sbus invertion in config

.gitignore

@@ -291,3 +291,4 @@ dkms.conf
 
 .vscode/settings.json
 sdkconfig.defaults
+.clangd

README.md

@@ -7,7 +7,7 @@ Professional LED controller firmware for ESP32. Designed for model aircraft with
 ### Hardware Support
 - **ESP32 DevKitC** and **ESP32-C3 MINI** Development Board
 - Dual WS2812B LED strip support (configurable GPIOs)
-- PWM signal input for RC control
+- PWM or SBUS signal input for RC control
 - Real-time LED animation at 60 FPS
 
 ### Animation Modes
@@ -35,7 +35,7 @@ led-controller-firmware/
 │   ├── control.c/h      # initialization
 │   ├── config.c/h       # NVS
 │   ├── led.c/h          # WS2812B control (RMT driver)
-│   ├── rcsignal.c/h     # PWM signal reading
+│   ├── rcsignal.c/h     # PWM/SBUS signal reading
 │   ├── localbtn.c/h     # Local btn reading
 │   └── animation.c/h    # LED animation patterns
 ├── CMakeLists.txt
@@ -80,7 +80,7 @@ ESP32 Pin    -> Component
 -----------     ----------
 GPIO XX      -> WS2812B Strip A Data
 GPIO XX      -> WS2812B Strip B Data
-GPIO XX      -> RC PWM Signal
+GPIO XX      -> RC PWM/SBUS Signal
 GPIO XX      -> Local button Signal
 GND          -> Common Ground
 5V           -> LED Strip Power (if current < 500mA)
@@ -93,11 +93,21 @@ GND          -> Common Ground
 - Add 100-500µF capacitor near strips
 - Add 330Ω resistor on data line
 
-### PWM Signal
+
+### PWM Signal Mode 
 - Standard RC PWM: 1000-2000µs pulse width
 - 1500µs threshold for mode switching
 - Rising edge >1500µs after <1500µs triggers next mode
 
+
+### SBUS Mode (FrSky X4R-SB)
+```
+X4R-SB SBUS/CH4 → ESP32 UART1 RX Pin (configured GPIO)
+```
+
+**Note**: The FrSky X4R-SB outputs inverted SBUS. The module automatically handles this inversion.
+
+
 ## Development
 
