6]);
    canvas->fillRect(0,282,240,38,PANEL);canvas->drawFastHLine(0,282,240,ACCENT);
    canvas->drawFastVLine(77,283,37,GRID);canvas->drawFastVLine(157,283,37,GRID);
    text(13,297,"INICIO",ACCENT);text(88,297,view==5?"UMBRAL":view==3?"SD/GPS":"PAGINA",ACCENT);text(163,297,view==3?"CALIBRAR":"GUARDAR",ACCENT);
  }
  canvas->endWrite();
  if(fullBuffered)presentFrame();
}
// Signature hints, not proof of identity or tracking. No active connections.
String wifiHint(String name) {
  name.toLowerCase();
  if(name=="flock" || name.startsWith("flock-"))return "FLOCK? ";
  if(name.startsWith("ab2-")||name.startsWith("ab3-")||name.startsWith("ab4-")||name.startsWith("axon-"))return "AXON? ";
  if(name.startsWith("ring-")||name.startsWith("ring_"))return "RING NOMBRE? ";
  if(name.startsWith("dji-")||name.startsWith("dji_")||name.startsWith("tello-"))return "DRON NOMBRE? ";
  if(name.indexOf("camera")>=0||name.startsWith("ipcam")||name.startsWith("wyze")||name.startsWith("gopro")||name.startsWith("insta360"))return "CAMARA NOMBRE? ";
  if(name.startsWith("pineapple_")||name=="pwned")return "PENTEST? ";
  return "";
}
String bleHint(const NimBLEAdvertisedDevice* d) {
  if(d->isAdvertisingService(NimBLEUUID((uint16_t)0xFD5A)))return "SMARTTAG? ";
  if(d->isAdvertisingService(NimBLEUUID((uint16_t)0xFEED))||d->isAdvertisingService(NimBLEUUID((uint16_t)0xFEEC)))return "TILE? ";
  if(d->isAdvertisingService(NimBLEUUID((uint16_t)0xFD5F)))return "GAFAS? ";
  // FEAA also belongs to Eddystone; the frame type disambiguates the hint.
  auto google=d->getServiceData(NimBLEUUID((uint16_t)0xFEAA));
  if(google.size()>=2 && ((uint8_t)google[0]==0x40 || (uint8_t)google[0]==0x41))return "GOOGLE TAG? ";
  if(!google.empty())return "EDDYSTONE? ";
  auto rid=d->getServiceData(NimBLEUUID((uint16_t)0xFFFA));
  if(rid.size()>=27 && (uint8_t)rid[0]==0x0D)return "DRON REMOTE-ID? ";
  for(uint8_t i=0;i<d->getManufacturerDataCount();i++) {
    auto m=d->getManufacturerData(i);
    if(m.size()>=4 && (uint8_t)m[0]==0x4c && (uint8_t)m[1]==0x00 && (uint8_t)m[2]==0x12 && (uint8_t)m[3]==0x19)
      return "AIRTAG/FINDMY? ";
  }
  String name=d->haveName()?String(d->getName().c_str()):"";name.toLowerCase();
  if(name.indexOf("flock")>=0||name.indexOf("penguin")>=0||name.indexOf("pigvision")>=0)return "FLOCK NOMBRE? ";
  if(name.indexOf("camera")>=0||name.startsWith("gopro")||name.startsWith("insta360")||name.startsWith("ring"))return "CAMARA NOMBRE? ";
  if(name.indexOf("flipper")>=0)return "FLIPPER NOMBRE? ";
  return "";
}
void beginWifi(bool retry=false) {
  if(ble && ble->isScanning())ble->stop();
  if(!retry)wifiScanRetries=0;
  WiFi.setAutoReconnect(autoJoin);
  bool ready=WiFi.getMode()==WIFI_STA || WiFi.mode(WIFI_STA);
  count=0;page=0;view=1;scanKind=1; strongest=-127;nearCount=0;scanDeadline=millis()+20000;
  status="Wi-Fi: explorando...";scanning=true;dirty=true;
  // Passive scan: no probe requests; nothing is associated or connected.
  int result=ready?WiFi.scanNetworks(true,true,true,150):WIFI_SCAN_FAILED;
  Serial.printf("Wi-Fi scan inicio: %d, modo %d, RAM %u\n",result,(int)WiFi.getMode(),ESP.getFreeHeap());
  // The loop handles immediate start failures as well as asynchronous failures.
