From 2734d01c8947838ce40d6b366560b38a61bfad50 Mon Sep 17 00:00:00 2001
From: Noah Metz <noah@metznet.ca>
Date: Wed, 3 Jun 2026 18:30:40 -0600
Subject: [PATCH] Made advertise/scan simultaneous for lower latency, reduced
 advertise interval from 500ms to 125ms

---
 main/ble.c    | 56 +++++++++++++++++++--------------------------------
 main/ble.h    |  1 -
 main/config.h |  4 ++--
 3 files changed, 23 insertions(+), 38 deletions(-)

diff --git a/main/ble.c b/main/ble.c
index e16b98a..7a8746c 100644
--- a/main/ble.c
+++ b/main/ble.c
@@ -8,7 +8,6 @@
 #include <string.h>
 #include <stdio.h>
 
-volatile int  g_ble_scanning;
 volatile int  g_ble_initialized;
 uint8_t       g_own_addr_type;
 uint8_t       g_own_addr[6];
@@ -42,8 +41,8 @@ static void ble_adv_start_internal(void)
     struct ble_gap_adv_params params = {0};
     params.conn_mode = BLE_GAP_CONN_MODE_NON;
     params.disc_mode = BLE_GAP_DISC_MODE_NON;
-    params.itvl_min  = 0x0320; // 500ms
-    params.itvl_max  = 0x0320;
+    params.itvl_min  = 0x00C8; // 125ms
+    params.itvl_max  = 0x00C8;
     ble_gap_adv_start(g_own_addr_type, NULL, BLE_HS_FOREVER, &params, ble_gap_event_handler, NULL);
 
 #ifdef DEBUG
@@ -55,11 +54,23 @@ static void ble_adv_start_internal(void)
 #endif
 }
 
+static void ble_scan_start(void)
+{
+    struct ble_gap_disc_params disc_params = {0};
+    disc_params.itvl = 0x0100; disc_params.window = 0x0080; disc_params.passive = 1;
+    ble_gap_disc(g_own_addr_type, 5000, &disc_params, ble_gap_event_handler, NULL);
+}
+
 void ble_adv_update(void)
 {
-    if (!g_ble_initialized || g_ble_scanning) return;
+    if (!g_ble_initialized) return;
     ble_gap_adv_stop();
-    if (g_ble_enabled) ble_adv_start_internal();
+    if (g_ble_enabled) {
+        ble_adv_start_internal();
+        if (!ble_gap_disc_active()) ble_scan_start();
+    } else {
+        ble_gap_disc_cancel();
+    }
 }
 
 static void ble_update_peer(const ble_addr_t *addr, const ble_payload_t *p)
@@ -125,8 +136,7 @@ static int ble_gap_event_handler(struct ble_gap_event *event, void *arg)
             i += 1 + adlen;
         }
     } else if (event->type == BLE_GAP_EVENT_DISC_COMPLETE) {
-        g_ble_scanning = 0;
-        if (g_ble_enabled) ble_adv_start_internal();
+        if (g_ble_enabled) ble_scan_start();
     }
     return 0;
 }
@@ -136,7 +146,10 @@ static void ble_on_sync(void)
     ble_hs_id_infer_auto(0, &g_own_addr_type);
     ble_hs_id_copy_addr(g_own_addr_type, g_own_addr, NULL);
     g_ble_initialized = 1;
-    if (g_ble_enabled) ble_adv_start_internal();
+    if (g_ble_enabled) {
+        ble_adv_start_internal();
+        ble_scan_start();
+    }
 }
 
 static void ble_on_reset(int reason) { (void)reason; }
@@ -147,32 +160,6 @@ static void ble_host_task(void *arg)
     nimble_port_freertos_deinit();
 }
 
-static void ble_manager_task(void *arg)
-{
-    while (!g_ble_initialized) vTaskDelay(pdMS_TO_TICKS(100));
-    while (1) {
-        vTaskDelay(pdMS_TO_TICKS(10000));
-        if (!g_ble_enabled || g_ble_scanning) continue;
-
-        g_ble_scanning = 1;
-        ble_gap_adv_stop();
-
-        struct ble_gap_disc_params disc_params = {0};
-        disc_params.itvl = 0x0100; disc_params.window = 0x0080; disc_params.passive = 1;
-        int rc = ble_gap_disc(g_own_addr_type, 5000, &disc_params, ble_gap_event_handler, NULL);
-        if (rc != 0) {
-            g_ble_scanning = 0;
-            if (g_ble_enabled) ble_adv_start_internal();
-        }
-        vTaskDelay(pdMS_TO_TICKS(6000));
-        if (g_ble_scanning) {
-            ble_gap_disc_cancel();
-            g_ble_scanning = 0;
-            if (g_ble_enabled) ble_adv_start_internal();
-        }
-    }
-}
-
 void ble_init(void)
 {
     nimble_port_init();
@@ -180,5 +167,4 @@ void ble_init(void)
     ble_hs_cfg.reset_cb = ble_on_reset;
     ble_svc_gap_init();
     nimble_port_freertos_init(ble_host_task);
-    xTaskCreate(ble_manager_task, "ble_mgr", 4096, NULL, 5, NULL);
 }
diff --git a/main/ble.h b/main/ble.h
index d88dbd6..51a14df 100644
--- a/main/ble.h
+++ b/main/ble.h
@@ -24,7 +24,6 @@ typedef struct {
     int         active;
 } ble_peer_t;
 
-extern volatile int  g_ble_scanning;
 extern volatile int  g_ble_initialized;
 extern uint8_t       g_own_addr_type;
 extern uint8_t       g_own_addr[6];
diff --git a/main/config.h b/main/config.h
index 4c10b5a..a32f940 100644
--- a/main/config.h
+++ b/main/config.h
@@ -2,8 +2,8 @@
 
 // ── Buttons ───────────────────────────────────────────────────────────────────
 #define BTN_FORWARD_GPIO 23
-#define BTN_LEFT_GPIO    4
-#define BTN_RIGHT_GPIO   5
+#define BTN_LEFT_GPIO    15
+#define BTN_RIGHT_GPIO   4
 #define BTN_BACK_GPIO    19
 
 // ── RGB LED ───────────────────────────────────────────────────────────────────