добавлен субмодуль с зарядкой и мультисборка с ней

добавлен дюпонт разъем для самодельного аккума

.gitignore

@@ -1 +1,8 @@
 /tests/
+__Previews/
+History
+Project Logs*/
+Project Outputs*/
+/.build/
+
+

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "PCB_Charger"]
+	path = PCB_Charger
+	url = https://git.rd12.ru/Razvalyaev/Charger.git
+	branch = master

OpticalChannelTester/App.cpp

@@ -1,15 +1,26 @@
 #include "App.h"
 #include "Config.h"
+#include "Config_Text.h"
 #include "Log.h"
 #include <WiFi.h>
 #include <esp_mac.h>
+#include <esp_sleep.h>
 #include <esp_system.h>
+#include <esp32-hal-cpu.h>
+#include <driver/gpio.h>
+#include <Wire.h>
+#include <math.h>
+#include <stdlib.h>
 #include <string.h>
 
 namespace {
+constexpr uint8_t MENU_OPTICAL_CALIBRATION_ITEM = 7;
+
+const char *uiFailName(FailReason reason);
+
 const char *appStateName(AppState state) {
-  static const char *names[] = {"IDLE", "MENU", "SOLO_MEASURE", "MASTER_DISCOVER",
+  static const char *names[] = {"IDLE", "MENU", "BOARD_TEST", "SOLO_MEASURE", "SOLO_DRIVER", "MASTER_DISCOVER",
-    "MASTER_WAIT_READY", "MASTER_WAIT_RESULT", "SLAVE_READY", "SLAVE_WAIT_START",
+    "MASTER_WAIT_READY", "MASTER_WAIT_RESULT", "MASTER_FINALIZE", "SLAVE_READY", "SLAVE_WAIT_START",
     "SLAVE_MEASURE", "SLAVE_WAIT_ACK", "FINISHED"};
   const uint8_t index = static_cast<uint8_t>(state);
   return index < sizeof(names) / sizeof(names[0]) ? names[index] : "UNKNOWN";
@@ -20,12 +31,272 @@ const char *buttonEventName(ButtonEvent event) {
   const uint8_t index = static_cast<uint8_t>(event);
   return index < sizeof(names) / sizeof(names[0]) ? names[index] : "UNKNOWN";
 }
+
+uint32_t pulseFromDuty(float hz, float dutyPct) {
+  return hz > 0.0f ? static_cast<uint32_t>(lroundf(dutyPct * 10000000.0f / hz)) : 0U;
 }
 
-App::App() : startButton_(GPIO_BUTTON_START), modeButton_(GPIO_BUTTON_MODE), measurement_(receiver_) {}
+float dutyFromPulse(uint32_t hz, uint32_t pulseNs) {
+  return static_cast<float>(static_cast<double>(hz) * pulseNs / 10000000.0);
+}
+
+bool configuredTxPulseLightOn(const Settings &settings) {
+  return static_cast<TestKind>(settings.testKind) == TestKind::DRIVER
+    ? txActiveLightOn(settings) : true;
+}
+
+const char *configuredLevelName(const Settings &settings) {
+  return static_cast<TestKind>(settings.testKind) == TestKind::DRIVER
+    ? lightCodeName(static_cast<LightCode>(settings.lightCode)) : "AUTO";
+}
+
+void formatTarget(uint32_t hz, uint32_t pulseNs, char *out, size_t size) {
+  char frequency[16], pulse[12];
+  Display::formatPwmFrequency(hz, frequency, sizeof(frequency));
+  Display::formatPulse(pulseNs, pulse, sizeof(pulse));
+  snprintf(out, size, UiText::TEST_FORMAT, frequency, pulse);
+}
+
+void formatMeasured(float hz, uint32_t pulseNs, char *out, size_t size) {
+  char frequency[12], pulse[12];
+  Display::formatFrequency(hz, frequency, sizeof(frequency));
+  Display::formatPulse(pulseNs, pulse, sizeof(pulse), true);
+  snprintf(out, size, "F:%s, P:%s", frequency, pulse);
+}
+
+void formatTestTarget(uint32_t hz, uint32_t pulseNs, char *out, size_t size) {
+  char target[32];
+  formatTarget(hz, pulseNs, target, sizeof(target));
+  snprintf(out, size, UiText::TEST_TARGET_FORMAT, target);
+}
+
+void formatFailure(FailReason reason, uint32_t hz, uint32_t pulseNs,
+                   char *out, size_t size) {
+  (void)reason;
+  char target[32];
+  formatTarget(hz, pulseNs, target, sizeof(target));
+  snprintf(out, size, UiText::FAIL_TARGET_FORMAT, target);
+}
+
+void formatElapsedNs(uint64_t ns, char *out, size_t size) {
+  // Compact form keeps error timing within 21 OLED columns.
+  // Exact nanoseconds remain available in the Serial diagnostic.
+  if (ns < 1000ULL) snprintf(out, size, "%llun", ns);
+  else if (ns < 1000000ULL) snprintf(out, size, "%.1fu", ns / 1000.0);
+  else if (ns < 1000000000ULL) snprintf(out, size, "%.0fm", ns / 1000000.0);
+  else snprintf(out, size, "%.2fs", ns / 1000000000.0);
+}
+
+size_t utf8CharacterCount(const char *text) {
+  size_t count = 0;
+  while (text && *text) {
+    const uint8_t byte = static_cast<uint8_t>(*text++);
+    // Continuation bytes (10xxxxxx) belong to the preceding UTF-8 character.
+    if ((byte & 0xC0U) != 0x80U) ++count;
+  }
+  return count;
+}
+
+const char *uiRoleName(Role role) {
+  const uint8_t index = static_cast<uint8_t>(role);
+  return index < sizeof(UiText::ROLE_NAMES) / sizeof(UiText::ROLE_NAMES[0])
+    ? UiText::ROLE_NAMES[index] : "?";
+}
+
+const char *uiFailName(FailReason reason) {
+  const uint8_t index = static_cast<uint8_t>(reason);
+  return index < sizeof(UiText::FAIL_NAMES) / sizeof(UiText::FAIL_NAMES[0])
+    ? UiText::FAIL_NAMES[index] : "UNKNOWN";
+}
+
+const char *roleCorner(Role role) {
+  static const char *markers[] = {"O", "M", "S"};
+  const uint8_t index = static_cast<uint8_t>(role);
+  return index < sizeof(markers) / sizeof(markers[0]) ? markers[index] : "?";
+}
+
+void formatMenuLine(const char *label, const char *value, char *out, size_t size) {
+  constexpr size_t OLED_TEXT_COLUMNS = 21;
+  const size_t labelLength = utf8CharacterCount(label);
+  const size_t valueLength = utf8CharacterCount(value);
+  const size_t usedColumns = labelLength + valueLength;
+  const int padding = static_cast<int>(
+    usedColumns < OLED_TEXT_COLUMNS ? OLED_TEXT_COLUMNS - usedColumns : 0U);
+  snprintf(out, size, "%s%*s%s", label, padding, "", value);
+}
+
+uint32_t overallProgress(uint32_t stageIndex, uint8_t step,
+                         uint8_t stepsPerStage = MEASUREMENT_PROGRESS_STEPS) {
+  if (step > stepsPerStage) step = stepsPerStage;
+  return stageIndex * stepsPerStage + step;
+}
+
+uint32_t overallProgressTotal(
+    uint32_t stageCount,
+    uint8_t stepsPerStage = MEASUREMENT_PROGRESS_STEPS) {
+  return stageCount * stepsPerStage;
+}
+
+uint32_t stageWallTimeMs(uint32_t testTimeMs, uint32_t frequencyHz) {
+  return static_cast<uint32_t>((nominalStageUs(frequencyHz, testTimeMs, PWM_SETTLE_CYCLES) + 999ULL) / 1000ULL);
+}
+
+const char *uiTestName(TestKind kind) {
+  const uint8_t index = static_cast<uint8_t>(kind);
+  return index < sizeof(UiText::TEST_NAMES) / sizeof(UiText::TEST_NAMES[0])
+    ? UiText::TEST_NAMES[index] : "?";
+}
+
+const char *uiTestGroupName(TestGroup group) {
+  const uint8_t index = static_cast<uint8_t>(group);
+  return index < sizeof(UiText::TEST_GROUP_NAMES) / sizeof(UiText::TEST_GROUP_NAMES[0])
+    ? UiText::TEST_GROUP_NAMES[index] : "?";
+}
+
+const char *uiBoardTestName(BoardTest test) {
+  const uint8_t index = static_cast<uint8_t>(test);
+  return index < sizeof(UiText::BOARD_TEST_NAMES) / sizeof(UiText::BOARD_TEST_NAMES[0])
+    ? UiText::BOARD_TEST_NAMES[index] : "?";
+}
+
+bool boardTestAvailable(BoardTest test) {
+  if (test == BoardTest::PWM_OUTPUT) return true;
+  if (test == BoardTest::ADC) return BOARD_RX_USES_ADC && BOARD_ADC_AVAILABLE;
+  if (test == BoardTest::RX_INPUT) return !BOARD_RX_USES_ADC;
+  return false;
+}
+
+BoardTest defaultBoardTest() {
+  return BOARD_RX_USES_ADC && BOARD_ADC_AVAILABLE
+    ? BoardTest::ADC : BoardTest::RX_INPUT;
+}
+
+uint8_t lastValidMaxPulseIndex(uint32_t frequencyHz) {
+  uint8_t last = static_cast<uint8_t>(countOf(MAX_PULSE_OPTIONS_NS) - 1U);
+  while (last && static_cast<uint64_t>(MAX_PULSE_OPTIONS_NS[last]) * frequencyHz >= 1000000000ULL)
+    --last;
+  return last;
+}
+
+uint8_t firstMaxPulseIndexAtLeast(uint32_t pulseNs, uint8_t last) {
+  for (uint8_t i = 0; i <= last; ++i)
+    if (MAX_PULSE_OPTIONS_NS[i] >= pulseNs) return i;
+  return last;
+}
+
+uint8_t lastMinPulseIndexAtMost(uint32_t pulseNs) {
+  for (size_t i = countOf(MIN_PULSE_OPTIONS_NS); i > 0; --i)
+    if (MIN_PULSE_OPTIONS_NS[i - 1U] <= pulseNs) return static_cast<uint8_t>(i - 1U);
+  return 0;
+}
+
+uint32_t plannedPulseCaptureHz(uint32_t frequencyHz, float dutyPct) {
+  if (!frequencyHz || dutyPct <= 0.0f || dutyPct >= 100.0f) return 0;
+  return MCPWM_CAPTURE_RESOLUTION_HZ;
+}
+
+uint32_t plannedCaptureHz(uint32_t frequencyHz, float dutyPct) {
+  // One 32-bit S3 MCPWM capture timer measures period and pulse at 80 MHz.
+  return plannedPulseCaptureHz(frequencyHz, dutyPct);
+}
+
+bool pulsePointHasResolution(uint32_t hz, uint32_t pulseNs, float accuracyPct) {
+  uint32_t actualHz = 0, actualPulseNs = 0;
+  uint8_t bits = 0;
+  if (TARGET_IS_C3) {
+    IntegerPwmConfig config = {};
+    if (!choosePwmConfig(hz, pulseNs, LEDC_SOURCE_CLOCK_HZ, LEDC_MAX_BITS, config)) return false;
+    actualHz = config.actualHz;
+    actualPulseNs = config.actualPulseNs;
+    bits = config.bits;
+  } else {
+    if (!hz || MCPWM_RESOLUTION_HZ % hz) return false;
+    const uint32_t periodTicks = MCPWM_RESOLUTION_HZ / hz;
+    if (periodTicks < 2U || periodTicks > MCPWM_MAX_PERIOD_TICKS) return false;
+    uint32_t activeTicks = static_cast<uint32_t>(
+      (static_cast<uint64_t>(pulseNs) * MCPWM_RESOLUTION_HZ + 500000000ULL) / 1000000000ULL);
+    if (!activeTicks || activeTicks >= periodTicks) return false;
+    actualHz = hz;
+    actualPulseNs = static_cast<uint32_t>(
+      (static_cast<uint64_t>(activeTicks) * 1000000000ULL + MCPWM_RESOLUTION_HZ / 2U) /
+      MCPWM_RESOLUTION_HZ);
+    bits = 1;
+    for (uint32_t ticks = periodTicks; ticks > 1U; ticks >>= 1U) ++bits;
+  }
+  if (!periodWithin(actualHz, hz, accuracyPct) ||
+      !periodWithin(actualPulseNs, pulseNs, accuracyPct)) return false;
+  const float dutyPct = dutyFromPulse(actualHz, actualPulseNs);
+  const uint32_t captureHz = plannedCaptureHz(actualHz, dutyPct);
+  const uint32_t pulseCaptureHz = plannedPulseCaptureHz(actualHz, dutyPct);
+  return captureHz && pulseCaptureHz && validateResolution(actualHz, dutyPct, accuracyPct,
+    captureHz, pulseCaptureHz, bits, MEASUREMENT_AVERAGING_PERIODS) == FailReason::NONE;
+}
+
+uint32_t minimumPulseForAccuracy(uint32_t frequencyHz, float accuracyPct) {
+  for (uint32_t pulseNs : TEST_PULSE_WIDTHS_NS)
+    if (pulsePointHasResolution(frequencyHz, pulseNs, accuracyPct)) return pulseNs;
+  return UINT32_MAX;
+}
+
+uint8_t firstMinPulseIndexAtLeast(uint32_t pulseNs, uint8_t last) {
+  for (uint8_t i = 0; i <= last; ++i)
+    if (MIN_PULSE_OPTIONS_NS[i] >= pulseNs) return i;
+  return last;
+}
+
+uint8_t cycleIndex(uint8_t value, uint8_t first, uint8_t last, int direction) {
+  if (first >= last) return first;
+  if (direction > 0) return value >= last ? first : static_cast<uint8_t>(value + 1U);
+  return value <= first ? last : static_cast<uint8_t>(value - 1U);
+}
+
+uint8_t nextMenuItem(uint8_t current, TestGroup group) {
+  if (group == TestGroup::BOARD)
+    return current == 0U ? MENU_OPTICAL_CALIBRATION_ITEM : 0U;
+  return current >= MENU_OPTICAL_CALIBRATION_ITEM ? 0U
+    : static_cast<uint8_t>(current + 1U);
+}
+
+bool parseUnsigned(const char *text, uint32_t &value) {
+  if (!text || !*text || *text == '-') return false;
+  char *end = nullptr;
+  const unsigned long parsed = strtoul(text, &end, 10);
+  if (!end || *end) return false;
+  value = static_cast<uint32_t>(parsed);
+  return true;
+}
+
+template <size_t N>
+int optionIndex(const uint32_t (&options)[N], uint32_t value) {
+  for (size_t i = 0; i < N; ++i)
+    if (options[i] == value) return static_cast<int>(i);
+  return -1;
+}
+
+int accuracyOptionIndex(const char *text) {
+  if (!text || !*text) return -1;
+  char *end = nullptr;
+  const float value = strtof(text, &end);
+  if (!end || *end) return -1;
+  for (size_t i = 0; i < countOf(ACCURACY_OPTIONS_PCT); ++i)
+    if (fabsf(ACCURACY_OPTIONS_PCT[i] - value) < 0.001f) return static_cast<int>(i);
+  return -1;
+}
+
+void lowerAscii(char *text) {
+  for (; text && *text; ++text)
+    if (*text >= 'A' && *text <= 'Z') *text = static_cast<char>(*text - 'A' + 'a');
+}
+}
+
+App::App() : startButton_(GPIO_BUTTON_START), modeButton_(GPIO_BUTTON_MODE),
+  measurement_(receiver_), driverTest_(receiver_) {}
 
 void App::begin() {
   Serial.begin(SERIAL_BAUD);
+#if ARDUINO_USB_CDC_ON_BOOT
+  Serial.setTxTimeoutMs(SERIAL_TX_TIMEOUT_MS);
+#endif
   Log::printf("BOOT", "firmware start, Serial=%lu baud", SERIAL_BAUD);
   startButton_.begin(); modeButton_.begin(); pwm_.begin();
   bootCheckStartedMs_ = millis();
@@ -42,17 +313,24 @@ void App::finishInitialization(bool factoryReset) {
   } else if (!store_.load(settings_)) {
     store_.save(settings_); Log::event("BOOT", "NVS invalid/missing: defaults loaded");
   }
+  sanitizeRange();
   params_ = store_.params(settings_);
+  pwm_.configureActiveLight(configuredTxPulseLightOn(settings_));
   if (!display_.begin()) Log::event("BOOT", "OLED unavailable; Serial UI remains fully operational");
   initialized_ = true;
   if (!receiver_.begin()) { Log::event("BOOT", "FATAL: capture peripheral init failed"); finish(false, FailReason::UNSUPPORTED); return; }
-  Log::printf("BOOT", "capture initialized: %s", receiver_.highRateBackend() ? "RMT DMA" : "RMT ping-pong");
+  Log::printf("BOOT", "capture initialized: %s", receiver_.highRateBackend() ? "MCPWM 80MHz" : "GPIO cycle counter");
+  lastUserActivityMs_ = millis();
+  setActivePerformance(false);
   printConfiguration();
-  if (static_cast<Role>(settings_.role) == Role::SLAVE) armSlave();
+  if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::OPTICS &&
+      static_cast<Role>(settings_.role) == Role::SLAVE) armSlave();
   else showIdle();
 }
 
 void App::update() {
+  serviceSerialConsole();
+  serviceIdlePowerSave();
   const uint32_t now = millis();
   const ButtonEvent startEvent = startButton_.update(now);
   const ButtonEvent modeEvent = modeButton_.update(now);
@@ -60,11 +338,24 @@ void App::update() {
     Log::printf("INPUT", "START %s state=%s", buttonEventName(startEvent), appStateName(state_));
   if (modeEvent != ButtonEvent::NONE)
     Log::printf("INPUT", "MODE %s state=%s", buttonEventName(modeEvent), appStateName(state_));
+  if (startEvent != ButtonEvent::NONE || modeEvent != ButtonEvent::NONE) {
+    lastUserActivityMs_ = now;
+    leaveIdlePowerSave();
+  }
   if (!initialized_) {
     if (!startButton_.pressed() || !modeButton_.pressed()) finishInitialization(false);
     else if (now - bootCheckStartedMs_ >= FACTORY_RESET_HOLD_MS) finishInitialization(true);
     return;
   }
+  if (state_ == AppState::BOARD_TEST) {
+    if (startEvent == ButtonEvent::LONG) stopBoardTest();
+    else {
+      if (modeEvent != ButtonEvent::NONE)
+        Log::event("ACTION", "MODE ignored while board test is active");
+      updateBoardTest(now);
+    }
+    return;
+  }
   if (state_ != AppState::IDLE && state_ != AppState::MENU && state_ != AppState::FINISHED &&
       startEvent == ButtonEvent::LONG) { abortTest(); return; }
   if (state_ != AppState::IDLE && state_ != AppState::MENU && state_ != AppState::FINISHED &&
@@ -72,22 +363,31 @@ void App::update() {
 
   if (state_ == AppState::IDLE || state_ == AppState::FINISHED) {
     if (modeEvent == ButtonEvent::SHORT) {
-      settings_.role = (settings_.role + 1U) % 3U; const bool saved = store_.save(settings_);
+      cycleRunMode(); sanitizeRange(); const bool saved = store_.save(settings_);
       params_ = store_.params(settings_);
-      if (static_cast<Role>(settings_.role) == Role::SLAVE) armSlave();
+      if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::OPTICS &&
+          static_cast<Role>(settings_.role) == Role::SLAVE) armSlave();
       else showIdle();
-      Log::printf("ACTION", "role changed to %s, NVS=%s", roleName(static_cast<Role>(settings_.role)), saved ? "OK" : "FAILED");
+      if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::BOARD)
+        Log::printf("ACTION", "board test changed to %s, NVS=%s",
+          boardTestName(static_cast<BoardTest>(settings_.boardTest)), saved ? "OK" : "FAILED");
+      else
+        Log::printf("ACTION", "mode changed to %s/%s, NVS=%s",
+          roleName(static_cast<Role>(settings_.role)),
+          testKindName(static_cast<TestKind>(settings_.testKind)), saved ? "OK" : "FAILED");
     } else if (modeEvent == ButtonEvent::LONG) {
       state_ = AppState::MENU; menuItem_ = 0; Log::event("ACTION", "settings menu entered"); showMenu();
     } else if (startEvent == ButtonEvent::SHORT) { Log::event("ACTION", "test start requested"); startTest(); }
     else if (state_ == AppState::FINISHED && static_cast<Role>(settings_.role) == Role::SLAVE &&
-             now >= slaveRearmAtMs_) armSlave();
+             now >= slaveRearmAtMs_) armSlave(pendingReason_ != FailReason::NONE);
     return;
   }
   if (state_ == AppState::SLAVE_READY && modeEvent != ButtonEvent::NONE) {
     radio_.end(); havePeer_ = false;
     if (modeEvent == ButtonEvent::SHORT) {
-      settings_.role = static_cast<uint8_t>(Role::SOLO); const bool saved = store_.save(settings_);
+      settings_.role = static_cast<uint8_t>(Role::SOLO);
+      settings_.testKind = static_cast<uint8_t>(TestKind::OPTICAL);
+      const bool saved = store_.save(settings_);
       params_ = store_.params(settings_); state_ = AppState::IDLE; showIdle();
       Log::printf("ACTION", "role changed to SOLO, NVS=%s", saved ? "OK" : "FAILED");
     } else if (modeEvent == ButtonEvent::LONG) {
@@ -97,30 +397,83 @@ void App::update() {
   }
   if (state_ == AppState::MENU) {
     if (modeEvent == ButtonEvent::SHORT) {
-      menuItem_ = (menuItem_ + 1U) % 7U; Log::printf("ACTION", "menu item selected index=%u", menuItem_); showMenu();
+      leaveOpticalCalibration();
+      menuItem_ = nextMenuItem(menuItem_,
+        static_cast<TestGroup>(settings_.testGroup));
+      Log::printf("ACTION", "menu item selected index=%u", menuItem_);
+      showMenu();
     }
     else if (modeEvent == ButtonEvent::LONG) {
+      leaveOpticalCalibration();
       sanitizeRange(); const bool saved = store_.save(settings_); params_ = store_.params(settings_);
       Log::printf("ACTION", "settings menu saved and closed, NVS=%s", saved ? "OK" : "FAILED");
       state_ = AppState::IDLE; printConfiguration();
-      if (static_cast<Role>(settings_.role) == Role::SLAVE) armSlave();
+      if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::OPTICS &&
+          static_cast<Role>(settings_.role) == Role::SLAVE) armSlave();
       else showIdle();
-    } else if (startEvent == ButtonEvent::SHORT) changeMenu(+1);
+    } else if (menuItem_ != MENU_OPTICAL_CALIBRATION_ITEM &&
-    else if (startEvent == ButtonEvent::LONG || startEvent == ButtonEvent::REPEAT) changeMenu(-1);
+               startEvent == ButtonEvent::SHORT) changeMenu(+1);
+    else if (menuItem_ != MENU_OPTICAL_CALIBRATION_ITEM &&
+             (startEvent == ButtonEvent::LONG || startEvent == ButtonEvent::REPEAT)) changeMenu(-1);
+    updateOpticalCalibration(now);
     return;
   }
   if (state_ == AppState::SOLO_MEASURE) {
-    const MeasureState ms = measurement_.update();
+    if (static_cast<int32_t>(now - localMeasurementDeadlineMs_) >= 0) {
-    if (ms == MeasureState::FAIL) { printStageStats(measurement_.stats(), requestedHz_); finish(false, measurement_.reason()); }
+      Log::event("MEASURE", "local stage watchdog expired");
-    else if (ms == MeasureState::PASS) {
+      measurement_.forceFail(FailReason::LOST_EDGE);
-      printStageStats(measurement_.stats(), requestedHz_);
-      if (measurement_.reason() == FailReason::DATA_LOST) {
-        sweepHadDataLoss_ = true; if (!firstDataLossHz_) firstDataLossHz_ = requestedHz_;
     }
+    const MeasureState ms = measurement_.update();
+    if (ms == MeasureState::FAIL) {
+      pwm_.stop();
+      printStageStats(measurement_.stats(), actual_.actualHz);
+      showStageResult(measurement_.stats());
+      finish(false, measurement_.reason(), true);
+    }
+    else if (ms == MeasureState::PASS) {
+      pwm_.stop();
+      printStageStats(measurement_.stats(), actual_.actualHz);
+      showStageResult(measurement_.stats());
+      stagePassed();
+    } else if (measurement_.takeProgressUpdate()) {
+      StageStats live = {};
+      if (measurement_.statsSnapshot(live)) showStageResult(live);
+    }
+  } else if (state_ == AppState::SOLO_DRIVER) {
+    if (static_cast<int32_t>(now - localMeasurementDeadlineMs_) >= 0)
+      driverTest_.forceFail(FailReason::LOST_EDGE);
+    const DriverState ds = driverTest_.update();
+    if (ds == DriverState::SUBSAMPLE_DONE) {
+      // Capture is already stopped. Update the OLED only in this quiet gap,
+      // then restart the same PWM point and arm the next tenth of the sample.
+      pwm_.stop();
+      driverTest_.takeProgressUpdate();
+      showDriverResult(driverTest_.stats());
+      ActualPwm resumed = {};
+      if (!pwm_.start(requestedHz_, requestedPulseNs_, resumed)) {
+        driverTest_.forceFail(FailReason::RESOLUTION);
+      } else {
+        actual_ = resumed;
+        if (!driverTest_.resumeSubsample()) {
+          pwm_.stop();
+          driverTest_.forceFail(FailReason::DATA_LOSS);
+        }
+      }
+    } else if (ds == DriverState::FAIL) {
+      pwm_.stop(); receiver_.stop();
+      driverTest_.printSummary();
+      driverTest_.printTrace();
+      showDriverResult(driverTest_.stats());
+      finish(false, driverTest_.stats().reason, true);
+    } else if (ds == DriverState::PASS) {
+      pwm_.stop();
+      driverTest_.printSummary();
+      const bool finalPoint = stageIndex_ + 1U >= stageCount_;
+      showDriverResult(driverTest_.stats(), finalPoint);
       stagePassed();
     }
   } else if (state_ == AppState::MASTER_DISCOVER || state_ == AppState::MASTER_WAIT_READY ||
-             state_ == AppState::MASTER_WAIT_RESULT) {
+             state_ == AppState::MASTER_WAIT_RESULT || state_ == AppState::MASTER_FINALIZE) {
     handleRadio(); updateMaster();
   } else {
     handleRadio(); updateSlave();
@@ -128,137 +481,665 @@ void App::update() {
 }
 
 void App::showIdle() {
-  char one[24]; snprintf(one, sizeof(one), "MODE: %s", roleName(static_cast<Role>(settings_.role)));
+  setActivePerformance(false);
-  display_.show(one, "START=RUN");
+  setStandbyOpticalOutput();
+  lastUserActivityMs_ = millis();
+  char one[64];
+  if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::BOARD) {
+    snprintf(one, sizeof(one), "%s: %s", uiTestGroupName(TestGroup::BOARD),
+      uiBoardTestName(static_cast<BoardTest>(settings_.boardTest)));
+    display_.show(one, UiText::BOARD_READY);
+  } else {
+    snprintf(one, sizeof(one), "%s: %s",
+      uiRoleName(static_cast<Role>(settings_.role)),
+      uiTestName(static_cast<TestKind>(settings_.testKind)));
+    display_.show(one, UiText::START_RUN);
+  }
+}
+
+void App::serviceSerialConsole() {
+  while (Serial.available() > 0) {
+    const int raw = Serial.read();
+    if (raw < 0) break;
+    const char c = static_cast<char>(raw);
+    lastUserActivityMs_ = millis();
+    leaveIdlePowerSave();
+
+    if (c == '\r') continue;
+    if (c == '\n') {
+      if (serialLineOverflow_) Serial.println("ERR command too long");
+      else if (serialLineLength_) {
+        serialLine_[serialLineLength_] = '\0';
+        handleSerialCommand(serialLine_);
+      }
+      serialLineLength_ = 0;
+      serialLineOverflow_ = false;
+      continue;
+    }
+    if (c < ' ' || c > '~') continue;
+    if (serialLineLength_ + 1U < sizeof(serialLine_))
+      serialLine_[serialLineLength_++] = c;
+    else serialLineOverflow_ = true;
+  }
+}
+
+void App::printSerialHelp() {
+  Serial.println("COMMANDS (send with newline):");
+  Serial.println("  help | status | start | stop | defaults");
+  Serial.println("  set group optics|board");
+  Serial.println("  set boardtest adc|pwm|rx");
+  Serial.println("  set role solo|master|slave");
+  Serial.println("  set test optical|driver");
+  Serial.println("  set frequency 500|1000|2000|5000|10000|25000");
+  Serial.println("  set max 2000|5000|10000|20000|50000|100000|200000|500000");
+  Serial.println("  set min 250|500|1000|2000|5000|10000|50000");
+  Serial.println("  set accuracy 1|2|5|10");
+  Serial.println("  set time 100|250|500|1000|2000|5000   (ms)");
+  Serial.println("  set light HH|HL|LH|LL   (DRIVER only)");
+}
+
+void App::printSerialStatus() {
+  if (!initialized_) {
+    Serial.println("STATUS initializing");
+    return;
+  }
+  params_ = store_.params(settings_);
+  Serial.printf("STATUS state=%s group=%s boardtest=%s role=%s test=%s frequency=%luHz max=%luns min=%luns accuracy=%.2f%% time=%lums light=%s usb=%s\n",
+    appStateName(state_), testGroupName(static_cast<TestGroup>(settings_.testGroup)),
+    boardTestName(static_cast<BoardTest>(settings_.boardTest)), roleName(static_cast<Role>(settings_.role)),
+    testKindName(static_cast<TestKind>(settings_.testKind)), params_.frequencyHz,
+    params_.maxPulseNs, params_.minPulseNs, params_.accuracyPct, params_.testTimeMs,
+    configuredLevelName(settings_),
+    usbHostPresent() ? "connected" : "disconnected");
+}
+
+bool App::serialSettingsMutable() const {
+  return initialized_ && (state_ == AppState::IDLE || state_ == AppState::FINISHED ||
+    state_ == AppState::MENU || state_ == AppState::SLAVE_READY);
+}
+
+void App::finishSerialSettingsChange() {
+  if (state_ == AppState::SLAVE_READY) radio_.end();
+  leaveOpticalCalibration();
+  state_ = AppState::IDLE;
+  sanitizeRange();
+  params_ = store_.params(settings_);
+  pwm_.configureActiveLight(configuredTxPulseLightOn(settings_));
+  const bool saved = store_.save(settings_);
+  Serial.printf("OK settings saved=%s\n", saved ? "yes" : "no");
+  if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::OPTICS &&
+      static_cast<Role>(settings_.role) == Role::SLAVE) armSlave();
+  else showIdle();
+  printSerialStatus();
+}
+
+void App::handleSerialCommand(char *line) {
+  lowerAscii(line);
+  char *save = nullptr;
+  char *command = strtok_r(line, " \t", &save);
+  char *name = strtok_r(nullptr, " \t", &save);
+  char *value = strtok_r(nullptr, " \t", &save);
+  char *extra = strtok_r(nullptr, " \t", &save);
+  if (!command) return;
+
+  if ((!strcmp(command, "help") || !strcmp(command, "?")) && !name) {
+    printSerialHelp();
+    return;
+  }
+  if ((!strcmp(command, "status") || !strcmp(command, "get")) && !name) {
+    printSerialStatus();
+    return;
+  }
+  if (!strcmp(command, "start") && !name) {
+    if (!initialized_) Serial.println("ERR still initializing");
+    else if (state_ == AppState::IDLE || state_ == AppState::FINISHED) {
+      Serial.println("OK test start requested");
+      startTest();
+    } else if (state_ == AppState::SLAVE_READY) Serial.println("OK slave already armed");
+    else Serial.printf("ERR busy state=%s\n", appStateName(state_));
+    return;
+  }
+  if ((!strcmp(command, "stop") || !strcmp(command, "abort")) && !name) {
+    if (!initialized_) Serial.println("ERR still initializing");
+    else if (state_ == AppState::IDLE || state_ == AppState::FINISHED) Serial.println("OK already stopped");
+    else if (state_ == AppState::BOARD_TEST) {
+      Serial.println("OK board test stopped");
+      stopBoardTest();
+    } else if (state_ == AppState::MENU) {
+      leaveOpticalCalibration();
+      state_ = AppState::IDLE; showIdle(); Serial.println("OK menu closed");
+    } else if (state_ == AppState::SLAVE_READY) Serial.println("OK slave is armed; no test is running");
+    else {
+      Serial.println("OK abort requested");
+      abortTest();
+    }
+    return;
+  }
+  if (!strcmp(command, "defaults") && !name) {
+    if (!serialSettingsMutable()) {
+      Serial.printf("ERR settings locked state=%s\n", appStateName(state_));
+      return;
+    }
+    store_.defaults(settings_);
+    finishSerialSettingsChange();
+    return;
+  }
+  if (strcmp(command, "set") || !name || !value || extra) {
+    Serial.println("ERR unknown command; send 'help'");
+    return;
+  }
+  if (!serialSettingsMutable()) {
+    Serial.printf("ERR settings locked state=%s; stop the test first\n", appStateName(state_));
+    return;
+  }
+
+  bool accepted = false;
+  uint32_t numeric = 0;
+  if (!strcmp(name, "group")) {
+    if (!strcmp(value, "optics") || !strcmp(value, "optical")) {
+      settings_.testGroup = static_cast<uint8_t>(TestGroup::OPTICS); accepted = true;
+    } else if (!strcmp(value, "board")) {
+      settings_.testGroup = static_cast<uint8_t>(TestGroup::BOARD); accepted = true;
+    }
+  } else if (!strcmp(name, "boardtest") || !strcmp(name, "board")) {
+    BoardTest selected = static_cast<BoardTest>(UINT8_MAX);
+    if (!strcmp(value, "adc")) selected = BoardTest::ADC;
+    else if (!strcmp(value, "pwm")) selected = BoardTest::PWM_OUTPUT;
+    else if (!strcmp(value, "rx")) selected = BoardTest::RX_INPUT;
+    if (boardTestAvailable(selected)) {
+      settings_.boardTest = static_cast<uint8_t>(selected);
+      accepted = true;
+    }
+  } else if (!strcmp(name, "role")) {
+    if (!strcmp(value, "solo")) { settings_.role = static_cast<uint8_t>(Role::SOLO); accepted = true; }
+    else if (!strcmp(value, "master")) { settings_.role = static_cast<uint8_t>(Role::MASTER); accepted = true; }
+    else if (!strcmp(value, "slave")) { settings_.role = static_cast<uint8_t>(Role::SLAVE); accepted = true; }
+  } else if (!strcmp(name, "test")) {
+    if (!strcmp(value, "optical")) { settings_.testKind = static_cast<uint8_t>(TestKind::OPTICAL); accepted = true; }
+    else if (!strcmp(value, "driver") && !TARGET_IS_C3 &&
+             static_cast<Role>(settings_.role) == Role::SOLO) {
+      settings_.testKind = static_cast<uint8_t>(TestKind::DRIVER); accepted = true;
+    }
+  } else if ((!strcmp(name, "frequency") || !strcmp(name, "freq")) && parseUnsigned(value, numeric)) {
+    const int index = optionIndex(PWM_FREQUENCY_OPTIONS_HZ, numeric);
+    if (index >= 0) { settings_.frequencyIndex = static_cast<uint8_t>(index); accepted = true; }
+  } else if ((!strcmp(name, "max") || !strcmp(name, "maxpulse")) && parseUnsigned(value, numeric)) {
+    const int index = optionIndex(MAX_PULSE_OPTIONS_NS, numeric);
+    if (index >= 0) { settings_.maxPulseIndex = static_cast<uint8_t>(index); accepted = true; }
+  } else if ((!strcmp(name, "min") || !strcmp(name, "minpulse")) && parseUnsigned(value, numeric)) {
+    const int index = optionIndex(MIN_PULSE_OPTIONS_NS, numeric);
+    if (index >= 0) { settings_.minPulseIndex = static_cast<uint8_t>(index); accepted = true; }
+  } else if (!strcmp(name, "accuracy")) {
+    const int index = accuracyOptionIndex(value);
+    if (index >= 0) { settings_.accuracyIndex = static_cast<uint8_t>(index); accepted = true; }
+  } else if ((!strcmp(name, "time") || !strcmp(name, "duration")) && parseUnsigned(value, numeric)) {
+    const int index = optionIndex(TEST_TIME_OPTIONS_MS, numeric);
+    if (index >= 0) { settings_.timeIndex = static_cast<uint8_t>(index); accepted = true; }
+  } else if (!strcmp(name, "light")) {
+    if (static_cast<TestKind>(settings_.testKind) != TestKind::DRIVER) {
+      Serial.println("ERR level setting is available only in DRIVER test");
+      return;
+    }
+    if (!strcmp(value, "hh")) { settings_.lightCode = static_cast<uint8_t>(LightCode::HH); accepted = true; }
+    else if (!strcmp(value, "hl")) { settings_.lightCode = static_cast<uint8_t>(LightCode::HL); accepted = true; }
+    else if (!strcmp(value, "lh")) { settings_.lightCode = static_cast<uint8_t>(LightCode::LH); accepted = true; }
+    else if (!strcmp(value, "ll")) { settings_.lightCode = static_cast<uint8_t>(LightCode::LL); accepted = true; }
+  }
+
+  if (!accepted) {
+    Serial.println("ERR invalid setting or value; send 'help'");
+    return;
+  }
+  finishSerialSettingsChange();
+}
+
+void App::cycleRunMode() {
+  if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::BOARD) {
+    do {
+      settings_.boardTest = (settings_.boardTest + 1U) %
+        (static_cast<uint8_t>(BoardTest::RX_INPUT) + 1U);
+    } while (!boardTestAvailable(static_cast<BoardTest>(settings_.boardTest)));
+    return;
+  }
+  const Role role = static_cast<Role>(settings_.role);
+  const TestKind kind = static_cast<TestKind>(settings_.testKind);
+  if (role == Role::SOLO && kind == TestKind::OPTICAL && !TARGET_IS_C3) {
+    settings_.testKind = static_cast<uint8_t>(TestKind::DRIVER);
+  } else if (role == Role::SOLO) {
+    settings_.role = static_cast<uint8_t>(Role::MASTER);
+    settings_.testKind = static_cast<uint8_t>(TestKind::OPTICAL);
+  } else if (role == Role::MASTER) {
+    settings_.role = static_cast<uint8_t>(Role::SLAVE);
+    settings_.testKind = static_cast<uint8_t>(TestKind::OPTICAL);
+  } else {
+    settings_.role = static_cast<uint8_t>(Role::SOLO);
+    settings_.testKind = static_cast<uint8_t>(TestKind::OPTICAL);
+  }
 }
 