}
void beginBle() {
  esp_wifi_scan_stop();WiFi.scanDelete();count=0;page=0;view=2;scanKind=2;
  strongest=-127;nearCount=0;scanDeadline=millis()+20000;
  scanning=false;status="Preparando Bluetooth...";
  if(bleUpdates)xQueueReset(bleUpdates);dirty=true;
  if(bleInitState.load()==0 || bleInitState.load()==-1) {
    bleInitState.store(1);
    if(xTaskCreate(initBleTask,"ble-init",8192,nullptr,1,nullptr)!=pdPASS)
      bleInitState.store(-1);
  }
  bleSeconds=-1;
}
void serviceBle() {
  if(scanKind!=2)return;
  int state=bleInitState.load();
  if(!scanning && status=="Preparando Bluetooth...") {
    if(state==-1){status="Error al iniciar Bluetooth";dirty=true;return;}
    if(state!=2){if((int32_t)(millis()-scanDeadline)>0){status="Bluetooth: tiempo agotado";monitor=false;dirty=true;}return;}
    if(!ble)ble=NimBLEDevice::getScan();
    if(!ble){status="Bluetooth no disponible";monitor=false;dirty=true;return;}
    ble->setActiveScan(false);ble->setMaxResults(40);
    ble->setScanCallbacks(&liveBleCallbacks,true);ble->setDuplicateFilter(0);
    ble->setInterval(100);ble->setWindow(100);
    ble->clearResults();scanning=ble->start(3000);
    Serial.printf("BLE scan: %s, RAM %u\n",scanning?"OK":"ERROR",ESP.getFreeHeap());
    if(!scanning)monitor=false;
    bleStarted=millis();
    status=scanning?"BLE: en directo":"Error al iniciar escaneo";dirty=true;
  }

}
void stopMonitor() {
  monitor=false;nextScan=0;
  if(ble && ble->isScanning())ble->stop();
  if(scanKind==1){esp_wifi_scan_stop();WiFi.scanDelete();}
  scanning=false;scanKind=0;
  if(bleUpdates)xQueueReset(bleUpdates);
  status="IDLE / exploracion detenida";dirty=true;
}
void toggleMonitor() {
  if(monitor){stopMonitor();return;}
  stopMonitor();monitor=true;beginWifi();view=0;dirty=true;
}
void systemPage() {
  view=3;count=0;page=0;status="Sistema";
  add("Chip: "+String(ESP.getChipModel()));
  add("Flash: "+String(ESP.getFlashChipSize()/1024)+" KiB");
  add("RAM libre: "+String(ESP.getFreeHeap()/1024)+" KiB");
  add("PSRAM: no requerida");add(sdOK?"microSD: montada":"microSD: no montada");
  if(sdOK)add("SD total: "+String((uint32_t)(SD.totalBytes()/1048576))+" MiB");
  add("SD: "+sdState);
  add(exportingCities?"Ciudades SD: "+String(cityExport)+"/"+String(cityCount):"Ciudades: flash / copia en SD");
  add("Log automatico: cada 5 segundos");
  add("RAM pendiente: "+String(logSize)+" / 32");
  add("Descartados RAM: "+String(logDropped));
  add("GPS: abre con boton SD/GPS");
  add("Tactil: boton CALIBRAR abajo");
  add(bleInitState.load()==2?"BLE: inicializado":"BLE: no inicializado");
  add("Aviso: RSSI >= "+String(threshold)+" dBm");
  add("? = indicio, no identidad");add("Senal fuerte NO es amenaza");add("Wi-Fi solo banda 2.4 GHz");
  add("BLE no es Bluetooth clasico");dirty=true;
}
void save() {
  if(scanning){status="Espera al fin del escaneo";dirty=true;return;}
  if(!sdOK){status="Sin microSD FAT32";dirty=true;return;}
  File f=SD.open("/div-sentinel.txt",FILE_APPEND);
  if(!f){storageFailure();status="Error al abrir archivo";dirty=true;return;}
  f.printf("\nDIV Sentinel / arranque +%lu ms / vista %d\n",(unsigned long)millis(),view);
  bool ok=true;
  for(int i=0;i<count;i++)if(!f.println(rows[i]))ok=false;
  if(gps.location.isValid() && gps.location.age()<5000)
    f.printf("GPS: %.6f,%.6f\n",gps.location.lat(),gps.location.lng());
  f.flush();f.close();
  if(!ok){storageFailure();status="Error escribiendo microSD";dirty=true;return;}
  status="Guardado en microSD";dirty=true;
}
void mountSD() {
  // The official v6.1 uses CS14 on the same VSPI pins as the display.
