diff --git a/ESP8266/ESP8266.ino b/ESP8266/ESP8266.ino
index d95005b..8c1c497 100644
--- a/ESP8266/ESP8266.ino
+++ b/ESP8266/ESP8266.ino
@@ -7,7 +7,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   8
+#define FW_VERSION   9
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
@@ -86,6 +86,11 @@ static void checkOTA() {
       }
       delay(300);
 
+      // Fuerza pines de motor a LOW antes del flash para minimizar glitch de GPIO
+      analogWrite(ENA, 0); analogWrite(ENB, 0);
+      digitalWrite(IN1, LOW); digitalWrite(IN2, LOW);
+      digitalWrite(IN3, LOW); digitalWrite(IN4, LOW);
+
       BearSSL::WiFiClientSecure updateClient;
       updateClient.setInsecure();
       ESPhttpUpdate.setFollowRedirects(HTTPC_STRICT_FOLLOW_REDIRECTS);
diff --git a/Esp32Cam/Esp32Cam.ino b/Esp32Cam/Esp32Cam.ino
index 6899d2f..6b63424 100644
--- a/Esp32Cam/Esp32Cam.ino
+++ b/Esp32Cam/Esp32Cam.ino
@@ -10,7 +10,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   8
+#define FW_VERSION   9
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
@@ -24,24 +24,30 @@ const char *password = "Suprak1llm1ndS23S";
 void startCameraServer();
 void setupLedFlash();
 
-// ── Handshake bidireccional con ESP8266 ─────────────────────────
-// Envía "GO\n" cada 300ms hasta recibir "OK\n".
-// Protege contra basura del bootloader ROM (115200 baud → bytes aleatorios).
-static void handshakeEsp8266() {
-  unsigned long deadline = millis() + 30000UL;   // máx 30s
+// ── Handshake bidireccional — tarea FreeRTOS (no bloquea setup) ─
+// Corre en paralelo con el servidor web. Envía "GO\n" cada 300ms
+// hasta recibir "OK\n" o agotar 30s.
+static void handshakeTask(void *) {
+  unsigned long deadline = millis() + 30000UL;
+  String buf = "";
   while (millis() < deadline) {
     Serial.print("GO\n");
     unsigned long t = millis();
     while (millis() - t < 300) {
-      if (Serial.available()) {
-        String resp = Serial.readStringUntil('\n');
-        resp.trim();
-        if (resp == "OK") return;
+      while (Serial.available()) {
+        char c = Serial.read();
+        if (c == '\n') {
+          buf.trim();
+          if (buf == "OK") { vTaskDelete(NULL); return; }
+          buf = "";
+        } else if (c != '\r' && buf.length() < 8) {
+          buf += c;
+        }
       }
-      delay(5);
+      vTaskDelay(pdMS_TO_TICKS(5));
     }
   }
-  // Timeout: continúa sin confirmación
+  vTaskDelete(NULL);  // timeout
 }
 
 // ── OTA: comprueba si hay firmware nuevo y actualiza si hace falta ──
@@ -167,8 +173,8 @@ void setup() {
   // ── Servidor cámara ───────────────────────────────────────────────
   startCameraServer();
 
-  // Handshake bidireccional: espera ACK del ESP8266
-  handshakeEsp8266();
+  // Handshake en tarea separada — no bloquea setup() ni el watchdog
+  xTaskCreate(handshakeTask, "handshake", 4096, NULL, 1, NULL);
 }
 
 void loop() {
diff --git a/firmware/esp32cam/firmware.bin b/firmware/esp32cam/firmware.bin
index ee1179f..878e88c 100644
Binary files a/firmware/esp32cam/firmware.bin and b/firmware/esp32cam/firmware.bin differ
diff --git a/firmware/esp32cam/version.txt b/firmware/esp32cam/version.txt
index 301160a..f11c82a 100644
--- a/firmware/esp32cam/version.txt
+++ b/firmware/esp32cam/version.txt
@@ -1 +1 @@
-8
\ No newline at end of file
+9
\ No newline at end of file
diff --git a/firmware/esp8266/firmware.bin b/firmware/esp8266/firmware.bin
index 5f2f296..9757547 100644
Binary files a/firmware/esp8266/firmware.bin and b/firmware/esp8266/firmware.bin differ
diff --git a/firmware/esp8266/version.txt b/firmware/esp8266/version.txt
index 301160a..f11c82a 100644
--- a/firmware/esp8266/version.txt
+++ b/firmware/esp8266/version.txt
@@ -1 +1 @@
-8
\ No newline at end of file
+9
\ No newline at end of file