 void App::sanitizeRange() {
-  settings_.startIndex %= countOf(START_FREQ_OPTIONS_HZ); settings_.endIndex %= countOf(END_FREQ_OPTIONS_HZ);
+  if (settings_.testGroup > static_cast<uint8_t>(TestGroup::BOARD))
-  if (END_FREQ_OPTIONS_HZ[settings_.endIndex] <= START_FREQ_OPTIONS_HZ[settings_.startIndex]) {
+    settings_.testGroup = static_cast<uint8_t>(TestGroup::OPTICS);
-    size_t i = 0;
+  if (settings_.boardTest > static_cast<uint8_t>(BoardTest::RX_INPUT) ||
-    while (i < countOf(END_FREQ_OPTIONS_HZ) && END_FREQ_OPTIONS_HZ[i] <= START_FREQ_OPTIONS_HZ[settings_.startIndex]) ++i;
+      !boardTestAvailable(static_cast<BoardTest>(settings_.boardTest)))
-    if (i == countOf(END_FREQ_OPTIONS_HZ)) { settings_.startIndex = 0; i = countOf(END_FREQ_OPTIONS_HZ) - 1; }
+    settings_.boardTest = static_cast<uint8_t>(defaultBoardTest());
-    settings_.endIndex = i;
+  if (settings_.role > static_cast<uint8_t>(Role::SLAVE))
+    settings_.role = static_cast<uint8_t>(Role::SOLO);
+  if (settings_.testKind > static_cast<uint8_t>(TestKind::DRIVER))
+    settings_.testKind = static_cast<uint8_t>(TestKind::OPTICAL);
+  if (settings_.lightCode > static_cast<uint8_t>(LightCode::LL))
+    settings_.lightCode = static_cast<uint8_t>(LightCode::HH);
+  if (settings_.role != static_cast<uint8_t>(Role::SOLO) ||
+      (TARGET_IS_C3 && settings_.testKind == static_cast<uint8_t>(TestKind::DRIVER)))
+    settings_.testKind = static_cast<uint8_t>(TestKind::OPTICAL);
+  settings_.frequencyIndex %= countOf(PWM_FREQUENCY_OPTIONS_HZ);
+  settings_.maxPulseIndex %= countOf(MAX_PULSE_OPTIONS_NS);
+  settings_.minPulseIndex %= countOf(MIN_PULSE_OPTIONS_NS);
+  settings_.accuracyIndex %= countOf(ACCURACY_OPTIONS_PCT);
+  settings_.timeIndex %= countOf(TEST_TIME_OPTIONS_MS);
+  const uint32_t hz = PWM_FREQUENCY_OPTIONS_HZ[settings_.frequencyIndex];
+  const uint8_t lastValid = lastValidMaxPulseIndex(hz);
+  if (settings_.maxPulseIndex > lastValid) settings_.maxPulseIndex = lastValid;
+  const uint8_t lastMin = lastMinPulseIndexAtMost(MAX_PULSE_OPTIONS_NS[settings_.maxPulseIndex]);
+  if (settings_.minPulseIndex > lastMin) settings_.minPulseIndex = lastMin;
+  if (settings_.testKind == static_cast<uint8_t>(TestKind::DRIVER)) {
+    const uint8_t driverLastMin = lastMinPulseIndexAtMost(
+      MAX_PULSE_OPTIONS_NS[settings_.maxPulseIndex]);
+    const uint8_t firstDriverMin = firstMinPulseIndexAtLeast(
+      DRIVER_MIN_INPUT_PULSE_NS, driverLastMin);
+    if (settings_.minPulseIndex < firstDriverMin)
+      settings_.minPulseIndex = firstDriverMin;
   }
 }
 
 void App::changeMenu(int d) {
+  sanitizeRange();
+  if (menuItem_ == 0) {
+    settings_.testGroup = cycleIndex(settings_.testGroup, 0,
+      static_cast<uint8_t>(TestGroup::BOARD), d);
+  } else if (menuItem_ == 2) {
+    const uint8_t last = lastValidMaxPulseIndex(
+      PWM_FREQUENCY_OPTIONS_HZ[settings_.frequencyIndex]);
+    const uint8_t first = firstMaxPulseIndexAtLeast(
+      MIN_PULSE_OPTIONS_NS[settings_.minPulseIndex], last);
+    settings_.maxPulseIndex = cycleIndex(settings_.maxPulseIndex,
+      first, last, d);
+  } else if (menuItem_ == 3) {
+    const uint8_t last = lastMinPulseIndexAtMost(
+      MAX_PULSE_OPTIONS_NS[settings_.maxPulseIndex]);
+    const uint8_t first = static_cast<TestKind>(settings_.testKind) == TestKind::DRIVER
+      ? firstMinPulseIndexAtLeast(DRIVER_MIN_INPUT_PULSE_NS, last) : 0U;
+    settings_.minPulseIndex = cycleIndex(settings_.minPulseIndex, first, last, d);
+  } else {
     uint8_t *value = nullptr; size_t count = 0;
     switch (menuItem_) {
-    case 0: value = &settings_.startIndex; count = countOf(START_FREQ_OPTIONS_HZ); break;
+      case 1: value = &settings_.frequencyIndex; count = countOf(PWM_FREQUENCY_OPTIONS_HZ); break;
-    case 1: value = &settings_.endIndex; count = countOf(END_FREQ_OPTIONS_HZ); break;
+      case 4: value = &settings_.accuracyIndex; count = countOf(ACCURACY_OPTIONS_PCT); break;
-    case 2: value = &settings_.stepIndex; count = countOf(STEP_OPTIONS_HZ); break;
+      case 5: value = &settings_.timeIndex; count = countOf(TEST_TIME_OPTIONS_MS); break;
-    case 3: value = &settings_.accuracyIndex; count = countOf(ACCURACY_OPTIONS_PCT); break;
+      case 6:
-    case 4: value = &settings_.timeIndex; count = countOf(TEST_TIME_OPTIONS_MS); break;
+        if (static_cast<TestKind>(settings_.testKind) != TestKind::DRIVER) {
-    case 5: value = &settings_.repeatIndex; count = countOf(REPEAT_OPTIONS); break;
+          showMenu();
-    default: value = &settings_.dutyIndex; count = countOf(DUTY_OPTIONS_PCT); break;
+          return;
         }
-  *value = static_cast<uint8_t>((*value + count + d) % count);
+        value = &settings_.lightCode; count = 4; break;
-  Log::printf("ACTION", "menu item=%u changed direction=%+d new-index=%u", menuItem_, d, *value);
+      default: return;
-  sanitizeRange(); params_ = store_.params(settings_); showMenu();
+    }
+    *value = cycleIndex(*value, 0, static_cast<uint8_t>(count - 1U), d);
+  }
+  sanitizeRange(); params_ = store_.params(settings_);
+  pwm_.configureActiveLight(configuredTxPulseLightOn(settings_));
+  Log::printf("ACTION", "menu item=%u changed direction=%+d frequency=%u max-pulse=%u min-pulse=%u accuracy=%u time=%u light=%s",
+    menuItem_, d, settings_.frequencyIndex, settings_.maxPulseIndex,
+    settings_.minPulseIndex, settings_.accuracyIndex, settings_.timeIndex,
+    configuredLevelName(settings_));
+  showMenu();
 }
 
 void App::showMenu() {
-  char one[22], two[22], all[12];
+  char one[64], value[24], total[64], all[12];
+  const char *label = nullptr;
   Display::formatDuration(actualNominalTotalUs(), all, sizeof(all));
   switch (menuItem_) {
-    case 0: snprintf(one, sizeof(one), "START FREQ"); Display::formatFrequency(params_.startHz, two, sizeof(two)); break;
+    case 0:
-    case 1: snprintf(one, sizeof(one), "END FREQ"); Display::formatFrequency(params_.endHz, two, sizeof(two)); break;
+      snprintf(value, sizeof(value), "%s",
-    case 2: snprintf(one, sizeof(one), "FREQ STEP"); Display::formatFrequency(params_.stepHz, two, sizeof(two)); break;
+        uiTestGroupName(static_cast<TestGroup>(settings_.testGroup)));
-    case 3: snprintf(one, sizeof(one), "ACCURACY"); snprintf(two, sizeof(two), "+/-%g%%", params_.accuracyPct); break;
+      label = UiText::MENU_TEST_GROUP;
-    case 4: snprintf(one, sizeof(one), "TEST TIME"); snprintf(two, sizeof(two), "%.1fs", params_.testTimeMs / 1000.0f); break;
+      break;
-    case 5: snprintf(one, sizeof(one), "REPEATS"); snprintf(two, sizeof(two), "%ux", params_.repeats); break;
+    case 1:
-    default: snprintf(one, sizeof(one), "PWM DUTY"); snprintf(two, sizeof(two), "%u%%", params_.dutyPct); break;
+      Display::formatPwmFrequency(params_.frequencyHz, value, sizeof(value));
+      label = UiText::MENU_FREQUENCY;
+      break;
+    case 2:
+      Display::formatPulse(params_.maxPulseNs, value, sizeof(value));
+      label = UiText::MENU_MAX_PULSE;
+      break;
+    case 3:
+      Display::formatPulse(params_.minPulseNs, value, sizeof(value));
+      label = UiText::MENU_MIN_PULSE;
+      break;
+    case 4:
+      snprintf(value, sizeof(value), "+/-%g%%", params_.accuracyPct);
+      label = UiText::MENU_ACCURACY;
+      break;
+    case 5:
+      snprintf(value, sizeof(value), "%.1fs", params_.testTimeMs / 1000.0f);
+      label = UiText::MENU_TEST_TIME;
+      break;
+    case 6: {
+      if (static_cast<TestKind>(settings_.testKind) != TestKind::DRIVER) {
+        snprintf(value, sizeof(value), "%s", UiText::LIGHT_AUTO);
+        label = UiText::MENU_LIGHT_CODE;
+        formatMenuLine(label, value, one, sizeof(one));
+        display_.show(one, UiText::LIGHT_AUTO_FORMAT);
+        return;
       }
-  const size_t used = strlen(two); snprintf(two + used, sizeof(two) - used, " ALL %s", all); display_.show(one, two);
+      const char *code = lightCodeName(static_cast<LightCode>(settings_.lightCode));
+      snprintf(value, sizeof(value), "%s", code);
+      label = UiText::MENU_LIGHT_CODE;
+      formatMenuLine(label, value, one, sizeof(one));
+      snprintf(total, sizeof(total), UiText::LIGHT_CODE_FORMAT, code[0], code[1]);
+      display_.show(one, total);
+      return;
+    }
+    case MENU_OPTICAL_CALIBRATION_ITEM:
+      enterOpticalCalibration(millis());
+      return;
+    default: return;
+  }
+  formatMenuLine(label, value, one, sizeof(one));
+  if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::BOARD)
+    snprintf(total, sizeof(total), "%s", UiText::BOARD_READY);
+  else
+    formatMenuLine(UiText::MENU_TOTAL_TIME, all, total, sizeof(total));
+  display_.show(one, total);
+}
+
+void App::enterOpticalCalibration(uint32_t now) {
+  if (opticalCalibrationActive_) return;
+  optical_current_begin();
+  pwm_.lightOn();
+  opticalCalibrationActive_ = true;
+  opticalCalibrationStartedMs_ = now;
+  opticalCalibrationUpdatedMs_ = 0;
+  display_.show("Idiode: --.- mA", "Vcc: --.-- V");
+  Log::printf("CALIB", "optical LED ON; sense GPIO=%u, VCC GPIO=%u, settling %lums",
+    GPIO_OPTICAL_CURRENT, GPIO_OPTICAL_VCC, OPTICAL_CURRENT_SETTLE_MS);
+}
+
+void App::updateOpticalCalibration(uint32_t now, bool force) {
+  if (!opticalCalibrationActive_ ||
+      now - opticalCalibrationStartedMs_ < OPTICAL_CURRENT_SETTLE_MS) return;
+  (void)force;
+  OpticalCurrentMeasurement reading = {};
+  if (!optical_current_poll(reading)) return;
+  opticalCalibrationUpdatedMs_ = now;
+  char current[32], vcc[24];
+  snprintf(current, sizeof(current), "Idiode: %.1f mA", reading.currentMa);
+  snprintf(vcc, sizeof(vcc), "Vcc: %.2f V", reading.vccVoltage);
+  display_.show(current, vcc);
+  Log::printf("CALIB",
+    "raw sense=%u vcc=%u | ADC sense=%.3fV vcc=%.3fV | Usense=%.3fV Vcc=%.3fV | Idiode=%.1fmA",
+    reading.senseRaw, reading.vccRaw, reading.senseAdcVoltage,
+    reading.vccAdcVoltage, reading.senseVoltage, reading.vccVoltage,
+    reading.currentMa);
+}
+
+void App::leaveOpticalCalibration() {
+  if (!opticalCalibrationActive_) return;
+  pwm_.stop();
+  opticalCalibrationActive_ = false;
+  Log::event("CALIB", "optical LED OFF; calibration menu left");
 }
 
 void App::startTest() {
-  params_ = store_.params(settings_); stageCount_ = frequencyPointCount(params_.startHz, params_.endHz, params_.stepHz);
+  leaveIdlePowerSave();
-  stageIndex_ = 0; requestedHz_ = 0; pendingReason_ = FailReason::NONE; sweepHadDataLoss_ = false; firstDataLossHz_ = 0;
+  pwm_.stop();
+  setActivePerformance(true);
+  sanitizeRange();
+  if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::BOARD) {
+    startBoardTest();
+    return;
+  }
+  params_ = store_.params(settings_); stageCount_ = pulseWidthPointCount(params_.maxPulseNs, params_.minPulseNs);
+  stageIndex_ = 0; requestedHz_ = params_.frequencyHz; requestedPulseNs_ = 0; pendingReason_ = FailReason::NONE;
   havePeer_ = false; lastHeartbeatMs_ = 0; lastPeerSeenMs_ = 0;
   if (!stageCount_) { finish(false, FailReason::UNSUPPORTED); return; }
-  Log::printf("TEST", "starting role=%s stages=%lu", roleName(static_cast<Role>(settings_.role)), stageCount_);
+  Log::printf("TEST", "starting role=%s test=%s light=%s stages=%lu",
-  if (SERIAL_MINIMAL_LOG)
+    roleName(static_cast<Role>(settings_.role)),
-    Log::printf("CONFIG", "mode=%s range=%lu..%luHz step=%luHz accuracy=%.2f%% time=%lums repeats=%u duty=%u%% stages=%lu",
+    testKindName(static_cast<TestKind>(settings_.testKind)),
-      roleName(static_cast<Role>(settings_.role)), params_.startHz, params_.endHz, params_.stepHz,
+    configuredLevelName(settings_), stageCount_);
-      params_.accuracyPct, params_.testTimeMs, params_.repeats, params_.dutyPct, stageCount_);
+  if (SERIAL_MINIMAL_LOG) {
+    Log::printf("CONFIG", "mode=%s/%s frequency=%luHz pulse=%lu..%luns accuracy=%.2f%% time=%lums LIGHT=%s stages=%lu",
+      roleName(static_cast<Role>(settings_.role)),
+      testKindName(static_cast<TestKind>(settings_.testKind)), params_.frequencyHz,
+      params_.maxPulseNs, params_.minPulseNs, params_.accuracyPct, params_.testTimeMs,
+      configuredLevelName(settings_),
+      stageCount_);
+  }
   printConfiguration();
   const Role role = static_cast<Role>(settings_.role);
   if (role == Role::SOLO) {
     if (!prepareStage()) return;
-    state_ = AppState::SOLO_MEASURE;
+    state_ = static_cast<TestKind>(settings_.testKind) == TestKind::DRIVER
+      ? AppState::SOLO_DRIVER : AppState::SOLO_MEASURE;
   } else if (!radio_.begin()) finish(false, FailReason::LINK_LOST);
   else if (role == Role::MASTER) startMasterDiscovery();
-  else { state_ = AppState::SLAVE_READY; Log::event("TEST", "Slave armed and waiting for Master"); display_.show("SLAVE READY", "WAIT MASTER"); }
+  else { state_ = AppState::SLAVE_READY; Log::event("TEST", "Slave armed and waiting for Master"); display_.show(UiText::SLAVE_READY, UiText::WAIT_MASTER); }
 }
 
-bool App::armSlave() {
+void App::startBoardTest() {
+  const BoardTest test = static_cast<BoardTest>(settings_.boardTest);
+  state_ = AppState::BOARD_TEST;
+  boardTestUpdatedMs_ = boardDisplayUpdatedMs_ = 0;
+  boardPwmLightOn_ = false;
+  rxPinStateKnown_ = false;
+  Log::printf("BOARD", "starting test=%s", boardTestName(test));
+
+  // ADC and RX checks need the optical transmitter continuously illuminated.
+  // The PWM-output check drives the same pin itself and therefore replaces
+  // the constant active level with its test waveform.
+  if (test != BoardTest::PWM_OUTPUT) {
+    pwm_.lightOn();
+    Log::printf("BOARD", "optical output active GPIO=%u level=%s", GPIO_PWM,
+      TX_LIGHT_ON_GPIO_LEVEL == HIGH ? "HIGH" : "LOW");
+  }
+
+  if (test == BoardTest::ADC) {
+    if (!BOARD_ADC_AVAILABLE) {
+      Serial.println("BOARD ADC: unavailable in MAKETKA profile");
+      display_.show(UiText::ADC_UNAVAILABLE, UiText::BOARD_STOP);
+      return;
+    }
+    pinMode(GPIO_ANALOG_RX, INPUT);
+    pinMode(GPIO_VBAT, INPUT);
+    display_.show(UiText::BOARD_TEST_NAMES[static_cast<uint8_t>(BoardTest::ADC)],
+      UiText::BOARD_STOP);
+  } else if (test == BoardTest::PWM_OUTPUT) {
+    boardPwmLightOn_ = true;
+    boardTestUpdatedMs_ = millis();
+    pwm_.lightOn();
+    Serial.printf("BOARD PWM: GPIO=%u frequency=%luHz duty=50%% light=ON\n",
+      GPIO_PWM, BOARD_PWM_TEST_FREQUENCY_HZ);
+    display_.show(UiText::BOARD_TEST_NAMES[static_cast<uint8_t>(test)], UiText::BOARD_STOP);
+  } else {
+    pinMode(GPIO_RX, INPUT);
+    display_.show(UiText::BOARD_TEST_NAMES[static_cast<uint8_t>(test)], UiText::BOARD_STOP);
+  }
+}
+
+void App::updateBoardTest(uint32_t now) {
+  const BoardTest test = static_cast<BoardTest>(settings_.boardTest);
+  if (test == BoardTest::ADC) {
+    if (!BOARD_ADC_AVAILABLE || now - boardTestUpdatedMs_ < BOARD_ADC_PRINT_INTERVAL_MS) return;
+    boardTestUpdatedMs_ = now;
+    const uint16_t analogRx = analogRead(GPIO_ANALOG_RX);
+    const uint16_t vbat = analogRead(GPIO_VBAT);
+    Serial.printf("ADC analog_rx=%u vbat=%u\n", analogRx, vbat);
+    if (now - boardDisplayUpdatedMs_ >= BOARD_TEST_DISPLAY_INTERVAL_MS) {
+      boardDisplayUpdatedMs_ = now;
+      char one[32], two[32];
+      snprintf(one, sizeof(one), "ADC RX: %u", analogRx);
+      snprintf(two, sizeof(two), "ADC VBAT: %u", vbat);
+      display_.show(one, two);
+    }
+    return;
+  }
+
+  if (test == BoardTest::PWM_OUTPUT) {
+    if (now - boardTestUpdatedMs_ < BOARD_PWM_TEST_HALF_PERIOD_MS) return;
+    boardTestUpdatedMs_ = now;
+    boardPwmLightOn_ = !boardPwmLightOn_;
+    if (boardPwmLightOn_) pwm_.lightOn();
+    else pwm_.stop();
+    Serial.printf("BOARD PWM: light=%s\n", boardPwmLightOn_ ? "ON" : "OFF");
+    char two[32];
+    snprintf(two, sizeof(two), "%luHz 50%%: %s", BOARD_PWM_TEST_FREQUENCY_HZ,
+      boardPwmLightOn_ ? "ON" : "OFF");
+    display_.show(UiText::BOARD_TEST_NAMES[static_cast<uint8_t>(test)], two);
+    return;
+  }
+
+  const bool level = digitalRead(GPIO_RX) == HIGH;
+  if (!rxPinStateKnown_ || level != rxPinState_) {
+    rxPinState_ = level;
+    rxPinStateKnown_ = true;
+    Serial.printf("RX GPIO=%u state=%s (%u)\n", GPIO_RX,
+      level ? "HIGH" : "LOW", level ? 1U : 0U);
+    char two[32];
+    snprintf(two, sizeof(two), "GPIO %u: %s", GPIO_RX, level ? "HIGH" : "LOW");
+    display_.show(UiText::BOARD_TEST_NAMES[static_cast<uint8_t>(test)], two);
+  }
+}
+
+void App::stopBoardTest() {
+  Log::printf("BOARD", "stopping test=%s", boardTestName(static_cast<BoardTest>(settings_.boardTest)));
+  pwm_.stop();
+  state_ = AppState::IDLE;
+  setActivePerformance(false);
+  showIdle();
+}
+
+bool App::armSlave(bool preserveDisplay) {
+  setActivePerformance(false);
+  pwm_.stop();
+  lastUserActivityMs_ = millis();
   params_ = store_.params(settings_);
-  stageIndex_ = 0; stageCount_ = frequencyPointCount(params_.startHz, params_.endHz, params_.stepHz);
+  stageIndex_ = 0; stageCount_ = pulseWidthPointCount(params_.maxPulseNs, params_.minPulseNs);
-  requestedHz_ = 0; session_ = 0; sequence_ = 0; havePeer_ = false;
+  requestedHz_ = params_.frequencyHz; requestedPulseNs_ = 0; session_ = 0; sequence_ = 0; havePeer_ = false;
   lastHeartbeatMs_ = 0; lastPeerSeenMs_ = 0; retries_ = 0; slaveRearmAtMs_ = 0;
   if (!radio_.begin()) {
     state_ = AppState::FINISHED; pendingReason_ = FailReason::LINK_LOST;
     slaveRearmAtMs_ = millis() + LINK_HEARTBEAT_TIMEOUT_MS;
-    display_.show("LINK FAILED", "RADIO ERROR");
+    display_.show(UiText::LINK_FAILED, UiText::RADIO_ERROR,
+      0, 0, roleCorner(Role::SLAVE));
     return false;
   }
+  radio_.setWindowedReceive(true);
   radio_.flush(); state_ = AppState::SLAVE_READY;
   Log::event("TEST", "Slave automatically armed and waiting for Master");
-  display_.show("SLAVE READY", "WAIT MASTER");
+  if (!preserveDisplay) display_.show(UiText::SLAVE_READY, UiText::WAIT_MASTER);
   return true;
 }
 
-bool App::prepareStage() {
+bool App::prepareStage(bool showProgress) {
-  requestedHz_ = frequencyAt(params_.startHz, params_.endHz, params_.stepHz, stageIndex_);
+  requestedHz_ = params_.frequencyHz;
+  requestedPulseNs_ = pulseWidthAt(params_.maxPulseNs, params_.minPulseNs, stageIndex_);
+  actual_ = {};
   const uint32_t maxHz = TARGET_IS_C3 ? C3_STRICT_MAX_HZ :
     (receiver_.highRateBackend() ? S3_STRICT_MAX_HZ : C3_STRICT_MAX_HZ);
   if (requestedHz_ > maxHz) { finish(false, FailReason::UNSUPPORTED); return false; }
-  Log::printf("PWM", "starting GPIO=%u requested=%luHz duty=%u%%", GPIO_PWM, requestedHz_, params_.dutyPct);
+  Log::printf("PWM", "starting GPIO=%u requested=%luHz pulse=%luns", GPIO_PWM, requestedHz_, requestedPulseNs_);
-  if (!pwm_.start(requestedHz_, params_.dutyPct, actual_)) {
+  if (!pwm_.start(requestedHz_, requestedPulseNs_, actual_)) {
-    Log::printf("PWM", "START FAILED GPIO=%u requested=%luHz; LEDC attach/write/read failed",
+    Log::printf("PWM", "START FAILED GPIO=%u requested=%luHz pulse=%luns; PWM setup failed",
-      GPIO_PWM, requestedHz_);
+      GPIO_PWM, requestedHz_, requestedPulseNs_);
     finish(false, FailReason::RESOLUTION); return false;
   }
-  const FailReason resolution = validateResolution(actual_.actualHz, actual_.actualDutyPct, params_.accuracyPct,
+  if (!periodWithin(actual_.actualHz, requestedHz_, params_.accuracyPct) ||
-                                                   receiver_.tickHz(), actual_.bits);
+      !periodWithin(actual_.actualPulseNs, requestedPulseNs_, params_.accuracyPct)) {
+    Log::printf("PWM", "requested point cannot be generated within tolerance: requested=%luHz/%luns actual=%luHz/%luns tolerance=%.2f%%",
+      requestedHz_, requestedPulseNs_, actual_.actualHz, actual_.actualPulseNs,
+      params_.accuracyPct);
+    finish(false, FailReason::RESOLUTION); return false;
+  }
+  const bool driverMode = static_cast<TestKind>(settings_.testKind) == TestKind::DRIVER;
+  if (!driverMode) {
+    const uint32_t plannedRxHz = receiver_.plannedTickHz(actual_.actualHz, actual_.actualDutyPct);
+    const uint32_t plannedPulseRxHz = receiver_.plannedPulseTickHz(
+      actual_.actualHz, actual_.actualDutyPct);
+    const FailReason resolution = validateResolution(actual_.actualHz, actual_.actualDutyPct,
+      params_.accuracyPct, plannedRxHz, plannedPulseRxHz, actual_.bits,
+      MEASUREMENT_AVERAGING_PERIODS);
     if (resolution != FailReason::NONE) {
-    Log::printf("PWM", "resolution rejected: actual=%luHz duty=%.3f%% bits=%u RXclock=%luHz tolerance=%.3f%%",
+      Log::printf("PWM", "resolution rejected: actual=%luHz duty=%.3f%% bits=%u period-capture=%luHz pulse-capture=%luHz tolerance=%.3f%%",
-      actual_.actualHz, actual_.actualDutyPct, actual_.bits, receiver_.tickHz(), params_.accuracyPct);
+        actual_.actualHz, actual_.actualDutyPct, actual_.bits, plannedRxHz,
+        plannedPulseRxHz, effectiveTolerancePct(params_.accuracyPct));
       finish(false, resolution); return false;
     }
-  Log::printf("PWM", "stage=%lu/%lu requested=%luHz actual=%luHz duty=%.2f%% bits=%u STARTED",
+  } else if (!receiver_.highRateBackend()) {
-    stageIndex_ + 1, stageCount_, requestedHz_, actual_.actualHz, actual_.actualDutyPct, actual_.bits);
-  char f[12], one[24], two[24]; Display::formatFrequency(actual_.actualHz, f, sizeof(f));
-  snprintf(one, sizeof(one), "F %s D %.1f%%", f, actual_.actualDutyPct);
-  snprintf(two, sizeof(two), "%lu/%lu RUN", stageIndex_ + 1, stageCount_); display_.show(one, two);
-  if (static_cast<Role>(settings_.role) == Role::SOLO && !startLocalMeasurement(actual_.actualHz, actual_.actualDutyPct)) {
     finish(false, FailReason::UNSUPPORTED); return false;
   }
+  Log::printf("PWM", "stage=%lu/%lu requested=%luHz/%luns actual=%luHz/%luns duty=%.3f%% bits=%u STARTED",
+    stageIndex_ + 1, stageCount_, requestedHz_, requestedPulseNs_, actual_.actualHz,
+    actual_.actualPulseNs, actual_.actualDutyPct, actual_.bits);
+  if (showProgress) showStageProgress();
+  if (static_cast<Role>(settings_.role) == Role::SOLO) {
+    const bool started = driverMode ? startDriverMeasurement() :
+      startLocalMeasurement(actual_.actualHz, actual_.actualDutyPct);
+    if (!started) { finish(false, FailReason::UNSUPPORTED); return false; }
+  }
   return true;
 }
 
 bool App::startLocalMeasurement(float hz, float duty) {
-  Log::printf("MEASURE", "arming expected=%.3fHz duty=%.3f%% tolerance=%.3f%% settle=%u cycles window=%lums x%u; per-pulse logging suspended",
+  Log::printf("MEASURE", "arming expected=%.3fHz duty=%.3f%% tolerance=%.3f%% period-capture=%luHz pulse-capture=%luHz settle=%u cycles window=%lums; every pulse validated",
-    hz, duty, params_.accuracyPct, PWM_SETTLE_CYCLES, params_.testTimeMs, params_.repeats);
+    hz, duty, effectiveTolerancePct(params_.accuracyPct), receiver_.plannedTickHz(static_cast<uint32_t>(hz + 0.5f), duty),
-  const bool ok = measurement_.start(hz, duty, params_.accuracyPct, params_.testTimeMs, params_.repeats, PWM_SETTLE_CYCLES);
+    receiver_.plannedPulseTickHz(static_cast<uint32_t>(hz + 0.5f), duty),
-  Log::printf("MEASURE", "receiver start %s, RMT chunk=%u symbols", ok ? "OK" : "FAILED",
+    PWM_SETTLE_CYCLES, params_.testTimeMs);
-    receiver_.receiveChunkSymbols());
+  const bool ok = measurement_.start(hz, duty, params_.accuracyPct, params_.testTimeMs,
+    MEASUREMENT_AVERAGING_PERIODS, PWM_SETTLE_CYCLES, true);
+  const uint32_t nominalMs = stageWallTimeMs(params_.testTimeMs,
+    static_cast<uint32_t>(hz + 0.5f));
+  const uint64_t watchdogMs = static_cast<uint64_t>(nominalMs) * 2ULL + 2000ULL;
+  localMeasurementDeadlineMs_ = millis() + static_cast<uint32_t>(
+    watchdogMs > UINT32_MAX ? UINT32_MAX : watchdogMs);
+  Log::printf("MEASURE", "receiver start %s, continuous edge capture", ok ? "OK" : "FAILED");
+  return ok;
+}
+
+bool App::startDriverMeasurement() {
+  const bool ok = driverTest_.start(actual_.actualHz, actual_.actualPulseNs,
+    params_.accuracyPct, params_.testTimeMs, PWM_SETTLE_CYCLES,
+    txActiveLightOn(settings_), rxActiveLightOn(settings_));
+  const uint32_t nominalMs = stageWallTimeMs(params_.testTimeMs, actual_.actualHz);
+  const uint64_t watchdogMs = static_cast<uint64_t>(nominalMs) * 2ULL + 2000ULL;
+  localMeasurementDeadlineMs_ = millis() + static_cast<uint32_t>(
+    watchdogMs > UINT32_MAX ? UINT32_MAX : watchdogMs);
+  if (!ok) Log::event("DRIVER", "response test start FAILED");
   return ok;
 }
 
 void App::stagePassed() {
   Log::printf("TEST", "stage %lu/%lu PASS; PWM stopping", stageIndex_ + 1, stageCount_);
   pwm_.stop();
+  // With PWM already quiet it is safe to stop capture before clearing its
+  // queue for the next pulse width. Never reset a FreeRTOS queue concurrently
+  // with the capture ISR.
+  if (static_cast<Role>(settings_.role) == Role::SOLO) receiver_.stop();
   if (++stageIndex_ >= stageCount_) {
-    if (sweepHadDataLoss_) { requestedHz_ = firstDataLossHz_; finish(false, FailReason::DATA_LOST); }
+    const bool preserveDriverMeasurements =
-    else finish(true, FailReason::NONE);
+      static_cast<TestKind>(settings_.testKind) == TestKind::DRIVER;
+    finish(true, FailReason::NONE, preserveDriverMeasurements);
     return;
   }
-  if (static_cast<Role>(settings_.role) == Role::SOLO) { if (prepareStage()) state_ = AppState::SOLO_MEASURE; }
+  if (static_cast<Role>(settings_.role) == Role::SOLO) {
+    if (prepareStage()) state_ = static_cast<TestKind>(settings_.testKind) == TestKind::DRIVER
+      ? AppState::SOLO_DRIVER : AppState::SOLO_MEASURE;
+  }
   else if (static_cast<Role>(settings_.role) == Role::MASTER) {
-    requestedHz_ = frequencyAt(params_.startHz, params_.endHz, params_.stepHz, stageIndex_);
+    requestedHz_ = params_.frequencyHz;
+    requestedPulseNs_ = pulseWidthAt(params_.maxPulseNs, params_.minPulseNs, stageIndex_);
+    actual_ = {};
+    stageStartConfirmed_ = false;
     pendingPacket_ = makePacket(MessageType::PREPARE); sendCurrent(MessageType::PREPARE);
     state_ = AppState::MASTER_WAIT_READY; retries_ = 0; deadlineMs_ = millis() + LINK_REPLY_TIMEOUT_MS;
   }
@@ -266,32 +1147,44 @@ void App::stagePassed() {
 
 void App::startMasterDiscovery() {
   session_ = esp_random(); if (!session_) session_ = 1;
-  sequence_ = 1; stageIndex_ = 0; requestedHz_ = 0; havePeer_ = false; radio_.flush();
+  sequence_ = 1; stageIndex_ = 0; requestedHz_ = params_.frequencyHz;
+  requestedPulseNs_ = 0; havePeer_ = false; radio_.flush();
+  opticalWakeActive_ = true;
+  lastOpticalWakeToggleMs_ = millis();
+  pwm_.lightOn();
   pendingPacket_ = makePacket(MessageType::DISCOVER); radio_.sendBroadcast(pendingPacket_);
   lastSendMs_ = millis(); retries_ = 0;
   state_ = AppState::MASTER_DISCOVER; Log::printf("ESP-NOW", "discovery started session=%08lX", session_);
-  display_.show("MASTER SEARCH", "HOLD START=STOP");
+  display_.show(UiText::MASTER_SEARCH, UiText::HOLD_START_STOP);
 }
 
 ProtocolPacket App::makePacket(MessageType type) const {
   ProtocolPacket p = {};
-  p.type = static_cast<uint8_t>(type); p.session = session_; p.stage = stageIndex_; p.sequence = sequence_;
+  p.type = static_cast<uint8_t>(type); p.session = session_; p.stage = stageIndex_;
-  p.requestedHz = requestedHz_; p.actualHz = actual_.actualHz;
+  p.stageCount = static_cast<uint16_t>(stageCount_); p.sequence = sequence_;
-  p.actualDutyX100 = static_cast<uint16_t>(actual_.actualDutyPct * 100.0f + 0.5f);
+  p.requestedHz = requestedHz_; p.requestedPulseNs = requestedPulseNs_;
-  p.testTimeMs = params_.testTimeMs; p.repeats = params_.repeats;
+  p.actualHz = actual_.actualHz; p.actualPulseNs = actual_.actualPulseNs;
-  p.accuracyX100 = static_cast<uint16_t>(params_.accuracyPct * 100.0f + 0.5f); p.settleCycles = PWM_SETTLE_CYCLES;
+  p.testTimeMs = params_.testTimeMs;
+  p.accuracyX100 = static_cast<uint16_t>(params_.accuracyPct * 100.0f + 0.5f);
+  p.lightCode = settings_.lightCode;
   return p;
 }
 
 void App::sendCurrent(MessageType type) {
   ++sequence_; pendingPacket_ = makePacket(type);
-  const bool ok = radio_.sendBroadcast(pendingPacket_); lastSendMs_ = millis();
+  const bool ok = sendLinked(pendingPacket_); lastSendMs_ = millis();
   if (!ok) Log::printf("ESP-NOW", "sendCurrent %s FAILED", messageName(type));
 }
 