  // All SD access is on the main task, outside touch/display transactions.
  if(displayReady){lcd.waitDisplay();lcd.endTransaction();}
  digitalWrite(17,HIGH);digitalWrite(21,HIGH);
  SD.end();sdOK=false;
  const uint32_t rates[]={400000,1000000,4000000};
  for(uint32_t hz:rates) {
    digitalWrite(14,HIGH);delay(20);
    if(SD.begin(14,storageBus,hz) && SD.cardType()!=CARD_NONE){
      sdOK=true;Serial.printf("microSD: montada a %lu Hz\n",(unsigned long)hz);break;
    }
    SD.end();
  }
  sdState=sdOK?"Lista / log automatico":"Sin respuesta / revisar tarjeta";
  if(sdOK) {
    if(!SD.exists("/sentinel" ) && !SD.mkdir("/sentinel")){storageFailure();return;}
    // Partial exports never replace a completed database.
    exportingCities=!SD.exists("/sentinel/cities-v1.csv");cityExport=0;
    if(exportingCities)SD.remove("/sentinel/cities-v1.tmp");
    queueLog(String(millis()/1000)+"s SD montada / inicio de registro");
  }
  Serial.printf("microSD: %s\n",sdState.c_str());dirty=true;
}
void serviceStorage() {
  static uint32_t cityTick=0,gpsTick=0;
  if(!sdOK)return;
  // Incremental export keeps GPS reception and touch servicing responsive.
  if(exportingCities && millis()-cityTick>=100) {
    cityTick=millis();
    File f=SD.open("/sentinel/cities-v1.tmp",FILE_APPEND);
    if(!f){storageFailure();return;}
    bool ok=true;
    if(cityExport==0)ok=f.println("latitude,longitude,name")>0;
    for(int n=0;n<16 && cityExport<cityCount && ok;n++,cityExport++) {
      ok=f.printf("%.5f,%.5f,\"%s\"\n",cities[cityExport].lat,cities[cityExport].lon,cities[cityExport].name)>0;
    }
    f.flush();f.close();
    if(!ok){storageFailure();return;}
    if(cityExport==cityCount){
      if(!SD.rename("/sentinel/cities-v1.tmp","/sentinel/cities-v1.csv")){storageFailure();return;}
      exportingCities=false;Serial.println("microSD: base de ciudades guardada");
    }
  }
  if(gpsHasFix() && millis()-gpsTick>=60000) {
    gpsTick=millis();
    queueLog(String(millis()/1000)+"s GPS "+String(gps.location.lat(),6)+","+String(gps.location.lng(),6)+" / "+nearbyCity());
  }
  if(logSize && millis()-lastStorage>=5000) {
    lastStorage=millis();
    File f=SD.open("/sentinel/events.log",FILE_APPEND);
    if(!f){storageFailure();return;}
    bool ok=true;
    if(logDropped)ok=f.printf("RAM: %lu entradas anteriores descartadas\n",(unsigned long)logDropped)>0;
    int written=0;
    while(ok && written<logSize && written<8){ok=f.println(logPending[(logHead+written)%32])>0;if(ok)written++;}
    f.flush();f.close();
    logHead=(logHead+written)%32;logSize-=written;