+bool App::sendLinked(ProtocolPacket packet) {
+  return havePeer_ ? radio_.sendTo(peer_, packet) : radio_.sendBroadcast(packet);
+}
+
 void App::updateHeartbeat() {
   if (!havePeer_ || state_ == AppState::FINISHED) return;
   const uint32_t now = millis();
+  const uint32_t radioRxMs = radio_.lastReceiveMs();
+  if (radioRxMs && now - radioRxMs < now - lastPeerSeenMs_) lastPeerSeenMs_ = radioRxMs;
   if (now - lastPeerSeenMs_ >= LINK_HEARTBEAT_TIMEOUT_MS) {
     Log::event("ESP-NOW", "peer heartbeat timeout");
     finish(false, FailReason::LINK_LOST);
@@ -301,7 +1194,7 @@ void App::updateHeartbeat() {
       now - lastHeartbeatMs_ >= LINK_HEARTBEAT_INTERVAL_MS) {
     ProtocolPacket heartbeat = makePacket(MessageType::HEARTBEAT);
     heartbeat.sequence = sequence_;
-    radio_.sendBroadcast(heartbeat);
+    sendLinked(heartbeat);
     lastHeartbeatMs_ = now;
   }
 }
@@ -314,57 +1207,136 @@ void App::handleRadio() {
   ReceivedPacket r;
   while (radio_.receive(r)) {
     const MessageType type = static_cast<MessageType>(r.packet.type);
-    if (type != MessageType::HEARTBEAT && type != MessageType::HEARTBEAT_ACK &&
+    if (type != MessageType::HEARTBEAT && type != MessageType::HEARTBEAT_ACK && type != MessageType::PROGRESS &&
         state_ != AppState::SLAVE_MEASURE)
       Log::printf("ESP-NOW", "RX %s session=%08lX stage=%u seq=%u",
         messageName(type), r.packet.session, r.packet.stage, r.packet.sequence);
     if ((state_ == AppState::SLAVE_READY || state_ == AppState::SLAVE_WAIT_START) &&
         type == MessageType::DISCOVER && (!havePeer_ || !memcmp(peer_, r.mac, 6))) {
+      leaveIdlePowerSave();
+      pwm_.stop();
+      setActivePerformance(true);
+      radio_.setWindowedReceive(false);
       memcpy(peer_, r.mac, 6); havePeer_ = true; session_ = r.packet.session; stageIndex_ = 0; sequence_ = r.packet.sequence;
       lastPeerSeenMs_ = millis();
-      ProtocolPacket ack = makePacket(MessageType::DISCOVER_ACK); ack.sequence = r.packet.sequence; radio_.sendBroadcast(ack);
+      ProtocolPacket ack = makePacket(MessageType::DISCOVER_ACK); ack.sequence = r.packet.sequence; sendLinked(ack);
-      state_ = AppState::SLAVE_WAIT_START; display_.show("MASTER SEEN", "ACK SENT"); continue;
+      state_ = AppState::SLAVE_WAIT_START; display_.show(UiText::MASTER_SEEN, UiText::ACK_SENT); continue;
     }
     if (state_ == AppState::MASTER_DISCOVER && type == MessageType::DISCOVER_ACK && r.packet.session == session_) {
+      opticalWakeActive_ = false;
+      pwm_.stop();
       memcpy(peer_, r.mac, 6); havePeer_ = true; lastPeerSeenMs_ = lastHeartbeatMs_ = millis();
-      requestedHz_ = frequencyAt(params_.startHz, params_.endHz, params_.stepHz, stageIndex_);
+      requestedHz_ = params_.frequencyHz;
+      requestedPulseNs_ = pulseWidthAt(params_.maxPulseNs, params_.minPulseNs, stageIndex_);
       sendCurrent(MessageType::PREPARE); state_ = AppState::MASTER_WAIT_READY; retries_ = 0; deadlineMs_ = millis() + LINK_REPLY_TIMEOUT_MS;
       char mac[20]; Radio::macText(peer_, mac, sizeof(mac)); Log::printf("ESP-NOW", "Slave selected %s", mac); continue;
     }
     if (havePeer_ && !memcmp(peer_, r.mac, 6) && r.packet.session == session_) lastPeerSeenMs_ = millis();
     if (havePeer_ && !memcmp(peer_, r.mac, 6) && r.packet.session == session_ &&
         type == MessageType::HEARTBEAT) {
-      ProtocolPacket ack = makePacket(MessageType::HEARTBEAT_ACK);
+      continue; // Radio's priority heartbeat task has already sent the ACK.
-      ack.sequence = r.packet.sequence; radio_.sendBroadcast(ack); continue;
     }
     if (type == MessageType::HEARTBEAT_ACK) continue;
     if (havePeer_ && !memcmp(peer_, r.mac, 6) && type == MessageType::RESULT &&
         r.packet.session == session_ && r.packet.stage < stageIndex_) {
       ProtocolPacket ack = {}; ack.type = static_cast<uint8_t>(MessageType::ACK);
       ack.session = session_; ack.stage = r.packet.stage; ack.sequence = r.packet.sequence;
-      radio_.sendBroadcast(ack); continue; // idempotent ACK for a retried old result
+      sendLinked(ack); continue; // idempotent ACK for a retried old result
+    }
+    const bool matchingPeer = havePeer_ && !memcmp(peer_, r.mac, 6) && r.packet.session == session_;
+    if (matchingPeer && type == MessageType::PREPARE) {
+      const bool expected = state_ == AppState::SLAVE_WAIT_START && r.packet.stage == stageIndex_;
+      const bool implicitAck = state_ == AppState::SLAVE_WAIT_ACK && pendingPacket_.passed &&
+        r.packet.stage == static_cast<uint16_t>(pendingPacket_.stage + 1U);
+      if (expected || implicitAck) {
+        stageIndex_ = r.packet.stage;
+        sequence_ = r.packet.sequence;
+        state_ = AppState::SLAVE_WAIT_START;
+        params_.testTimeMs = r.packet.testTimeMs;
+        params_.accuracyPct = r.packet.accuracyX100 / 100.0f;
+        if (r.packet.lightCode <= static_cast<uint8_t>(LightCode::LL))
+          settings_.lightCode = r.packet.lightCode;
+        requestedHz_ = r.packet.requestedHz; requestedPulseNs_ = r.packet.requestedPulseNs;
+        stageCount_ = r.packet.stageCount;
+        actual_ = {};
+        ProtocolPacket ready = makePacket(MessageType::READY);
+        ready.sequence = r.packet.sequence; sendLinked(ready);
+      }
+      continue;
     }
     if (!havePeer_ || memcmp(peer_, r.mac, 6) || !packetForCurrent(r.packet)) continue;
-    if (type == MessageType::ABORT) { finish(false, FailReason::ABORTED); continue; }
+    if (type == MessageType::ABORT) {
+      const FailReason reason = r.packet.reason > static_cast<uint8_t>(FailReason::NONE) &&
+        r.packet.reason <= static_cast<uint8_t>(FailReason::ABORTED)
+        ? static_cast<FailReason>(r.packet.reason) : FailReason::ABORTED;
+      if (r.packet.requestedHz) requestedHz_ = r.packet.requestedHz;
+      if (r.packet.requestedPulseNs) requestedPulseNs_ = r.packet.requestedPulseNs;
+      actual_.actualHz = r.packet.actualHz ? r.packet.actualHz : requestedHz_;
+      actual_.actualPulseNs = r.packet.actualPulseNs ? r.packet.actualPulseNs : requestedPulseNs_;
+      actual_.actualDutyPct = dutyFromPulse(actual_.actualHz, actual_.actualPulseNs);
+      measurement_.abort(); finish(false, reason); continue;
+    }
     if (state_ == AppState::MASTER_WAIT_READY && type == MessageType::READY) {
-      if (!prepareStage()) continue;
+      if (!prepareStage(false)) continue;
-      sendCurrent(MessageType::START_STAGE); state_ = AppState::MASTER_WAIT_RESULT; retries_ = 0; deadlineMs_ = millis() +
+      sendCurrent(MessageType::START_STAGE); state_ = AppState::MASTER_WAIT_RESULT;
-        params_.testTimeMs * params_.repeats + LINK_REPLY_TIMEOUT_MS + (1000UL * PWM_SETTLE_CYCLES / actual_.actualHz) + 20;
+      stageStartConfirmed_ = false; retries_ = 0;
+      deadlineMs_ = millis() + LINK_RETRY_INTERVAL_MS;
+    } else if (state_ == AppState::MASTER_WAIT_RESULT && type == MessageType::READY &&
+               r.packet.sequence == pendingPacket_.sequence) {
+      if (!stageStartConfirmed_) showStageProgress();
+      stageStartConfirmed_ = true;
+      deadlineMs_ = millis() + stageWallTimeMs(params_.testTimeMs, actual_.actualHz) +
+        LINK_REPLY_TIMEOUT_MS + 20;
+    } else if (state_ == AppState::MASTER_WAIT_RESULT && type == MessageType::PROGRESS) {
+      stageStartConfirmed_ = true;
+      deadlineMs_ = millis() + stageWallTimeMs(params_.testTimeMs, actual_.actualHz) +
+        LINK_REPLY_TIMEOUT_MS;
+      showRemoteResult(r.packet);
     } else if (state_ == AppState::MASTER_WAIT_RESULT && type == MessageType::RESULT) {
-      ProtocolPacket ack = makePacket(MessageType::ACK); ack.sequence = r.packet.sequence; radio_.sendBroadcast(ack); pwm_.stop();
+      ProtocolPacket ack = makePacket(MessageType::ACK); ack.sequence = r.packet.sequence;
-      if (!r.packet.passed) finish(false, static_cast<FailReason>(r.packet.reason)); else stagePassed();
+      ack.passed = r.packet.passed && stageIndex_ + 1U >= stageCount_;
-    } else if (state_ == AppState::SLAVE_WAIT_START && type == MessageType::PREPARE) {
+      sendLinked(ack); pwm_.stop();
-      params_.testTimeMs = r.packet.testTimeMs; params_.repeats = r.packet.repeats;
+      showRemoteResult(r.packet);
-      params_.accuracyPct = r.packet.accuracyX100 / 100.0f; requestedHz_ = r.packet.requestedHz;
+      if (!r.packet.passed) {
-      ProtocolPacket ready = makePacket(MessageType::READY); ready.sequence = r.packet.sequence; radio_.sendBroadcast(ready);
+        finish(false, static_cast<FailReason>(r.packet.reason), true);
-      display_.show("SLAVE LINKED", "MASTER ONLINE");
+      } else if (ack.passed) {
+        pendingPacket_ = ack;
+        state_ = AppState::MASTER_FINALIZE; retries_ = 0;
+        deadlineMs_ = millis() + FINAL_ACK_RETRY_INTERVAL_MS;
+      } else stagePassed();
+    } else if (state_ == AppState::MASTER_FINALIZE && type == MessageType::RESULT) {
+      // The Slave did not receive the final ACK and repeated RESULT.
+      sendLinked(pendingPacket_);
     } else if (state_ == AppState::SLAVE_WAIT_START && type == MessageType::START_STAGE) {
-      actual_.actualHz = r.packet.actualHz; actual_.actualDutyPct = r.packet.actualDutyX100 / 100.0f;
+      sequence_ = r.packet.sequence;
+      actual_.actualHz = r.packet.actualHz; actual_.actualPulseNs = r.packet.actualPulseNs;
+      actual_.actualDutyPct = dutyFromPulse(actual_.actualHz, actual_.actualPulseNs);
       if (!startLocalMeasurement(actual_.actualHz, actual_.actualDutyPct)) { finish(false, FailReason::UNSUPPORTED); continue; }
-      state_ = AppState::SLAVE_MEASURE; deadlineMs_ = millis() + params_.testTimeMs * params_.repeats + LINK_REPLY_TIMEOUT_MS;
+      showStageProgress();
+      state_ = AppState::SLAVE_MEASURE;
+      deadlineMs_ = millis() + stageWallTimeMs(params_.testTimeMs, actual_.actualHz) + LINK_REPLY_TIMEOUT_MS;
+      ProtocolPacket started = makePacket(MessageType::READY);
+      started.sequence = r.packet.sequence; sendLinked(started);
+    } else if (state_ == AppState::SLAVE_MEASURE && type == MessageType::START_STAGE) {
+      // START_STAGE or its acknowledgement was lost. Do not restart the
+      // measurement; only confirm the already running stage again.
+      ProtocolPacket started = makePacket(MessageType::READY);
+      started.sequence = r.packet.sequence; sendLinked(started);
     } else if (state_ == AppState::SLAVE_WAIT_ACK && type == MessageType::ACK && r.packet.sequence == pendingPacket_.sequence) {
-      if (pendingPacket_.passed) { ++stageIndex_; state_ = AppState::SLAVE_WAIT_START; display_.show("SLAVE READY", "WAIT PREPARE"); }
+      if (pendingPacket_.passed) {
-      else finish(false, static_cast<FailReason>(pendingPacket_.reason));
+        // Master sends ACK only after stopping its PWM. Disable capture for
+        // every completed stage, so the next start can clear its queue without
+        // racing the ISR (not only after the final stage).
+        receiver_.stop();
+        if (r.packet.passed) {
+          radio_.end(); pendingReason_ = FailReason::NONE;
+          if (armSlave(true)) display_.show(UiText::PASS_WORD, UiText::WAIT_MASTER);
+        } else {
+          stageIndex_ = static_cast<uint32_t>(r.packet.stage) + 1U;
+          state_ = AppState::SLAVE_WAIT_START;
+        }
+      }
+      else finish(false, static_cast<FailReason>(pendingPacket_.reason), true);
     }
   }
 }
@@ -372,56 +1344,106 @@ void App::handleRadio() {
 void App::updateMaster() {
   const uint32_t now = millis();
   if (state_ == AppState::MASTER_DISCOVER) {
-    if (now - lastSendMs_ >= LINK_RETRY_INTERVAL_MS) {
+    if (now - lastOpticalWakeToggleMs_ >= OPTICAL_WAKE_HALF_PERIOD_MS) {
-      Log::event("ESP-NOW", "DISCOVER retry"); radio_.sendBroadcast(pendingPacket_);
+      opticalWakeActive_ = !opticalWakeActive_;
+      if (opticalWakeActive_) pwm_.lightOn();
+      else pwm_.stop();
+      lastOpticalWakeToggleMs_ = now;
+    }
+    if (now - lastSendMs_ >= DISCOVERY_RETRY_INTERVAL_MS) {
+      if (++retries_ % 50U == 0U) Log::event("ESP-NOW", "DISCOVER burst continues");
+      radio_.sendBroadcast(pendingPacket_);
       lastSendMs_ = now;
     }
     return;
   }
+  if (state_ == AppState::MASTER_FINALIZE) {
+    if (now < deadlineMs_) return;
+    if (retries_++ < FINAL_ACK_RETRIES) {
+      sendLinked(pendingPacket_);
+      deadlineMs_ = now + FINAL_ACK_RETRY_INTERVAL_MS;
+    } else finish(true, FailReason::NONE);
+    return;
+  }
   updateHeartbeat();
   if (state_ == AppState::FINISHED) return;
   if (now < deadlineMs_) return;
   if (retries_ >= LINK_PACKET_RETRIES) { finish(false, FailReason::LINK_LOST); return; }
   Log::printf("ESP-NOW", "%s retry=%u", messageName(static_cast<MessageType>(pendingPacket_.type)), retries_ + 1);
-  radio_.sendBroadcast(pendingPacket_); ++retries_;
+  sendLinked(pendingPacket_); ++retries_;
   deadlineMs_ = now + (state_ == AppState::MASTER_WAIT_RESULT ?
-    params_.testTimeMs * params_.repeats + LINK_REPLY_TIMEOUT_MS : LINK_REPLY_TIMEOUT_MS);
+    (stageStartConfirmed_ ? stageWallTimeMs(params_.testTimeMs, actual_.actualHz) + LINK_REPLY_TIMEOUT_MS : LINK_RETRY_INTERVAL_MS) :
+    LINK_REPLY_TIMEOUT_MS);
 }
 
 void App::updateSlave() {
   updateHeartbeat();
   if (state_ == AppState::FINISHED) return;
   if (state_ == AppState::SLAVE_MEASURE) {
+    if (static_cast<int32_t>(millis() - localMeasurementDeadlineMs_) >= 0) {
+      Log::event("MEASURE", "Slave local stage watchdog expired");
+      measurement_.forceFail(FailReason::LOST_EDGE);
+    }
     const MeasureState ms = measurement_.update();
-    if (ms != MeasureState::PASS && ms != MeasureState::FAIL) return;
+    if (measurement_.takeProgressUpdate()) {
-    printStageStats(measurement_.stats(), requestedHz_);
+      StageStats live = {};
+      if (measurement_.statsSnapshot(live)) {
+        ProtocolPacket progress = makePacket(MessageType::PROGRESS);
+        progress.progressStep = measurement_.progressStep();
+        fillMeasuredResult(progress, live);
+        progress.sequence = sequence_; sendLinked(progress);
+        showStageResult(live);
+      }
+      return;
+    }
+    if (ms != MeasureState::PASS && ms != MeasureState::FAIL) {
+      return;
+    }
+    printStageStats(measurement_.stats(), actual_.actualHz);
+    showStageResult(measurement_.stats());
     pendingPacket_ = makePacket(MessageType::RESULT);
+    pendingPacket_.progressStep = ms == MeasureState::PASS ?
+      MEASUREMENT_PROGRESS_STEPS : measurement_.progressStep();
     pendingPacket_.passed = ms == MeasureState::PASS && measurement_.reason() == FailReason::NONE;
     pendingPacket_.reason = static_cast<uint8_t>(measurement_.reason()); pendingPacket_.periods = measurement_.stats().periods;
+    fillMeasuredResult(pendingPacket_, measurement_.stats());
     pendingPacket_.minPeriodTicks = measurement_.stats().minPeriod; pendingPacket_.maxPeriodTicks = measurement_.stats().maxPeriod;
-    pendingPacket_.sequence = ++sequence_; radio_.sendBroadcast(pendingPacket_);
+    pendingPacket_.sequence = ++sequence_; sendLinked(pendingPacket_);
     Log::printf("TEST", "Slave result prepared: %s reason=%s periods=%lu",
       pendingPacket_.passed ? "PASS" : "FAIL", failName(static_cast<FailReason>(pendingPacket_.reason)), pendingPacket_.periods);
     state_ = AppState::SLAVE_WAIT_ACK; retries_ = 0; deadlineMs_ = millis() + LINK_REPLY_TIMEOUT_MS;
   } else if (state_ == AppState::SLAVE_WAIT_ACK && millis() >= deadlineMs_) {
     if (retries_++ >= LINK_PACKET_RETRIES) finish(false, FailReason::LINK_LOST);
-    else { Log::printf("ESP-NOW", "RESULT retry=%u", retries_); radio_.sendBroadcast(pendingPacket_); deadlineMs_ = millis() + LINK_REPLY_TIMEOUT_MS; }
+    else { Log::printf("ESP-NOW", "RESULT retry=%u", retries_); sendLinked(pendingPacket_); deadlineMs_ = millis() + LINK_REPLY_TIMEOUT_MS; }
   }
 }
 
-void App::sendAbort() { if (havePeer_) sendCurrent(MessageType::ABORT); }
+void App::sendAbort(FailReason reason) {
+  if (!havePeer_) return;
+  ++sequence_;
+  ProtocolPacket packet = makePacket(MessageType::ABORT);
+  packet.reason = static_cast<uint8_t>(reason);
+  if (!packet.actualPulseNs) packet.actualPulseNs = requestedPulseNs_;
+  sendLinked(packet);
+}
 
 void App::abortTest() {
   Log::event("ACTION", "abort requested: sending ABORT, stopping receiver and PWM");
-  sendAbort(); measurement_.abort(); finish(false, FailReason::ABORTED);
+  sendAbort(FailReason::ABORTED);
+  measurement_.abort();
+  driverTest_.abort();
+  finish(false, FailReason::ABORTED);
 }
 
-void App::finish(bool pass, FailReason reason) {
+void App::finish(bool pass, FailReason reason, bool preserveDisplay) {
   Log::printf("TEST", "finishing result=%s reason=%s", pass ? "PASS" : "FAIL", failName(reason));
   const AppState failedState = state_;
   const bool masterLinkLost = reason == FailReason::LINK_LOST &&
     (failedState == AppState::MASTER_DISCOVER || failedState == AppState::MASTER_WAIT_READY ||
-     failedState == AppState::MASTER_WAIT_RESULT);
+     failedState == AppState::MASTER_WAIT_RESULT || failedState == AppState::MASTER_FINALIZE);
+  const bool masterActive = failedState == AppState::MASTER_DISCOVER ||
+    failedState == AppState::MASTER_WAIT_READY || failedState == AppState::MASTER_WAIT_RESULT ||
+    failedState == AppState::MASTER_FINALIZE;
   const bool slaveLinkLost = reason == FailReason::LINK_LOST &&
     (failedState == AppState::SLAVE_READY || failedState == AppState::SLAVE_WAIT_START ||
      failedState == AppState::SLAVE_MEASURE || failedState == AppState::SLAVE_WAIT_ACK);
@@ -431,36 +1453,222 @@ void App::finish(bool pass, FailReason reason) {
     startMasterDiscovery();
     return;
   }
+  if (!pass && masterActive && havePeer_ && reason != FailReason::ABORTED) sendAbort(reason);
   if (state_ != AppState::IDLE && state_ != AppState::MENU) radio_.end();
   state_ = AppState::FINISHED; pendingReason_ = reason;
+  setStandbyOpticalOutput();
+  setActivePerformance(false);
+  lastUserActivityMs_ = millis();
   if (slaveLinkLost) {
-    if (armSlave()) display_.show("MASTER LOST", "WAIT MASTER");
+    char target[32], one[64];
+    formatTarget(requestedHz_, requestedPulseNs_, target, sizeof(target));
+    snprintf(one, sizeof(one), UiText::FAIL_FORMAT, target);
+    display_.show(one, uiFailName(reason), stageIndex_ + 1, stageCount_,
+      roleCorner(Role::SLAVE));
+    armSlave(true);
     return;
   }
-  if (static_cast<Role>(settings_.role) == Role::SLAVE) slaveRearmAtMs_ = millis() + 2000;
+  // The result has already been acknowledged before a normal measurement
-  char one[24];
+  // failure reaches here.  Re-arm ESP-NOW immediately so a quick retry from
-  if (pass) { snprintf(one, sizeof(one), "PASS %luHz-%lu", params_.startHz, params_.endHz); display_.show(one, "START=REPEAT"); }
+  // Master is not hidden behind the former two-second delay; preserve the
-  else if (requestedHz_) {
+  // failure screen while listening.
-    snprintf(one, sizeof(one), "FAIL AT %lu", requestedHz_); display_.show(one, failName(reason));
+  if (static_cast<Role>(settings_.role) == Role::SLAVE) {
-  } else {
+    armSlave(true);
-    display_.show("TEST FAILED", failName(reason));
+    return;
   }
+  if (preserveDisplay) return;
+  char one[64];
+  if (pass) {
+    const Role role = static_cast<Role>(settings_.role);
+    snprintf(one, sizeof(one), "%s %s", uiRoleName(role), UiText::PASS_WORD);
+    display_.show(one, role == Role::SLAVE ? UiText::WAIT_MASTER : UiText::START_AGAIN);
+  }
+  else if (requestedHz_) {
+    char target[32];
+    formatTarget(requestedHz_, requestedPulseNs_, target, sizeof(target));
+    snprintf(one, sizeof(one), UiText::FAIL_FORMAT, target);
+    display_.show(one, uiFailName(reason), stageIndex_ + 1, stageCount_,
+      roleCorner(static_cast<Role>(settings_.role)));
+  } else {
+    display_.show(UiText::TEST_FAILED, uiFailName(reason), 0, 0,
+      roleCorner(static_cast<Role>(settings_.role)));
+  }
+}
+
+bool App::idlePowerSaveAllowed() const {
+  // Never enter blocking light sleep while the settings screen is open. A
+  // wake-up press is deliberately consumed by the button state machine, which
+  // is useful in IDLE but makes menu navigation appear frozen.
+  return !usbHostPresent() && initialized_ && (state_ == AppState::IDLE ||
+    state_ == AppState::FINISHED || state_ == AppState::SLAVE_READY);
+}
+
+bool App::usbHostPresent() const {
+#if ARDUINO_USB_MODE && ARDUINO_USB_CDC_ON_BOOT && SOC_USB_SERIAL_JTAG_SUPPORTED
+  // This is driven by USB SOF packets, not by CDC traffic: an enumerated host
+  // keeps the board awake even if COM is closed and no bytes are exchanged.
+  // Retain the state across short SOF/driver glitches.
+  const uint32_t now = millis();
+  if (Serial.isPlugged()) {
+    lastUsbHostSeenMs_ = now ? now : 1U;
+    return true;
+  }
+  return lastUsbHostSeenMs_ &&
+    now - lastUsbHostSeenMs_ <= USB_HOST_DISCONNECT_GRACE_MS;
+#else
+  return false;
+#endif
+}
+
+void App::setStandbyOpticalOutput() {
+  // Calibration and tests may hold the transmitter active. Idle/result
+  // screens must always detach PWM and restore the physical light-OFF level.
+  pwm_.stop();
+}
+
+void App::setActivePerformance(bool active) {
+  const bool driverMode = initialized_ &&
+    static_cast<TestGroup>(settings_.testGroup) == TestGroup::OPTICS &&
+    static_cast<TestKind>(settings_.testKind) == TestKind::DRIVER;
+  const uint32_t targetMhz = active ? (driverMode ? 240U : 160U) : 80U;
+  if (getCpuFrequencyMhz() != targetMhz && !setCpuFrequencyMhz(targetMhz))
+    Log::printf("POWER", "CPU frequency change to %luMHz FAILED", targetMhz);
+}
+
+void App::leaveIdlePowerSave(bool wakeDisplay) {
+  if (!idlePowerSave_) {
+    if (wakeDisplay) display_.setPower(true);
+    return;
+  }
+  idlePowerSave_ = false;
+  lastUserActivityMs_ = millis();
+  setStandbyOpticalOutput();
+  if (idleSleepRadioStopped_) {
+    idleSleepRadioStopped_ = false;
+    if (radio_.begin()) {
+      radio_.setWindowedReceive(true);
+      radio_.flush();
+      Log::event("POWER", "Slave ESP-NOW restored after external wake");
+    } else Log::event("POWER", "Slave ESP-NOW restore FAILED after external wake");
+  }
+  if (wakeDisplay) display_.setPower(true);
+  Log::event("POWER", "idle light sleep ended");
+}
+
+void App::serviceIdlePowerSave() {
+  if (!idlePowerSaveAllowed()) {
+    leaveIdlePowerSave(false);
+    return;
+  }
+
+  const uint32_t now = millis();
+  if (!idlePowerSave_) {
+    if (now - lastUserActivityMs_ < IDLE_POWER_SAVE_TIMEOUT_MS) {
+      delay(1); // allow the FreeRTOS idle task to halt the CPU between UI polls
+      return;
+    }
+    idlePowerSave_ = true;
+    pwm_.stop();
+    if (state_ == AppState::SLAVE_READY) {
+      radio_.end();
+      idleSleepRadioStopped_ = true;
+    }
+    display_.setPower(false);
+    Log::event("POWER", "idle timeout; preparing light sleep");
+    Serial.flush();
+    delay(2);
+  }
+
+  gpio_wakeup_enable(static_cast<gpio_num_t>(GPIO_BUTTON_START),
+    BUTTON_ACTIVE_LEVEL == LOW ? GPIO_INTR_LOW_LEVEL : GPIO_INTR_HIGH_LEVEL);
+  gpio_wakeup_enable(static_cast<gpio_num_t>(GPIO_BUTTON_MODE),
+    BUTTON_ACTIVE_LEVEL == LOW ? GPIO_INTR_LOW_LEVEL : GPIO_INTR_HIGH_LEVEL);
+  if (static_cast<Role>(settings_.role) == Role::SLAVE) {
+    const bool currentRxHigh = gpio_get_level(static_cast<gpio_num_t>(GPIO_RX)) != 0;
+    gpio_wakeup_enable(static_cast<gpio_num_t>(GPIO_RX),
+      currentRxHigh ? GPIO_INTR_LOW_LEVEL : GPIO_INTR_HIGH_LEVEL);
+  } else gpio_wakeup_disable(static_cast<gpio_num_t>(GPIO_RX));
+  esp_sleep_enable_gpio_wakeup();
+  const esp_err_t result = esp_light_sleep_start();
+  if (result != ESP_OK) {
+    leaveIdlePowerSave(true);
+    delay(1);
+    return;
+  }
+
+  const esp_sleep_wakeup_cause_t cause = esp_sleep_get_wakeup_cause();
+  const bool buttonWake = digitalRead(GPIO_BUTTON_START) == BUTTON_ACTIVE_LEVEL ||
+    digitalRead(GPIO_BUTTON_MODE) == BUTTON_ACTIVE_LEVEL;
+  if (buttonWake) {
+    startButton_.suppressUntilRelease();
+    modeButton_.suppressUntilRelease();
+  }
+
+  // GPIO wake worked, so disarm all level sources before peripherals and the
+  // button state machines are brought back up.
+  gpio_wakeup_disable(static_cast<gpio_num_t>(GPIO_BUTTON_START));
+  gpio_wakeup_disable(static_cast<gpio_num_t>(GPIO_BUTTON_MODE));
+  gpio_wakeup_disable(static_cast<gpio_num_t>(GPIO_RX));
+
+  // Native USB and I2C can retain stale driver state across light sleep even
+  // though their clocks have stopped. A full end/begin cycle prevents the
+  // several-second button stalls and restores Serial output after wake.
+  setActivePerformance(false);
+  Serial.end();
+  delay(2);
+  Serial.begin(SERIAL_BAUD);
+#if ARDUINO_USB_CDC_ON_BOOT
+  Serial.setTxTimeoutMs(SERIAL_TX_TIMEOUT_MS);
+#endif
+  Wire.end();
+  Wire.begin(GPIO_SDA, GPIO_SCL);
+  Wire.setClock(400000);
+  Wire.setTimeOut(30);
+
+  // This also restores ESP-NOW when Slave stopped it before sleeping.
+  leaveIdlePowerSave(true);
+  Log::printf("POWER", "light sleep wake cause=%u button=%s; peripherals restored",
+    static_cast<unsigned>(cause), buttonWake ? "YES" : "NO");
+  if (buttonWake)
+    Log::event("POWER", "wake button consumed; next press will perform the action");
 }
 
 void App::printConfiguration() {
   if (SERIAL_MINIMAL_LOG) return;
   const char *board = TARGET_IS_C3 ? "ESP32-C3" : "ESP32-S3";
   uint8_t mac[6] = {}; esp_read_mac(mac, ESP_MAC_WIFI_STA);
-  Serial.printf("\nOptical Channel Tester | %s | mode=%s\n", board, roleName(static_cast<Role>(settings_.role)));
+  if (static_cast<TestGroup>(settings_.testGroup) == TestGroup::BOARD) {
+    Serial.printf("\nOptical Channel Tester | %s | group=BOARD | test=%s\n", board,
+      boardTestName(static_cast<BoardTest>(settings_.boardTest)));
+    Serial.printf("GPIO PWM=%u RX=%u ANALOG_RX=%u VBAT=%u START=%u MODE=%u SDA=%u SCL=%u\n",
+      GPIO_PWM, GPIO_RX, GPIO_ANALOG_RX, GPIO_VBAT, GPIO_BUTTON_START,
+      GPIO_BUTTON_MODE, GPIO_SDA, GPIO_SCL);
+    return;
+  }
+  Serial.printf("\nOptical Channel Tester | %s | group=OPTICS | mode=%s/%s | light=%s\n", board,
+    roleName(static_cast<Role>(settings_.role)),
+    testKindName(static_cast<TestKind>(settings_.testKind)),
+    configuredLevelName(settings_));
   Serial.printf("MAC=%02X:%02X:%02X:%02X:%02X:%02X\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
   Serial.printf("GPIO PWM=%u RX=%u START=%u MODE=%u SDA=%u SCL=%u\n", GPIO_PWM, GPIO_RX,
     GPIO_BUTTON_START, GPIO_BUTTON_MODE, GPIO_SDA, GPIO_SCL);
-  Serial.printf("Test %lu..%lu step %lu Hz, accuracy %.2f%%, %lums x%u, duty %u%%\n",
+  if (static_cast<TestKind>(settings_.testKind) == TestKind::DRIVER) {
-    params_.startHz, params_.endHz, params_.stepHz, params_.accuracyPct, params_.testTimeMs, params_.repeats, params_.dutyPct);
+    const char *code = lightCodeName(static_cast<LightCode>(settings_.lightCode));
-  stageCount_ = frequencyPointCount(params_.startHz, params_.endHz, params_.stepHz);
+    Serial.printf("Test %lu Hz, pulse %lu..%lu ns, accuracy %.2f%%, %lums, TX light=%c RX active light=%c\n",
-  Serial.printf("Frequencies (%lu): ", stageCount_);
+      params_.frequencyHz, params_.maxPulseNs, params_.minPulseNs,
-  for (uint32_t i = 0; i < stageCount_; ++i) Serial.printf("%lu%s", frequencyAt(params_.startHz, params_.endHz, params_.stepHz, i), i + 1 == stageCount_ ? "\n" : ",");
+      params_.accuracyPct, params_.testTimeMs, code[0], code[1]);
-  Serial.printf("ALL nominal: %llu us | RX=%s\n", actualNominalTotalUs(), receiver_.highRateBackend() ? "RMT DMA" : "RMT ping-pong");
+  } else {
+    Serial.printf("Test %lu Hz, pulse %lu..%lu ns, accuracy %.2f%%, %lums, optical polarity=AUTO\n",
+      params_.frequencyHz, params_.maxPulseNs, params_.minPulseNs,
+      params_.accuracyPct, params_.testTimeMs);
+  }
+  stageCount_ = pulseWidthPointCount(params_.maxPulseNs, params_.minPulseNs);
+  Serial.printf("Pulse widths descending (%lu): ", stageCount_);
+  for (uint32_t i = 0; i < stageCount_; ++i)
+    Serial.printf("%lu%s", pulseWidthAt(params_.maxPulseNs, params_.minPulseNs, i),
+      i + 1 == stageCount_ ? " ns\n" : ",");
+  Serial.printf("ALL nominal: %llu us | RX=%s\n", actualNominalTotalUs(),
+    receiver_.highRateBackend() ? "MCPWM 80MHz" : "GPIO cycle counter");
 }
 
 uint64_t App::actualNominalTotalUs() {
@@ -473,10 +1681,165 @@ uint64_t App::actualNominalTotalUs() {
 void App::printStageStats(const StageStats &s, uint32_t hz) {
   if (!s.periods) return;
   const float measuredHz = static_cast<float>(receiver_.tickHz()) * s.periods / s.periodSum;
-  const float measuredDuty = 100.0f * s.activeSum / s.periodSum;
+  const uint32_t measuredPulseNs = static_cast<uint32_t>(lround(
-  const char *status = s.reason == FailReason::NONE ? "PASS" :
+    static_cast<double>(s.activeSum) * 1000000000.0 /
-    (s.reason == FailReason::DATA_LOST ? "DATA_LOST" : "FAIL");
+      (static_cast<uint64_t>(receiver_.pulseTickHz()) * s.periods)));
-  Log::printf("RESULT", "%luHz %s periods=%lu measured=%.2fHz duty=%.2f%% lost=%lu%s%s",
+  char requestedText[12], measuredText[12];
-    hz, status, s.periods, measuredHz, measuredDuty, s.lostItems,
+  Display::formatFrequency(hz, requestedText, sizeof(requestedText));
+  Display::formatFrequency(measuredHz, measuredText, sizeof(measuredText));
+  const char *status = s.reason == FailReason::NONE ? "PASS" : "FAIL";
+  Log::printf("RESULT", "%s/%luns %s periods=%lu measured=%s/%luns skipped=%lu%s%s",
+    requestedText, requestedPulseNs_, status, s.periods, measuredText, measuredPulseNs, s.droppedItems,
     s.reason == FailReason::NONE ? "" : " reason=", s.reason == FailReason::NONE ? "" : failName(s.reason));
 }
+
+void App::showStageResult(const StageStats &s) {
+  char one[64], two[64];
+  formatTestTarget(requestedHz_, requestedPulseNs_, one, sizeof(one));
+  if (s.reason != FailReason::NONE) {
+    formatFailure(s.reason, requestedHz_, requestedPulseNs_, one, sizeof(one));
+    if (s.reason == FailReason::PERIOD_OUT && s.badFrequency > 0.0f) {
+      char frequency[12];
+      Display::formatFrequency(s.badFrequency, frequency, sizeof(frequency));
+      snprintf(two, sizeof(two), UiText::PERIOD_OUT_FORMAT, frequency);
+    } else if (s.reason == FailReason::DUTY_OUT && s.badFrequency > 0.0f) {
+      char pulse[12];
+      Display::formatPulse(pulseFromDuty(s.badFrequency, s.badDuty), pulse,
+        sizeof(pulse), true);
+      snprintf(two, sizeof(two), UiText::DUTY_OUT_FORMAT, pulse);
+    } else {
+      snprintf(two, sizeof(two), "%s", uiFailName(s.reason));
+    }
+    display_.show(one, two, overallProgress(stageIndex_, measurement_.progressStep()),
+      overallProgressTotal(stageCount_), roleCorner(static_cast<Role>(settings_.role)));
+    return;
+  }
+  if (!s.periods || !s.periodSum) {
+    display_.show(one, UiText::NO_MEASUREMENT, overallProgress(stageIndex_, measurement_.progressStep()),
+      overallProgressTotal(stageCount_));
+    return;
+  }
+  const float measuredHz = static_cast<float>(receiver_.tickHz()) * s.periods / s.periodSum;
+  const uint32_t measuredPulseNs = static_cast<uint32_t>(lround(
+    static_cast<double>(s.activeSum) * 1000000000.0 /
+      (static_cast<uint64_t>(receiver_.pulseTickHz()) * s.periods)));
+  formatMeasured(measuredHz, measuredPulseNs, two, sizeof(two));
+  display_.show(one, two, overallProgress(stageIndex_, measurement_.progressStep()),
+    overallProgressTotal(stageCount_));
+}
+
+void App::showDriverResult(const DriverStats &s, bool testPassed) {
+  char one[64], two[64];
+  const bool haveResponse = s.responses || s.lastResponseTicks;
+  const uint64_t delaySumTicks =
+    s.turnOn.delaySumTicks + s.turnOff.delaySumTicks;
+  const uint64_t responseSumTicks =
+    s.turnOn.responseSumTicks + s.turnOff.responseSumTicks;
+  const uint64_t displayedDelayTicks = s.responses ?
+    delaySumTicks / s.responses : s.lastDelayTicks;
+  const uint64_t displayedResponseTicks = s.responses ?
+    responseSumTicks / s.responses : s.lastResponseTicks;
+  const uint32_t delayNs = static_cast<uint32_t>(
+    (displayedDelayTicks * 1000000000ULL +
+      driverTest_.tickHz() / 2U) / driverTest_.tickHz());
+  const uint32_t responseNs = static_cast<uint32_t>(
+    (displayedResponseTicks * 1000000000ULL +
+      driverTest_.tickHz() / 2U) / driverTest_.tickHz());
+  char delay[12] = "---", response[12] = "---";
+  if (haveResponse) {
+    Display::formatPulse(delayNs, delay, sizeof(delay));
+    Display::formatPulse(responseNs, response, sizeof(response));
+  }
+  if (testPassed) {
+    snprintf(one, sizeof(one), "%s", UiText::PASS_WORD);
+    snprintf(two, sizeof(two), UiText::DRIVER_MEASUREMENT_FORMAT,
+      delay, response);
+  } else if (s.reason != FailReason::NONE) {
+    snprintf(one, sizeof(one), "%s", uiFailName(s.reason));
+    char elapsed[12] = "---", errorPulse[12] = "---";
+    if (s.errorTriggerValid) {
+      const uint64_t elapsedNs =
+        (static_cast<uint64_t>(s.errorTriggerTicks) * 1000000000ULL +
+          driverTest_.tickHz() / 2U) /
+        driverTest_.tickHz();
+      formatElapsedNs(elapsedNs, elapsed, sizeof(elapsed));
+    }
+    if (s.errorPulseValid) {
+      const uint64_t errorPulseNs =
+        (static_cast<uint64_t>(s.errorPulseTicks) * 1000000000ULL +
+          driverTest_.tickHz() / 2U) / driverTest_.tickHz();
+      formatElapsedNs(errorPulseNs, errorPulse, sizeof(errorPulse));
+    }
+    if (s.errorPulseValid)
+      snprintf(two, sizeof(two), "T:%s P:%s", elapsed, errorPulse);
+    else snprintf(two, sizeof(two), "T:%s", elapsed);
+  } else {
+    formatTestTarget(requestedHz_, requestedPulseNs_, one, sizeof(one));
+    snprintf(two, sizeof(two), UiText::DRIVER_MEASUREMENT_FORMAT,
+      delay, response);
+  }
+  const bool finished = testPassed || s.reason != FailReason::NONE;
+  const uint8_t progressSteps = driverTest_.progressSteps();
+  display_.show(one, two,
+    finished ? 0U : overallProgress(
+      stageIndex_, driverTest_.progressStep(), progressSteps),
+    finished ? 0U : overallProgressTotal(stageCount_, progressSteps),
+    s.reason == FailReason::NONE ? nullptr : roleCorner(Role::SOLO));
+}
+
+void App::showRemoteResult(const ProtocolPacket &packet) {
+  const FailReason reason = packet.reason <= static_cast<uint8_t>(FailReason::ABORTED)
+    ? static_cast<FailReason>(packet.reason) : FailReason::UNSUPPORTED;
+  char one[64], two[64];
+  formatTestTarget(packet.requestedHz, packet.requestedPulseNs, one, sizeof(one));
+  if (reason == FailReason::NONE) {
+    if (packet.measuredHzX10) {
+      formatMeasured(packet.measuredHzX10 / 10.0f, packet.measuredPulseNs, two, sizeof(two));
+    } else snprintf(two, sizeof(two), "%s", UiText::NO_MEASUREMENT);
+  } else if (reason == FailReason::PERIOD_OUT && packet.measuredHzX10) {
+    char frequency[12];
+    Display::formatFrequency(packet.measuredHzX10 / 10.0f, frequency, sizeof(frequency));
+    snprintf(two, sizeof(two), UiText::PERIOD_OUT_FORMAT, frequency);
+  } else if (reason == FailReason::DUTY_OUT && packet.measuredPulseNs) {
+    char pulse[12];
+    Display::formatPulse(packet.measuredPulseNs, pulse, sizeof(pulse), true);
+    snprintf(two, sizeof(two), UiText::DUTY_OUT_FORMAT, pulse);
+  } else {
+    snprintf(two, sizeof(two), "%s", uiFailName(reason));
+  }
+  if (reason != FailReason::NONE)
+    formatFailure(reason, packet.requestedHz, packet.requestedPulseNs, one, sizeof(one));
+  display_.show(one, two, overallProgress(stageIndex_, packet.progressStep),
+    overallProgressTotal(stageCount_), reason == FailReason::NONE ? nullptr :
+      roleCorner(static_cast<Role>(settings_.role)));
+}
+
+void App::fillMeasuredResult(ProtocolPacket &packet, const StageStats &stats) const {
+  packet.reason = static_cast<uint8_t>(stats.reason);
+  packet.periods = stats.periods;
+  if (!stats.periods || !stats.periodSum) return;
+  const bool badPeriod = (stats.reason == FailReason::PERIOD_OUT || stats.reason == FailReason::DUTY_OUT) &&
+    stats.badFrequency > 0.0f;
+  const float measuredHz = badPeriod ? stats.badFrequency :
+    static_cast<float>(receiver_.tickHz()) * stats.periods / stats.periodSum;
+  packet.measuredHzX10 = static_cast<uint32_t>(lroundf(measuredHz * 10.0f));
+  packet.measuredPulseNs = badPeriod ? pulseFromDuty(measuredHz, stats.badDuty) :
+    static_cast<uint32_t>(lround(static_cast<double>(stats.activeSum) * 1000000000.0 /
+      (static_cast<uint64_t>(receiver_.pulseTickHz()) * stats.periods)));
+}
+
+void App::showStageProgress() {
+  if (static_cast<TestKind>(settings_.testKind) == TestKind::DRIVER) {
+    char one[64], two[64];
+    formatTestTarget(requestedHz_, requestedPulseNs_, one, sizeof(one));
+    snprintf(two, sizeof(two), UiText::DRIVER_MEASUREMENT_FORMAT,
+      "---", "---");
+    display_.show(one, two, overallProgress(stageIndex_, 0),
+      overallProgressTotal(stageCount_));
+    return;
+  }
+  char one[64];
+  formatTestTarget(requestedHz_, requestedPulseNs_, one, sizeof(one));
+  display_.show(one, UiText::NO_MEASUREMENT, overallProgress(stageIndex_, 0),
+    overallProgressTotal(stageCount_));
+}

OpticalChannelTester/App.h

@@ -1,14 +1,16 @@
 #pragma once
 #include "Buttons.h"
 #include "Display.h"
+#include "DriverTest.h"
 #include "Measurement.h"
+#include "OpticalCurrent.h"
 #include "Pwm.h"
 #include "Radio.h"
 #include "SettingsStore.h"
 
 enum class AppState : uint8_t {
-  IDLE, MENU, SOLO_MEASURE, MASTER_DISCOVER, MASTER_WAIT_READY,
+  IDLE, MENU, BOARD_TEST, SOLO_MEASURE, SOLO_DRIVER, MASTER_DISCOVER, MASTER_WAIT_READY,
-  MASTER_WAIT_RESULT, SLAVE_READY, SLAVE_WAIT_START, SLAVE_MEASURE,
+  MASTER_WAIT_RESULT, MASTER_FINALIZE, SLAVE_READY, SLAVE_WAIT_START, SLAVE_MEASURE,
   SLAVE_WAIT_ACK, FINISHED
 };
 
@@ -22,26 +24,52 @@ class App {
   void finishInitialization(bool factoryReset);
   void showMenu();
   void changeMenu(int direction);
+  void enterOpticalCalibration(uint32_t now);
+  void updateOpticalCalibration(uint32_t now, bool force = false);
+  void leaveOpticalCalibration();
+  void cycleRunMode();
   void sanitizeRange();
   void startTest();
-  bool armSlave();
+  void startBoardTest();
-  bool prepareStage();
+  void updateBoardTest(uint32_t now);
+  void stopBoardTest();
+  bool armSlave(bool preserveDisplay = false);
+  bool prepareStage(bool showProgress = true);
   bool startLocalMeasurement(float hz, float duty);
+  bool startDriverMeasurement();
   void startMasterDiscovery();
   void handleRadio();
   void updateMaster();
   void updateSlave();
   void stagePassed();
-  void finish(bool pass, FailReason reason);
+  void finish(bool pass, FailReason reason, bool preserveDisplay = false);
   void abortTest();
-  void sendAbort();
+  void sendAbort(FailReason reason = FailReason::ABORTED);
   void printConfiguration();
   void printStageStats(const StageStats &s, uint32_t hz);
+  void showStageResult(const StageStats &s);
+  void showDriverResult(const DriverStats &s, bool testPassed = false);
+  void showRemoteResult(const ProtocolPacket &packet);
+  void fillMeasuredResult(ProtocolPacket &packet, const StageStats &stats) const;
+  void showStageProgress();
   uint64_t actualNominalTotalUs();
   ProtocolPacket makePacket(MessageType type) const;
+  bool sendLinked(ProtocolPacket packet);
   void sendCurrent(MessageType type);
   void updateHeartbeat();
   bool packetForCurrent(const ProtocolPacket &p) const;
+  void serviceIdlePowerSave();
+  void serviceSerialConsole();
+  void handleSerialCommand(char *line);
+  void printSerialHelp();
+  void printSerialStatus();
+  bool serialSettingsMutable() const;
+  void finishSerialSettingsChange();
+  void leaveIdlePowerSave(bool wakeDisplay = true);
+  bool idlePowerSaveAllowed() const;
+  bool usbHostPresent() const;
+  void setStandbyOpticalOutput();
+  void setActivePerformance(bool active);
 
   Button startButton_, modeButton_;
   Display display_;
@@ -51,11 +79,12 @@ class App {
   PwmGenerator pwm_;
   PulseReceiver receiver_;
   Measurement measurement_;
+  DriverTest driverTest_;
   Radio radio_;
   AppState state_ = AppState::IDLE;
   uint8_t menuItem_ = 0;
   uint32_t stageIndex_ = 0, stageCount_ = 0;
-  uint32_t requestedHz_ = 0;
+  uint32_t requestedHz_ = 0, requestedPulseNs_ = 0;
   ActualPwm actual_ = {};
   FailReason pendingReason_ = FailReason::NONE;
   uint32_t session_ = 0;
@@ -63,12 +92,28 @@ class App {
   uint8_t peer_[6] = {};
   bool havePeer_ = false;
   uint32_t deadlineMs_ = 0, lastSendMs_ = 0;
+  uint32_t localMeasurementDeadlineMs_ = 0;
   uint32_t lastHeartbeatMs_ = 0, lastPeerSeenMs_ = 0;
   uint8_t retries_ = 0;
   ProtocolPacket pendingPacket_ = {};
   bool initialized_ = false, bootResetCandidate_ = false;
-  bool sweepHadDataLoss_ = false;
-  uint32_t firstDataLossHz_ = 0;
   uint32_t bootCheckStartedMs_ = 0;
   uint32_t slaveRearmAtMs_ = 0;
+  bool stageStartConfirmed_ = false;
+  uint32_t lastUserActivityMs_ = 0;
+  bool idlePowerSave_ = false;
+  bool idleSleepRadioStopped_ = false;
+  uint32_t lastOpticalWakeToggleMs_ = 0;
+  bool opticalWakeActive_ = false;
+  bool rxPinStateKnown_ = false, rxPinState_ = false;
+  uint32_t boardTestUpdatedMs_ = 0;
+  uint32_t boardDisplayUpdatedMs_ = 0;
+  bool boardPwmLightOn_ = false;
+  bool opticalCalibrationActive_ = false;
+  uint32_t opticalCalibrationStartedMs_ = 0;
+  uint32_t opticalCalibrationUpdatedMs_ = 0;
+  mutable uint32_t lastUsbHostSeenMs_ = 0;
+  char serialLine_[96] = {};
+  uint8_t serialLineLength_ = 0;
+  bool serialLineOverflow_ = false;
 };

OpticalChannelTester/Buttons.cpp

@@ -7,8 +7,21 @@ void Button::begin() {
   changedAt_ = millis();
 }
 
+void Button::suppressUntilRelease() {
+  suppressed_ = true;
+  raw_ = stable_ = (digitalRead(pin_) == BUTTON_ACTIVE_LEVEL);
+  changedAt_ = millis();
+  longSent_ = true;
+}
+
 ButtonEvent Button::update(uint32_t now) {
   const bool sample = (digitalRead(pin_) == BUTTON_ACTIVE_LEVEL);
+  if (suppressed_) {
+    raw_ = stable_ = sample;
+    changedAt_ = now;
+    if (!sample) { suppressed_ = false; longSent_ = false; }
+    return ButtonEvent::NONE;
+  }
   if (sample != raw_) { raw_ = sample; changedAt_ = now; }
   if (raw_ != stable_ && now - changedAt_ >= BUTTON_DEBOUNCE_MS) {
     stable_ = raw_;

OpticalChannelTester/Buttons.h

@@ -8,10 +8,12 @@ class Button {
   explicit Button(uint8_t pin) : pin_(pin) {}
   void begin();
   ButtonEvent update(uint32_t nowMs);
+  void suppressUntilRelease();
   bool pressed() const { return stable_; }
  private:
   uint8_t pin_;
   bool raw_ = false, stable_ = false, longSent_ = false;
+  bool suppressed_ = false;
   uint32_t changedAt_ = 0, pressedAt_ = 0, nextRepeat_ = 0;
 };
 

OpticalChannelTester/Config.h

@@ -3,42 +3,138 @@
 #include <Arduino.h>
 
 // ------------------------- Hardware configuration -------------------------
+// Enabled for the hand-wired prototype. Comment out for the production PCB.
+// Both profiles map S3 signals by physical header position with 5V/GND aligned.
+#define MAKETKA
+
+// Select exactly one populated receiver circuit. Use
+// BOARD_RX_INTERFACE_DIGITAL for MAKETKA and boards fitted with GPIO_RX.
+#define BOARD_RX_INTERFACE_ADC 1
+#define BOARD_RX_INTERFACE_DIGITAL 2
+#ifndef BOARD_RX_INTERFACE
+#define BOARD_RX_INTERFACE BOARD_RX_INTERFACE_DIGITAL
+#endif
+
+#if BOARD_RX_INTERFACE != BOARD_RX_INTERFACE_ADC && \
+    BOARD_RX_INTERFACE != BOARD_RX_INTERFACE_DIGITAL
+#error "BOARD_RX_INTERFACE must select ADC or DIGITAL"
+#endif
+
+#if defined(MAKETKA) && BOARD_RX_INTERFACE == BOARD_RX_INTERFACE_ADC
+#error "MAKETKA requires BOARD_RX_INTERFACE_DIGITAL"
+#endif
+
+constexpr bool BOARD_RX_USES_ADC =
+  BOARD_RX_INTERFACE == BOARD_RX_INTERFACE_ADC;
+
+// Board-test parameters. These checks are selected at runtime from the UI;
+// no special diagnostic firmware build is required.
+constexpr uint32_t BOARD_PWM_TEST_FREQUENCY_HZ = 1;
+constexpr uint32_t BOARD_PWM_TEST_HALF_PERIOD_MS = 500;
+
 #if CONFIG_IDF_TARGET_ESP32C3
 constexpr bool TARGET_IS_C3 = true;
 constexpr uint8_t GPIO_PWM = 3;
 constexpr uint8_t GPIO_RX = 4;
+#ifdef MAKETKA
+constexpr bool BOARD_ADC_AVAILABLE = false;
 constexpr uint8_t GPIO_BUTTON_MODE = 0;
 constexpr uint8_t GPIO_BUTTON_START = 1;
+constexpr uint8_t GPIO_OPTICAL_CURRENT = 2;
+constexpr uint8_t GPIO_OPTICAL_VCC = 5;
+constexpr uint8_t GPIO_VBAT = UINT8_MAX;
+constexpr uint8_t GPIO_ANALOG_RX = UINT8_MAX;
+#else
+constexpr bool BOARD_ADC_AVAILABLE = true;
+constexpr uint8_t GPIO_BUTTON_MODE = 20;
+constexpr uint8_t GPIO_BUTTON_START = 10;
+constexpr uint8_t GPIO_OPTICAL_CURRENT = 1;
+constexpr uint8_t GPIO_OPTICAL_VCC = 5;
+constexpr uint8_t GPIO_VBAT = 2;
+constexpr uint8_t GPIO_ANALOG_RX = 0;
+#endif
 constexpr uint8_t GPIO_SDA = 6;
 constexpr uint8_t GPIO_SCL = 7;
 #elif CONFIG_IDF_TARGET_ESP32S3
 constexpr bool TARGET_IS_C3 = false;
-constexpr uint8_t GPIO_PWM = 4;
+#ifdef MAKETKA
-constexpr uint8_t GPIO_RX = 5;
+constexpr bool BOARD_ADC_AVAILABLE = false;
-constexpr uint8_t GPIO_BUTTON_MODE = 6;
+// Same physical header contacts as the C3 MAKETKA profile when 5V/GND align.
-constexpr uint8_t GPIO_BUTTON_START = 7;
+constexpr uint8_t GPIO_PWM = 12;
-constexpr uint8_t GPIO_SDA = 8;
+constexpr uint8_t GPIO_RX = 13;
-constexpr uint8_t GPIO_SCL = 9;
+constexpr uint8_t GPIO_BUTTON_MODE = 9;
+constexpr uint8_t GPIO_BUTTON_START = 10;
+constexpr uint8_t GPIO_OPTICAL_CURRENT = 2;
+constexpr uint8_t GPIO_OPTICAL_VCC = 6;
+constexpr uint8_t GPIO_SDA = 44;
+constexpr uint8_t GPIO_SCL = 1;
+constexpr uint8_t GPIO_VBAT = UINT8_MAX;
+constexpr uint8_t GPIO_ANALOG_RX = UINT8_MAX;
+#else
+constexpr bool BOARD_ADC_AVAILABLE = true;
+// The S3 SuperMini is fitted so its 5V and GND pins occupy the same PCB
+// contacts as on the C3 SuperMini. Signals therefore follow header position.
+constexpr uint8_t GPIO_PWM = 12;
+constexpr uint8_t GPIO_RX = 13;
+constexpr uint8_t GPIO_BUTTON_MODE = 5;
+constexpr uint8_t GPIO_BUTTON_START = 4;
+constexpr uint8_t GPIO_OPTICAL_CURRENT = 10;
+constexpr uint8_t GPIO_OPTICAL_VCC = 6;
+constexpr uint8_t GPIO_SDA = 44;
+constexpr uint8_t GPIO_SCL = 1;
+constexpr uint8_t GPIO_VBAT = 11;
+constexpr uint8_t GPIO_ANALOG_RX = 9;
+#endif
 #else
 #error "Only ESP32-C3 and ESP32-S3 are supported"
 #endif
 
+static_assert(GPIO_OPTICAL_CURRENT != GPIO_PWM &&
+              GPIO_OPTICAL_CURRENT != GPIO_RX &&
+              GPIO_OPTICAL_CURRENT != GPIO_BUTTON_MODE &&
+              GPIO_OPTICAL_CURRENT != GPIO_BUTTON_START &&
+              GPIO_OPTICAL_CURRENT != GPIO_SDA &&
+              GPIO_OPTICAL_CURRENT != GPIO_SCL,
+  "Optical-current ADC GPIO conflicts with another board signal");
+static_assert(GPIO_OPTICAL_VCC != GPIO_OPTICAL_CURRENT &&
+              GPIO_OPTICAL_VCC != GPIO_PWM &&
+              GPIO_OPTICAL_VCC != GPIO_RX &&
+              GPIO_OPTICAL_VCC != GPIO_BUTTON_MODE &&
+              GPIO_OPTICAL_VCC != GPIO_BUTTON_START &&
+              GPIO_OPTICAL_VCC != GPIO_SDA &&
+              GPIO_OPTICAL_VCC != GPIO_SCL,
+  "Optical-VCC ADC GPIO conflicts with another board signal");
+
 constexpr uint8_t OLED_ROTATION = 0;
 
 constexpr uint8_t OLED_ADDRESS = 0x3C;
 constexpr uint8_t ESPNOW_WIFI_CHANNEL = 6;
 constexpr uint32_t SERIAL_BAUD = 115200;
+// Native USB CDC may keep a stale "connected" state after light sleep. Keep
+// logging non-blocking so a missing host can never delay button polling.
+constexpr uint32_t SERIAL_TX_TIMEOUT_MS = 2;
+constexpr uint32_t BOARD_ADC_PRINT_INTERVAL_MS = 100;
+constexpr uint32_t BOARD_TEST_DISPLAY_INTERVAL_MS = 250;
+constexpr float OPTICAL_VCC = 5.1f;
+constexpr float OPTICAL_SENSE_R = 47.0f;
+constexpr float OPTICAL_DIVIDER_RATIO = 2.0f;
+constexpr uint32_t OPTICAL_CURRENT_SETTLE_MS = 20;
+constexpr uint32_t OPTICAL_CURRENT_AVERAGING_MS = 200;
 constexpr bool SERIAL_ACTION_LOG = true;
 constexpr bool SERIAL_LOG_TIMESTAMPS = true;
 constexpr bool SERIAL_MINIMAL_LOG = true;
 
 #define BUTTON_ACTIVE_LEVEL LOW
-#define RX_SIGNAL_INVERTED false
+// Fixed PCB conversion between electrical GPIO levels and actual optical
-#define PWM_SAFE_LEVEL LOW
+// light. User settings HH/HL/LH/LL operate only in the optical domain and
+// never change these hardware facts.
+#define TX_LIGHT_ON_GPIO_LEVEL LOW
+#define RX_LIGHT_ON_GPIO_LEVEL LOW
+#define TX_LIGHT_OFF_GPIO_LEVEL (TX_LIGHT_ON_GPIO_LEVEL == HIGH ? LOW : HIGH)
 #define PWM_SETTLE_CYCLES 5U
 
 constexpr uint32_t BUTTON_DEBOUNCE_MS = 30;
-constexpr uint32_t BUTTON_LONG_PRESS_MS = 800;
+constexpr uint32_t BUTTON_LONG_PRESS_MS = 500;
 constexpr uint32_t BUTTON_REPEAT_DELAY_MS = 600;
 constexpr uint32_t BUTTON_REPEAT_MS = 180;
 constexpr uint32_t FACTORY_RESET_HOLD_MS = 1500;
@@ -46,32 +142,92 @@ constexpr uint32_t FACTORY_RESET_HOLD_MS = 1500;
 constexpr uint32_t LINK_REPLY_TIMEOUT_MS = 1500;
 constexpr uint8_t LINK_PACKET_RETRIES = 10;
 constexpr uint32_t LINK_RETRY_INTERVAL_MS = 1000;
+constexpr uint32_t DISCOVERY_RETRY_INTERVAL_MS = 20;
+// During discovery Master alternates actual optical light ON and OFF to wake
+// a sleeping Slave through the optical channel.
+constexpr uint32_t OPTICAL_WAKE_HALF_PERIOD_MS = 50;
 constexpr uint32_t LINK_HEARTBEAT_INTERVAL_MS = 500;
 constexpr uint32_t LINK_HEARTBEAT_TIMEOUT_MS = 2500;
+constexpr uint32_t FINAL_ACK_RETRY_INTERVAL_MS = 50;
+constexpr uint8_t FINAL_ACK_RETRIES = 2;
 constexpr uint8_t NO_SIGNAL_TIMEOUT_PERIODS = 8;
-constexpr uint16_t RMT_MIN_RECEIVE_SYMBOLS = 48;
-constexpr uint16_t RMT_MAX_RECEIVE_SYMBOLS = 512;
-constexpr uint32_t RMT_TARGET_CHUNK_US = 5000;
-constexpr uint8_t RMT_QUEUE_BLOCKS = 8;
 constexpr uint16_t PERIOD_BATCH_SIZE = 128;
+// Retained as the minimum statistical depth used by the hardware-resolution
+// calculation and diagnostics. PASS/FAIL is evaluated for every complete
+// pulse independently; accumulated values are used only for display.
+constexpr uint16_t MEASUREMENT_AVERAGING_PERIODS = 100;
+static_assert(MEASUREMENT_AVERAGING_PERIODS > 0,
+  "Averaging window must contain at least one period");
+constexpr uint8_t MEASUREMENT_PROGRESS_STEPS = 10;
+constexpr uint32_t OLED_PROGRESS_UPDATE_MS = 15;
+constexpr uint8_t DRIVER_SHORT_SAMPLE_PROGRESS_STEPS = 10;
+constexpr uint32_t DRIVER_PROGRESS_INTERVAL_MS = 100;
+
+constexpr uint32_t IDLE_POWER_SAVE_TIMEOUT_MS = 60000;
+// usb_serial_jtag_is_connected() needs no open COM port or CDC traffic, but a
+// short SOF detection gap must not send the board to sleep.
+constexpr uint32_t USB_HOST_DISCONNECT_GRACE_MS = 5000;
+constexpr uint16_t SLAVE_LISTEN_INTERVAL_MS = 100;
+constexpr uint16_t SLAVE_LISTEN_WINDOW_MS = 20;
+static_assert(SLAVE_LISTEN_WINDOW_MS < SLAVE_LISTEN_INTERVAL_MS,
+  "Slave listen window must be shorter than its interval");
+// Conservative sustained validation rate calibrated from real C3 logs.
+constexpr uint32_t RX_PROCESSING_PERIODS_PER_SECOND = 300000;
 
 constexpr uint32_t C3_STRICT_MAX_HZ = 1000000;
 constexpr uint32_t S3_STRICT_MAX_HZ = 1000000;
-constexpr uint32_t CAPTURE_RESOLUTION_HZ = 80000000;
+// S3 MCPWM Capture uses one 32-bit 80 MHz timer for both edges. Unlike RMT,
-// Arduino-ESP32 uses the 40 MHz crystal as the default LEDC clock on C3/S3.
+// its width does not constrain long LOW/HIGH intervals, so capture precision
+// stays at 12.5 ns for every selectable PWM frequency and pulse length.
+constexpr uint32_t MCPWM_CAPTURE_RESOLUTION_HZ = 80000000;
+// C3 uses the 40 MHz crystal as the LEDC clock.
 // Keep this explicit so the resolution calculation never asks LEDC for an
 // impossible frequency/resolution combination.
 constexpr uint32_t LEDC_SOURCE_CLOCK_HZ = 40000000;
 constexpr uint8_t LEDC_CHANNEL = 0;
 constexpr uint8_t LEDC_MAX_BITS = 14;
+// S3 uses the dedicated MCPWM peripheral. A 20 MHz timer clock keeps the
+// selectable 500 Hz period within the S3's 16-bit counter while retaining
+// 50 ns pulse resolution and exact periods for every menu frequency.
+constexpr uint32_t MCPWM_RESOLUTION_HZ = 20000000;
+constexpr uint32_t MCPWM_MAX_PERIOD_TICKS = 65535;
+
+// Concept 1SP0635 status acknowledgement, expressed in the optical domain.
+constexpr uint32_t DRIVER_MIN_INPUT_PULSE_NS = 2000;
+constexpr uint32_t DRIVER_ACK_DELAY_NS = 250;
+constexpr uint32_t DRIVER_ACK_WIDTH_NS = 700;
+constexpr uint32_t DRIVER_ACK_START_MAX_NS = 2000;
+constexpr uint32_t DRIVER_ACK_MERGE_MARGIN_NS = 250;
+// The first MCPWM TX end may belong to a pulse that was already active when
+// capture was enabled. The following period also drains capture events that
+// were pending independently in the rising/falling channels. Validation
+// therefore begins at the third TX period.
+constexpr uint8_t DRIVER_CAPTURE_SYNC_CYCLES = 2;
+// Any response this long is a fault, not a normal acknowledgement.
+constexpr uint32_t DRIVER_FAULT_MIN_NS = 1500;
+constexpr uint32_t DRIVER_RX_STUCK_MIN_NS = 20000;
+// Retained by the generic receiver backend; the driver test itself uses the
+// stricter ACK start deadline above.
+constexpr uint32_t DRIVER_RESPONSE_TIMEOUT_NS = 10000;
 
 // -------------------------- Menu value arrays -----------------------------
-constexpr uint32_t START_FREQ_OPTIONS_HZ[] = {1000, 2000, 5000, 10000, 20000, 50000};
+// The test uses one selected PWM frequency and walks the pulse-width list from
-constexpr uint32_t END_FREQ_OPTIONS_HZ[] = {100000, 200000, 500000, 750000, 1000000};
+// the selected maximum down to the selected minimum. Widths are stored in
-constexpr uint32_t STEP_OPTIONS_HZ[] = {1000, 2000, 5000, 10000, 20000, 50000, 100000};
+// nanoseconds so sub-microsecond pulses remain representable without floats.
+constexpr uint32_t PWM_FREQUENCY_OPTIONS_HZ[] = {
+  500, 1000, 2000, 5000, 10000,
+};
+constexpr uint32_t MAX_PULSE_OPTIONS_NS[] = {
+  2000, 5000, 10000, 50000, 100000, 500000
+};
+constexpr uint32_t MIN_PULSE_OPTIONS_NS[] = {
+  250, 500, 1000, 2000, 5000, 10000, 50000
+};
+constexpr uint32_t TEST_PULSE_WIDTHS_NS[] = {
+  50, 100, 150, 200, 250, 500, 1000, 2000, 5000, 10000, 20000, 50000,
+  100000, 200000, 500000, 1000000
+};
 constexpr float ACCURACY_OPTIONS_PCT[] = {1.0f, 2.0f, 5.0f, 10.0f};
-constexpr uint32_t TEST_TIME_OPTIONS_MS[] = {100, 250, 500, 1000, 2000, 5000};
+constexpr uint32_t TEST_TIME_OPTIONS_MS[] = {100, 250, 500, 1000, 2000, 5000, 60000};
-constexpr uint8_t REPEAT_OPTIONS[] = {1, 2, 3, 5, 10};
-constexpr uint8_t DUTY_OPTIONS_PCT[] = {10, 25, 50, 75, 90};
 
 template <typename T, size_t N> constexpr size_t countOf(const T (&)[N]) { return N; }

OpticalChannelTester/Config_Text.h

@@ -0,0 +1,176 @@
+#pragma once
+
+// Select the language used by the OLED interface.
+// Build with UI_LANGUAGE_EN for English or UI_LANGUAGE_RU for Russian.
+#define UI_LANGUAGE_EN 0
+#define UI_LANGUAGE_RU 1
+
+#ifndef UI_LANGUAGE
+#define UI_LANGUAGE UI_LANGUAGE_RU
+#endif
+
+namespace UiText {
+
+#if UI_LANGUAGE == UI_LANGUAGE_RU
+
+constexpr const char *ROLE_NAMES[] = {
+  "СОЛО", "МАСТЕР", "СЛЕЙВ"
+};
+
+constexpr const char *TEST_NAMES[] = {
+  "ОПТИКА", "ДРАЙВЕР"
+};
+
+constexpr const char *TEST_GROUP_NAMES[] = {
+  "ОПТИКА", "ПЛАТА"
+};
+
+constexpr const char *BOARD_TEST_NAMES[] = {
+  "АЦП", "ШИМ ВЫХОД", "RX ВХОД"
+};
+
+constexpr const char *FAIL_NAMES[] = {
+  "НЕТ ОШИБКИ",
+  "НЕТ СИГНАЛА",
+  "ПЕРИОД ВНЕ ДОПУСКА",
+  "ИМПУЛЬС ВНЕ ДОПУСКА",
+  "ЛИШНИЙ ФРОНТ",
+  "ИМПУЛЬСНАЯ ПОМЕХА",
+  "ПРОПУЩЕН ФРОНТ",
+  "ОШИБКА ПОТЕРИ ДАННЫХ",
+  "СВЯЗЬ ПОТЕРЯНА",
+  "РЕЖИМ НЕ ПОДДЕРЖИВ.",
+  "НЕ ХВАТАЕТ ТОЧНОСТИ",
+  "ТЕСТ ОСТАНОВЛЕН",
+  "НЕТ ОТВЕТА ACK",
+  "ТАЙМИНГ ACK",
+  "АВАРИЯ ДРАЙВЕРА",
+  "ОТВЕТЫ ACK СЛИЛИСЬ"
+};
+
+constexpr const char *MODE_PREFIX = "РЕЖИМ: ";
+constexpr const char *START_RUN = "ГОТОВ К ЗАПУСКУ";
+
+constexpr const char *MENU_FREQUENCY = "ЧАСТОТА ШИМ:";
+constexpr const char *MENU_TEST_GROUP = "ГРУППА ТЕСТОВ:";
+constexpr const char *MENU_MAX_PULSE = "МАКС. ИМПУЛЬС:";
+constexpr const char *MENU_MIN_PULSE = "МИН. ИМПУЛЬС:";
+constexpr const char *MENU_ACCURACY = "ТОЧНОСТЬ:";
+constexpr const char *MENU_TEST_TIME = "ВРЕМЯ ВЫБОРКИ:";
+constexpr const char *MENU_LIGHT_CODE = "АКТ. УРОВЕНЬ:";
+constexpr const char *MENU_OPTICAL_CALIBRATION = "КАЛИБР. ОПТИКИ";
+constexpr const char *LIGHT_CODE_FORMAT = "TX:%c, RX:%c";
+constexpr const char *LIGHT_AUTO = "АВТО";
+constexpr const char *LIGHT_AUTO_FORMAT = "TX/RX: АВТО";
+constexpr const char *MENU_TOTAL_TIME = "ОБЩЕЕ ВРЕМЯ:";
+constexpr const char *BOARD_READY = "START: ЗАПУСК";
+constexpr const char *BOARD_STOP = "УДЕРЖ START: СТОП";
+constexpr const char *ADC_UNAVAILABLE = "АЦП НЕТ НА МАКЕТКЕ";
+constexpr const char *FREQUENCY_UNIT = " Гц";
+
+constexpr const char *SLAVE_READY = "СЛЕЙВ ГОТОВ";
+constexpr const char *WAIT_MASTER = "ОЖИДАНИЕ МАСТЕРА";
+constexpr const char *LINK_FAILED = "СВЯЗЬ НЕ УСТАНОВЛЕНА";
+constexpr const char *RADIO_ERROR = "ОШИБКА СВЯЗИ";
+constexpr const char *MASTER_SEARCH = "ПОИСК СЛЕЙВА";
+constexpr const char *HOLD_START_STOP = "УДЕРЖ. ПУСК ДЛЯ СТОП";
+constexpr const char *MASTER_SEEN = "МАСТЕР ОБНАРУЖЕН";
+constexpr const char *ACK_SENT = "ОТВЕТ ОТПРАВЛЕН";
+constexpr const char *START_AGAIN = "ГОТОВ К ЗАПУСКУ";
+constexpr const char *TEST_FAILED = "ТЕСТ НЕ ПРОЙДЕН";
+
+constexpr const char *PASS_WORD = "ТЕСТ ПРОЙДЕН";
+constexpr const char *FAIL_FORMAT = "СБОЙ %s";
+constexpr const char *TEST_FORMAT = "%s, %s";
+constexpr const char *TEST_TARGET_FORMAT = "ТЕСТ: %s";
+constexpr const char *FAIL_TARGET_FORMAT = "СБОЙ: %s";
+constexpr const char *PERIOD_OUT_FORMAT = "ЧАСТОТА: %s";
+constexpr const char *DUTY_OUT_FORMAT = "ИМПУЛЬС: %s";
+constexpr const char *NO_MEASUREMENT = "F:---, P:---";
+constexpr const char *DRIVER_RESPONSE_FORMAT = "ACK:%lu D:%luns";
+constexpr const char *DRIVER_MEASUREMENT_FORMAT = "D: %s, P: %s";
+
+#elif UI_LANGUAGE == UI_LANGUAGE_EN
+
+constexpr const char *ROLE_NAMES[] = {
+  "SOLO", "MASTER", "SLAVE"
+};
+
+constexpr const char *TEST_NAMES[] = {
+  "OPTICAL", "DRIVER"
+};
+
+constexpr const char *TEST_GROUP_NAMES[] = {
+  "OPTICS", "BOARD"
+};
+
+constexpr const char *BOARD_TEST_NAMES[] = {
+  "ADC", "PWM OUTPUT", "RX INPUT"
+};
+
+constexpr const char *FAIL_NAMES[] = {
+  "NONE",
+  "NO SIGNAL",
+  "PERIOD OUT",
+  "PULSE OUT",
+  "EXTRA EDGE",
+  "GLITCH",
+  "LOST EDGE",
+  "DATA LOSS ERROR",
+  "LINK LOST",
+  "UNSUPPORTED",
+  "RESOLUTION",
+  "ABORTED",
+  "ACK MISSING",
+  "ACK TIMING",
+  "DRIVER FAULT",
+  "ACK MERGED"
+};
+
+constexpr const char *MODE_PREFIX = "MODE: ";
+constexpr const char *START_RUN = "READY TO START";
+
+constexpr const char *MENU_FREQUENCY = "PWM FREQUENCY:";
+constexpr const char *MENU_TEST_GROUP = "TEST GROUP:";
+constexpr const char *MENU_MAX_PULSE = "MAX PULSE:";
+constexpr const char *MENU_MIN_PULSE = "MIN PULSE:";
+constexpr const char *MENU_ACCURACY = "ACCURACY:";
+constexpr const char *MENU_TEST_TIME = "TEST TIME:";
+constexpr const char *MENU_LIGHT_CODE = "ACTIVE LEVEL:";
+constexpr const char *MENU_OPTICAL_CALIBRATION = "OPTICAL CALIBRATION";
+constexpr const char *LIGHT_CODE_FORMAT = "TX:%c, RX:%c";
+constexpr const char *LIGHT_AUTO = "AUTO";
+constexpr const char *LIGHT_AUTO_FORMAT = "TX/RX: AUTO";
+constexpr const char *MENU_TOTAL_TIME = "TOTAL TIME:";
+constexpr const char *BOARD_READY = "START TO RUN";
+constexpr const char *BOARD_STOP = "HOLD START TO STOP";
+constexpr const char *ADC_UNAVAILABLE = "ADC ABSENT ON PROTOTYPE";
+constexpr const char *FREQUENCY_UNIT = " Hz";
+
+constexpr const char *SLAVE_READY = "SLAVE READY";
+constexpr const char *WAIT_MASTER = "WAIT MASTER";
+constexpr const char *LINK_FAILED = "LINK FAILED";
+constexpr const char *RADIO_ERROR = "RADIO ERROR";
+constexpr const char *MASTER_SEARCH = "MASTER SEARCH";
+constexpr const char *HOLD_START_STOP = "HOLD START TO STOP";
+constexpr const char *MASTER_SEEN = "MASTER SEEN";
+constexpr const char *ACK_SENT = "ACK SENT";
+constexpr const char *START_AGAIN = "READY TO START";
+constexpr const char *TEST_FAILED = "TEST FAILED";
+
+constexpr const char *PASS_WORD = "TEST PASS";
+constexpr const char *FAIL_FORMAT = "FAIL %s";
+constexpr const char *TEST_FORMAT = "%s, %s";
+constexpr const char *TEST_TARGET_FORMAT = "TEST: %s";
+constexpr const char *FAIL_TARGET_FORMAT = "FAIL AT %s";
+constexpr const char *PERIOD_OUT_FORMAT = "FREQ OUT %s";
+constexpr const char *DUTY_OUT_FORMAT = "PULSE OUT %s";
+constexpr const char *NO_MEASUREMENT = "F:---, P:---";
+constexpr const char *DRIVER_RESPONSE_FORMAT = "ACK:%lu D:%luns";
+constexpr const char *DRIVER_MEASUREMENT_FORMAT = "D: %s, P: %s";
+
+#else
+#error "UI_LANGUAGE must be UI_LANGUAGE_EN or UI_LANGUAGE_RU"
+#endif
+
+}  // namespace UiText

OpticalChannelTester/Core.cpp

@@ -1,4 +1,5 @@
 #include "Core.h"
+#include "Config.h"
 #include <math.h>
 #include <string.h>
 
@@ -8,10 +9,35 @@ const char *roleName(Role r) {
   return i < 3 ? names[i] : "?";
 }
 
+const char *testGroupName(TestGroup group) {
+  static const char *names[] = {"OPTICS", "BOARD"};
+  const uint8_t i = static_cast<uint8_t>(group);
+  return i < 2 ? names[i] : "?";
+}
+
+const char *testKindName(TestKind kind) {
+  static const char *names[] = {"OPTICAL", "DRIVER"};
+  const uint8_t i = static_cast<uint8_t>(kind);
+  return i < 2 ? names[i] : "?";
+}
+
+const char *boardTestName(BoardTest test) {
+  static const char *names[] = {"ADC", "PWM OUTPUT", "RX INPUT"};
+  const uint8_t i = static_cast<uint8_t>(test);
+  return i < 3 ? names[i] : "?";
+}
+
+const char *lightCodeName(LightCode code) {
+  static const char *names[] = {"HH", "HL", "LH", "LL"};
+  const uint8_t i = static_cast<uint8_t>(code);
+  return i < 4 ? names[i] : "??";
+}
+
 const char *failName(FailReason r) {
-  static const char *names[] = {"NONE", "NO SIGNAL", "PERIOD OUT", "DUTY OUT",
+  static const char *names[] = {"NONE", "NO SIGNAL", "PERIOD OUT", "PULSE OUT",
-    "EXTRA EDGE", "GLITCH", "LOST EDGE", "TOO FEW PERIODS", "LINK LOST",
+    "EXTRA EDGE", "GLITCH", "LOST EDGE", "DATA LOSS ERROR", "LINK LOST",
-    "UNSUPPORTED", "RESOLUTION", "ABORTED", "DATA LOST"};
+    "UNSUPPORTED", "RESOLUTION", "ABORTED", "ACK MISSING", "ACK TIMING",
+    "DRIVER FAULT", "ACK MERGED"};
   const uint8_t i = static_cast<uint8_t>(r);
   return i < (sizeof(names) / sizeof(names[0])) ? names[i] : "UNKNOWN";
 }
@@ -30,29 +56,52 @@ uint32_t settingsChecksum(const Settings &s) {
   return hash;
 }
 
-uint32_t frequencyPointCount(uint32_t startHz, uint32_t endHz, uint32_t stepHz) {
+bool txActiveLightOn(const Settings &s) {
-  if (!startHz || !stepHz || endHz <= startHz) return 0;
+  return static_cast<uint8_t>(s.lightCode) < static_cast<uint8_t>(LightCode::LH);
-  const uint64_t span = static_cast<uint64_t>(endHz) - startHz;
-  return static_cast<uint32_t>(span / stepHz + 1U + ((span % stepHz) ? 1U : 0U));
 }
 
-uint32_t frequencyAt(uint32_t startHz, uint32_t endHz, uint32_t stepHz, uint32_t index) {
+bool rxActiveLightOn(const Settings &s) {
-  const uint32_t count = frequencyPointCount(startHz, endHz, stepHz);
+  return (static_cast<uint8_t>(s.lightCode) & 1U) == 0U;
-  if (!count || index >= count) return 0;
+}
-  if (index == count - 1) return endHz;
+
-  const uint64_t v = static_cast<uint64_t>(startHz) + static_cast<uint64_t>(stepHz) * index;
+uint32_t pulseWidthPointCount(uint32_t maxPulseNs, uint32_t minPulseNs) {
-  return v < endHz ? static_cast<uint32_t>(v) : endHz;
+  if (!minPulseNs || maxPulseNs < minPulseNs) return 0;
+  uint32_t count = 0;
+  for (size_t i = 0; i < countOf(TEST_PULSE_WIDTHS_NS); ++i)
+    if (TEST_PULSE_WIDTHS_NS[i] >= minPulseNs && TEST_PULSE_WIDTHS_NS[i] <= maxPulseNs) ++count;
+  return count;
+}
+
+uint32_t pulseWidthAt(uint32_t maxPulseNs, uint32_t minPulseNs, uint32_t index) {
+  for (size_t i = countOf(TEST_PULSE_WIDTHS_NS); i > 0; --i) {
+    const uint32_t pulseNs = TEST_PULSE_WIDTHS_NS[i - 1U];
+    if (pulseNs < minPulseNs || pulseNs > maxPulseNs) continue;
+    if (!index--) return pulseNs;
+  }
+  return 0;
+}
+
+uint64_t nominalStageUs(uint32_t frequencyHz, uint32_t sampleTimeMs, uint32_t settleCycles) {
+  if (!frequencyHz || !sampleTimeMs) return 0;
+  const uint64_t sampleUs = static_cast<uint64_t>(sampleTimeMs) * 1000ULL;
+  // At high frequency the CPU needs longer than the requested sample window
+  // to validate every captured period. Use the measured sustained C3 rate.
+  const uint64_t processingUs =
+    (static_cast<uint64_t>(frequencyHz) * sampleTimeMs * 1000ULL +
+      RX_PROCESSING_PERIODS_PER_SECOND - 1U) / RX_PROCESSING_PERIODS_PER_SECOND;
+  const uint64_t samplingWallUs = processingUs > sampleUs ? processingUs : sampleUs;
+
+  const uint64_t settleUs =
+    (1000000ULL * settleCycles * MEASUREMENT_PROGRESS_STEPS + frequencyHz - 1U) / frequencyHz;
+  // Initial stage screen, nine intermediate screens and the final result.
+  const uint64_t displayUs = static_cast<uint64_t>(OLED_PROGRESS_UPDATE_MS) * 1000ULL *
+    (MEASUREMENT_PROGRESS_STEPS + 1U);
+  return samplingWallUs + settleUs + displayUs;
 }
 
 uint64_t nominalTotalUs(const TestParams &p, uint32_t settleCycles) {
-  uint64_t total = 0;
+  return static_cast<uint64_t>(pulseWidthPointCount(p.maxPulseNs, p.minPulseNs)) *
-  const uint32_t count = frequencyPointCount(p.startHz, p.endHz, p.stepHz);
+    nominalStageUs(p.frequencyHz, p.testTimeMs, settleCycles);
-  for (uint32_t i = 0; i < count; ++i) {
-    const uint32_t f = frequencyAt(p.startHz, p.endHz, p.stepHz, i);
-    total += (1000000ULL * settleCycles + f - 1) / f;
-    total += static_cast<uint64_t>(p.testTimeMs) * 1000ULL * p.repeats;
-  }
-  return total;
 }
 
 bool periodWithin(float measured, float expected, float tolerance) {
@@ -63,6 +112,10 @@ bool dutyWithin(float measured, float expected, float tolerance) {
   return fabsf(measured - expected) <= tolerance + 0.0001f;
 }
 
+float effectiveTolerancePct(float configured) {
+  return configured;
+}
+
 uint8_t choosePwmResolution(uint32_t frequencyHz, uint32_t sourceClockHz,
                             uint8_t maxBits) {
   if (!frequencyHz || !sourceClockHz || !maxBits) return 0;
@@ -72,37 +125,140 @@ uint8_t choosePwmResolution(uint32_t frequencyHz, uint32_t sourceClockHz,
   return bits;
 }
 