    if(!ok){storageFailure();return;}
    logDropped=0;
    Serial.printf("microSD: log guardado (%d entradas)\n",written);
  }
}
void gpsPage() {
  if(view!=4)page=0;
  view=4;
  String fresh[12];int n=0;
  bool fix=gpsHasFix() && millis()-gpsValidAt<5000;
  String newStatus=fix?"GPS: FIX / posicion valida":gpsSeen && millis()-gpsValidAt<5000?"GPS: sin FIX / buscando":gpsSeen?"GPS: datos caducados":gpsBytes && millis()-gpsLastByte<5000?"GPS: RX sin NMEA valido":"GPS: sin datos en RX4";
  fresh[n++]="Lat: "+(fix?String(gps.location.lat(),6):String("--"));
  fresh[n++]="Lon: "+(fix?String(gps.location.lng(),6):String("--"));
  fresh[n++]=fix&&gps.altitude.isValid()&&gps.altitude.age()<5000?"Altura: "+String(gps.altitude.meters(),1)+" m":"Altura: -- m";
  fresh[n++]="FIX: "+String(fix?"SI":"NO")+"  SAT: "+(gps.satellites.isValid()&&gps.satellites.age()<5000?String(gps.satellites.value()):String("--"));
  fresh[n++]=nearbyCity();
  fresh[n++]=!gpsSeen?"RX: "+String(gps.charsProcessed())+" / sin NMEA":millis()-gpsValidAt>5000?"Receptor: datos antiguos":fix?"Receptor: posicion actual":"Receptor: buscando posicion";
  fresh[n++]="UART RX4 / "+String(gpsBauds[gpsBaudIndex])+" baudios";
  fresh[n++]="Recibidos: "+String(gpsBytes)+" bytes";
  fresh[n++]="NMEA OK: "+String(gps.passedChecksum());
  fresh[n++]="Checksum fallidos: "+String(gps.failedChecksum());
  fresh[n++]="HDOP: "+(gps.hdop.isValid()&&gps.hdop.age()<5000?String(gps.hdop.hdop(),1):String("--"));
  fresh[n++]="Cielo despejado; no mover cables";
  bool changed=status!=newStatus || count!=n;
  for(int i=0;i<n;i++){if(rows[i]!=fresh[i])changed=true;rows[i]=fresh[i];}
  count=n;status=newStatus;if(changed)dirty=true;
}
void serviceGPS() {
  for(int budget=0;budget<2048 && gpsPort.available();budget++){
    char c=(char)gpsPort.read();gpsLastByte=millis();gpsBytes++;
    if(gps.encode(c)){gpsSeen=true;gpsValidAt=millis();}
  }
  static uint32_t lastChecksum=0;
  if(gps.passedChecksum()!=lastChecksum){lastChecksum=gps.passedChecksum();gpsSeen=true;gpsValidAt=millis();}
  if(millis()-gpsProbeAt>6000 && (!gpsSeen || millis()-gpsValidAt>15000)) {
    gpsBaudIndex=(gpsBaudIndex+1)%6;gpsPort.end();
    gpsPort.begin(gpsBauds[gpsBaudIndex],SERIAL_8N1,4,-1);gpsProbeAt=millis();
  }
  static bool priorFix=false;
  bool fixNow=gpsHasFix();
  if(fixNow!=priorFix){priorFix=fixNow;if(view==0)dirty=true;}
  static uint32_t tick=0;
  if(view==4 && millis()-tick>=1000){tick=millis();gpsPage();}
}
// Run directly on the LCD, never on the HUD sprite. Keep the current rotation.