+uint8_t chooseStablePwmResolution(uint32_t frequencyHz, uint32_t sourceClockHz,
+                                  uint8_t maxBits, uint8_t dutyPct) {
+  const uint8_t fallback = choosePwmResolution(frequencyHz, sourceClockHz, maxBits);
+  if (!fallback || dutyPct > 100U) return fallback;
+  for (uint8_t bits = fallback; bits > 0; --bits) {
+    const uint32_t levels = 1UL << bits;
+    const uint64_t denominator = static_cast<uint64_t>(frequencyHz) * levels;
+    if (denominator > sourceClockHz || sourceClockHz % denominator) continue;
+    const uint32_t divider = static_cast<uint32_t>(sourceClockHz / denominator);
+    if (!divider || divider > 1024U) continue;
+    if ((static_cast<uint32_t>(levels) * dutyPct) % 100U == 0U) return bits;
+  }
+  return fallback;
+}
+
+bool choosePwmConfig(uint32_t requestedHz, uint32_t requestedPulseNs,
+                     uint32_t sourceClockHz, uint8_t maxBits,
+                     IntegerPwmConfig &config) {
+  if (!requestedHz || !requestedPulseNs || !sourceClockHz || !maxBits) return false;
+
+  constexpr uint32_t FRACTION_SCALE = 256U;
+  constexpr uint32_t MAX_DIVIDER_RAW = 1024U * FRACTION_SCALE - 1U;
+  bool found = false;
+  uint32_t bestFrequencyError = UINT32_MAX;
+  uint32_t bestPulseError = UINT32_MAX;
+
+  for (uint8_t bits = 1; bits <= maxBits && bits < 31; ++bits) {
+    const uint32_t levels = 1UL << bits;
+    const uint64_t dividerNumerator = static_cast<uint64_t>(sourceClockHz) * FRACTION_SCALE;
+    const uint64_t dividerDenominator = static_cast<uint64_t>(requestedHz) * levels;
+    const uint32_t dividerFloor = static_cast<uint32_t>(dividerNumerator / dividerDenominator);
+    const uint32_t candidates[] = {dividerFloor, dividerFloor + 1U};
+    for (uint32_t dividerRaw : candidates) {
+      if (dividerRaw < FRACTION_SCALE || dividerRaw > MAX_DIVIDER_RAW) continue;
+      const uint64_t frequencyDenominator = static_cast<uint64_t>(levels) * dividerRaw;
+      const uint32_t actualHz = static_cast<uint32_t>(
+        (dividerNumerator + frequencyDenominator / 2U) / frequencyDenominator);
+      if (!actualHz) continue;
+
+      const uint64_t dutyNumerator = static_cast<uint64_t>(requestedPulseNs) *
+        sourceClockHz * FRACTION_SCALE;
+      const uint64_t dutyDenominator = static_cast<uint64_t>(dividerRaw) * 1000000000ULL;
+      uint32_t dutyCount = static_cast<uint32_t>((dutyNumerator + dutyDenominator / 2U) /
+        dutyDenominator);
+      if (!dutyCount) dutyCount = 1U;
+      if (dutyCount >= levels) dutyCount = levels - 1U;
+      if (!dutyCount) continue;
+
+      const uint32_t actualPulseNs = static_cast<uint32_t>(
+        (static_cast<uint64_t>(dutyCount) * dividerRaw * 1000000000ULL +
+          static_cast<uint64_t>(sourceClockHz) * FRACTION_SCALE / 2U) /
+        (static_cast<uint64_t>(sourceClockHz) * FRACTION_SCALE));
+      const uint32_t frequencyError = actualHz > requestedHz ? actualHz - requestedHz : requestedHz - actualHz;
+      const uint32_t pulseError = actualPulseNs > requestedPulseNs
+        ? actualPulseNs - requestedPulseNs : requestedPulseNs - actualPulseNs;
+      if (found && (frequencyError > bestFrequencyError ||
+          (frequencyError == bestFrequencyError && pulseError > bestPulseError) ||
+          (frequencyError == bestFrequencyError && pulseError == bestPulseError && bits <= config.bits)))
+        continue;
+
+      config = {actualHz, dividerRaw, dutyCount, actualPulseNs, bits};
+      bestFrequencyError = frequencyError;
+      bestPulseError = pulseError;
+      found = true;
+    }
+  }
+  return found;
+}
+
 FailReason validateResolution(uint32_t frequencyHz, float dutyPct, float accuracyPct,
-                              uint32_t captureHz, uint8_t pwmBits) {
+                              uint32_t periodCaptureHz, uint32_t pulseCaptureHz,
-  if (!frequencyHz || !captureHz || !pwmBits) return FailReason::RESOLUTION;
+                              uint8_t pwmBits,
-  const float periodTicks = static_cast<float>(captureHz) / frequencyHz;
+                              uint16_t averagingPeriods) {
-  const float activeTicks = periodTicks * dutyPct / 100.0f;
+  if (!frequencyHz || !periodCaptureHz || !pulseCaptureHz || !pwmBits || !averagingPeriods)
-  const float inactiveTicks = periodTicks - activeTicks;
+    return FailReason::RESOLUTION;
-  if (periodTicks < 4.0f || activeTicks < 2.0f || inactiveTicks < 2.0f) return FailReason::RESOLUTION;
+  const float periodTicks = static_cast<float>(periodCaptureHz) / frequencyHz;
+  const float activeTicks = static_cast<float>(pulseCaptureHz) * dutyPct /
+    (100.0f * frequencyHz);
+  if (periodTicks < 4.0f || activeTicks < 2.0f) return FailReason::RESOLUTION;
   const float timerPeriodError = 100.0f / periodTicks;
-  const float timerDutyError = 100.0f / periodTicks;
+  const float timerPulseError = 100.0f / activeTicks;
   // Measurement uses the duty actually programmed into LEDC. A coarse PWM
   // step is not itself an error when the requested value (e.g. 50%) is exactly
   // representable; only the selected value's actual quantization matters.
-  return (timerPeriodError > accuracyPct || timerDutyError > accuracyPct)
+  const float effectiveAccuracy = effectiveTolerancePct(accuracyPct);
+  return (timerPeriodError > effectiveAccuracy || timerPulseError > effectiveAccuracy)
     ? FailReason::RESOLUTION : FailReason::NONE;
 }
 
 FailReason evaluatePeriod(const PulsePeriod &p, uint32_t tickHz, float expectedHz,
                           float expectedDuty, float tolerance, uint8_t repeat,
                           StageStats &s) {
-  if (!p.periodTicks || p.activeTicks >= p.periodTicks) return FailReason::EXTRA_EDGE;
+  const uint32_t pulseTickHz = p.activeTickHz ? p.activeTickHz : tickHz;
+  if (!p.periodTicks || !p.activeTicks || !tickHz || !pulseTickHz || expectedHz <= 0.0f)
+    return FailReason::EXTRA_EDGE;
   const float hz = static_cast<float>(tickHz) / p.periodTicks;
-  const float duty = 100.0f * p.activeTicks / p.periodTicks;
+  const float duty = static_cast<float>(100.0 * p.activeTicks * tickHz /
+    (static_cast<double>(pulseTickHz) * p.periodTicks));
   ++s.periods;
   s.periodSum += p.periodTicks; s.activeSum += p.activeTicks;
   if (p.periodTicks < s.minPeriod) s.minPeriod = p.periodTicks;
   if (p.periodTicks > s.maxPeriod) s.maxPeriod = p.periodTicks;
   if (p.activeTicks < s.minActive) s.minActive = p.activeTicks;
   if (p.activeTicks > s.maxActive) s.maxActive = p.activeTicks;
-  FailReason reason = FailReason::NONE;
+  // Validate every complete period independently. A single capture tick is the
-  if (!periodWithin(hz, expectedHz, tolerance)) reason = FailReason::PERIOD_OUT;
+  // unavoidable endpoint uncertainty, so only that one tick may be corrected
-  else if (!dutyWithin(duty, expectedDuty, tolerance)) reason = FailReason::DUTY_OUT;
+  // toward the expected value. It cannot hide a larger isolated distortion.
+  bool frequencyOk = periodWithin(hz, expectedHz, tolerance);
+  if (!frequencyOk) {
+    uint32_t correctedPeriod = p.periodTicks;
+    if (hz > expectedHz) ++correctedPeriod;
+    else if (correctedPeriod > 1U) --correctedPeriod;
+    frequencyOk = periodWithin(static_cast<float>(tickHz) / correctedPeriod,
+      expectedHz, tolerance);
+  }
+
+  const double expectedPulseTicks = static_cast<double>(pulseTickHz) * expectedDuty /
+    (100.0 * expectedHz);
+  bool pulseOk = expectedPulseTicks > 0.0 &&
+    fabs(static_cast<double>(p.activeTicks) - expectedPulseTicks) * 100.0 /
+      expectedPulseTicks <= tolerance + 0.0001;
+  if (!pulseOk) {
+    uint32_t correctedActive = p.activeTicks;
+    if (correctedActive > expectedPulseTicks) {
+      if (correctedActive) --correctedActive;
+    } else {
+      ++correctedActive;
+    }
+    pulseOk = fabs(static_cast<double>(correctedActive) - expectedPulseTicks) *
+      100.0 / expectedPulseTicks <= tolerance + 0.0001;
+  }
+
+  const FailReason reason = !frequencyOk ? FailReason::PERIOD_OUT :
+    (!pulseOk ? FailReason::DUTY_OUT : FailReason::NONE);
   if (reason != FailReason::NONE && s.reason == FailReason::NONE) {
     s.reason = reason; s.firstBadPeriod = s.periods; s.firstBadRepeat = repeat;
     s.badFrequency = hz; s.badDuty = duty;
@@ -162,3 +318,64 @@ FailReason evaluatePeriodFast(const PulsePeriod &p, uint32_t tickHz,
   }
   return reason;
 }
+
+FailReason evaluatePeriodWindow(uint64_t periodSum, uint64_t activeSum,
+                                uint32_t periodCount, uint32_t tickHz,
+                                float expectedHz, float expectedDuty,
+                                float tolerance,
+                                uint32_t minPeriod, uint32_t maxPeriod,
+                                uint8_t repeat,
+                                StageStats &s) {
+  if (!periodSum || !periodCount || activeSum >= periodSum || !tickHz)
+    return FailReason::EXTRA_EDGE;
+  const float hz = static_cast<float>(
+    static_cast<double>(tickHz) * periodCount / periodSum);
+  const float duty = static_cast<float>(
+    100.0 * static_cast<double>(activeSum) / periodSum);
+  bool frequencyOk = periodWithin(hz, expectedHz, tolerance);
+  if (!frequencyOk && maxPeriod == minPeriod + 1U) {
+    // At a tolerance boundary, alternating adjacent capture counts prove that the
+    // result is quantization-limited. Accept only when a one-tick correction
+    // toward the expected value returns the averaged frequency into tolerance.
+    // Consecutive periods telescope into one first-to-last edge interval, so
+    // the whole window has a one-tick endpoint uncertainty, not one tick per
+    // period.
+    uint64_t correctedPeriodSum = periodSum;
+    if (hz > expectedHz) ++correctedPeriodSum;
+    else if (periodSum > 1U) --correctedPeriodSum;
+    const float correctedHz = static_cast<float>(
+      static_cast<double>(tickHz) * periodCount / correctedPeriodSum);
+    frequencyOk = periodWithin(correctedHz, expectedHz, tolerance);
+  }
+
+  const double expectedPulseTicks = static_cast<double>(tickHz) * expectedDuty /
+    (100.0 * expectedHz);
+  const double measuredPulseTicks = static_cast<double>(activeSum) / periodCount;
+  bool pulseOk = expectedPulseTicks > 0.0 &&
+    fabs(measuredPulseTicks - expectedPulseTicks) * 100.0 / expectedPulseTicks <= tolerance + 0.0001;
+  if (!pulseOk) {
+    // Unlike full periods, active intervals do not telescope: every pulse is
+    // bounded by a different rising/falling edge pair. With slowly drifting
+    // asynchronous clocks an entire short window can therefore quantize to
+    // the same adjacent count (e.g. 41/80 for a true 50% duty). Apply one tick
+    // per active interval even when minActive == maxActive.
+    const bool dutyHigh = measuredPulseTicks > expectedPulseTicks;
+    const uint64_t correctedActive = dutyHigh
+      ? (activeSum > periodCount ? activeSum - periodCount : 0U)
+      : activeSum + periodCount;
+    const double correctedPulseTicks = static_cast<double>(correctedActive) / periodCount;
+    pulseOk = fabs(correctedPulseTicks - expectedPulseTicks) * 100.0 /
+      expectedPulseTicks <= tolerance + 0.0001;
+  }
+
+  FailReason reason = !frequencyOk ? FailReason::PERIOD_OUT :
+    (!pulseOk ? FailReason::DUTY_OUT : FailReason::NONE);
+  if (reason != FailReason::NONE && s.reason == FailReason::NONE) {
+    s.reason = reason;
+    s.firstBadPeriod = s.periods >= periodCount ? s.periods - periodCount + 1U : 1U;
+    s.firstBadRepeat = repeat;
+    s.badFrequency = hz;
+    s.badDuty = duty;
+  }
+  return reason;
+}

OpticalChannelTester/Core.h

@@ -4,41 +4,51 @@
 #include <stddef.h>
 
 enum class Role : uint8_t { SOLO, MASTER, SLAVE };
+enum class TestGroup : uint8_t { OPTICS, BOARD };
+enum class TestKind : uint8_t { OPTICAL, DRIVER };
+enum class BoardTest : uint8_t { ADC, PWM_OUTPUT, RX_INPUT };
+enum class LightCode : uint8_t { HH, HL, LH, LL };
 enum class FailReason : uint8_t {
   NONE, NO_SIGNAL, PERIOD_OUT, DUTY_OUT, EXTRA_EDGE, GLITCH, LOST_EDGE,
-  TOO_FEW_PERIODS, LINK_LOST, UNSUPPORTED, RESOLUTION, ABORTED, DATA_LOST
+  DATA_LOSS, LINK_LOST, UNSUPPORTED, RESOLUTION, ABORTED,
+  ACK_MISSING, ACK_TIMING, DRIVER_FAULT, ACK_MERGED
 };
 
 const char *roleName(Role role);
+const char *testGroupName(TestGroup group);
+const char *testKindName(TestKind kind);
+const char *boardTestName(BoardTest test);
+const char *lightCodeName(LightCode code);
 const char *failName(FailReason reason);
 
 struct Settings {
   uint16_t version;
   uint8_t role;
-  uint8_t startIndex;
+  uint8_t testKind;
-  uint8_t endIndex;
+  uint8_t lightCode;
-  uint8_t stepIndex;
+  uint8_t frequencyIndex;
+  uint8_t maxPulseIndex;
+  uint8_t minPulseIndex;
   uint8_t accuracyIndex;
   uint8_t timeIndex;
-  uint8_t repeatIndex;
+  uint8_t testGroup;
-  uint8_t dutyIndex;
+  uint8_t boardTest;
   uint32_t checksum;
 };
 
 struct TestParams {
-  uint32_t startHz;
+  uint32_t frequencyHz;
-  uint32_t endHz;
+  uint32_t maxPulseNs;
-  uint32_t stepHz;
+  uint32_t minPulseNs;
   float accuracyPct;
   uint32_t testTimeMs;
-  uint8_t repeats;
-  uint8_t dutyPct;
 };
 
 struct PulsePeriod {
   uint64_t startTick;
   uint32_t periodTicks;
   uint32_t activeTicks;
+  uint32_t activeTickHz;
 };
 
 struct StageStats {
@@ -53,7 +63,7 @@ struct StageStats {
   uint8_t firstBadRepeat;
   float badFrequency;
   float badDuty;
-  uint32_t lostItems;
+  uint32_t droppedItems;
   FailReason reason;
   void reset();
 };
@@ -65,16 +75,35 @@ struct PeriodLimits {
   uint32_t maxDutyX100;
 };
 
+struct IntegerPwmConfig {
+  uint32_t actualHz;
+  uint32_t dividerRaw;
+  uint32_t dutyCount;
+  uint32_t actualPulseNs;
+  uint8_t bits;
+};
+
 uint32_t settingsChecksum(const Settings &s);
-uint32_t frequencyPointCount(uint32_t startHz, uint32_t endHz, uint32_t stepHz);
+bool txActiveLightOn(const Settings &s);
-uint32_t frequencyAt(uint32_t startHz, uint32_t endHz, uint32_t stepHz, uint32_t index);
+bool rxActiveLightOn(const Settings &s);
+uint32_t pulseWidthPointCount(uint32_t maxPulseNs, uint32_t minPulseNs);
+uint32_t pulseWidthAt(uint32_t maxPulseNs, uint32_t minPulseNs, uint32_t index);
+uint64_t nominalStageUs(uint32_t frequencyHz, uint32_t sampleTimeMs, uint32_t settleCycles);
 uint64_t nominalTotalUs(const TestParams &p, uint32_t settleCycles);
 bool periodWithin(float measuredHz, float expectedHz, float tolerancePct);
 bool dutyWithin(float measuredPct, float expectedPct, float tolerancePct);
+float effectiveTolerancePct(float configuredPct);
 uint8_t choosePwmResolution(uint32_t frequencyHz, uint32_t sourceClockHz,
                             uint8_t maxBits);
+uint8_t chooseStablePwmResolution(uint32_t frequencyHz, uint32_t sourceClockHz,
+                                  uint8_t maxBits, uint8_t dutyPct);
+bool choosePwmConfig(uint32_t requestedHz, uint32_t requestedPulseNs,
+                            uint32_t sourceClockHz, uint8_t maxBits,
+                            IntegerPwmConfig &config);
 FailReason validateResolution(uint32_t frequencyHz, float dutyPct, float accuracyPct,
-                              uint32_t captureResolutionHz, uint8_t pwmBits);
+                              uint32_t periodResolutionHz, uint32_t pulseResolutionHz,
+                              uint8_t pwmBits,
+                              uint16_t averagingPeriods);
 FailReason evaluatePeriod(const PulsePeriod &period, uint32_t tickHz, float expectedHz,
                           float expectedDuty, float tolerancePct, uint8_t repeat,
                           StageStats &stats);
@@ -83,3 +112,10 @@ bool makePeriodLimits(uint32_t expectedHz, float expectedDuty, float tolerancePc
 FailReason evaluatePeriodFast(const PulsePeriod &period, uint32_t tickHz,
                               const PeriodLimits &limits, uint8_t repeat,
                               StageStats &stats);
+FailReason evaluatePeriodWindow(uint64_t periodSum, uint64_t activeSum,
+                                uint32_t periodCount, uint32_t tickHz,
+                                float expectedHz, float expectedDuty,
+                                float tolerancePct,
+                                uint32_t minPeriod, uint32_t maxPeriod,
+                                uint8_t repeat,
+                                StageStats &stats);

OpticalChannelTester/Display.cpp

@@ -1,14 +1,32 @@
 #include "Display.h"
 #include "Config.h"
+#include "Font_Cyrillic.h"
 #include "Log.h"
 #include <Wire.h>
 #include <esp_log.h>
 #include <string.h>
 
+namespace {
+uint32_t nextUtf8Codepoint(const char *&text) {
+  const uint8_t first = static_cast<uint8_t>(*text++);
+  if (first < 0x80U) return first;
+  if ((first & 0xE0U) == 0xC0U) {
+    const uint8_t second = static_cast<uint8_t>(*text);
+    if ((second & 0xC0U) == 0x80U) {
+      ++text;
+      return ((first & 0x1FU) << 6) | (second & 0x3FU);
+    }
+  }
+  return '?';
+}
+}
+
 Display::Display() : oled_(128, 32, &Wire, -1) {}
 
 bool Display::begin() {
   Wire.begin(GPIO_SDA, GPIO_SCL);
+  Wire.setClock(400000); // keeps a full 128x32 framebuffer update near 15 ms
+  Wire.setTimeOut(30);   // a faulty/stretched I2C bus must not stall button polling for seconds
   // An absent optional OLED produces a large burst of ESP-IDF NACK messages.
   // Probe it once and keep the I2C driver quiet when no display is connected.
   esp_log_level_set("i2c.master", ESP_LOG_NONE);
@@ -23,39 +41,118 @@ bool Display::begin() {
     oled_.setRotation(OLED_ROTATION);
     oled_.setTextColor(SSD1306_WHITE);
     oled_.setTextSize(1);
+    powered_ = true;
   }
   Log::printf("OLED", "initialization %s, I2C address=0x%02X", ok_ ? "OK" : "FAILED", OLED_ADDRESS);
   return ok_;
 }
 
-void Display::fit(char *s) {
+void Display::setPower(bool enabled) {
-  int16_t x, y; uint16_t w, h;
+  if (!ok_ || powered_ == enabled) return;
-  while (*s) {
+  oled_.ssd1306_command(enabled ? SSD1306_DISPLAYON : SSD1306_DISPLAYOFF);
-    oled_.getTextBounds(s, 0, 0, &x, &y, &w, &h);
+  powered_ = enabled;
-    if (w <= 128) break;
+  Log::printf("OLED", "display power %s", enabled ? "ON" : "OFF");
-    s[strlen(s) - 1] = '\0';
+}
+
+void Display::drawTextLine(const char *text, int16_t y, int16_t startX) {
+  int16_t x = startX;
+  while (text && *text && x + CyrillicFont::WIDTH <= oled_.width()) {
+    const uint32_t codepoint = nextUtf8Codepoint(text);
+    const uint8_t *glyph = CyrillicFont::glyph(codepoint);
+    if (glyph) {
+      for (uint8_t row = 0; row < CyrillicFont::HEIGHT; ++row) {
+        const uint8_t pixels = pgm_read_byte(glyph + row);
+        for (uint8_t column = 0; column < CyrillicFont::WIDTH; ++column)
+          if (pixels & (1U << (CyrillicFont::WIDTH - 1U - column)))
+            oled_.drawPixel(x + column, y + row, SSD1306_WHITE);
+      }
+    } else if (codepoint < 0x100U) {
+      oled_.drawChar(x, y, static_cast<unsigned char>(codepoint),
+        SSD1306_WHITE, SSD1306_BLACK, 1);
+    } else {
+      oled_.drawChar(x, y, '?', SSD1306_WHITE, SSD1306_BLACK, 1);
+    }
+    x += CyrillicFont::ADVANCE;
   }
 }
 
-void Display::show(const char *a, const char *b) {
+void Display::show(const char *a, const char *b, uint32_t progress,
-  char one[32], two[32];
+                   uint32_t progressTotal, const char *topRight) {
+  char one[64], two[64];
   snprintf(one, sizeof(one), "%s", a ? a : ""); snprintf(two, sizeof(two), "%s", b ? b : "");
   // Serial is the primary UI mirror and remains available when OLED is absent.
   Log::printf("UI", "%s | %s", one, two);
   if (!ok_) return;
-  fit(one); fit(two);
+  setPower(true);
-  oled_.clearDisplay(); oled_.setCursor(0, 3); oled_.print(one);
+  oled_.clearDisplay();
-  oled_.setCursor(0, 19); oled_.print(two); oled_.display();
+  drawTextLine(one, 3);
+  drawTextLine(two, 19);
+  if (topRight && *topRight) {
+    oled_.fillRect(oled_.width() - CyrillicFont::ADVANCE, 0,
+      CyrillicFont::ADVANCE, CyrillicFont::HEIGHT + 3, SSD1306_BLACK);
+    drawTextLine(topRight, 3, oled_.width() - CyrillicFont::ADVANCE);
+  }
+  if (progressTotal) {
+    if (progress > progressTotal) progress = progressTotal;
+    const uint16_t width = static_cast<uint16_t>(
+      (static_cast<uint64_t>(progress) * 128U + progressTotal - 1U) / progressTotal);
+    if (width) oled_.drawFastHLine(0, 31, width, SSD1306_WHITE);
+  }
+  oled_.display();
 }
 
 void Display::formatFrequency(float hz, char *out, size_t n) {
-  if (hz >= 1000000.0f) snprintf(out, n, "%.2fM", hz / 1000000.0f);
+  float value = hz; const char *suffix = "Hz";
-  else if (hz >= 1000.0f) snprintf(out, n, "%.2fk", hz / 1000.0f);
+  if (hz >= 999950.0f) { value = hz / 1000000.0f; suffix = "M"; }
-  else snprintf(out, n, "%.0fHz", hz);
+  else if (hz >= 999.5f) { value = hz / 1000.0f; suffix = "k"; }
+  if (suffix[0] == 'M' && fabsf(value - roundf(value)) < 0.0005f)
+    snprintf(out, n, "%.0f%s", value, suffix);
+  else if (value >= 100.0f) snprintf(out, n, "%.1f%s", value, suffix);
+  else if (value >= 10.0f) snprintf(out, n, "%.2f%s", value, suffix);
+  else snprintf(out, n, "%.3f%s", value, suffix);
+}
+
+void Display::formatTestFrequency(uint32_t hz, char *out, size_t n) {
+  if (hz >= 1000000U && hz % 1000000U == 0)
+    snprintf(out, n, "%luM", hz / 1000000U);
+  else if (hz >= 1000U && hz % 1000U == 0)
+    snprintf(out, n, "%luk", hz / 1000U);
+  else if (hz >= 1000U) {
+    const float khz = hz / 1000.0f;
+    if (khz >= 100.0f) snprintf(out, n, "%.1fk", khz);
+    else if (khz >= 10.0f) snprintf(out, n, "%.2fk", khz);
+    else snprintf(out, n, "%.3fk", khz);
+  } else
+    snprintf(out, n, "%lu", hz);
+}
+
+void Display::formatPwmFrequency(uint32_t hz, char *out, size_t n) {
+  if (hz >= 1000000U && hz % 1000000U == 0U)
+    snprintf(out, n, "%luMHz", hz / 1000000U);
+  else if (hz >= 1000U && hz % 1000U == 0U)
+    snprintf(out, n, "%lukHz", hz / 1000U);
+  else if (hz >= 1000U)
+    snprintf(out, n, "%.3gkHz", hz / 1000.0f);
+  else
+    snprintf(out, n, "%luHz", hz);
+}
+
+void Display::formatPulse(uint32_t pulseNs, char *out, size_t n, bool measured) {
+  if (pulseNs >= 1000U) {
+    const float us = pulseNs / 1000.0f;
+    if (measured) snprintf(out, n, "%.2fu", us);
+    else if (pulseNs % 1000U == 0U) snprintf(out, n, "%luus", pulseNs / 1000U);
+    else snprintf(out, n, "%.2fus", us);
+  } else if (measured) {
+    snprintf(out, n, "%.3fu", pulseNs / 1000.0f);
+  } else {
+    snprintf(out, n, "%luns", pulseNs);
+  }
 }
 
 void Display::formatDuration(uint64_t us, char *out, size_t n) {
-  const uint64_t minutes = us / 60000000ULL;
+  const uint64_t totalSeconds = (us + 999999ULL) / 1000000ULL;
-  if (minutes < 60) snprintf(out, n, "%02llu:%02llu", minutes, (us / 1000000ULL) % 60ULL);
+  const uint64_t minutes = totalSeconds / 60ULL;
+  if (minutes < 60) snprintf(out, n, "%02llu:%02llu", minutes, totalSeconds % 60ULL);
   else snprintf(out, n, "%llu:%02llu", minutes / 60ULL, minutes % 60ULL);
 }

OpticalChannelTester/Display.h

@@ -7,13 +7,20 @@ class Display {
  public:
   Display();
   bool begin();
-  void show(const char *line1, const char *line2);
+  void show(const char *line1, const char *line2,
+            uint32_t progress = 0, uint32_t progressTotal = 0,
+            const char *topRight = nullptr);
+  void setPower(bool enabled);
   bool available() const { return ok_; }
+  bool powered() const { return powered_; }
   static void formatFrequency(float hz, char *out, size_t size);
+  static void formatTestFrequency(uint32_t hz, char *out, size_t size);
+  static void formatPwmFrequency(uint32_t hz, char *out, size_t size);
+  static void formatPulse(uint32_t pulseNs, char *out, size_t size, bool measured = false);
   static void formatDuration(uint64_t us, char *out, size_t size);
  private:
-  void fit(char *text);
+  void drawTextLine(const char *text, int16_t y, int16_t startX = 0);
   Adafruit_SSD1306 oled_;
   bool ok_ = false;
+  bool powered_ = false;
 };
-

OpticalChannelTester/DriverTest.cpp

@@ -0,0 +1,736 @@
+#include "DriverTest.h"
+
+#include "Config.h"
+#include "Log.h"
+
+#include <driver/gpio.h>
+#include <esp_cpu.h>
+#include <esp_task_wdt.h>
+#include <esp_timer.h>
+#include <esp32-hal-cpu.h>
+#include <soc/gpio_struct.h>
+#include <string.h>
+
+static inline uint32_t IRAM_ATTR maskAllInterrupts() {
+  uint32_t state;
+  asm volatile("rsil %0, 15" : "=a"(state) :: "memory");
+  return state;
+}
+
+static inline void IRAM_ATTR restoreInterrupts(uint32_t state) {
+  asm volatile("wsr %0, ps\nrsync" :: "a"(state) : "memory");
+}
+
+void DriverEdgeStats::reset() {
+  memset(this, 0, sizeof(*this));
+  minDelayTicks = minResponseTicks = UINT32_MAX;
+}
+
+void DriverStats::reset() {
+  memset(this, 0, sizeof(*this));
+  minDelayTicks = minResponseTicks = UINT32_MAX;
+  turnOn.reset();
+  turnOff.reset();
+  reason = FailReason::NONE;
+}
+
+uint64_t DriverTest::nsToTicks(uint32_t ns) const {
+  return (static_cast<uint64_t>(ns) * captureHz_ + 999999999ULL) /
+    1000000000ULL;
+}
+
+uint64_t DriverTest::ticksToNs(uint64_t ticks) const {
+  return (ticks * 1000000000ULL + captureHz_ / 2U) / captureHz_;
+}
+
+bool DriverTest::start(uint32_t frequencyHz, uint32_t pulseNs,
+                       float tolerancePct, uint32_t testTimeMs,
+                       uint8_t settleCycles, bool activeTxLightOn,
+                       bool activeRxLightOn) {
+  (void)tolerancePct;
+  (void)settleCycles;
+  if (!receiver_.highRateBackend() || !frequencyHz || !pulseNs ||
+      !testTimeMs || GPIO_PWM >= 32U || GPIO_RX >= 32U) return false;
+
+  requestCaptureStop();
+  if (!waitCaptureStopped(25U)) return false;
+  if (!pollTask_ && xTaskCreatePinnedToCore(pollTaskEntry, "driver-poll",
+        3072, this, configMAX_PRIORITIES - 1U, &pollTask_, 0) != pdPASS)
+    return false;
+  if (!analyzerTask_ && xTaskCreatePinnedToCore(analyzerTaskEntry,
+        "driver-analyze", 4096, this, 4, &analyzerTask_, 1) != pdPASS)
+    return false;
+
+  // The ACK edges can be less than 1 us apart. MCPWM capture delivers all
+  // channels through one group ISR and can overwrite an earlier channel
+  // timestamp before that ISR reaches it. During DRIVER test dedicate core 0
+  // to direct GPIO sampling; PWM itself remains fully hardware-generated.
+  captureHz_ = getCpuFrequencyMhz() * 1000000UL;
+  if (!captureHz_ || captureHz_ % frequencyHz) return false;
+  captureFrequencyHz_ = frequencyHz;
+  capturePulseNs_ = pulseNs;
+  captureTxLightOn_ = activeTxLightOn;
+  txPulseLightOn_ = activeTxLightOn;
+  pollPeriodCycles_ = captureHz_ / frequencyHz;
+  pollWindowBeforeCycles_ = captureHz_ / 200000U;  // 5 us
+  const uint64_t periodNs = 1000000000ULL / frequencyHz;
+  uint64_t windowNs = pulseNs + 50000ULL;
+  const uint64_t maximumWindowNs = periodNs * 3ULL / 4ULL;
+  if (windowNs > maximumWindowNs) windowNs = maximumWindowNs;
+  pollWindowAfterCycles_ = static_cast<uint32_t>(
+    windowNs * captureHz_ / 1000000000ULL);
+  const uint8_t activeTxRaw = activeTxLightOn ? TX_LIGHT_ON_GPIO_LEVEL :
+    TX_LIGHT_OFF_GPIO_LEVEL;
+  pollTxStartRawHigh_ = activeTxRaw == HIGH;
+  rxActiveRawHigh_ =
+    ((RX_LIGHT_ON_GPIO_LEVEL == HIGH) == activeRxLightOn);
+
+  ackStartMaxTicks_ = nsToTicks(DRIVER_ACK_START_MAX_NS);
+  faultLongTicks_ = nsToTicks(DRIVER_FAULT_MIN_NS);
+  stuckTicks_ = nsToTicks(DRIVER_RX_STUCK_MIN_NS);
+  testTicks_ = static_cast<uint64_t>(captureHz_) * testTimeMs / 1000ULL;
+  const uint32_t requestedSubsamples = testTimeMs < 1000U ?
+    DRIVER_SHORT_SAMPLE_PROGRESS_STEPS :
+    (testTimeMs + DRIVER_PROGRESS_INTERVAL_MS - 1U) /
+      DRIVER_PROGRESS_INTERVAL_MS;
+  subsampleCount_ = static_cast<uint8_t>(
+    requestedSubsamples > UINT8_MAX ? UINT8_MAX : requestedSubsamples);
+  subsampleTicks_ = testTicks_ / subsampleCount_;
+  if (!pollPeriodCycles_ || !pollWindowAfterCycles_ ||
+      !ackStartMaxTicks_ || !faultLongTicks_ || !stuckTicks_ ||
+      !testTicks_ || !subsampleTicks_)
+    return false;
+
+  clearCapture();
+  stats_.reset();
+  publishStats();
+  pendingCount_ = 0;
+  response_ = {};
+  measurementStartTick_ = deadlineTick_ = 0;
+  pointOriginTick_ = lastEventTick_ = lastActiveTxTick_ = 0;
+  // Skip two complete periods after the polling task synchronizes with TX.
+  settleCycles_ = DRIVER_CAPTURE_SYNC_CYCLES;
+  Log::printf("DRIVER", "capture=GPIO-%luMHz sync-periods=%u ACK-timeout=%luns",
+    static_cast<unsigned long>(captureHz_ / 1000000UL),
+    static_cast<unsigned>(settleCycles_),
+    static_cast<unsigned long>(DRIVER_ACK_START_MAX_NS));
+  const uint64_t periodUs =
+    (1000000ULL + frequencyHz - 1ULL) / frequencyHz;
+  settlingTimeoutUs_ = periodUs *
+    (static_cast<uint64_t>(DRIVER_CAPTURE_SYNC_CYCLES) + 2ULL) + 1000ULL;
+  settlingDeadlineUs_ = 0;
+  settledCycles_ = 0;
+  completedSubsamples_ = 0;
+  measurementClosed_ = false;
+  havePointOrigin_ = false;
+  haveLastActiveTx_ = false;
+  rxActive_ = (gpio_get_level(static_cast<gpio_num_t>(GPIO_RX)) != 0) ==
+    rxActiveRawHigh_;
+  currentStep_ = 0;
+  traceWrite_ = traceCount_ = 0;
+  __atomic_store_n(&progressUpdatePending_, false, __ATOMIC_RELEASE);
+  state_ = DriverState::SETTLING;
+  return armCapture();
+}
+
+bool DriverTest::armCapture() {
+  // Never wait for USB/Serial here: a disconnected or slow host must not
+  // delay a subsample or consume the test's global timeout.
+  if (!__atomic_load_n(&core0WdtDisabled_, __ATOMIC_ACQUIRE)) {
+    TaskHandle_t idle0 = xTaskGetIdleTaskHandleForCore(0);
+    const bool watched = idle0 && esp_task_wdt_status(idle0) == ESP_OK;
+    const bool disabled = watched && disableCore0WDT();
+    __atomic_store_n(&core0WdtDisabled_, disabled, __ATOMIC_RELEASE);
+    // If IDLE0 is not watched there is nothing to remove or restore.
+  }
+  __atomic_store_n(&captureReady_, false, __ATOMIC_RELEASE);
+  __atomic_store_n(&captureActive_, true, __ATOMIC_RELEASE);
+  xTaskNotifyGive(pollTask_);
+  const uint32_t readyDeadline = millis() + 25U;
+  while (!__atomic_load_n(&captureReady_, __ATOMIC_ACQUIRE) &&
+         static_cast<int32_t>(millis() - readyDeadline) < 0) delay(0);
+  if (!__atomic_load_n(&captureReady_, __ATOMIC_ACQUIRE)) {
+    requestCaptureStop();
+    waitCaptureStopped(25U);
+    state_ = DriverState::IDLE;
+    return false;
+  }
+  settlingDeadlineUs_ = static_cast<uint64_t>(esp_timer_get_time()) +
+    settlingTimeoutUs_;
+  xTaskNotifyGive(analyzerTask_);
+  return true;
+}
+
+bool DriverTest::resumeSubsample() {
+  if (state_ != DriverState::SUBSAMPLE_DONE) return false;
+  if (!waitCaptureStopped(25U)) {
+    fail(FailReason::DATA_LOSS, lastEventTick_);
+    return false;
+  }
+
+  clearCapture();
+  pendingCount_ = 0;
+  response_ = {};
+  measurementStartTick_ = deadlineTick_ = 0;
+  lastActiveTxTick_ = 0;
+  settlingDeadlineUs_ = 0;
+  settledCycles_ = 0;
+  measurementClosed_ = false;
+  haveLastActiveTx_ = false;
+  rxActive_ = (gpio_get_level(static_cast<gpio_num_t>(GPIO_RX)) != 0) ==
+    rxActiveRawHigh_;
+  state_ = DriverState::SETTLING;
+  if (armCapture()) return true;
+  fail(FailReason::DATA_LOSS, lastEventTick_);
+  return false;
+}
+
+void DriverTest::pollTaskEntry(void *context) {
+  static_cast<DriverTest *>(context)->pollTaskLoop();
+}
+
+void IRAM_ATTR DriverTest::pollTaskLoop() {
+  constexpr uint32_t PIN_MASK = (1UL << GPIO_PWM) | (1UL << GPIO_RX);
+  for (;;) {
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+    uint32_t levels = GPIO.in & PIN_MASK;
+    uint32_t nextStart = 0;
+    uint32_t windowEnd = 0;
+    uint32_t lastTxStart = 0;
+    RawEvent hotEvents[32] = {};
+    uint8_t hotCount = 0;
+    bool sawTxStart = false;
+    bool critical = false;
+    bool allInterruptsMasked = false;
+    uint32_t interruptState = 0;
+
+    auto sampleOnce = [&]() {
+      const uint32_t current = GPIO.in & PIN_MASK;
+      if (current == levels) return;
+      const uint32_t now = esp_cpu_get_cycle_count();
+      const uint32_t changed = current ^ levels;
+      if ((changed & (1UL << GPIO_PWM)) && hotCount < 32U)
+        hotEvents[hotCount++] = {now,
+          (current & (1UL << GPIO_PWM)) != 0U, Source::TX};
+      if ((changed & (1UL << GPIO_RX)) && hotCount < 32U)
+        hotEvents[hotCount++] = {now,
+          (current & (1UL << GPIO_RX)) != 0U, Source::RX};
+      if ((changed & (1UL << GPIO_PWM)) &&
+          ((current & (1UL << GPIO_PWM)) != 0U) == pollTxStartRawHigh_) {
+        lastTxStart = now;
+        sawTxStart = true;
+      }
+      levels = current;
+    };
+
+    auto flushHot = [&]() {
+      for (uint8_t i = 0; i < hotCount; ++i)
+        recordRaw(hotEvents[i].tick, hotEvents[i].rising,
+                  hotEvents[i].source);
+      hotCount = 0;
+    };
+
+    portENTER_CRITICAL(&pollMux_);
+    critical = true;
+    __atomic_store_n(&captureReady_, true, __ATOMIC_RELEASE);
+    while (__atomic_load_n(&captureActive_, __ATOMIC_ACQUIRE) && !sawTxStart)
+      for (uint8_t i = 0; i < 16U; ++i) sampleOnce();
+    if (sawTxStart) windowEnd = lastTxStart + pollWindowAfterCycles_;
+    const bool synchronized = sawTxStart;
+    if (synchronized) {
+      interruptState = maskAllInterrupts();
+      allInterruptsMasked = true;
+    }
+
+    while (__atomic_load_n(&captureActive_, __ATOMIC_ACQUIRE) && synchronized) {
+      while (__atomic_load_n(&captureActive_, __ATOMIC_ACQUIRE) &&
+             static_cast<int32_t>(esp_cpu_get_cycle_count() - windowEnd) < 0)
+        for (uint8_t i = 0; i < 16U; ++i) sampleOnce();
+
+      restoreInterrupts(interruptState);
+      allInterruptsMasked = false;
+      portEXIT_CRITICAL(&pollMux_);
+      critical = false;
+      flushHot();
+      // This marker is written only after every TX/RX edge from the completed
+      // sampling window. The analyzer may now safely decide that an ACK was
+      // absent without racing the producer that writes those edges.
+      recordRaw(esp_cpu_get_cycle_count(), false, Source::WINDOW_END);
+      if (!__atomic_load_n(&captureActive_, __ATOMIC_ACQUIRE)) break;
+      nextStart = lastTxStart + pollPeriodCycles_;
+      sawTxStart = false;
+
+      uint32_t outsideSpins = 0;
+      while (__atomic_load_n(&captureActive_, __ATOMIC_ACQUIRE) &&
+             static_cast<int32_t>(esp_cpu_get_cycle_count() -
+               (nextStart - pollWindowBeforeCycles_)) < 0) {
+        for (uint8_t i = 0; i < 16U; ++i) sampleOnce();
+        if (++outsideSpins >= 256U) {
+          outsideSpins = 0;
+          taskYIELD();
+        }
+      }
+      if (!__atomic_load_n(&captureActive_, __ATOMIC_ACQUIRE)) break;
+
+      portENTER_CRITICAL(&pollMux_);
+      critical = true;
+      interruptState = maskAllInterrupts();
+      allInterruptsMasked = true;
+      windowEnd = nextStart + pollWindowAfterCycles_;
+    }
+    if (allInterruptsMasked) restoreInterrupts(interruptState);
+    if (critical) portEXIT_CRITICAL(&pollMux_);
+    flushHot();
+    if (__atomic_exchange_n(&core0WdtDisabled_, false,
+                            __ATOMIC_ACQ_REL)) enableCore0WDT();
+    __atomic_store_n(&captureReady_, false, __ATOMIC_RELEASE);
+  }
+}
+
+void DriverTest::analyzerTaskEntry(void *context) {
+  static_cast<DriverTest *>(context)->analyzerTaskLoop();
+}
+
+void DriverTest::analyzerTaskLoop() {
+  TimedEvent events[64] = {};
+  for (;;) {
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+    while (state_ == DriverState::SETTLING || state_ == DriverState::RUNNING) {
+      const size_t count = readRaw(events, 64, pdMS_TO_TICKS(1));
+      for (size_t i = 0; i < count &&
+           (state_ == DriverState::SETTLING || state_ == DriverState::RUNNING);
+           ++i) processEvent(events[i]);
+      const uint32_t dropped = takeDropped();
+      if (dropped) {
+        stats_.droppedItems += dropped;
+        fail(FailReason::DATA_LOSS, lastEventTick_);
+      }
+      if (!count && state_ == DriverState::SETTLING &&
+                 static_cast<uint64_t>(esp_timer_get_time()) >=
+                   settlingDeadlineUs_) {
+        fail(FailReason::ACK_MISSING, lastEventTick_);
+      }
+    }
+  }
+}
+
+void DriverTest::processEvent(const TimedEvent &event) {
+  lastEventTick_ = event.tick;
+  if (event.source == Source::WINDOW_END) {
+    if (state_ == DriverState::RUNNING) {
+      expirePending(event.tick);
+      if (state_ == DriverState::RUNNING) completeIfPossible(event.tick);
+    }
+    return;
+  }
+  if (!havePointOrigin_) {
+    pointOriginTick_ = event.tick;
+    havePointOrigin_ = true;
+  }
+  rememberTrace(event);
+  if (state_ == DriverState::SETTLING) processSettling(event);
+  else if (state_ == DriverState::RUNNING) processRunning(event);
+}
+
+void DriverTest::processSettling(const TimedEvent &event) {
+  if (event.source == Source::RX) {
+    rxActive_ = event.rising == rxActiveRawHigh_;
+    return;
+  }
+  const uint8_t rawLevel = event.rising ? HIGH : LOW;
+  const bool lightOn = rawLevel == TX_LIGHT_ON_GPIO_LEVEL;
+  if (lightOn != txPulseLightOn_) return;
+  if (settledCycles_ < settleCycles_) {
+    ++settledCycles_;
+    return;
+  }
+  if (rxActive_) {
+    fail(FailReason::DRIVER_FAULT, event.tick);
+    return;
+  }
+  state_ = DriverState::RUNNING;
+  measurementStartTick_ = event.tick;
+  const uint64_t measuredBefore =
+    static_cast<uint64_t>(completedSubsamples_) * subsampleTicks_;
+  const uint64_t thisSubsampleTicks =
+    completedSubsamples_ + 1U == subsampleCount_ ?
+      testTicks_ - measuredBefore : subsampleTicks_;
+  deadlineTick_ = event.tick + thisSubsampleTicks;
+  processTx(event, lightOn);
+}
+
+void DriverTest::processRunning(const TimedEvent &event) {
+  if (response_.active && event.tick - response_.startTick >= stuckTicks_) {
+    const uint64_t delay = response_.associated ?
+      response_.startTick - response_.tx.tick : 0;
+    const uint64_t trigger = haveLastActiveTx_ &&
+      response_.startTick >= lastActiveTxTick_ ?
+      response_.startTick - lastActiveTxTick_ : delay;
+    fail(FailReason::DRIVER_FAULT, event.tick, delay,
+      event.tick - response_.startTick, trigger);
+    return;
+  }
+  if (event.source == Source::TX) {
+    expirePending(event.tick);
+    if (state_ != DriverState::RUNNING) return;
+    const uint8_t rawLevel = event.rising ? HIGH : LOW;
+    const bool lightOn = rawLevel == TX_LIGHT_ON_GPIO_LEVEL;
+    if (event.tick < deadlineTick_) processTx(event, lightOn);
+    else measurementClosed_ = true;
+  } else {
+    // A delayed fault indication can start after the normal ACK deadline.
+    // Measure the RX pulse before expiring its possible causal TX edge.
+    processRx(event, event.rising == rxActiveRawHigh_);
+    if (state_ != DriverState::RUNNING) return;
+    if (!response_.active) expirePending(event.tick);
+  }
+  if (state_ != DriverState::RUNNING) return;
+  completeIfPossible(event.tick);
+}
+
+bool DriverTest::addPending(uint64_t tick, bool lightOn) {
+  if (pendingCount_ >= MAX_PENDING) {
+    fail(FailReason::DATA_LOSS, tick);
+    return false;
+  }
+  pending_[pendingCount_++] = {tick, lightOn};
+  return true;
+}
+
+void DriverTest::processTx(const TimedEvent &event, bool lightOn) {
+  if (!addPending(event.tick, lightOn)) return;
+  if (lightOn == txPulseLightOn_) {
+    lastActiveTxTick_ = event.tick;
+    haveLastActiveTx_ = true;
+  }
+  ++stats_.inputEdges;
+}
+
+int8_t DriverTest::matchingPending(uint64_t rxTick) const {
+  for (uint8_t i = 0; i < pendingCount_; ++i)
+    if (rxTick >= pending_[i].tick &&
+        rxTick - pending_[i].tick <= ackStartMaxTicks_)
+      return static_cast<int8_t>(i);
+  return -1;
+}
+
+void DriverTest::removePending(uint8_t index) {
+  if (index >= pendingCount_) return;
+  for (uint8_t i = index + 1U; i < pendingCount_; ++i)
+    pending_[i - 1U] = pending_[i];
+  --pendingCount_;
+}
+
+void DriverTest::processRx(const TimedEvent &event, bool activeNow) {
+  rxActive_ = activeNow;
+  if (activeNow) {
+    if (response_.active) {
+      fail(FailReason::DATA_LOSS, event.tick);
+      return;
+    }
+    response_ = {};
+    response_.active = true;
+    response_.startTick = event.tick;
+    const int8_t index = matchingPending(event.tick);
+    if (index >= 0) {
+      response_.associated = true;
+      response_.tx = pending_[index];
+      removePending(static_cast<uint8_t>(index));
+    } else ++stats_.unexpectedResponses;
+    return;
+  }
+
+  if (!response_.active) return;
+  const uint64_t width = event.tick - response_.startTick;
+  if (!response_.associated) {
+    const uint64_t trigger = haveLastActiveTx_ &&
+      response_.startTick >= lastActiveTxTick_ ?
+      response_.startTick - lastActiveTxTick_ : 0;
+    response_ = {};
+    fail(FailReason::DRIVER_FAULT, event.tick, trigger, width, trigger);
+    return;
+  }
+
+  const uint64_t guard = mergeGuardTicks();
+  for (uint8_t i = 0; i < pendingCount_; ++i) {
+    if (pending_[i].tick > response_.startTick &&
+        event.tick - pending_[i].tick >= guard) {
+      const uint64_t delay = response_.startTick - response_.tx.tick;
+      const uint64_t trigger = event.tick - pending_[i].tick;
+      response_ = {};
+      fail(FailReason::ACK_MERGED, event.tick, delay, width, trigger);
+      return;
+    }
+  }
+  if (width >= faultLongTicks_) {
+    const uint64_t delay = response_.startTick - response_.tx.tick;
+    const uint64_t trigger = haveLastActiveTx_ &&
+      response_.startTick >= lastActiveTxTick_ ?
+      response_.startTick - lastActiveTxTick_ : delay;
+    response_ = {};
+    fail(FailReason::DRIVER_FAULT, event.tick, delay, width, trigger);
+    return;
+  }
+
+  const uint64_t delay = response_.startTick - response_.tx.tick;
+  const bool lightOn = response_.tx.lightOn;
+  response_ = {};
+  acceptAcknowledgement(delay, width, lightOn);
+}
+
+uint64_t DriverTest::mergeGuardTicks() const {
+  uint32_t observedMax = stats_.maxDelayTicks;
+  const uint64_t baseline = observedMax ? observedMax :
+    nsToTicks(DRIVER_ACK_DELAY_NS + 500U);
+  return baseline + nsToTicks(DRIVER_ACK_MERGE_MARGIN_NS);
+}
+
+void DriverTest::acceptAcknowledgement(uint64_t delay, uint64_t width,
+                                       bool lightOn) {
+  const uint32_t delay32 = delay > UINT32_MAX ? UINT32_MAX :
+    static_cast<uint32_t>(delay);
+  const uint32_t width32 = width > UINT32_MAX ? UINT32_MAX :
+    static_cast<uint32_t>(width);
+  stats_.lastDelayTicks = delay32;
+  stats_.lastResponseTicks = width32;
+  ++stats_.responses;
+  if (delay32 < stats_.minDelayTicks) stats_.minDelayTicks = delay32;
+  if (delay32 > stats_.maxDelayTicks) stats_.maxDelayTicks = delay32;
+  if (width32 < stats_.minResponseTicks) stats_.minResponseTicks = width32;
+  if (width32 > stats_.maxResponseTicks) stats_.maxResponseTicks = width32;
+
+  DriverEdgeStats &edge = lightOn ? stats_.turnOn : stats_.turnOff;
+  ++edge.responses;
+  edge.delaySumTicks += delay32;
+  edge.responseSumTicks += width32;
+  if (delay32 < edge.minDelayTicks) edge.minDelayTicks = delay32;
+  if (delay32 > edge.maxDelayTicks) edge.maxDelayTicks = delay32;
+  if (width32 < edge.minResponseTicks) edge.minResponseTicks = width32;
+  if (width32 > edge.maxResponseTicks) edge.maxResponseTicks = width32;
+  publishStats();
+}
+
+void DriverTest::expirePending(uint64_t now) {
+  for (uint8_t i = 0; i < pendingCount_; ++i) {
+    if (now < pending_[i].tick + ackStartMaxTicks_) continue;
+    // The failure belongs to the ACK deadline itself. A later TX edge or the
+    // end-of-window marker is only the safe moment when absence is confirmed.
+    fail(FailReason::ACK_MISSING,
+      pending_[i].tick + ackStartMaxTicks_, ackStartMaxTicks_);
+    return;
+  }
+}
+
+void DriverTest::completeIfPossible(uint64_t now) {
+  if (state_ != DriverState::RUNNING) return;
+  if (!measurementClosed_ && now >= deadlineTick_) measurementClosed_ = true;
+  if (!measurementClosed_ || response_.active || pendingCount_) return;
+  if (!stats_.turnOn.responses || !stats_.turnOff.responses) {
+    fail(FailReason::ACK_MISSING, now);
+    return;
+  }
+  ++completedSubsamples_;
+  currentStep_ = completedSubsamples_;
+  publishStats();
+  requestCaptureStop();
+  if (!waitCaptureStopped(25U)) {
+    fail(FailReason::DATA_LOSS, lastEventTick_);
+    return;
+  }
+  if (completedSubsamples_ >= subsampleCount_) {
+    __atomic_store_n(&progressUpdatePending_, false, __ATOMIC_RELEASE);
+    state_ = DriverState::PASS;
+  } else {
+    __atomic_store_n(&progressUpdatePending_, true, __ATOMIC_RELEASE);
+    state_ = DriverState::SUBSAMPLE_DONE;
+  }
+}
+
+void DriverTest::fail(FailReason reason, uint64_t tick, uint64_t delay,
+                      uint64_t pulseWidth, uint64_t triggerAfterTx) {
+  if (state_ == DriverState::FAIL || state_ == DriverState::PASS) return;
+  if (stats_.reason == FailReason::NONE) {
+    stats_.reason = reason;
+    if (tick && havePointOrigin_ && tick >= pointOriginTick_)
+      stats_.errorElapsedTicks = tick - pointOriginTick_;
+    const uint64_t trigger = triggerAfterTx ? triggerAfterTx : delay;
+    if (trigger) {
+      stats_.errorTriggerTicks = trigger > UINT32_MAX ? UINT32_MAX :
+        static_cast<uint32_t>(trigger);
+      stats_.errorTriggerValid = true;
+    }
+    if (delay) {
+      stats_.errorDelayTicks = delay > UINT32_MAX ? UINT32_MAX :
+        static_cast<uint32_t>(delay);
+      stats_.errorDelayValid = true;
+    }
+    if (pulseWidth) {
+      stats_.errorPulseTicks = pulseWidth > UINT32_MAX ? UINT32_MAX :
+        static_cast<uint32_t>(pulseWidth);
+      stats_.errorPulseValid = true;
+    }
+  }
+  publishStats();
+  __atomic_store_n(&progressUpdatePending_, false, __ATOMIC_RELEASE);
+  requestCaptureStop();
+  state_ = DriverState::FAIL;
+}
+
+void DriverTest::publishStats() {
+  portENTER_CRITICAL(&statsMux_);
+  publishedStats_ = stats_;
+  portEXIT_CRITICAL(&statsMux_);
+}
+
+void DriverTest::forceFail(FailReason reason) {
+  if (state_ == DriverState::SETTLING || state_ == DriverState::RUNNING ||
+      state_ == DriverState::SUBSAMPLE_DONE)
+    fail(reason, lastEventTick_);
+}
+
+void DriverTest::abort() {
+  if (state_ == DriverState::SETTLING || state_ == DriverState::RUNNING ||
+      state_ == DriverState::SUBSAMPLE_DONE)
+    fail(FailReason::ABORTED, lastEventTick_);
+  else {
+    requestCaptureStop();
+    state_ = DriverState::IDLE;
+  }
+}
+
+bool DriverTest::takeProgressUpdate() {
+  return __atomic_exchange_n(&progressUpdatePending_, false,
+                             __ATOMIC_ACQ_REL);
+}
+
+void DriverTest::requestCaptureStop() {
+  __atomic_store_n(&captureActive_, false, __ATOMIC_RELEASE);
+}
+
+bool DriverTest::waitCaptureStopped(uint32_t timeoutMs) {
+  const uint32_t deadline = millis() + timeoutMs;
+  while (__atomic_load_n(&captureReady_, __ATOMIC_ACQUIRE) &&
+         static_cast<int32_t>(millis() - deadline) < 0) delay(0);
+  if (__atomic_load_n(&captureReady_, __ATOMIC_ACQUIRE)) return false;
+  if (__atomic_exchange_n(&core0WdtDisabled_, false,
+                          __ATOMIC_ACQ_REL)) enableCore0WDT();
+  return true;
+}
+
+void DriverTest::clearCapture() {
+  const uint16_t write = __atomic_load_n(&ringWrite_, __ATOMIC_ACQUIRE);
+  __atomic_store_n(&ringRead_, write, __ATOMIC_RELEASE);
+  __atomic_store_n(&droppedItems_, 0U, __ATOMIC_RELEASE);
+  haveRawTick_ = false;
+  lastRawTick_ = 0;
+  tickEpoch_ = 0;
+}
+
+void IRAM_ATTR DriverTest::recordRaw(uint32_t tick, bool rising,
+                                    Source source) {
+  const uint16_t write = ringWrite_;
+  const uint16_t next = static_cast<uint16_t>(
+    (write + 1U) & (RING_CAPACITY - 1U));
+  if (next == ringRead_) {
+    ++droppedItems_;
+    return;
+  }
+  ring_[write] = {tick, rising, source};
+  asm volatile("memw" ::: "memory");
+  ringWrite_ = next;
+}
+
+size_t DriverTest::readRaw(TimedEvent *events, size_t capacity,
+                           TickType_t waitTicks) {
+  if (!events || !capacity) return 0;
+  uint16_t read = __atomic_load_n(&ringRead_, __ATOMIC_RELAXED);
+  if (read == __atomic_load_n(&ringWrite_, __ATOMIC_ACQUIRE) && waitTicks) {
+    vTaskDelay(waitTicks);
+    read = __atomic_load_n(&ringRead_, __ATOMIC_RELAXED);
+  }
+  const uint16_t write = __atomic_load_n(&ringWrite_, __ATOMIC_ACQUIRE);
+  size_t count = 0;
+  while (read != write && count < capacity) {
+    const RawEvent raw = ring_[read];
+    read = static_cast<uint16_t>((read + 1U) & (RING_CAPACITY - 1U));
+    if (haveRawTick_ && raw.tick < lastRawTick_ &&
+        lastRawTick_ - raw.tick > 0x80000000UL) tickEpoch_ += 1ULL << 32U;
+    lastRawTick_ = raw.tick;
+    haveRawTick_ = true;
+    events[count++] = {tickEpoch_ + raw.tick, raw.rising, raw.source};
+  }
+  __atomic_store_n(&ringRead_, read, __ATOMIC_RELEASE);
+  return count;
+}
+
+uint32_t DriverTest::takeDropped() {
+  return __atomic_exchange_n(&droppedItems_, 0U, __ATOMIC_ACQ_REL);
+}
+
+void DriverTest::rememberTrace(const TimedEvent &event) {
+  trace_[traceWrite_] = {event.tick, static_cast<uint8_t>(event.source),
+    static_cast<uint8_t>(event.rising), static_cast<uint8_t>(state_),
+    pendingCount_};
+  traceWrite_ = static_cast<uint8_t>((traceWrite_ + 1U) % TRACE_CAPACITY);
+  if (traceCount_ < TRACE_CAPACITY) ++traceCount_;
+}
+
+void DriverTest::printSummary() const {
+  auto printEdge = [&](const char *name, const DriverEdgeStats &edge) {
+    if (!edge.responses) {
+      Log::printf("DRIVER", "%s ACK=0", name);
+      return;
+    }
+    Log::printf("DRIVER",
+      "%s ACK=%lu D=%lluns/%lluns/%lluns P=%lluns/%lluns/%lluns",
+      name, static_cast<unsigned long>(edge.responses),
+      static_cast<unsigned long long>(ticksToNs(edge.minDelayTicks)),
+      static_cast<unsigned long long>(ticksToNs(
+        edge.delaySumTicks / edge.responses)),
+      static_cast<unsigned long long>(ticksToNs(edge.maxDelayTicks)),
+      static_cast<unsigned long long>(ticksToNs(edge.minResponseTicks)),
+      static_cast<unsigned long long>(ticksToNs(
+        edge.responseSumTicks / edge.responses)),
+      static_cast<unsigned long long>(ticksToNs(edge.maxResponseTicks)));
+  };
+  Log::printf("DRIVER", "TX edges=%lu responses=%lu dropped=%lu unexpected=%lu result=%s",
+    static_cast<unsigned long>(publishedStats_.inputEdges),
+    static_cast<unsigned long>(publishedStats_.responses),
+    static_cast<unsigned long>(publishedStats_.droppedItems),
+    static_cast<unsigned long>(publishedStats_.unexpectedResponses),
+    failName(publishedStats_.reason));
+  if (publishedStats_.reason != FailReason::NONE) {
+    auto formatOptional = [&](bool valid, uint32_t ticks,
+                              char *out, size_t size) {
+      if (!valid) snprintf(out, size, "---");
+      else snprintf(out, size, "%lluns",
+        static_cast<unsigned long long>(ticksToNs(ticks)));
+    };
+    char trigger[24], pulse[24];
+    formatOptional(publishedStats_.errorTriggerValid,
+      publishedStats_.errorTriggerTicks, trigger, sizeof(trigger));
+    formatOptional(publishedStats_.errorPulseValid,
+      publishedStats_.errorPulseTicks, pulse, sizeof(pulse));
+    if (publishedStats_.errorPulseValid)
+      Log::printf("DRIVER", "error timing: T=%s P=%s", trigger, pulse);
+    else Log::printf("DRIVER", "error timing: T=%s", trigger);
+  }
+  printEdge("ON", publishedStats_.turnOn);
+  printEdge("OFF", publishedStats_.turnOff);
+}
+
+void DriverTest::printTrace() const {
+  if (!traceCount_) return;
+  const uint8_t first = static_cast<uint8_t>(
+    (traceWrite_ + TRACE_CAPACITY - traceCount_) % TRACE_CAPACITY);
+  const uint64_t origin = trace_[first].tick;
+  Log::printf("DRIVER", "RAM trace: %u events, tick=%luHz", traceCount_,
+    static_cast<unsigned long>(captureHz_));
+  for (uint8_t i = 0; i < traceCount_; ++i) {
+    const TraceEvent &event = trace_[(first + i) % TRACE_CAPACITY];
+    Log::printf("DRIVER", "E%02u +%lluns %s/%s state=%u pending=%u", i,
+      static_cast<unsigned long long>(ticksToNs(event.tick - origin)),
+      event.source == static_cast<uint8_t>(Source::TX) ? "TX" : "RX",
+      event.rising ? "rise" : "fall", event.state, event.pending);
+  }
+}

OpticalChannelTester/DriverTest.h

@@ -0,0 +1,180 @@
+#pragma once
+
+#include <Arduino.h>
+
+#include "Receiver.h"
+
+enum class DriverState : uint8_t {
+  IDLE, SETTLING, RUNNING, SUBSAMPLE_DONE, PASS, FAIL
+};
+
+struct DriverEdgeStats {
+  uint32_t responses;
+  uint32_t minDelayTicks;
+  uint32_t maxDelayTicks;
+  uint64_t delaySumTicks;
+  uint32_t minResponseTicks;
+  uint32_t maxResponseTicks;
+  uint64_t responseSumTicks;
+  void reset();
+};
+
+struct DriverStats {
+  uint32_t inputEdges;
+  uint32_t responses;
+  uint32_t minDelayTicks;
+  uint32_t maxDelayTicks;
+  uint32_t minResponseTicks;
+  uint32_t maxResponseTicks;
+  uint32_t lastDelayTicks;
+  uint32_t lastResponseTicks;
+  uint32_t droppedItems;
+  uint32_t unexpectedResponses;
+  uint64_t errorElapsedTicks;
+  uint32_t errorTriggerTicks;
+  uint32_t errorDelayTicks;
+  uint32_t errorPulseTicks;
+  bool errorTriggerValid;
+  bool errorDelayValid;
+  bool errorPulseValid;
+  DriverEdgeStats turnOn;
+  DriverEdgeStats turnOff;
+  FailReason reason;
+  void reset();
+};
+
+class DriverTest {
+ public:
+  explicit DriverTest(PulseReceiver &receiver) : receiver_(receiver) {}
+  bool start(uint32_t frequencyHz, uint32_t pulseNs, float tolerancePct,
+             uint32_t testTimeMs, uint8_t settleCycles,
+             bool activeTxLightOn, bool activeRxLightOn);
+  DriverState update() const { return state_; }
+  void abort();
+  void forceFail(FailReason reason);
+  bool resumeSubsample();
+  bool takeProgressUpdate();
+  void printSummary() const;
+  void printTrace() const;
+  uint8_t progressStep() const { return currentStep_; }
+  uint8_t progressSteps() const { return subsampleCount_; }
+  uint32_t tickHz() const { return captureHz_; }
+  const DriverStats &stats() const { return publishedStats_; }
+
+ private:
+  enum class Source : uint8_t { TX, RX, WINDOW_END };
+  struct RawEvent { uint32_t tick; bool rising; Source source; };
+  struct TimedEvent { uint64_t tick; bool rising; Source source; };
+  struct PendingTx {
+    uint64_t tick;
+    bool lightOn;
+  };
+  struct Response {
+    bool active;
+    bool associated;
+    uint64_t startTick;
+    PendingTx tx;
+  };
+  struct TraceEvent {
+    uint64_t tick;
+    uint8_t source;
+    uint8_t rising;
+    uint8_t state;
+    uint8_t pending;
+  };
+
+  static void analyzerTaskEntry(void *context);
+  static void pollTaskEntry(void *context);
+  void analyzerTaskLoop();
+  void IRAM_ATTR pollTaskLoop();
+  void processEvent(const TimedEvent &event);
+  void processSettling(const TimedEvent &event);
+  void processRunning(const TimedEvent &event);
+  void processTx(const TimedEvent &event, bool lightOn);
+  void processRx(const TimedEvent &event, bool activeNow);
+  void expirePending(uint64_t now);
+  void completeIfPossible(uint64_t now);
+  bool addPending(uint64_t tick, bool lightOn);
+  int8_t matchingPending(uint64_t rxTick) const;
+  void removePending(uint8_t index);
+  uint64_t mergeGuardTicks() const;
+  void acceptAcknowledgement(uint64_t delay, uint64_t width, bool lightOn);
+  void fail(FailReason reason, uint64_t tick = 0, uint64_t delay = 0,
+            uint64_t pulseWidth = 0, uint64_t triggerAfterTx = 0);
+  void publishStats();
+  void rememberTrace(const TimedEvent &event);
+  bool armCapture();
+  void requestCaptureStop();
+  bool waitCaptureStopped(uint32_t timeoutMs);
+  void clearCapture();
+  void recordRaw(uint32_t tick, bool rising, Source source);
+  size_t readRaw(TimedEvent *events, size_t capacity, TickType_t waitTicks);
+  uint32_t takeDropped();
+  uint64_t nsToTicks(uint32_t ns) const;
+  uint64_t ticksToNs(uint64_t ticks) const;
+
+  static constexpr uint8_t MAX_PENDING = 8;
+  static constexpr uint16_t RING_CAPACITY = 2048;
+  static constexpr uint8_t TRACE_CAPACITY = 32;
+  static_assert((RING_CAPACITY & (RING_CAPACITY - 1U)) == 0,
+    "driver ring capacity must be a power of two");
+
+  PulseReceiver &receiver_;
+  TaskHandle_t analyzerTask_ = nullptr;
+  TaskHandle_t pollTask_ = nullptr;
+  volatile DriverState state_ = DriverState::IDLE;
+  DriverStats stats_ = {};
+  DriverStats publishedStats_ = {};
+  mutable portMUX_TYPE statsMux_ = portMUX_INITIALIZER_UNLOCKED;
+
+  RawEvent ring_[RING_CAPACITY] = {};
+  volatile uint16_t ringWrite_ = 0;
+  volatile uint16_t ringRead_ = 0;
+  volatile uint32_t droppedItems_ = 0;
+  volatile bool captureActive_ = false;
+  volatile bool captureReady_ = false;
+  volatile bool core0WdtDisabled_ = false;
+  uint32_t captureHz_ = 0;
+  uint32_t captureFrequencyHz_ = 0;
+  uint32_t capturePulseNs_ = 0;
+  uint32_t pollPeriodCycles_ = 0;
+  uint32_t pollWindowBeforeCycles_ = 0;
+  uint32_t pollWindowAfterCycles_ = 0;
+  bool pollTxStartRawHigh_ = false;
+  bool captureTxLightOn_ = true;
+  portMUX_TYPE pollMux_ = portMUX_INITIALIZER_UNLOCKED;
+
+  PendingTx pending_[MAX_PENDING] = {};
+  uint8_t pendingCount_ = 0;
+  Response response_ = {};
+  uint64_t ackStartMaxTicks_ = 0;
+  uint64_t faultLongTicks_ = 0;
+  uint64_t stuckTicks_ = 0;
+  uint64_t testTicks_ = 0;
+  uint64_t subsampleTicks_ = 0;
+  uint64_t settlingTimeoutUs_ = 0;
+  uint64_t settlingDeadlineUs_ = 0;
+  uint64_t measurementStartTick_ = 0;
+  uint64_t deadlineTick_ = 0;
+  uint64_t pointOriginTick_ = 0;
+  uint64_t lastEventTick_ = 0;
+  uint64_t lastActiveTxTick_ = 0;
+  uint8_t settleCycles_ = 0;
+  uint8_t settledCycles_ = 0;
+  uint8_t subsampleCount_ = DRIVER_SHORT_SAMPLE_PROGRESS_STEPS;
+  uint8_t completedSubsamples_ = 0;
+  bool rxActiveRawHigh_ = true;
+  bool txPulseLightOn_ = true;
+  bool rxActive_ = false;
+  bool measurementClosed_ = false;
+  bool havePointOrigin_ = false;
+  bool haveLastActiveTx_ = false;
+  bool haveRawTick_ = false;
+  uint32_t lastRawTick_ = 0;
+  uint64_t tickEpoch_ = 0;
+  volatile uint8_t currentStep_ = 0;
+  volatile bool progressUpdatePending_ = false;
+  TraceEvent trace_[TRACE_CAPACITY] = {};
+  uint8_t traceWrite_ = 0;
+  uint8_t traceCount_ = 0;
+};

OpticalChannelTester/Font_Cyrillic.h

@@ -0,0 +1,57 @@
+#pragma once
+
+#include <Arduino.h>
+
+// Compact 5x7 uppercase Cyrillic font. Lowercase UTF-8 letters are deliberately
+// rendered with the same uppercase glyphs: at 5x7 pixels this is considerably
+// clearer than trying to preserve lowercase shapes.
+namespace CyrillicFont {
+
+constexpr uint8_t WIDTH = 5;
+constexpr uint8_t HEIGHT = 7;
+constexpr uint8_t ADVANCE = 6;
+
+// Rows are stored top-to-bottom; the low five bits are pixels left-to-right.
+const uint8_t GLYPHS[][HEIGHT] PROGMEM = {
+  {0x0E, 0x11, 0x11, 0x1F, 0x11, 0x11, 0x11}, // А
+  {0x1F, 0x10, 0x10, 0x1E, 0x11, 0x11, 0x1E}, // Б
+  {0x1E, 0x11, 0x11, 0x1E, 0x11, 0x11, 0x1E}, // В
+  {0x1F, 0x10, 0x10, 0x10, 0x10, 0x10, 0x10}, // Г
+  {0x0E, 0x0A, 0x0A, 0x0A, 0x11, 0x1F, 0x11}, // Д
+  {0x1F, 0x10, 0x10, 0x1E, 0x10, 0x10, 0x1F}, // Е
+  {0x15, 0x15, 0x0E, 0x04, 0x0E, 0x15, 0x15}, // Ж
+  {0x0E, 0x11, 0x01, 0x06, 0x01, 0x11, 0x0E}, // З
+  {0x11, 0x13, 0x15, 0x15, 0x19, 0x11, 0x11}, // И
+  {0x0A, 0x11, 0x13, 0x15, 0x19, 0x11, 0x11}, // Й
+  {0x11, 0x12, 0x14, 0x18, 0x14, 0x12, 0x11}, // К
+  {0x07, 0x09, 0x09, 0x09, 0x11, 0x11, 0x11}, // Л
+  {0x11, 0x1B, 0x15, 0x15, 0x11, 0x11, 0x11}, // М
+  {0x11, 0x11, 0x11, 0x1F, 0x11, 0x11, 0x11}, // Н
+  {0x0E, 0x11, 0x11, 0x11, 0x11, 0x11, 0x0E}, // О
+  {0x1F, 0x11, 0x11, 0x11, 0x11, 0x11, 0x11}, // П
+  {0x1E, 0x11, 0x11, 0x1E, 0x10, 0x10, 0x10}, // Р
+  {0x0F, 0x10, 0x10, 0x10, 0x10, 0x10, 0x0F}, // С
+  {0x1F, 0x04, 0x04, 0x04, 0x04, 0x04, 0x04}, // Т
+  {0x11, 0x11, 0x11, 0x0F, 0x01, 0x11, 0x0E}, // У
+  {0x04, 0x0E, 0x15, 0x15, 0x0E, 0x04, 0x04}, // Ф
+  {0x11, 0x11, 0x0A, 0x04, 0x0A, 0x11, 0x11}, // Х
+  {0x12, 0x12, 0x12, 0x12, 0x12, 0x1E, 0x01}, // Ц
+  {0x11, 0x11, 0x11, 0x0F, 0x01, 0x01, 0x01}, // Ч
+  {0x15, 0x15, 0x15, 0x15, 0x15, 0x15, 0x1F}, // Ш
+  {0x15, 0x15, 0x15, 0x15, 0x15, 0x1E, 0x01}, // Щ
+  {0x18, 0x08, 0x08, 0x0E, 0x09, 0x09, 0x0E}, // Ъ
+  {0x11, 0x11, 0x11, 0x1D, 0x15, 0x15, 0x1D}, // Ы
+  {0x10, 0x10, 0x10, 0x1E, 0x11, 0x11, 0x1E}, // Ь
+  {0x0E, 0x11, 0x01, 0x07, 0x01, 0x11, 0x0E}, // Э
+  {0x12, 0x15, 0x15, 0x1D, 0x15, 0x15, 0x12}, // Ю
+  {0x0F, 0x11, 0x11, 0x0F, 0x05, 0x09, 0x11}  // Я
+};
+
+inline const uint8_t *glyph(uint32_t codepoint) {
+  if (codepoint >= 0x0430U && codepoint <= 0x044FU) codepoint -= 0x20U;
+  if (codepoint == 0x0401U || codepoint == 0x0451U) codepoint = 0x0415U; // Ё -> Е
+  if (codepoint < 0x0410U || codepoint > 0x042FU) return nullptr;
+  return GLYPHS[codepoint - 0x0410U];
+}
+
+}  // namespace CyrillicFont

OpticalChannelTester/Log.cpp

@@ -7,7 +7,8 @@ namespace Log {
 void event(const char *component, const char *message) {
   if (!SERIAL_ACTION_LOG) return;
   if (SERIAL_MINIMAL_LOG && strcmp(component, "INPUT") && strcmp(component, "UI") &&
-      strcmp(component, "CONFIG") && strcmp(component, "RESULT") && strcmp(component, "ESP-NOW")) return;
+      strcmp(component, "CONFIG") && strcmp(component, "RESULT") && strcmp(component, "CAPTURE") &&
+      strcmp(component, "DRIVER") && strcmp(component, "ESP-NOW")) return;
   if (SERIAL_LOG_TIMESTAMPS) Serial.printf("[%10lu][%-8s] %s\n", millis(), component, message);
   else Serial.printf("[%-8s] %s\n", component, message);
 }

OpticalChannelTester/Measurement.cpp

@@ -3,87 +3,156 @@
 #include <string.h>
 
 bool Measurement::start(float hz, float duty, float tolerance, uint32_t timeMs,
-                        uint8_t repeats, uint8_t settleCycles) {
+                        uint16_t averagingPeriods, uint8_t settleCycles,
+                        bool activeRxLightOn) {
+  if (!task_ && xTaskCreate(taskEntry, "optical-rx", 4096, this, 4, &task_) != pdPASS) return false;
   expectedHz_ = static_cast<uint32_t>(hz + 0.5f);
-  if (!expectedHz_ || !timeMs || !repeats || repeats > 10 ||
+  expectedDutyPct_ = duty;
-      !makePeriodLimits(expectedHz_, duty, tolerance, receiver_.tickHz(), limits_) ||
+  tolerance = effectiveTolerancePct(tolerance);
-      !receiver_.start(expectedHz_)) return false;
+  if (!expectedHz_ || !timeMs || !averagingPeriods ||
-  timeMs_ = timeMs; repeats_ = repeats; settleLeft_ = settleCycles;
+      !receiver_.start(expectedHz_, expectedDutyPct_, activeRxLightOn)) return false;
-  stats_.reset(); memset(repeatPeriods_, 0, sizeof(repeatPeriods_));
+  settleCycles_ = settleCycles; settleLeft_ = settleCycles;
+  tolerancePct_ = tolerance;
+  stepTimeMs_ = (timeMs + MEASUREMENT_PROGRESS_STEPS - 1U) / MEASUREMENT_PROGRESS_STEPS;
+  stepTicks_ = static_cast<uint64_t>(receiver_.tickHz()) * timeMs /
+    (1000ULL * MEASUREMENT_PROGRESS_STEPS);
+  if (!stepTicks_) stepTicks_ = 1;
+  currentStep_ = 0;
+  __atomic_store_n(&progressUpdatePending_, false, __ATOMIC_RELEASE);
+  stats_.reset();
+  publishStats();
   measurementStartTick_ = deadlineTick_ = 0; startedMs_ = millis();
   measurementStartMs_ = lastPeriodMs_ = 0;
-  currentRepeat_ = 0;
   expectedPeriodMs_ = static_cast<uint32_t>((1000ULL + expectedHz_ - 1U) / expectedHz_);
   if (!expectedPeriodMs_) expectedPeriodMs_ = 1;
-  state_ = MeasureState::SETTLING; return true;
+  state_ = MeasureState::SETTLING;
+  xTaskNotifyGive(task_);
+  return true;
+}
+
+void Measurement::taskEntry(void *context) {
+  static_cast<Measurement *>(context)->taskLoop();
+}
+
+void Measurement::taskLoop() {
+  for (;;) {
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+    while (state_ == MeasureState::SETTLING || state_ == MeasureState::RUNNING) processOnce();
+  }
 }
 
 void Measurement::fail(FailReason reason) {
   if (stats_.reason == FailReason::NONE) stats_.reason = reason;
-  receiver_.stop(); state_ = MeasureState::FAIL;
+  __atomic_store_n(&progressUpdatePending_, false, __ATOMIC_RELEASE);
+  publishStats();
+  // App stops PWM first and only then disables capture. Disabling MCPWM from
+  // this RX task while input edges are still arriving can race its ISR.
+  state_ = MeasureState::FAIL;
 }
 
-void Measurement::completeWindow() {
+void Measurement::completeMeasurement() {
-  receiver_.stop();
+  const uint32_t dropped = receiver_.takeDroppedItems();
-  stats_.lostItems += receiver_.takeDroppedItems();
+  stats_.droppedItems += dropped;
-  if (receiver_.overflowed()) { fail(FailReason::GLITCH); return; }
+  if (dropped) { fail(FailReason::DATA_LOSS); return; }
-  for (uint8_t i = 0; i < repeats_; ++i) if (!repeatPeriods_[i]) {
+  publishStats();
-    fail(FailReason::TOO_FEW_PERIODS); return;
+  if (++currentStep_ < MEASUREMENT_PROGRESS_STEPS) {
+    // Capture and validation continue while the main task draws OLED. Pausing
+    // here would overflow the edge queue at higher PWM frequencies; stopping
+    // MCPWM Capture can race an edge ISR. Publish a snapshot, then advance the
+    // edge-based window without interrupting the RX pipeline.
+    __atomic_store_n(&progressUpdatePending_, true, __ATOMIC_RELEASE);
+    measurementStartTick_ = deadlineTick_;
+    deadlineTick_ += stepTicks_;
+    measurementStartMs_ = lastPeriodMs_ = millis();
+    return;
   }
-  if (stats_.lostItems && stats_.reason == FailReason::NONE) stats_.reason = FailReason::DATA_LOST;
+  if (!stats_.periods) {
+    fail(FailReason::DATA_LOSS); return;
+  }
+  __atomic_store_n(&progressUpdatePending_, false, __ATOMIC_RELEASE);
   state_ = MeasureState::PASS;
 }
 