void recalibrateTouch() {
  forceFrame=true;
  stopMonitor();
  lcd.waitDisplay();lcd.endTransaction();
  uint16_t x,y;
  while(lcd.getTouch(&x,&y)){serviceGPS();delay(15);}
  lcd.fillScreen(uint16_t(0x0001));lcd.setTextSize(1);lcd.setTextColor(uint16_t(0xFFFF));
  lcd.setCursor(16,110);lcd.println("CALIBRAR PANTALLA");
  lcd.setCursor(16,135);lcd.println("Toca el centro de cada marca.");
  lcd.setCursor(16,155);lcd.println("Suelta entre cada pulsacion.");
  delay(1600);
  uint16_t cal[8];lcd.calibrateTouch(cal,uint16_t(0xFFFF),uint16_t(0x0001),12);
  lcd.setTouchCalibrate(cal);
  Preferences p;p.begin("m61-touch",false);
  bool saved=p.putBytes("portrait2",cal,sizeof(cal))==sizeof(cal);p.end();
  while(lcd.getTouch(&x,&y)){serviceGPS();delay(15);}
  lastTap=millis();systemPage();
  status=saved?"Calibracion guardada":"Error guardando calibracion";dirty=true;
}
// Require a short stable contact and a real release; holding cannot repeat taps.
bool readTap(uint16_t &x,uint16_t &y) {
  static bool tracking=false,consumed=false;
  static uint32_t started=0,released=0;
  static uint16_t px=0,py=0;
  uint32_t now=millis();uint16_t tx,ty;
  if(!lcd.getTouch(&tx,&ty)) {
    if(!released)released=now;
    if(now-released>=70){tracking=false;consumed=false;}
    return false;
  }
  released=0;
  if(consumed)return false;
  if(!tracking || abs(int(tx)-int(px))>14 || abs(int(ty)-int(py))>14){
    tracking=true;started=now;px=tx;py=ty;return false;
  }
  px=(px+tx)/2;py=(py+ty)/2;
  if(now-started<45)return false;
  consumed=true;x=px;y=py;return true;
}
void setup() {
  Serial.begin(115200);
  bleUpdates=xQueueCreate(64,sizeof(BleUpdate));
  // Force-link Arduino BT support so initArduino retains controller memory.
  (void)btStarted();
  // All shared SPI devices deselected before display initialization.
  const int cs[]={17,21,14};
  for(int pin:cs){pinMode(pin,OUTPUT);digitalWrite(pin,HIGH);}
  pinMode(32,OUTPUT);digitalWrite(32,LOW);
  // Put the card into SPI mode BEFORE any TFT/touch traffic on the shared bus.
  storageBus.begin(18,19,23,14);mountSD();
  lcd.init();displayReady=true;lcd.setRotation(2);lcd.fillScreen(BG);
  // Official original Marauder backlight is active HIGH, after display init.
  digitalWrite(32,HIGH);
  Preferences prefs;
  prefs.begin("m61-touch",false);
  uint16_t cal[8];
  if(prefs.isKey("portrait2") && prefs.getBytesLength("portrait2")==sizeof(cal)) {
    prefs.getBytes("portrait2",cal,sizeof(cal));lcd.setTouchCalibrate(cal);
  } else {
    lcd.setTextSize(1);lcd.setTextColor(uiColor[5]);lcd.setCursor(10,130);
    lcd.println("Calibracion tactil");
    lcd.setCursor(10,150);lcd.println("Toca las marcas de las esquinas");
    delay(1800);
    lcd.calibrateTouch(cal,uint16_t(0xFFFF),uint16_t(0x0001),12);
    prefs.putBytes("portrait2",cal,sizeof(cal));
  }
  prefs.end();
  Preferences settings;settings.begin("sentinel",true);threshold=settings.getInt("threshold",-55);fahrenheit=settings.getBool("fahrenheit",false);hour12=settings.getBool("hour12",false);uiLanguage=constrain(settings.getUChar("language",0),0,5);settings.end();
  // Reserve radio memory BEFORE the optional framebuffer consumes a large block.