-MeasureState Measurement::update() {
+void Measurement::publishStats() {
+  portENTER_CRITICAL(&statsMux_);
+  publishedStats_ = stats_;
+  portEXIT_CRITICAL(&statsMux_);
+}
+
+bool Measurement::statsSnapshot(StageStats &out) const {
+  portENTER_CRITICAL(&statsMux_);
+  out = publishedStats_;
+  portEXIT_CRITICAL(&statsMux_);
+  return out.periods && out.periodSum;
+}
+
+MeasureState Measurement::processOnce() {
   if (state_ != MeasureState::SETTLING && state_ != MeasureState::RUNNING) return state_;
-  if (receiver_.overflowed()) { fail(FailReason::GLITCH); return state_; }
   bool receivedPeriod = false;
   for (;;) {
-    const size_t periodCount = receiver_.readPeriods(periodBatch_, PERIOD_BATCH_SIZE);
+    const size_t periodCount = receiver_.readPeriods(periodBatch_, PERIOD_BATCH_SIZE, pdMS_TO_TICKS(2));
-    stats_.lostItems += receiver_.takeDroppedItems();
+    const uint32_t dropped = receiver_.takeDroppedItems();
+    stats_.droppedItems += dropped;
+    if (dropped) { fail(FailReason::DATA_LOSS); return state_; }
     if (!periodCount) break;
     receivedPeriod = true;
     for (size_t periodIndex = 0; periodIndex < periodCount; ++periodIndex) {
+      if (state_ != MeasureState::SETTLING && state_ != MeasureState::RUNNING) return state_;
       const PulsePeriod &period = periodBatch_[periodIndex];
       if (state_ == MeasureState::SETTLING) {
         if (settleLeft_) --settleLeft_;
         if (!settleLeft_) {
           measurementStartTick_ = period.startTick + period.periodTicks;
-          repeatTicks_ = static_cast<uint64_t>(receiver_.tickHz()) * timeMs_ / 1000ULL;
+          deadlineTick_ = measurementStartTick_ + stepTicks_;
-          deadlineTick_ = measurementStartTick_ + repeatTicks_ * repeats_;
+          measurementStartMs_ = lastPeriodMs_ = millis(); state_ = MeasureState::RUNNING;
-          nextRepeatTick_ = measurementStartTick_ + repeatTicks_;
-          stats_.reset(); measurementStartMs_ = lastPeriodMs_ = millis(); state_ = MeasureState::RUNNING;
         }
         continue;
       }
-      const uint64_t endTick = period.startTick + period.periodTicks;
       if (period.startTick < measurementStartTick_) continue; // leading incomplete period
-      if (endTick > deadlineTick_) { completeWindow(); return state_; } // trailing incomplete period
+      while (period.startTick >= deadlineTick_) {
-      while (currentRepeat_ + 1U < repeats_ && period.startTick >= nextRepeatTick_) {
+        // Progress boundaries never discard a pulse. A complete period is
-        ++currentRepeat_; nextRepeatTick_ += repeatTicks_;
+        // assigned by its start edge, then validated exactly once. The nine
+        // intermediate boundaries only publish UI snapshots.
+        completeMeasurement();
+        if (state_ != MeasureState::RUNNING) return state_;
       }
-      ++repeatPeriods_[currentRepeat_];
+      if (!period.periodTicks || !period.activeTicks || !period.activeTickHz) {
-      const FailReason r = evaluatePeriodFast(period, receiver_.tickHz(), limits_, currentRepeat_ + 1, stats_);
+        fail(FailReason::EXTRA_EDGE); return state_;
-      if (r != FailReason::NONE) { fail(r); return state_; }
+      }
+
+      const FailReason result = evaluatePeriod(period, receiver_.tickHz(),
+        expectedHz_, expectedDutyPct_, tolerancePct_, currentStep_ + 1U, stats_);
+      if (result != FailReason::NONE) { fail(result); return state_; }
     }
   }
   if (receivedPeriod && state_ == MeasureState::RUNNING) lastPeriodMs_ = millis();
   const uint64_t edgeBasedTimeout =
     static_cast<uint64_t>(PWM_SETTLE_CYCLES + NO_SIGNAL_TIMEOUT_PERIODS) * expectedPeriodMs_ + 20;
-  const uint64_t rmtBatchTimeout =
+  const uint64_t settleTimeout = edgeBasedTimeout;
-    static_cast<uint64_t>(RMT_MIN_RECEIVE_SYMBOLS + NO_SIGNAL_TIMEOUT_PERIODS) * expectedPeriodMs_ + 20;
-  const uint64_t settleTimeout = edgeBasedTimeout > rmtBatchTimeout ? edgeBasedTimeout : rmtBatchTimeout;
   if (state_ == MeasureState::SETTLING && millis() - startedMs_ > settleTimeout) fail(FailReason::NO_SIGNAL);
   if (state_ == MeasureState::RUNNING && measurementStartTick_) {
     const uint32_t now = millis();
-    const uint32_t totalMs = timeMs_ * repeats_;
+    const uint32_t edgeTimeoutMs = expectedPeriodMs_ * NO_SIGNAL_TIMEOUT_PERIODS + 2U;
-    const uint32_t edgeTimeoutMs = expectedPeriodMs_ * NO_SIGNAL_TIMEOUT_PERIODS + 2;
+    if (now - measurementStartMs_ < stepTimeMs_ && now - lastPeriodMs_ > edgeTimeoutMs) {
-    if (now - measurementStartMs_ < totalMs && now - lastPeriodMs_ > edgeTimeoutMs) {
       fail(FailReason::LOST_EDGE); return state_;
     }
-    if (now - measurementStartMs_ > totalMs + expectedPeriodMs_ + 2) completeWindow();
+    if (now - measurementStartMs_ > stepTimeMs_ + expectedPeriodMs_ + 2) completeMeasurement();
   }
   return state_;
 }
 
-void Measurement::abort() { if (state_ == MeasureState::SETTLING || state_ == MeasureState::RUNNING) fail(FailReason::ABORTED); }
+MeasureState Measurement::update() { return state_; }
+
+bool Measurement::takeProgressUpdate() {
+  return __atomic_exchange_n(&progressUpdatePending_, false, __ATOMIC_ACQ_REL);
+}
+
+void Measurement::abort() {
+  if (state_ == MeasureState::SETTLING || state_ == MeasureState::RUNNING)
+    fail(FailReason::ABORTED);
+}
+
+void Measurement::forceFail(FailReason reason) {
+  if (state_ == MeasureState::SETTLING || state_ == MeasureState::RUNNING)
+    fail(reason);
+}

OpticalChannelTester/Measurement.h

@@ -7,25 +7,37 @@ class Measurement {
  public:
   explicit Measurement(PulseReceiver &receiver) : receiver_(receiver) {}
   bool start(float expectedHz, float expectedDuty, float tolerancePct,
-             uint32_t testTimeMs, uint8_t repeats, uint8_t settleCycles);
+             uint32_t testTimeMs, uint16_t averagingPeriods,
+             uint8_t settleCycles, bool activeRxLightOn);
   MeasureState update();
+  bool takeProgressUpdate();
   void abort();
+  void forceFail(FailReason reason);
   MeasureState state() const { return state_; }
   FailReason reason() const { return stats_.reason; }
   const StageStats &stats() const { return stats_; }
+  uint8_t progressStep() const { return currentStep_; }
+  bool statsSnapshot(StageStats &out) const;
  private:
+  static void taskEntry(void *context);
+  void taskLoop();
+  MeasureState processOnce();
   void fail(FailReason reason);
-  void completeWindow();
+  void completeMeasurement();
+  void publishStats();
   PulseReceiver &receiver_;
-  MeasureState state_ = MeasureState::IDLE;
+  volatile MeasureState state_ = MeasureState::IDLE;
+  TaskHandle_t task_ = nullptr;
   StageStats stats_ = {};
-  PeriodLimits limits_ = {};
+  StageStats publishedStats_ = {};
+  mutable portMUX_TYPE statsMux_ = portMUX_INITIALIZER_UNLOCKED;
   uint32_t expectedHz_ = 0;
-  uint32_t timeMs_ = 0;
+  float expectedDutyPct_ = 0.0f, tolerancePct_ = 0.0f;
-  uint8_t repeats_ = 0, settleLeft_ = 0, currentRepeat_ = 0;
+  uint8_t settleCycles_ = 0, settleLeft_ = 0;
-  uint64_t measurementStartTick_ = 0, deadlineTick_ = 0, repeatTicks_ = 0, nextRepeatTick_ = 0;
+  uint64_t measurementStartTick_ = 0, deadlineTick_ = 0, stepTicks_ = 0;
   uint32_t startedMs_ = 0, measurementStartMs_ = 0, lastPeriodMs_ = 0;
-  uint32_t expectedPeriodMs_ = 1;
+  uint32_t stepTimeMs_ = 1, expectedPeriodMs_ = 1;
-  uint32_t repeatPeriods_[10] = {};
+  volatile uint8_t currentStep_ = 0;
+  volatile bool progressUpdatePending_ = false;
   PulsePeriod periodBatch_[PERIOD_BATCH_SIZE] = {};
 };

OpticalChannelTester/OpticalChannelTester.ino

@@ -1,5 +1,4 @@
 #include "App.h"
-
 App app;
 
 void setup() { app.begin(); }

OpticalChannelTester/OpticalCurrent.cpp

@@ -0,0 +1,74 @@
+#include "OpticalCurrent.h"
+#include "Config.h"
+
+namespace {
+struct AdcAccumulator {
+  uint64_t senseRaw = 0;
+  uint64_t vccRaw = 0;
+  uint64_t senseMillivolts = 0;
+  uint64_t vccMillivolts = 0;
+  uint32_t samples = 0;
+  uint32_t startedMs = 0;
+};
+
+AdcAccumulator accumulator;
+
+void resetAccumulator(uint32_t now) {
+  accumulator = {};
+  accumulator.startedMs = now;
+}
+
+OpticalCurrentMeasurement finishMeasurement() {
+  const float senseAdcVoltage =
+    accumulator.senseMillivolts / (1000.0f * accumulator.samples);
+  const float vccAdcVoltage =
+    accumulator.vccMillivolts / (1000.0f * accumulator.samples);
+  const float senseVoltage = senseAdcVoltage * OPTICAL_DIVIDER_RATIO;
+  const float vccVoltage = vccAdcVoltage * OPTICAL_DIVIDER_RATIO;
+  const float resistorVoltage = vccVoltage - senseVoltage;
+  const float currentMa = resistorVoltage * 1000.0f / OPTICAL_SENSE_R;
+  return {
+    static_cast<uint16_t>(accumulator.senseRaw / accumulator.samples),
+    static_cast<uint16_t>(accumulator.vccRaw / accumulator.samples),
+    senseAdcVoltage, vccAdcVoltage, senseVoltage, vccVoltage,
+    currentMa > 0.0f ? currentMa : 0.0f
+  };
+}
+}
+
+void optical_current_begin(void) {
+  analogReadResolution(12);
+  pinMode(GPIO_OPTICAL_CURRENT, INPUT);
+  pinMode(GPIO_OPTICAL_VCC, INPUT);
+  // Both 10k/10k dividers can present about 2.5 V to their ADC inputs.
+  analogSetPinAttenuation(GPIO_OPTICAL_CURRENT, ADC_11db);
+  analogSetPinAttenuation(GPIO_OPTICAL_VCC, ADC_11db);
+  resetAccumulator(0);
+}
+
+bool optical_current_poll(OpticalCurrentMeasurement &measurement) {
+  const uint32_t now = millis();
+  if (!accumulator.startedMs) resetAccumulator(now ? now : 1U);
+
+  accumulator.senseRaw += analogRead(GPIO_OPTICAL_CURRENT);
+  accumulator.senseMillivolts += analogReadMilliVolts(GPIO_OPTICAL_CURRENT);
+  accumulator.vccRaw += analogRead(GPIO_OPTICAL_VCC);
+  accumulator.vccMillivolts += analogReadMilliVolts(GPIO_OPTICAL_VCC);
+  ++accumulator.samples;
+
+  if (now - accumulator.startedMs < OPTICAL_CURRENT_AVERAGING_MS) return false;
+  measurement = finishMeasurement();
+  resetAccumulator(now);
+  return true;
+}
+
+OpticalCurrentMeasurement optical_get_led_measurement(void) {
+  OpticalCurrentMeasurement measurement = {};
+  resetAccumulator(millis());
+  while (!optical_current_poll(measurement)) delay(1);
+  return measurement;
+}
+
+float optical_get_led_current_ma(void) {
+  return optical_get_led_measurement().currentMa;
+}

OpticalChannelTester/OpticalCurrent.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <stdint.h>
+
+struct OpticalCurrentMeasurement {
+  uint16_t senseRaw;
+  uint16_t vccRaw;
+  float senseAdcVoltage;
+  float vccAdcVoltage;
+  float senseVoltage;
+  float vccVoltage;
+  float currentMa;
+};
+
+void optical_current_begin(void);
+bool optical_current_poll(OpticalCurrentMeasurement &measurement);
+OpticalCurrentMeasurement optical_get_led_measurement(void);
+float optical_get_led_current_ma(void);

OpticalChannelTester/Protocol.cpp

@@ -3,7 +3,7 @@
 
 const char *messageName(MessageType type) {
   static const char *names[] = {"DISCOVER", "DISCOVER_ACK", "PREPARE", "READY",
-    "START_STAGE", "RESULT", "ACK", "ABORT", "HEARTBEAT", "HEARTBEAT_ACK"};
+    "START_STAGE", "RESULT", "ACK", "ABORT", "HEARTBEAT", "HEARTBEAT_ACK", "PROGRESS"};
   const uint8_t index = static_cast<uint8_t>(type);
   return index < sizeof(names) / sizeof(names[0]) ? names[index] : "UNKNOWN";
 }
@@ -24,5 +24,5 @@ void finalizePacket(ProtocolPacket &p) {
 
 bool validPacket(const ProtocolPacket &p) {
   return p.magic == PROTOCOL_MAGIC && p.version == PROTOCOL_VERSION &&
-    p.type <= static_cast<uint8_t>(MessageType::HEARTBEAT_ACK) && p.crc == packetCrc(p);
+    p.type <= static_cast<uint8_t>(MessageType::PROGRESS) && p.crc == packetCrc(p);
 }

OpticalChannelTester/Protocol.h

@@ -2,11 +2,11 @@
 #include "Core.h"
 
 constexpr uint16_t PROTOCOL_MAGIC = 0x4F43;
-constexpr uint8_t PROTOCOL_VERSION = 2;
+constexpr uint8_t PROTOCOL_VERSION = 12;
 
 enum class MessageType : uint8_t {
   DISCOVER, DISCOVER_ACK, PREPARE, READY, START_STAGE, RESULT, ACK, ABORT,
-  HEARTBEAT, HEARTBEAT_ACK
+  HEARTBEAT, HEARTBEAT_ACK, PROGRESS
 };
 
 const char *messageName(MessageType type);
@@ -18,24 +18,28 @@ struct ProtocolPacket {
   uint8_t type;
   uint32_t session;
   uint16_t stage;
+  uint16_t stageCount;
   uint16_t sequence;
   uint32_t requestedHz;
+  uint32_t requestedPulseNs;
   uint32_t actualHz;
-  uint16_t actualDutyX100;
+  uint32_t actualPulseNs;
   uint32_t testTimeMs;
-  uint8_t repeats;
   uint16_t accuracyX100;
-  uint8_t settleCycles;
+  uint8_t lightCode;
+  uint8_t progressStep;
   uint8_t passed;
   uint8_t reason;
   uint32_t periods;
+  uint32_t measuredHzX10;
+  uint32_t measuredPulseNs;
   uint32_t minPeriodTicks;
   uint32_t maxPeriodTicks;
   uint16_t crc;
 };
 #pragma pack(pop)
 
-static_assert(sizeof(ProtocolPacket) == 46, "Protocol layout changed");
+static_assert(sizeof(ProtocolPacket) == 62, "Protocol layout changed");
 
 uint16_t packetCrc(const ProtocolPacket &packet);
 void finalizePacket(ProtocolPacket &packet);

OpticalChannelTester/Pwm.cpp

@@ -1,31 +1,248 @@
 #include "Pwm.h"
 #include "Config.h"
 #include "Core.h"
+#if CONFIG_IDF_TARGET_ESP32C3
+#include <hal/ledc_ll.h>
+#elif CONFIG_IDF_TARGET_ESP32S3
+#include <driver/mcpwm_prelude.h>
+#endif
+
+namespace {
+#if CONFIG_IDF_TARGET_ESP32C3
+constexpr ledc_mode_t PWM_SPEED_MODE = LEDC_LOW_SPEED_MODE;
+constexpr ledc_timer_t PWM_TIMER = LEDC_TIMER_0;
+
+void setDivider(uint32_t dividerRaw) {
+  ledc_dev_t *hardware = LEDC_LL_GET_HW();
+  ledc_ll_timer_pause(hardware, PWM_SPEED_MODE, PWM_TIMER);
+  ledc_ll_set_clock_divider(hardware, PWM_SPEED_MODE, PWM_TIMER,
+    dividerRaw);
+  ledc_ll_timer_rst(hardware, PWM_SPEED_MODE, PWM_TIMER);
+  ledc_ll_ls_timer_update(hardware, PWM_SPEED_MODE, PWM_TIMER);
+  ledc_ll_timer_resume(hardware, PWM_SPEED_MODE, PWM_TIMER);
+}
+
+bool dividerIsSet(uint32_t expectedRaw) {
+  uint32_t rawDivider = 0;
+  ledc_ll_get_clock_divider(LEDC_LL_GET_HW(), PWM_SPEED_MODE, PWM_TIMER, &rawDivider);
+  return rawDivider == expectedRaw;
+}
+#elif CONFIG_IDF_TARGET_ESP32S3
+mcpwm_timer_handle_t mcpwmTimer = nullptr;
+mcpwm_oper_handle_t mcpwmOperator = nullptr;
+mcpwm_cmpr_handle_t mcpwmComparator = nullptr;
+mcpwm_gen_handle_t mcpwmGenerator = nullptr;
+uint32_t mcpwmFrequencyHz = 0;
+
+void releaseMcpwm() {
+  if (mcpwmGenerator) {
+    mcpwm_del_generator(mcpwmGenerator);
+    mcpwmGenerator = nullptr;
+  }
+  if (mcpwmComparator) {
+    mcpwm_del_comparator(mcpwmComparator);
+    mcpwmComparator = nullptr;
+  }
+  if (mcpwmOperator) {
+    mcpwm_del_operator(mcpwmOperator);
+    mcpwmOperator = nullptr;
+  }
+  if (mcpwmTimer) {
+    mcpwm_timer_disable(mcpwmTimer);
+    mcpwm_del_timer(mcpwmTimer);
+    mcpwmTimer = nullptr;
+  }
+}
+
+uint8_t periodResolutionBits(uint32_t periodTicks) {
+  uint8_t bits = 0;
+  while (periodTicks > 1U) {
+    periodTicks >>= 1U;
+    ++bits;
+  }
+  return bits ? bits : 1U;
+}
+#endif
+}
 
 void PwmGenerator::begin() {
+#if CONFIG_IDF_TARGET_ESP32C3
   // Match LEDC_SOURCE_CLOCK_HZ and make the timer calculation deterministic.
   ledcSetClockSource(LEDC_USE_XTAL_CLK);
   pinMode(GPIO_PWM, OUTPUT);
   stop();
+#elif CONFIG_IDF_TARGET_ESP32S3
+  mcpwm_timer_config_t timerConfig = {};
+  timerConfig.group_id = 0;
+  timerConfig.clk_src = MCPWM_TIMER_CLK_SRC_PLL160M;
+  timerConfig.resolution_hz = MCPWM_RESOLUTION_HZ;
+  timerConfig.count_mode = MCPWM_TIMER_COUNT_MODE_UP;
+  timerConfig.period_ticks = MCPWM_RESOLUTION_HZ / 1000U;
+
+  mcpwm_operator_config_t operatorConfig = {};
+  operatorConfig.group_id = 0;
+  mcpwm_comparator_config_t comparatorConfig = {};
+  mcpwm_generator_config_t generatorConfig = {};
+  generatorConfig.gen_gpio_num = GPIO_PWM;
+
+  bool ok = mcpwm_new_timer(&timerConfig, &mcpwmTimer) == ESP_OK;
+  ok = ok && mcpwm_new_operator(&operatorConfig, &mcpwmOperator) == ESP_OK;
+  ok = ok && mcpwm_operator_connect_timer(mcpwmOperator, mcpwmTimer) == ESP_OK;
+  ok = ok && mcpwm_new_comparator(mcpwmOperator, &comparatorConfig, &mcpwmComparator) == ESP_OK;
+  ok = ok && mcpwm_new_generator(mcpwmOperator, &generatorConfig, &mcpwmGenerator) == ESP_OK;
+  ok = ok && mcpwm_comparator_set_compare_value(mcpwmComparator,
+    timerConfig.period_ticks / 2U) == ESP_OK;
+  ok = ok && mcpwm_generator_set_action_on_timer_event(mcpwmGenerator,
+    MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP,
+      MCPWM_TIMER_EVENT_EMPTY, TX_LIGHT_ON_GPIO_LEVEL == HIGH ?
+        MCPWM_GEN_ACTION_HIGH : MCPWM_GEN_ACTION_LOW)) == ESP_OK;
+  ok = ok && mcpwm_generator_set_action_on_compare_event(mcpwmGenerator,
+    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP,
+      mcpwmComparator, TX_LIGHT_OFF_GPIO_LEVEL == HIGH ?
+        MCPWM_GEN_ACTION_HIGH : MCPWM_GEN_ACTION_LOW)) == ESP_OK;
+  ok = ok && mcpwm_timer_enable(mcpwmTimer) == ESP_OK;
+  if (!ok) {
+    releaseMcpwm();
+    pinMode(GPIO_PWM, OUTPUT);
+    digitalWrite(GPIO_PWM, TX_LIGHT_OFF_GPIO_LEVEL);
+    return;
+  }
+  mcpwm_generator_set_force_level(mcpwmGenerator, TX_LIGHT_OFF_GPIO_LEVEL, true);
+#endif
 }
 
-bool PwmGenerator::start(uint32_t hz, uint8_t dutyPct, ActualPwm &a) {
+bool PwmGenerator::start(uint32_t hz, uint32_t pulseNs, ActualPwm &a) {
-  stop();
+  const uint8_t activeLevel = activeLightOn_ ? TX_LIGHT_ON_GPIO_LEVEL :
-  const uint8_t bits = choosePwmResolution(hz, LEDC_SOURCE_CLOCK_HZ, LEDC_MAX_BITS);
+    TX_LIGHT_OFF_GPIO_LEVEL;
-  if (!bits) return false;
+  const uint8_t inactiveLevel = activeLevel == HIGH ? LOW : HIGH;
-  if (!ledcAttachChannel(GPIO_PWM, hz, bits, LEDC_CHANNEL)) return false;
+#if CONFIG_IDF_TARGET_ESP32C3
+  IntegerPwmConfig config = {};
+  if (!choosePwmConfig(hz, pulseNs, LEDC_SOURCE_CLOCK_HZ, LEDC_MAX_BITS, config)) return false;
+  const uint8_t bits = config.bits;
   const uint32_t levels = 1UL << bits;
-  const uint32_t duty = (static_cast<uint64_t>(levels) * dutyPct + 50U) / 100U;
+  const uint32_t duty = config.dutyCount;
-  if (!ledcWriteChannel(LEDC_CHANNEL, duty)) { ledcDetach(GPIO_PWM); return false; }
+  for (uint8_t attempt = 0; attempt < 2; ++attempt) {
+    stop();
+    const bool attached = ledcAttachChannel(GPIO_PWM, config.actualHz, bits, LEDC_CHANNEL);
+    if (attached) {
+      // Native LEDC produces a HIGH pulse. Invert the GPIO matrix output when
+      // the configured active pulse level is LOW.
+      if (!ledcOutputInvert(GPIO_PWM, activeLevel == LOW)) {
+        ledcDetach(GPIO_PWM);
+        delay(2);
+        continue;
+      }
+      // Apply the selected Q10.8 divider explicitly. This lets pulse width,
+      // rather than duty percentage, drive the hardware quantization.
+      setDivider(config.dividerRaw);
+    }
+    if (attached && dividerIsSet(config.dividerRaw) && ledcWriteChannel(LEDC_CHANNEL, duty)) {
+      // On the first configuration after power-up the duty update is latched
+      // on a timer edge. Reading immediately can therefore return zero.
+      uint32_t settleUs = static_cast<uint32_t>((2000000ULL + hz - 1U) / hz);
+      if (settleUs > 2000U) settleUs = 2000U;
+      delayMicroseconds(settleUs);
       const uint32_t actualHz = ledcReadFreq(GPIO_PWM);
-  if (!actualHz) { ledcDetach(GPIO_PWM); return false; }
+      if (actualHz == config.actualHz) {
-  a = {hz, actualHz, 100.0f * duty / levels, bits};
+        a = {hz, actualHz, pulseNs, config.actualPulseNs,
+          100.0f * duty / levels, bits};
         running_ = true;
         return true;
+      }
+    }
+    if (attached) ledcDetach(GPIO_PWM);
+    delay(2);
+  }
+  pinMode(GPIO_PWM, OUTPUT); digitalWrite(GPIO_PWM, TX_LIGHT_OFF_GPIO_LEVEL);
+  return false;
+#elif CONFIG_IDF_TARGET_ESP32S3
+  if (!mcpwmTimer || !mcpwmComparator || !mcpwmGenerator || !hz || !pulseNs ||
+      MCPWM_RESOLUTION_HZ % hz) return false;
+  const uint32_t periodTicks = MCPWM_RESOLUTION_HZ / hz;
+  if (periodTicks < 2U || periodTicks > MCPWM_MAX_PERIOD_TICKS) return false;
+  uint32_t activeTicks = static_cast<uint32_t>(
+    (static_cast<uint64_t>(pulseNs) * MCPWM_RESOLUTION_HZ + 500000000ULL) /
+    1000000000ULL);
+  if (activeTicks == 0U) activeTicks = 1U;
+  if (activeTicks >= periodTicks) activeTicks = periodTicks - 1U;
+
+  stop();
+  bool ok = mcpwm_timer_set_period(mcpwmTimer, periodTicks) == ESP_OK;
+  ok = ok && mcpwm_comparator_set_compare_value(mcpwmComparator, activeTicks) == ESP_OK;
+  ok = ok && mcpwm_generator_set_action_on_timer_event(mcpwmGenerator,
+    MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP,
+      MCPWM_TIMER_EVENT_EMPTY, activeLevel == HIGH ?
+        MCPWM_GEN_ACTION_HIGH : MCPWM_GEN_ACTION_LOW)) == ESP_OK;
+  ok = ok && mcpwm_generator_set_action_on_compare_event(mcpwmGenerator,
+    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP,
+      mcpwmComparator, inactiveLevel == HIGH ?
+        MCPWM_GEN_ACTION_HIGH : MCPWM_GEN_ACTION_LOW)) == ESP_OK;
+  // stop() applies a continuous force level (hold_on=true). Remove that same
+  // continuous-force action; hold_on=false addresses a different, one-shot
+  // force mechanism and would leave the safe level permanently active.
+  ok = ok && mcpwm_generator_set_force_level(mcpwmGenerator, -1, true) == ESP_OK;
+  ok = ok && mcpwm_timer_start_stop(mcpwmTimer, MCPWM_TIMER_START_NO_STOP) == ESP_OK;
+  if (!ok) {
+    mcpwm_generator_set_force_level(mcpwmGenerator, TX_LIGHT_OFF_GPIO_LEVEL, true);
+    return false;
+  }
+
+  const uint32_t actualPulseNs = static_cast<uint32_t>(
+    (static_cast<uint64_t>(activeTicks) * 1000000000ULL + MCPWM_RESOLUTION_HZ / 2U) /
+    MCPWM_RESOLUTION_HZ);
+  a = {hz, hz, pulseNs, actualPulseNs, 100.0f * activeTicks / periodTicks,
+    periodResolutionBits(periodTicks)};
+  mcpwmFrequencyHz = hz;
+  running_ = true;
+  return true;
+#endif
 }
 
 void PwmGenerator::stop() {
+#if CONFIG_IDF_TARGET_ESP32C3
   if (running_) ledcDetach(GPIO_PWM);
-  pinMode(GPIO_PWM, OUTPUT); digitalWrite(GPIO_PWM, PWM_SAFE_LEVEL);
+  pinMode(GPIO_PWM, OUTPUT); digitalWrite(GPIO_PWM, TX_LIGHT_OFF_GPIO_LEVEL);
+#elif CONFIG_IDF_TARGET_ESP32S3
+  if (mcpwmGenerator) mcpwm_generator_set_force_level(
+    mcpwmGenerator, TX_LIGHT_OFF_GPIO_LEVEL, true);
+  if (running_ && mcpwmTimer) {
+    mcpwm_timer_start_stop(mcpwmTimer, MCPWM_TIMER_STOP_EMPTY);
+    const uint32_t waitUs = mcpwmFrequencyHz ? (1000000U / mcpwmFrequencyHz + 2U) : 2U;
+    delayMicroseconds(waitUs);
+  }
+  mcpwmFrequencyHz = 0;
+#endif
   running_ = false;
 }
+
+void PwmGenerator::active() {
+  // First detach/stop the PWM peripheral, then apply the same active level
+  // that denotes the pulse during a running test.
+  stop();
+#if CONFIG_IDF_TARGET_ESP32C3
+  digitalWrite(GPIO_PWM, activeLightOn_ ? TX_LIGHT_ON_GPIO_LEVEL :
+    TX_LIGHT_OFF_GPIO_LEVEL);
+#elif CONFIG_IDF_TARGET_ESP32S3
+  const uint8_t level = activeLightOn_ ? TX_LIGHT_ON_GPIO_LEVEL :
+    TX_LIGHT_OFF_GPIO_LEVEL;
+  if (mcpwmGenerator) mcpwm_generator_set_force_level(mcpwmGenerator, level, true);
+  else {
+    pinMode(GPIO_PWM, OUTPUT);
+    digitalWrite(GPIO_PWM, level);
+  }
+#endif
+}
+
+void PwmGenerator::lightOn() {
+  stop();
+#if CONFIG_IDF_TARGET_ESP32C3
+  digitalWrite(GPIO_PWM, TX_LIGHT_ON_GPIO_LEVEL);
+#elif CONFIG_IDF_TARGET_ESP32S3
+  if (mcpwmGenerator)
+    mcpwm_generator_set_force_level(mcpwmGenerator, TX_LIGHT_ON_GPIO_LEVEL, true);
+  else {
+    pinMode(GPIO_PWM, OUTPUT);
+    digitalWrite(GPIO_PWM, TX_LIGHT_ON_GPIO_LEVEL);
+  }
+#endif
+}

OpticalChannelTester/Pwm.h

@@ -1,14 +1,27 @@
 #pragma once
 #include <Arduino.h>
 
-struct ActualPwm { uint32_t requestedHz; uint32_t actualHz; float actualDutyPct; uint8_t bits; };
+struct ActualPwm {
+  uint32_t requestedHz;
+  uint32_t actualHz;
+  uint32_t requestedPulseNs;
+  uint32_t actualPulseNs;
+  float actualDutyPct;
+  uint8_t bits;
+};
 
 class PwmGenerator {
  public:
   void begin();
-  bool start(uint32_t frequencyHz, uint8_t dutyPct, ActualPwm &actual);
+  void configureActiveLight(bool lightOn) { activeLightOn_ = lightOn; }
+  bool start(uint32_t frequencyHz, uint32_t pulseNs, ActualPwm &actual);
+  // Hold the optical level selected as the active TX pulse.
+  void active();
+  // Hold actual optical light ON, independently of HH/HL/LH/LL.
+  void lightOn();
   void stop();
   bool running() const { return running_; }
  private:
   bool running_ = false;
+  bool activeLightOn_ = true;
 };

OpticalChannelTester/Radio.cpp

@@ -23,16 +23,22 @@ bool Radio::begin() {
   if (esp_wifi_set_channel(ESPNOW_WIFI_CHANNEL, WIFI_SECOND_CHAN_NONE) != ESP_OK) {
     Log::event("ESP-NOW", "Wi-Fi channel setup FAILED"); return false;
   }
-  queue_ = xQueueCreate(8, sizeof(ReceivedPacket));
+  if (!queue_) queue_ = xQueueCreate(8, sizeof(ReceivedPacket));
-  if (!queue_) { Log::event("ESP-NOW", "receive queue creation FAILED"); return false; }
+  if (!heartbeatQueue_) heartbeatQueue_ = xQueueCreate(4, sizeof(ReceivedPacket));
+  if (!heartbeatTask_ && xTaskCreate(heartbeatTaskEntry, "radio-hb", 2048, this, 5, &heartbeatTask_) != pdPASS)
+    heartbeatTask_ = nullptr;
+  if (!queue_ || !heartbeatQueue_ || !heartbeatTask_) {
+    Log::event("ESP-NOW", "receive/heartbeat service creation FAILED"); return false;
+  }
   if (esp_now_init() != ESP_OK) {
-    vQueueDelete(queue_); queue_ = nullptr;
     Log::event("ESP-NOW", "initialization FAILED"); return false;
   }
   const esp_err_t rateResult = esp_wifi_config_espnow_rate(WIFI_IF_STA, WIFI_PHY_RATE_1M_L);
   instance_ = this;
-  if (esp_now_register_recv_cb(onReceive) != ESP_OK) { end(); return false; }
+  if (esp_now_register_recv_cb(onReceive) != ESP_OK) {
-  active_ = true;
+    instance_ = nullptr; esp_now_deinit(); return false;
+  }
+  active_ = true; __atomic_store_n(&lastValidRxMs_, millis(), __ATOMIC_RELAXED);
   const bool ok = ensurePeer(BROADCAST_MAC);
   uint8_t primaryChannel = 0;
   wifi_second_chan_t secondaryChannel = WIFI_SECOND_CHAN_NONE;
@@ -44,12 +50,45 @@ bool Radio::begin() {
 }
 
 void Radio::end() {
-  if (active_) { esp_now_unregister_recv_cb(); esp_now_deinit(); }
+  const bool wasActive = active_; active_ = false;
-  if (queue_) { vQueueDelete(queue_); queue_ = nullptr; }
+  if (wasActive) { esp_now_unregister_recv_cb(); esp_now_deinit(); }
-  active_ = false; if (instance_ == this) instance_ = nullptr;
+  if (queue_) xQueueReset(queue_);
+  if (heartbeatQueue_) xQueueReset(heartbeatQueue_);
+  if (instance_ == this) instance_ = nullptr;
+  windowedReceive_ = false;
+  if (wasActive) WiFi.mode(WIFI_OFF);
   Log::event("ESP-NOW", "stopped");
 }
 
+bool Radio::setWindowedReceive(bool enabled) {
+  if (!active_) return false;
+  if (windowedReceive_ == enabled) return true;
+
+  const uint16_t window = enabled ? SLAVE_LISTEN_WINDOW_MS : UINT16_MAX;
+  const uint16_t interval = enabled ? SLAVE_LISTEN_INTERVAL_MS :
+    ESP_WIFI_CONNECTIONLESS_INTERVAL_DEFAULT_MODE;
+  const esp_err_t windowResult = esp_now_set_wake_window(window);
+  const esp_err_t intervalResult = esp_wifi_connectionless_module_set_wake_interval(interval);
+  const bool sleepResult = WiFi.setSleep(enabled);
+  const bool ok = windowResult == ESP_OK && intervalResult == ESP_OK && sleepResult;
+
+  bool continuousRestored = true;
+  if (!ok) {
+    continuousRestored = esp_now_set_wake_window(UINT16_MAX) == ESP_OK;
+    continuousRestored =
+      esp_wifi_connectionless_module_set_wake_interval(
+        ESP_WIFI_CONNECTIONLESS_INTERVAL_DEFAULT_MODE) == ESP_OK && continuousRestored;
+    continuousRestored = WiFi.setSleep(false) && continuousRestored;
+    windowedReceive_ = false;
+  } else windowedReceive_ = enabled;
+
+  Log::printf("ESP-NOW", "RX power-save %s window=%ums interval=%ums %s%s",
+    enabled ? "ON" : "OFF", window, interval,
+    ok ? "OK" : "FAILED; continuous RX restore ",
+    ok ? "" : (continuousRestored ? "OK" : "FAILED"));
+  return ok;
+}
+
 bool Radio::ensurePeer(const uint8_t mac[6]) {
   if (esp_now_is_peer_exist(mac)) return true;
   esp_now_peer_info_t peer = {};
@@ -72,7 +111,8 @@ bool Radio::sendTo(const uint8_t mac[6], ProtocolPacket p) {
   finalizePacket(p);
   const bool ok = esp_now_send(mac, reinterpret_cast<const uint8_t *>(&p), sizeof(p)) == ESP_OK;
   const MessageType type = static_cast<MessageType>(p.type);
-  if (type != MessageType::HEARTBEAT && type != MessageType::HEARTBEAT_ACK)
+  if (type != MessageType::DISCOVER && type != MessageType::HEARTBEAT &&
+      type != MessageType::HEARTBEAT_ACK && type != MessageType::PROGRESS)
     Log::printf("ESP-NOW", "TX %s to %s session=%08lX stage=%u seq=%u %s",
       messageName(type), peer, p.session, p.stage, p.sequence, ok ? "QUEUED" : "FAILED");
   return ok;
@@ -97,16 +137,37 @@ void Radio::maintainChannel() {
     restored ? "RESTORED" : "FAILED");
 }
 
-void Radio::flush() { if (queue_) xQueueReset(queue_); }
+void Radio::flush() {
+  if (queue_) xQueueReset(queue_);
+  if (heartbeatQueue_) xQueueReset(heartbeatQueue_);
+}
 
 void Radio::onReceive(const esp_now_recv_info_t *info, const uint8_t *data, int length) {
   if (!instance_ || !instance_->queue_ || !info || length != sizeof(ProtocolPacket)) return;
   ReceivedPacket item;
   memcpy(item.mac, info->src_addr, 6); memcpy(&item.packet, data, sizeof(item.packet));
   if (!validPacket(item.packet)) return;
+  __atomic_store_n(&instance_->lastValidRxMs_, millis(), __ATOMIC_RELAXED);
+  if (static_cast<MessageType>(item.packet.type) == MessageType::HEARTBEAT && instance_->heartbeatQueue_)
+    xQueueSend(instance_->heartbeatQueue_, &item, 0);
   xQueueSend(instance_->queue_, &item, 0); // Wi-Fi task callback: copy only, never block
 }
 
+void Radio::heartbeatTaskEntry(void *context) {
+  static_cast<Radio *>(context)->heartbeatTaskLoop();
+}
+
+void Radio::heartbeatTaskLoop() {
+  ReceivedPacket item;
+  for (;;) {
+    if (xQueueReceive(heartbeatQueue_, &item, portMAX_DELAY) != pdTRUE || !active_) continue;
+    ProtocolPacket ack = item.packet;
+    ack.type = static_cast<uint8_t>(MessageType::HEARTBEAT_ACK);
+    finalizePacket(ack);
+    esp_now_send(item.mac, reinterpret_cast<const uint8_t *>(&ack), sizeof(ack));
+  }
+}
+
 void Radio::macText(const uint8_t mac[6], char *out, size_t n) {
   snprintf(out, n, "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
 }

OpticalChannelTester/Radio.h

@@ -12,15 +12,23 @@ class Radio {
   bool sendBroadcast(ProtocolPacket packet);
   bool sendTo(const uint8_t mac[6], ProtocolPacket packet);
   bool receive(ReceivedPacket &received);
+  bool setWindowedReceive(bool enabled);
   void flush();
+  uint32_t lastReceiveMs() const { return __atomic_load_n(&lastValidRxMs_, __ATOMIC_RELAXED); }
   static void macText(const uint8_t mac[6], char *out, size_t size);
  private:
   static void onReceive(const esp_now_recv_info_t *info, const uint8_t *data, int length);
+  static void heartbeatTaskEntry(void *context);
+  void heartbeatTaskLoop();
   bool ensurePeer(const uint8_t mac[6]);
   void maintainChannel();
   static Radio *instance_;
   QueueHandle_t queue_ = nullptr;
-  bool active_ = false;
+  QueueHandle_t heartbeatQueue_ = nullptr;
+  TaskHandle_t heartbeatTask_ = nullptr;
+  volatile bool active_ = false;
+  volatile uint32_t lastValidRxMs_ = 0;
   uint32_t lastChannelCheckMs_ = 0;
+  bool windowedReceive_ = false;
 };
 