  WiFi.persistent(false);WiFi.setAutoReconnect(true);
  bool wifiReady=WiFi.mode(WIFI_STA);
  Serial.printf("Wi-Fi init: %s, RAM %u, bloque %u\n",wifiReady?"OK":"ERROR",ESP.getFreeHeap(),ESP.getMaxAllocHeap());
  loadNetwork();
  // Credentials live in NVS, independently of the SD card.
  // Reserve BLE resources before allocating the framebuffer too.
  bleInitState.store(1);
  if(xTaskCreate(initBleTask,"ble-init",8192,nullptr,1,nullptr)!=pdPASS)bleInitState.store(-1);
  gpsPort.setRxBufferSize(2048);
  gpsPort.begin(9600,SERIAL_8N1,4,-1); // Official v6.1 GPS TX feeds GPIO4; receive only.
  gpsProbeAt=millis();
  // BLE allocation must finish before optional display memory is allocated.
  uint32_t initWait=millis();
  while(bleInitState.load()==1 && millis()-initWait<10000){serviceGPS();delay(10);}
  // Eleven UI colours fit in a 16-colour frame, saving 38,400 bytes
  // versus the previous 8-bit allocation. Leave memory for BLE and TLS.
  hudBuffer.setColorDepth(4);
  fullBuffered=hudBuffer.createSprite(240,320)!=nullptr;
  if(fullBuffered){for(int i=0;i<11;i++){hudBuffer.setPaletteColor(i,uiColor[i]);uiColor[i]=i;}}
  hudBuffered=fullBuffered;
  Serial.printf("Pantalla: buffer completo %s\n",fullBuffered?"OK":"sin memoria");
  Wire.begin(33,22,100000);Wire.setTimeOut(25);serviceBattery();
  home();draw();
  Serial.println("Marauder Sentinel v6.1: listo; firmware de diagnostico, sin PSRAM obligatoria");
  home();
}
void loop() {
  serviceBattery();
  serviceGPS();
  serviceDashboard();
  serviceStorage();
  serviceBle();
  receiveBleUpdates();
  expireContacts();
  liveSummary();
  if(!scanning && nextScan && (int32_t)(millis()-nextScan)>=0) {
    nextScan=0;int oldView=view;if(nextRadio==1)beginWifi(wifiScanRetries>0);else beginBle();view=oldView;dirty=true;
  }
  if(scanning && scanKind==1 && (int32_t)(millis()-scanDeadline)>0){
    esp_wifi_scan_stop();WiFi.scanDelete();scanning=false;monitor=false;nextScan=0;status="Wi-Fi: tiempo agotado";dirty=true;
  }
  if(scanning && scanKind==1) {
    int n=WiFi.scanComplete();
    if(n>=0){count=0;for(int i=0;i<n && count<40;i++) {
      int r=WiFi.RSSI(i);updateContact(WiFi.BSSIDstr(i),r,1,wifiHint(WiFi.SSID(i))+safeText(WiFi.SSID(i).length()?WiFi.SSID(i):WiFi.BSSIDstr(i)));strongest=max(strongest,r);if(r>=threshold)nearCount++;
      String hint=wifiHint(WiFi.SSID(i));
      if(hint.length())recordEvent(hint+safeText(WiFi.SSID(i)));
      add(hint+String(r)+"dBm C"+String(WiFi.channel(i))+" "+safeText(WiFi.SSID(i)));
      }
      wifiScanRetries=0;status=String(n)+" redes Wi-Fi";scanning=false;WiFi.scanDelete();finishScan("Wi-Fi");if(!monitor){nextRadio=1;nextScan=millis()+150;}dirty=true;
    }else if(n==WIFI_SCAN_FAILED){
      scanning=false;WiFi.scanDelete();
      Serial.printf("Wi-Fi scan fallo: intento %u, RAM %u\n",wifiScanRetries+1,ESP.getFreeHeap());
      if(wifiScanRetries<2){
        ++wifiScanRetries;esp_wifi_scan_stop();
        nextRadio=1;nextScan=millis()+700;