OpticalChannelTester/Receiver.cpp

@@ -1,41 +1,71 @@
 #include "Receiver.h"
-#include "Config.h"
+#include "Log.h"
-#include <string.h>
+#include <math.h>
-#if !OPTICAL_USE_RMT_DMA
+#if !OPTICAL_USE_MCPWM_CAPTURE
 #include <esp_cpu.h>
 #include <esp32-hal-cpu.h>
 #endif
 
 uint32_t PulseReceiver::tickHz() const {
-#if OPTICAL_USE_RMT_DMA
+#if OPTICAL_USE_MCPWM_CAPTURE
-  return CAPTURE_RESOLUTION_HZ;
+  return captureResolutionHz_;
+#else
+  return cpuTickHz_;
+#endif
+}
+
+uint32_t PulseReceiver::plannedTickHz(uint32_t expectedHz, float expectedDutyPct) const {
+  if (!expectedHz || expectedDutyPct <= 0.0f || expectedDutyPct >= 100.0f) return 0;
+#if OPTICAL_USE_MCPWM_CAPTURE
+  return captureResolutionHz_ ? captureResolutionHz_ :
+    MCPWM_CAPTURE_RESOLUTION_HZ;
 #else
   return cpuTickHz_;
 #endif
 }
 
 bool PulseReceiver::begin() {
-#if OPTICAL_USE_RMT_DMA
+  queue_ = xQueueCreate(512, sizeof(Edge));
-  queue_ = xQueueCreate(RMT_QUEUE_BLOCKS, sizeof(SymbolBlock));
-  rmt_rx_channel_config_t cfg = {};
-  cfg.clk_src = RMT_CLK_SRC_DEFAULT; cfg.resolution_hz = CAPTURE_RESOLUTION_HZ;
-  cfg.gpio_num = static_cast<gpio_num_t>(GPIO_RX);
-  cfg.flags.invert_in = RX_SIGNAL_INVERTED;
-#if CONFIG_IDF_TARGET_ESP32S3
-  cfg.mem_block_symbols = 512;
-  cfg.flags.with_dma = true;
-#else
-  // C3 has 48 RMT symbols per channel and no RMT DMA. A request for 512
-  // consumes all available blocks and fails with "no free rx channels".
-  cfg.mem_block_symbols = RMT_MIN_RECEIVE_SYMBOLS;
-  cfg.flags.with_dma = false; // C3 uses hardware RMT ping-pong partial reception
-#endif
-  if (!queue_ || rmt_new_rx_channel(&cfg, &channel_) != ESP_OK) return false;
-  rmt_rx_event_callbacks_t callbacks = {}; callbacks.on_recv_done = onRmt;
-  return rmt_rx_register_event_callbacks(channel_, &callbacks, this) == ESP_OK;
-#else
-  queue_ = xQueueCreate(256, sizeof(Edge));
   if (!queue_) return false;
+#if OPTICAL_USE_MCPWM_CAPTURE
+  // PWM generation uses MCPWM group 0. Group 1 is dedicated to input capture,
+  // so RX cannot exhaust or conflict with the generator's resources.
+  mcpwm_capture_timer_config_t timerConfig = {};
+  timerConfig.group_id = 1;
+  timerConfig.clk_src = MCPWM_CAPTURE_CLK_SRC_DEFAULT;
+  timerConfig.resolution_hz = MCPWM_CAPTURE_RESOLUTION_HZ;
+  if (mcpwm_new_capture_timer(&timerConfig, &captureTimer_) != ESP_OK) return false;
+  if (mcpwm_capture_timer_get_resolution(captureTimer_, &captureResolutionHz_) != ESP_OK ||
+      !captureResolutionHz_) return false;
+
+  mcpwm_capture_channel_config_t channelConfig = {};
+  channelConfig.gpio_num = GPIO_RX;
+  // ACK pulses are sub-microsecond and consecutive acknowledgements can be
+  // only 1 us apart. A low-priority capture interrupt can leave the channel
+  // status pending long enough for the next timestamp to overwrite it.
+  channelConfig.intr_priority = 3;
+  channelConfig.prescale = 1;
+  channelConfig.flags.pos_edge = true;
+  channelConfig.flags.neg_edge = false;
+  if (mcpwm_new_capture_channel(captureTimer_, &channelConfig, &risingChannel_) != ESP_OK)
+    return false;
+  mcpwm_capture_event_callbacks_t callbacks = {};
+  callbacks.on_cap = onCapture;
+  if (mcpwm_capture_channel_register_event_callbacks(
+      risingChannel_, &callbacks, this) != ESP_OK) return false;
+
+  channelConfig.flags.pos_edge = false;
+  channelConfig.flags.neg_edge = true;
+  if (mcpwm_new_capture_channel(captureTimer_, &channelConfig, &fallingChannel_) != ESP_OK)
+    return false;
+  if (mcpwm_capture_channel_register_event_callbacks(
+      fallingChannel_, &callbacks, this) != ESP_OK) return false;
+
+  // The TX channel is created immediately before a driver test. Only the end
+  // of the active PWM pulse is armed; handling its start here would occupy the
+  // shared MCPWM ISR during the RX acknowledgement only ~300 ns later.
+  return true;
+#else
   pinMode(GPIO_RX, INPUT);
   cpuTickHz_ = getCpuFrequencyMhz() * 1000000UL;
   attachInterruptArg(GPIO_RX, onGpio, this, CHANGE);
@@ -43,138 +73,402 @@ bool PulseReceiver::begin() {
 #endif
 }
 
-bool PulseReceiver::start(uint32_t expectedHz) {
+bool PulseReceiver::start(uint32_t expectedHz, float expectedDutyPct,
+                          bool activeLightOn) {
+  (void)activeLightOn;
+  if (!plannedTickHz(expectedHz, expectedDutyPct)) return false;
+  expectedHz_ = expectedHz;
+  expectedDutyPct_ = expectedDutyPct;
+#if !OPTICAL_USE_MCPWM_CAPTURE
+  cpuTickHz_ = getCpuFrequencyMhz() * 1000000UL;
+  if (!cpuTickHz_) return false;
+#endif
   resetStream();
-#if OPTICAL_USE_RMT_DMA
+  Log::event("CAPTURE", "RX optical polarity will be detected automatically");
-  // In partial RX mode the callback is delivered when this user buffer fills.
+  return startCapture(false);
-  // Keep chunks near 5 ms so low-frequency input is reported before NO SIGNAL.
+}
-  uint64_t symbols = (static_cast<uint64_t>(expectedHz) * RMT_TARGET_CHUNK_US + 999999ULL) / 1000000ULL;
+
-  if (symbols < RMT_MIN_RECEIVE_SYMBOLS) symbols = RMT_MIN_RECEIVE_SYMBOLS;
+#if OPTICAL_USE_MCPWM_CAPTURE
-  if (symbols > RMT_MAX_RECEIVE_SYMBOLS) symbols = RMT_MAX_RECEIVE_SYMBOLS;
+bool PulseReceiver::configureDriverTxCapture(bool risingEdge) {
-  receiveChunkSymbols_ = static_cast<uint16_t>(symbols);
+  if (running_) return false;
-  if (rmt_enable(channel_) != ESP_OK) return false;
+  if (txChannel_) {
-  rmt_receive_config_t cfg = {};
+    if (mcpwm_del_capture_channel(txChannel_) != ESP_OK) return false;
-  cfg.signal_range_min_ns = 20;
+    txChannel_ = nullptr;
-  const uint64_t maxNs = 4000000000ULL / (expectedHz ? expectedHz : 1);
+  }
-  cfg.signal_range_max_ns = maxNs > 100000000ULL ? 100000000UL : static_cast<uint32_t>(maxNs);
+  mcpwm_capture_channel_config_t config = {};
-  cfg.flags.en_partial_rx = true;
+  config.gpio_num = GPIO_PWM;
-  if (rmt_receive(channel_, receiveBuffer_,
+  config.intr_priority = 3;
-                  receiveChunkSymbols_ * sizeof(receiveBuffer_[0]), &cfg) != ESP_OK) {
+  config.prescale = 1;
-    rmt_disable(channel_); return false;
+  config.flags.pos_edge = risingEdge;
+  config.flags.neg_edge = !risingEdge;
+  config.flags.io_loop_back = true;
+  if (mcpwm_new_capture_channel(captureTimer_, &config, &txChannel_) != ESP_OK)
+    return false;
+  mcpwm_capture_event_callbacks_t callbacks = {};
+  callbacks.on_cap = onCapture;
+  return mcpwm_capture_channel_register_event_callbacks(
+    txChannel_, &callbacks, this) == ESP_OK;
+}
+#endif
+
+bool PulseReceiver::startDriver(uint32_t frequencyHz, uint32_t pulseNs,
+                                bool activeTxLightOn) {
+#if OPTICAL_USE_MCPWM_CAPTURE
+  if (!frequencyHz || !pulseNs || !tickHz() || running_) return false;
+  resetStream();
+  const uint64_t pulseTicks =
+    (static_cast<uint64_t>(pulseNs) * tickHz() + 500000000ULL) /
+    1000000000ULL;
+  const uint32_t periodTicks = tickHz() / frequencyHz;
+  if (!pulseTicks || pulseTicks >= periodTicks || pulseTicks > UINT32_MAX)
+    return false;
+  driverPulseTicks_ = static_cast<uint32_t>(pulseTicks);
+  driverReleaseSlackTicks_ = static_cast<uint32_t>(
+    (static_cast<uint64_t>(DRIVER_RESPONSE_TIMEOUT_NS) * tickHz() +
+     999999999ULL) / 1000000000ULL);
+  const uint8_t activeRawLevel = activeTxLightOn ?
+    TX_LIGHT_ON_GPIO_LEVEL : TX_LIGHT_OFF_GPIO_LEVEL;
+  const bool pulseEndIsRising = activeRawLevel == LOW;
+  if (!driverReleaseSlackTicks_ ||
+      !configureDriverTxCapture(pulseEndIsRising)) return false;
+  return startCapture(true);
+#else
+  return false;
+#endif
+}
+
+bool PulseReceiver::startCapture(bool withTx) {
+#if OPTICAL_USE_MCPWM_CAPTURE
+  // Progress updates keep one capture session alive. Pulse-width stages stop
+  // capture only after PWM is quiet, so resetStream never races the ISR.
+  if (running_) return true;
+  if (mcpwm_capture_timer_enable(captureTimer_) != ESP_OK) return false;
+  if (mcpwm_capture_channel_enable(risingChannel_) != ESP_OK) {
+    mcpwm_capture_timer_disable(captureTimer_);
+    return false;
+  }
+  if (mcpwm_capture_channel_enable(fallingChannel_) != ESP_OK) {
+    mcpwm_capture_channel_disable(risingChannel_);
+    mcpwm_capture_timer_disable(captureTimer_);
+    return false;
+  }
+  if (withTx && mcpwm_capture_channel_enable(txChannel_) != ESP_OK) {
+    mcpwm_capture_channel_disable(fallingChannel_);
+    mcpwm_capture_channel_disable(risingChannel_);
+    mcpwm_capture_timer_disable(captureTimer_);
+    return false;
+  }
+  txCaptureEnabled_ = withTx;
+  running_ = true;
+  if (mcpwm_capture_timer_start(captureTimer_) != ESP_OK) {
+    running_ = false;
+    if (txCaptureEnabled_) mcpwm_capture_channel_disable(txChannel_);
+    txCaptureEnabled_ = false;
+    mcpwm_capture_channel_disable(fallingChannel_);
+    mcpwm_capture_channel_disable(risingChannel_);
+    mcpwm_capture_timer_disable(captureTimer_);
+    return false;
   }
 #else
-  (void)expectedHz;
+  if (withTx) return false;
+  running_ = true;
 #endif
-  running_ = true; return true;
+  return true;
 }
 
 void PulseReceiver::stop() {
-#if OPTICAL_USE_RMT_DMA
+  const bool wasRunning = running_;
-  if (running_) rmt_disable(channel_);
-#endif
   running_ = false;
+#if OPTICAL_USE_MCPWM_CAPTURE
+  if (wasRunning) {
+    // Mask capture interrupts before stopping the shared capture timer.
+    if (txCaptureEnabled_) mcpwm_capture_channel_disable(txChannel_);
+    txCaptureEnabled_ = false;
+    mcpwm_capture_channel_disable(fallingChannel_);
+    mcpwm_capture_channel_disable(risingChannel_);
+    mcpwm_capture_timer_stop(captureTimer_);
+    mcpwm_capture_timer_disable(captureTimer_);
+  }
+#else
+  (void)wasRunning;
+#endif
 }
 
 void PulseReceiver::resetStream() {
   if (queue_) xQueueReset(queue_);
-  overflow_ = false; droppedItems_ = 0; haveRise_ = haveFall_ = haveRawTick_ = false;
+  haveReorderEdge_ = false;
-  lastRawTick_ = 0; tickEpoch_ = rise_ = fall_ = 0;
+  __atomic_store_n(&driverRingWrite_, 0U, __ATOMIC_RELEASE);
-#if OPTICAL_USE_RMT_DMA
+  __atomic_store_n(&driverRingRead_, 0U, __ATOMIC_RELEASE);
-  block_ = {}; blockIndex_ = 0; phase_ = 0; haveLevel_ = false; level_ = false; rmtTick_ = 0;
+  haveLastDriverEdge_ = false;
-#endif
+  lastDriverEdge_ = {};
+  driverPulseTicks_ = 0;
+  driverReleaseSlackTicks_ = 0;
+  droppedItems_ = 0;
+  polarityKnown_ = false;
+  activeStartRising_ = false;
+  polarityEdgeCount_ = 0;
+  memset(polarityEdges_, 0, sizeof(polarityEdges_));
+  waitingForActiveEnd_ = true;
+  activeStart_ = activeEnd_ = 0;
+  haveRawTick_ = false;
+  lastRawTick_ = 0;
+  tickEpoch_ = 0;
 }
 
-bool PulseReceiver::consumeEdge(const Edge &e, PulsePeriod &out) {
+PulseReceiver::TimedEdge PulseReceiver::extendEdge(const Edge &e) {
   if (haveRawTick_ && e.tick < lastRawTick_ && lastRawTick_ - e.tick > 0x80000000UL)
     tickEpoch_ += 0x100000000ULL;
   haveRawTick_ = true; lastRawTick_ = e.tick;
-  const uint64_t tick = tickEpoch_ + e.tick;
+  return {tickEpoch_ + e.tick, e.rising != 0};
-  if (e.rising) {
-    if (!haveRise_) { rise_ = tick; haveRise_ = true; haveFall_ = false; return false; }
-    if (!haveFall_) { overflow_ = true; rise_ = tick; return false; }
-    const uint32_t period = static_cast<uint32_t>(tick - rise_);
-    const uint32_t active = fall_ - rise_;
-    out = {rise_, period, active}; rise_ = tick; haveFall_ = false;
-    return true;
-  }
-  // Reception can begin in the middle of a HIGH pulse. In that case the first
-  // observable edge is falling and there is no complete period to validate.
-  // Ignore only this leading partial pulse and synchronize on the next rise.
-  if (!haveRise_) return false;
-  if (haveFall_) { overflow_ = true; return false; }
-  fall_ = tick; haveFall_ = true; return false;
 }
 
-bool PulseReceiver::overflowed() {
+bool PulseReceiver::consumeEdge(const Edge &rawEdge, PulsePeriod &out) {
-  const bool value = overflow_; overflow_ = false; return value;
+  const TimedEdge edge = extendEdge(rawEdge);
+  if (polarityKnown_) {
+    // Deliberately ignore edge type after synchronization. A PWM waveform is
+    // just alternating intervals: active, inactive, active, inactive. An
+    // extra or missing edge therefore becomes a concrete wrong pulse/period
+    // instead of an ambiguous GLITCH state.
+    if (waitingForActiveEnd_) {
+      activeEnd_ = edge.tick;
+      waitingForActiveEnd_ = false;
+      return false;
+    }
+    const uint64_t periodTicks = edge.tick - activeStart_;
+    const uint64_t activeTicks = activeEnd_ - activeStart_;
+    out = {activeStart_, static_cast<uint32_t>(periodTicks),
+      static_cast<uint32_t>(activeTicks), tickHz()};
+    activeStart_ = edge.tick;
+    waitingForActiveEnd_ = true;
+    return true;
+  }
+
+  // Optical mode does not use the DRIVER level setting. Compare the first two
+  // alternating intervals with the configured active duration and select the
+  // level that is actually present at RX. Three edges are enough to determine
+  // polarity and, when the first interval is active, produce the first period.
+  polarityEdges_[polarityEdgeCount_++] = edge;
+  if (polarityEdgeCount_ < 3U) return false;
+
+  const uint64_t firstInterval =
+    polarityEdges_[1].tick - polarityEdges_[0].tick;
+  const uint64_t secondInterval =
+    polarityEdges_[2].tick - polarityEdges_[1].tick;
+  const uint64_t expectedPeriod = tickHz() / expectedHz_;
+  const uint64_t expectedActive = static_cast<uint64_t>(
+    expectedPeriod * expectedDutyPct_ / 100.0f + 0.5f);
+  const uint64_t firstError = firstInterval > expectedActive ?
+    firstInterval - expectedActive : expectedActive - firstInterval;
+  const uint64_t secondError = secondInterval > expectedActive ?
+    secondInterval - expectedActive : expectedActive - secondInterval;
+  const bool firstIntervalIsActive = firstError <= secondError;
+  activeStartRising_ = firstIntervalIsActive ? polarityEdges_[0].rising :
+                                               polarityEdges_[1].rising;
+  polarityKnown_ = true;
+  polarityEdgeCount_ = 0;
+
+  if (firstIntervalIsActive) {
+    out = {polarityEdges_[0].tick,
+      static_cast<uint32_t>(polarityEdges_[2].tick - polarityEdges_[0].tick),
+      static_cast<uint32_t>(firstInterval), tickHz()};
+    activeStart_ = polarityEdges_[2].tick;
+    waitingForActiveEnd_ = true;
+    return true;
+  }
+
+  activeStart_ = polarityEdges_[1].tick;
+  activeEnd_ = polarityEdges_[2].tick;
+  waitingForActiveEnd_ = false;
+  return false;
 }
 
 uint32_t PulseReceiver::takeDroppedItems() {
   return __atomic_exchange_n(&droppedItems_, 0, __ATOMIC_RELAXED);
 }
 
-#if OPTICAL_USE_RMT_DMA
+#if OPTICAL_USE_MCPWM_CAPTURE
-bool IRAM_ATTR PulseReceiver::onRmt(rmt_channel_handle_t, const rmt_rx_done_event_data_t *data, void *ctx) {
+bool IRAM_ATTR PulseReceiver::onCapture(mcpwm_cap_channel_handle_t channel,
+                                        const mcpwm_capture_event_data_t *data,
+                                        void *ctx) {
   PulseReceiver *self = static_cast<PulseReceiver *>(ctx);
+  if (!self->running_) return false;
+  const bool rawRising = data->cap_edge == MCPWM_CAP_EDGE_POS;
+  const Edge edge = {data->cap_value, static_cast<uint8_t>(rawRising),
+    static_cast<uint8_t>(channel == self->txChannel_ ? CaptureSource::TX :
+      CaptureSource::RX)};
+  if (self->txCaptureEnabled_) {
+    // All channels in one MCPWM group are dispatched serially by the same
+    // group ISR. Keep this callback shorter than the minimum interval between
+    // equal RX edges (about 2.1 us at W=2 us): a spinlock and several atomic
+    // RMW operations here can leave the channel pending until its capture
+    // register is overwritten by the next edge.
+    if (self->haveLastDriverEdge_ &&
+        self->lastDriverEdge_.tick == edge.tick &&
+        self->lastDriverEdge_.rising == edge.rising &&
+        self->lastDriverEdge_.source == edge.source) {
+      // The same channel callback can be delivered twice while several MCPWM
+      // capture status bits are pending. Two physical edges cannot have the
+      // same source, direction and 12.5 ns hardware timestamp.
+      return false;
+    }
+    const uint16_t write = self->driverRingWrite_;
+    const uint16_t next = static_cast<uint16_t>(
+      (write + 1U) & (DRIVER_RING_CAPACITY - 1U));
+    if (next == self->driverRingRead_) {
+      ++self->droppedItems_;
+    } else {
+      self->driverRing_[write] = edge;
+      self->lastDriverEdge_ = edge;
+      self->haveLastDriverEdge_ = true;
+      asm volatile("memw" ::: "memory");
+      self->driverRingWrite_ = next;
+    }
+    return false;
+  }
   BaseType_t wake = pdFALSE;
-  size_t offset = 0;
+  if (xQueueSendFromISR(self->queue_, &edge, &wake) != pdTRUE)
-  while (offset < data->num_symbols) {
+    __atomic_fetch_add(&self->droppedItems_, 1U, __ATOMIC_RELAXED);
-    SymbolBlock &b = self->isrBlock_;
-    b.count = static_cast<uint16_t>((data->num_symbols - offset) > BLOCK_SYMBOLS ?
-      BLOCK_SYMBOLS : (data->num_symbols - offset));
-    memcpy(b.symbols, data->received_symbols + offset, b.count * sizeof(rmt_symbol_word_t));
-    if (xQueueSendFromISR(self->queue_, &b, &wake) != pdTRUE)
-      __atomic_fetch_add(&self->droppedItems_, b.count, __ATOMIC_RELAXED);
-    offset += b.count;
-  }
   return wake == pdTRUE;
 }
-
-bool PulseReceiver::nextRmtEdge(Edge &edge) {
-  for (;;) {
-    if (blockIndex_ >= block_.count) {
-      if (xQueueReceive(queue_, &block_, 0) != pdTRUE) return false;
-      blockIndex_ = 0; phase_ = 0;
-    }
-    const rmt_symbol_word_t &s = block_.symbols[blockIndex_];
-    const bool nextLevel = phase_ == 0 ? s.level0 : s.level1;
-    const uint32_t duration = phase_ == 0 ? s.duration0 : s.duration1;
-    phase_ ^= 1;
-    if (phase_ == 0) ++blockIndex_;
-    if (!duration) continue;
-    if (!haveLevel_) { haveLevel_ = true; level_ = nextLevel; rmtTick_ += duration; continue; }
-    if (nextLevel != level_) {
-      level_ = nextLevel; edge = {rmtTick_, static_cast<uint8_t>(nextLevel)};
-      rmtTick_ += duration; return true;
-    }
-    rmtTick_ += duration;
-  }
-}
-
-size_t PulseReceiver::readPeriods(PulsePeriod *periods, size_t capacity) {
-  size_t count = 0;
-  Edge e;
-  while (count < capacity && nextRmtEdge(e))
-    if (consumeEdge(e, periods[count])) ++count;
-  return count;
-}
 #else
 void IRAM_ATTR PulseReceiver::onGpio(void *ctx) {
   PulseReceiver *self = static_cast<PulseReceiver *>(ctx);
-  bool level = gpio_get_level(static_cast<gpio_num_t>(GPIO_RX));
+  if (!self->running_) return;
-  if (RX_SIGNAL_INVERTED) level = !level;
+  const bool level = gpio_get_level(static_cast<gpio_num_t>(GPIO_RX));
-  Edge e = {esp_cpu_get_cycle_count(), static_cast<uint8_t>(level)};
+  const Edge edge = {esp_cpu_get_cycle_count(), static_cast<uint8_t>(level),
+    static_cast<uint8_t>(CaptureSource::RX)};
   BaseType_t wake = pdFALSE;
-  if (xQueueSendFromISR(self->queue_, &e, &wake) != pdTRUE)
+  if (xQueueSendFromISR(self->queue_, &edge, &wake) != pdTRUE)
     __atomic_fetch_add(&self->droppedItems_, 1U, __ATOMIC_RELAXED);
   if (wake) portYIELD_FROM_ISR();
 }
+#endif
 
-size_t PulseReceiver::readPeriods(PulsePeriod *periods, size_t capacity) {
+bool PulseReceiver::nextOrderedEdge(Edge &edge, TickType_t waitTicks) {
+  if (!haveReorderEdge_) {
+    if (xQueueReceive(queue_, &reorderEdge_, waitTicks) != pdTRUE) return false;
+    haveReorderEdge_ = true;
+  }
+  Edge next = {};
+  // Keep one-event look-ahead. If both channel interrupts were pending while
+  // OLED/I2C ran, the MCPWM driver may dispatch them by channel number rather
+  // than timestamp. The signed modular comparison restores their real order.
+  if (xQueueReceive(queue_, &next, waitTicks) != pdTRUE) return false;
+  if (static_cast<int32_t>(next.tick - reorderEdge_.tick) < 0) {
+    edge = next;
+  } else {
+    edge = reorderEdge_;
+    reorderEdge_ = next;
+  }
+  return true;
+}
+
+size_t PulseReceiver::readPeriods(PulsePeriod *periods, size_t capacity,
+                                  TickType_t waitTicks) {
   size_t count = 0;
-  Edge e;
+  Edge edge = {};
-  while (count < capacity && xQueueReceive(queue_, &e, 0) == pdTRUE)
+  while (count < capacity && nextOrderedEdge(edge, count ? 0 : waitTicks)) {
-    if (consumeEdge(e, periods[count])) ++count;
+    if (consumeEdge(edge, periods[count])) {
+      periods[count].activeTickHz = tickHz();
+      ++count;
+    }
+  }
+  return count;
+}
+
+size_t PulseReceiver::readEvents(CaptureEvent *events, size_t capacity,
+                                 TickType_t waitTicks) {
+  if (!events || capacity < 3U || !txCaptureEnabled_ || !driverPulseTicks_ ||
+      !driverReleaseSlackTicks_) return 0;
+
+  constexpr size_t MAX_BATCH = 64;
+  const size_t limit = capacity < MAX_BATCH ? capacity : MAX_BATCH;
+  Edge ordered[MAX_BATCH] = {};
+
+  uint16_t read = __atomic_load_n(&driverRingRead_, __ATOMIC_RELAXED);
+  if (read == __atomic_load_n(&driverRingWrite_, __ATOMIC_ACQUIRE) && waitTicks) {
+    vTaskDelay(waitTicks);
+    read = __atomic_load_n(&driverRingRead_, __ATOMIC_RELAXED);
+  }
+  // Work on one immutable producer snapshot. RX belonging to a pulse start is
+  // deliberately retained until that pulse's captured end arrives: only then
+  // can the missing start interrupt be reconstructed and sorted before RX.
+  const uint16_t write = __atomic_load_n(&driverRingWrite_, __ATOMIC_ACQUIRE);
+  uint16_t scan = read;
+  bool haveLatestTxEnd = false;
+  bool haveReleaseTxEnd = false;
+  uint32_t latestTxEnd = 0;
+  uint32_t releaseTxEnd = 0;
+  size_t projectedCount = 0;
+  while (scan != write) {
+    const Edge &edge = driverRing_[scan];
+    const size_t needed = edge.source == static_cast<uint8_t>(CaptureSource::TX)
+      ? 2U : 1U;
+    // Reserve one output slot for WINDOW_END.
+    if (projectedCount + needed + 1U > limit) break;
+    projectedCount += needed;
+    if (edge.source == static_cast<uint8_t>(CaptureSource::TX)) {
+      if (haveLatestTxEnd) {
+        releaseTxEnd = latestTxEnd;
+        haveReleaseTxEnd = true;
+      }
+      latestTxEnd = edge.tick;
+      haveLatestTxEnd = true;
+    }
+    scan = static_cast<uint16_t>((scan + 1U) % DRIVER_RING_CAPACITY);
+  }
+  // Keep the newest TX period in the ring. Arrival of the following TX end
+  // proves that the previous end's ACK/fault window has completely elapsed.
+  if (!haveReleaseTxEnd) {
+    if (waitTicks) vTaskDelay(waitTicks);
+    return 0;
+  }
+
+  const uint32_t releaseThrough = releaseTxEnd + driverReleaseSlackTicks_;
+  size_t count = 0;
+  while (read != write) {
+    const Edge edge = driverRing_[read];
+    if (edge.source == static_cast<uint8_t>(CaptureSource::TX) &&
+        static_cast<int32_t>(edge.tick - releaseTxEnd) > 0)
+      break;
+    if (edge.source == static_cast<uint8_t>(CaptureSource::RX) &&
+        static_cast<int32_t>(edge.tick - releaseThrough) > 0)
+      break;
+    const size_t needed = edge.source == static_cast<uint8_t>(CaptureSource::TX)
+      ? 2U : 1U;
+    if (count + needed > limit) break;
+    read = static_cast<uint16_t>((read + 1U) % DRIVER_RING_CAPACITY);
+    if (edge.source == static_cast<uint8_t>(CaptureSource::TX)) {
+      Edge pulseStart = edge;
+      pulseStart.tick -= driverPulseTicks_;
+      pulseStart.rising = !edge.rising;
+      ordered[count++] = pulseStart;
+    }
+    ordered[count++] = edge;
+  }
+  __atomic_store_n(&driverRingRead_, read, __ATOMIC_RELEASE);
+
+  // MCPWM channels share one timer but their callbacks can be dispatched in
+  // channel order when several interrupts are pending. Restore the hardware
+  // order inside the captured batch using the common timestamp.
+  for (size_t i = 1; i < count; ++i) {
+    const Edge key = ordered[i];
+    size_t j = i;
+    while (j && static_cast<int32_t>(ordered[j - 1].tick - key.tick) > 0) {
+      ordered[j] = ordered[j - 1];
+      --j;
+    }
+    ordered[j] = key;
+  }
+
+  for (size_t i = 0; i < count; ++i) {
+    const TimedEdge timed = extendEdge(ordered[i]);
+    events[i] = {timed.tick, timed.rising,
+      static_cast<CaptureSource>(ordered[i].source)};
+  }
+  const Edge marker = {releaseThrough, 0,
+    static_cast<uint8_t>(CaptureSource::WINDOW_END)};
+  const TimedEdge timedMarker = extendEdge(marker);
+  events[count++] = {timedMarker.tick, false, CaptureSource::WINDOW_END};
   return count;
 }
-#endif

OpticalChannelTester/Receiver.h

@@ -1,63 +1,90 @@
 #pragma once
 #include <Arduino.h>
 #include <esp_idf_version.h>
+#include <driver/gpio.h>
 #include "Config.h"
 #include "Core.h"
 
-#if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0)
+#if CONFIG_IDF_TARGET_ESP32S3 && ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 5, 0)
-#define OPTICAL_USE_RMT_DMA 1
+#define OPTICAL_USE_MCPWM_CAPTURE 1
-#include <driver/rmt_rx.h>
+#include <driver/mcpwm_cap.h>
 #else
-#define OPTICAL_USE_RMT_DMA 0
+#define OPTICAL_USE_MCPWM_CAPTURE 0
-#include <driver/gpio.h>
 #endif
 
+enum class CaptureSource : uint8_t { RX, TX, WINDOW_END };
+
+struct CaptureEvent {
+  uint64_t tick;
+  bool rising;
+  CaptureSource source;
+};
+
 class PulseReceiver {
  public:
   bool begin();
-  bool start(uint32_t expectedHz);
+  bool start(uint32_t expectedHz, float expectedDutyPct, bool activeLightOn);
+  bool startDriver(uint32_t frequencyHz, uint32_t pulseNs,
+                   bool activeTxLightOn);
   void stop();
   void resetStream();
-  size_t readPeriods(PulsePeriod *periods, size_t capacity);
+  size_t readPeriods(PulsePeriod *periods, size_t capacity, TickType_t waitTicks = 0);
-  bool overflowed();
+  size_t readEvents(CaptureEvent *events, size_t capacity, TickType_t waitTicks = 0);
   uint32_t takeDroppedItems();
   uint32_t tickHz() const;
-  uint16_t receiveChunkSymbols() const { return receiveChunkSymbols_; }
+  uint32_t pulseTickHz() const { return tickHz(); }
-  bool highRateBackend() const {
+  uint32_t plannedTickHz(uint32_t expectedHz, float expectedDutyPct) const;
-#if OPTICAL_USE_RMT_DMA && CONFIG_IDF_TARGET_ESP32S3
+  uint32_t plannedPulseTickHz(uint32_t expectedHz, float expectedDutyPct) const {
-    return true;
+    return plannedTickHz(expectedHz, expectedDutyPct);
-#else
-    return false;
-#endif
   }
- private:
+  uint16_t receiveChunkSymbols() const { return 1; }
-  struct Edge { uint32_t tick; uint8_t rising; };
+  bool highRateBackend() const { return OPTICAL_USE_MCPWM_CAPTURE; }
-  bool consumeEdge(const Edge &edge, PulsePeriod &period);
 
-#if OPTICAL_USE_RMT_DMA
+ private:
-  static constexpr size_t BLOCK_SYMBOLS = RMT_MAX_RECEIVE_SYMBOLS;
+  struct Edge { uint32_t tick; uint8_t rising; uint8_t source; };
-  struct SymbolBlock { uint16_t count; rmt_symbol_word_t symbols[BLOCK_SYMBOLS]; };
+  static constexpr uint16_t DRIVER_RING_CAPACITY = 512;
-  static bool IRAM_ATTR onRmt(rmt_channel_handle_t, const rmt_rx_done_event_data_t *, void *);
+  static_assert((DRIVER_RING_CAPACITY & (DRIVER_RING_CAPACITY - 1U)) == 0,
-  bool nextRmtEdge(Edge &edge);
+    "driver capture ring must be a power of two");
-  rmt_channel_handle_t channel_ = nullptr;
+  struct TimedEdge { uint64_t tick; bool rising; };
-  rmt_symbol_word_t receiveBuffer_[RMT_MAX_RECEIVE_SYMBOLS];
+  bool startCapture(bool withTx);
-  uint16_t receiveChunkSymbols_ = 0;
+  bool consumeEdge(const Edge &edge, PulsePeriod &period);
-  SymbolBlock isrBlock_ = {};
+  bool nextOrderedEdge(Edge &edge, TickType_t waitTicks);
-  SymbolBlock block_ = {};
+  TimedEdge extendEdge(const Edge &edge);
-  uint16_t blockIndex_ = 0;
+#if OPTICAL_USE_MCPWM_CAPTURE
-  uint8_t phase_ = 0;
+  bool configureDriverTxCapture(bool risingEdge);
-  bool haveLevel_ = false;
+  static bool IRAM_ATTR onCapture(mcpwm_cap_channel_handle_t,
-  bool level_ = false;
+    const mcpwm_capture_event_data_t *, void *);
-  uint32_t rmtTick_ = 0;
+  mcpwm_cap_timer_handle_t captureTimer_ = nullptr;
+  mcpwm_cap_channel_handle_t risingChannel_ = nullptr;
+  mcpwm_cap_channel_handle_t fallingChannel_ = nullptr;
+  mcpwm_cap_channel_handle_t txChannel_ = nullptr;
+  uint32_t captureResolutionHz_ = 0;
 #else
   static void IRAM_ATTR onGpio(void *ctx);
   uint32_t cpuTickHz_ = 0;
 #endif
   QueueHandle_t queue_ = nullptr;
-  volatile bool overflow_ = false;
+  Edge driverRing_[DRIVER_RING_CAPACITY] = {};
+  volatile uint16_t driverRingWrite_ = 0;
+  volatile uint16_t driverRingRead_ = 0;
+  portMUX_TYPE driverRingMux_ = portMUX_INITIALIZER_UNLOCKED;
+  Edge lastDriverEdge_ = {};
+  bool haveLastDriverEdge_ = false;
+  uint32_t driverPulseTicks_ = 0;
+  uint32_t driverReleaseSlackTicks_ = 0;
+  Edge reorderEdge_ = {};
+  bool haveReorderEdge_ = false;
   volatile uint32_t droppedItems_ = 0;
-  bool running_ = false;
+  volatile bool running_ = false;
-  bool haveRise_ = false, haveFall_ = false, haveRawTick_ = false;
+  volatile bool txCaptureEnabled_ = false;
+  uint32_t expectedHz_ = 0;
+  float expectedDutyPct_ = 50.0f;
+  bool polarityKnown_ = false, activeStartRising_ = false;
+  TimedEdge polarityEdges_[3] = {};
+  uint8_t polarityEdgeCount_ = 0;
+  bool waitingForActiveEnd_ = true;
+  uint64_t activeStart_ = 0, activeEnd_ = 0;
+  bool haveRawTick_ = false;
   uint32_t lastRawTick_ = 0;
-  uint64_t tickEpoch_ = 0, rise_ = 0, fall_ = 0;
+  uint64_t tickEpoch_ = 0;
 };

OpticalChannelTester/SettingsStore.cpp

@@ -3,20 +3,36 @@
 #include "Log.h"
 #include <Preferences.h>
 
-namespace { constexpr uint16_t SETTINGS_VERSION = 1; constexpr char NAMESPACE[] = "opt-test"; }
+// testGroup/boardTest reuse the former zeroed reserved bytes, so version 11
+// settings remain binary-compatible and keep the user's optical parameters.
+namespace { constexpr uint16_t SETTINGS_VERSION = 11; constexpr char NAMESPACE[] = "opt-test"; }
 
 void SettingsStore::defaults(Settings &s) const {
-  s = {SETTINGS_VERSION, static_cast<uint8_t>(Role::SOLO), 0, 4, 1, 2, 3, 2, 2, 0};
+  // 2 kHz, 200 us .. 2 us, 5%, 1 s.
+  s = {SETTINGS_VERSION, static_cast<uint8_t>(Role::SOLO),
+    static_cast<uint8_t>(TestKind::OPTICAL), static_cast<uint8_t>(LightCode::HH),
+    2, 6, 3, 2, 3, static_cast<uint8_t>(TestGroup::OPTICS),
+    static_cast<uint8_t>(BoardTest::ADC), 0};
   s.checksum = settingsChecksum(s);
 }
 
 bool SettingsStore::valid(const Settings &s) const {
   return s.version == SETTINGS_VERSION && s.role <= static_cast<uint8_t>(Role::SLAVE) &&
-    s.startIndex < countOf(START_FREQ_OPTIONS_HZ) && s.endIndex < countOf(END_FREQ_OPTIONS_HZ) &&
+    s.testGroup <= static_cast<uint8_t>(TestGroup::BOARD) &&
-    s.stepIndex < countOf(STEP_OPTIONS_HZ) && s.accuracyIndex < countOf(ACCURACY_OPTIONS_PCT) &&
+    s.boardTest <= static_cast<uint8_t>(BoardTest::RX_INPUT) &&
-    s.timeIndex < countOf(TEST_TIME_OPTIONS_MS) && s.repeatIndex < countOf(REPEAT_OPTIONS) &&
+    s.testKind <= static_cast<uint8_t>(TestKind::DRIVER) &&
-    s.dutyIndex < countOf(DUTY_OPTIONS_PCT) && s.checksum == settingsChecksum(s) &&
+    s.lightCode <= static_cast<uint8_t>(LightCode::LL) &&
-    END_FREQ_OPTIONS_HZ[s.endIndex] > START_FREQ_OPTIONS_HZ[s.startIndex];
+    (s.testKind != static_cast<uint8_t>(TestKind::DRIVER) ||
+      s.role == static_cast<uint8_t>(Role::SOLO)) &&
+    s.frequencyIndex < countOf(PWM_FREQUENCY_OPTIONS_HZ) &&
+    s.maxPulseIndex < countOf(MAX_PULSE_OPTIONS_NS) &&
+    s.minPulseIndex < countOf(MIN_PULSE_OPTIONS_NS) &&
+    MAX_PULSE_OPTIONS_NS[s.maxPulseIndex] >= MIN_PULSE_OPTIONS_NS[s.minPulseIndex] &&
+    static_cast<uint64_t>(MAX_PULSE_OPTIONS_NS[s.maxPulseIndex]) *
+      PWM_FREQUENCY_OPTIONS_HZ[s.frequencyIndex] < 1000000000ULL &&
+    s.accuracyIndex < countOf(ACCURACY_OPTIONS_PCT) &&
+    s.timeIndex < countOf(TEST_TIME_OPTIONS_MS) &&
+    s.checksum == settingsChecksum(s);
 }
 
 bool SettingsStore::load(Settings &s) {
@@ -39,8 +55,7 @@ bool SettingsStore::save(Settings &s) {
 }
 
 TestParams SettingsStore::params(const Settings &s) const {
-  return {START_FREQ_OPTIONS_HZ[s.startIndex], END_FREQ_OPTIONS_HZ[s.endIndex],
+  return {PWM_FREQUENCY_OPTIONS_HZ[s.frequencyIndex],
-    STEP_OPTIONS_HZ[s.stepIndex], ACCURACY_OPTIONS_PCT[s.accuracyIndex],
+    MAX_PULSE_OPTIONS_NS[s.maxPulseIndex], MIN_PULSE_OPTIONS_NS[s.minPulseIndex],
-    TEST_TIME_OPTIONS_MS[s.timeIndex], REPEAT_OPTIONS[s.repeatIndex],
+    ACCURACY_OPTIONS_PCT[s.accuracyIndex], TEST_TIME_OPTIONS_MS[s.timeIndex]};
-    DUTY_OPTIONS_PCT[s.dutyIndex]};
 }

PCB/GerberManufacture/OptoTest.GBL

@@ -0,0 +1,1866 @@
+G04*
+G04 #@! TF.GenerationSoftware,Altium Limited,Altium Designer,19.1.9 (167)*
+G04*
+G04 Layer_Physical_Order=3*
+G04 Layer_Color=16711680*
+%FSLAX44Y44*%
+%MOMM*%
+G71*
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+%ADD43C,0.8000*%
+%ADD44C,1.5240*%
+%ADD45C,1.7000*%
+%ADD46O,2.4000X1.8000*%
+%ADD47C,1.5000*%
+%ADD48R,1.5000X1.5000*%
+%ADD49R,1.5000X1.5000*%
+%ADD50C,3.0000*%
+%ADD51C,2.0000*%
+%ADD52C,1.8000*%
+%ADD53R,1.8000X1.8000*%
+%ADD54C,1.6000*%
+%ADD55R,1.6000X1.6000*%
+%ADD56R,1.7000X1.7000*%
+%ADD57R,1.6000X1.6000*%
+%ADD58C,1.6000*%
+G04:AMPARAMS|DCode=59|XSize=2.3mm|YSize=1.8mm|CornerRadius=0.225mm|HoleSize=0mm|Usage=FLASHONLY|Rotation=0.000|XOffset=0mm|YOffset=0mm|HoleType=Round|Shape=RoundedRectangle|*
+%AMROUNDEDRECTD59*
+21,1,2.3000,1.3500,0,0,0.0*
+21,1,1.8500,1.8000,0,0,0.0*
+1,1,0.4500,0.9250,-0.6750*
+1,1,0.4500,-0.9250,-0.6750*
+1,1,0.4500,-0.9250,0.6750*
+1,1,0.4500,0.9250,0.6750*
+%
+%ADD59ROUNDEDRECTD59*%
+G36*
+X164097Y490000D02*
+X167924Y480761D01*
+X133581Y446419D01*
+X132139Y444539D01*
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PCB/GerberManufacture/OptoTest.GBP

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PCB/GerberManufacture/OptoTest.GBS

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PCB/GerberManufacture/OptoTest.GKO

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PCB/GerberManufacture/OptoTest.GTL

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