        status="Wi-Fi: recuperando "+String(wifiScanRetries)+"/2";
      }else{monitor=false;nextScan=0;status="Wi-Fi: fallo tras 3 intentos";}
      dirty=true;
    }
  }
  if(scanning && scanKind==2 && !ble->isScanning()) {
    auto r=ble->getResults();count=0;
    for(int i=0;i<r.getCount() && count<40;i++){
      auto d=r.getDevice(i);String name=d->haveName()?String(d->getName().c_str()):String(d->getAddress().toString().c_str());
      int power=d->getRSSI();updateContact(String(d->getAddress().toString().c_str()),power,2,bleHint(d)+safeText(name));strongest=max(strongest,power);if(power>=threshold)nearCount++;
      String hint=bleHint(d);
      if(hint.length())recordEvent(hint+safeText(name));
      add(hint+String(power)+"dBm "+safeText(name));
    }
    status=String(r.getCount())+" dispositivos BLE";
    if(r.getCount()==0){add("No hay anuncios BLE cercanos");add("Activa un dispositivo BLE");add("y vuelve a explorar.");add("No detecta Bluetooth clasico.");}
    ble->clearResults();scanning=false;finishScan("BLE");if(!monitor){nextRadio=2;nextScan=millis()+150;}dirty=true;
  }
  uint16_t x=0,y=0;
  if(readTap(x,y) && millis()-lastTap>180) {
    lastTap=millis();
    if(view==12){tapLiveContacts(x,y);}
    else if(view>=6){tapDashboard(x,y);}
    else if(view==0){
      if(y<45 && x<180){stopMonitor();home();}
      else if(y<45 && x>=180){toggleMonitor();}
      else if(y>=51 && y<148){view=12;contactPage=0;selectedContact=-1;dirty=true;}
      else if(y>=150&&y<175 && x<124){stopMonitor();gpsPage();}
      else if(y>=177&&y<221){monitor=false;if(x<120)beginWifi();else beginBle();}
      else if(y>=228&&y<272){
        if(x<120){toggleMonitor();}
        else {view=5;count=0;page=0;status="Umbral "+String(threshold)+" dBm";
          for(int i=0;i<historyCount;i++)add(history[i]);
          if(!count)add("Aun no hay exploraciones");dirty=true;}
      }
      else if(y>=279&&y<306){stopMonitor();if(x<75)gpsPage();else if(x<152)systemPage();else recalibrateTouch();}
    } else if(y>=282){
      if(x<75){monitor=false;nextScan=0;
        if(scanning){if(scanKind==1){esp_wifi_scan_stop();WiFi.scanDelete();}if(scanKind==2&&ble)ble->stop();scanning=false;}scanKind=0;home();}
      else if(x<157){
        if(view==3){mountSD();gpsPage();}
        else if(view==5){threshold=threshold==-55?-65:threshold==-65?-75:-55;
          Preferences p;p.begin("sentinel",false);p.putInt("threshold",threshold);p.end();
          status="Umbral "+String(threshold)+" dBm";
        }else page=(page+1)%max(1,(count+5)/6);dirty=true;
      }else {if(view==3)recalibrateTouch();else {if(monitor){monitor=false;nextScan=0;}save();}}
    }
  }
  if(view==4 && dirty)gpsPage();
  static uint32_t contactTick=0;
  if(view==12 && millis()-contactTick>=1000){contactTick=millis();dirty=true;}
  static uint32_t lastDraw=0;
  static int drawnView=-1;
  if(dirty && (view!=drawnView || millis()-lastDraw>=((fullBuffered && (view==6 || view==11))?100:300))){
    draw();lastDraw=millis();drawnView=view;
  }
  delay(15);
}