 ### Adding New Animations
@@ -118,6 +128,23 @@ idf.py monitor
 # Exit monitor: Ctrl+]
 ```
 
+#### Debug Output (SBUS Mode Only)
+
+```c
+// Print all 16 channels to console
+rcsignal_debug_print_channels();
+```
+
+Example output:
+```
+I (12345) RCSIGNAL: SBUS Channels:
+I (12345) RCSIGNAL:   CH1: 992  CH2: 992  CH3: 172  CH4: 1811
+I (12345) RCSIGNAL:   CH5: 992  CH6: 992  CH7: 992  CH8: 992
+I (12345) RCSIGNAL:   CH9: 992 CH10: 992 CH11: 992 CH12: 992
+I (12345) RCSIGNAL:  CH13: 992 CH14: 992 CH15: 992 CH16: 992
+I (12345) RCSIGNAL: Trigger channel (CH4): 1811
+```
+
 ## License
 
 See [LICENSE](LICENSE)

main/animation.c

@@ -20,29 +20,28 @@ static animation_mode_t current_mode = ANIM_BLACK;
 static uint8_t global_hue = 0;
 static uint32_t frame_counter = 0;
 
-// Beat calculation helper (similar to FastLED beatsin16)
+// Beat calculation helper
 static int16_t beatsin16(uint8_t bpm, int16_t min_val, int16_t max_val)
 {
-    uint32_t ms = esp_timer_get_time() / 1000;
+    // Use uint64_t to prevent overflow
-    uint32_t beat = (ms * bpm * 256) / 60000;
+    uint64_t us = esp_timer_get_time(); // Microseconds
-    uint8_t beat8 = (beat >> 8) & 0xFF;
 
-    // Sin approximation
+    // Calculate beat phase (0-65535 repeating at BPM rate)
-    float angle = (beat8 / 255.0f) * 2.0f * M_PI;
+    // beats_per_minute → beats_per_microsecond = bpm / 60,000,000
+    uint64_t beat_phase = (us * (uint64_t)bpm * 65536ULL) / 60000000ULL;
+    uint16_t beat16 = (uint16_t)(beat_phase & 0xFFFF);
+
+    // Convert to angle (0 to 2π)
+    float angle = (beat16 / 65535.0f) * 2.0f * M_PI;
     float sin_val = sinf(angle);
 
+    // Map sin (-1 to +1) to output range (min_val to max_val)
     int16_t range = max_val - min_val;
     int16_t result = min_val + (int16_t)((sin_val + 1.0f) * range / 2.0f);
 
     return result;
 }
 
-// Beat calculation helper (beatsin8 variant)
-static uint8_t beatsin8(uint8_t bpm, uint8_t min_val, uint8_t max_val)
-{
-    return (uint8_t)beatsin16(bpm, min_val, max_val);
-}
-
 // Random helper
 static uint8_t random8(void)
 {
@@ -94,20 +93,24 @@ static void anim_white(void)
 
 static void anim_rainbow(void)
 {
-    // FastLED's built-in rainbow generator
+    // Rainbow generator
     uint16_t num_leds_a = led_get_num_leds_a();
     uint16_t num_leds_b = led_get_num_leds_b();
+    uint16_t num_leds = num_leds_a + num_leds_b;
 
-    for (uint16_t i = 0; i < num_leds_a; i++)
+    for (uint16_t i = 0; i < num_leds; i++)
     {
         hsv_t hsv = {(uint8_t)(global_hue + (i * 7)), 255, 255};
-        led_set_pixel_a(i, led_hsv_to_rgb(hsv));
+        rgb_t color = led_hsv_to_rgb(hsv);
-    }
 
-    for (uint16_t i = 0; i < num_leds_b; i++)
+        if (i < num_leds_a)
-    {
+        {
-        hsv_t hsv = {(uint8_t)(global_hue + (i * 7)), 255, 255};
+            led_set_pixel_a(num_leds_a - i - 1, color);
-        led_set_pixel_b(i, led_hsv_to_rgb(hsv));
+        }
+        else
+        {
+            led_set_pixel_b(i - num_leds_a, color);
+        }
     }
 }
 
@@ -133,7 +136,7 @@ static void add_glitter(uint8_t chance_of_glitter)
 static void anim_rainbow_glitter(void)
 {
     anim_rainbow();
-    add_glitter(80);
+    add_glitter(255);
 }
 
 static void anim_confetti(void)
@@ -144,16 +147,16 @@ static void anim_confetti(void)
     uint16_t num_leds = led_get_num_leds_a() + led_get_num_leds_b();
     uint16_t pos = random16(num_leds);
 
-    hsv_t hsv = {(uint8_t)(global_hue + random8()), 200, 255};
+    hsv_t hsv = {(uint8_t)(global_hue + random8()), 255, 255};
     rgb_t color = led_hsv_to_rgb(hsv);
 
     if (pos < led_get_num_leds_a())
     {
-        led_add_pixel_a(pos, color);
+        led_set_pixel_a(led_get_num_leds_a() - pos - 1, color);
     }
     else
     {
-        led_add_pixel_b(pos - led_get_num_leds_a(), color);
+        led_set_pixel_b(pos - led_get_num_leds_a(), color);
     }
 }
 
@@ -163,14 +166,14 @@ static void anim_sinelon(void)
     led_fade_to_black(20);
 
     uint16_t num_leds = led_get_num_leds_a() + led_get_num_leds_b();
-    int16_t pos = beatsin16(13, 0, num_leds - 1);
+    int16_t pos = beatsin16(13, 0, num_leds);
 
     hsv_t hsv = {global_hue, 255, 192};
     rgb_t color = led_hsv_to_rgb(hsv);
 
     if (pos < led_get_num_leds_a())
     {
-        led_add_pixel_a(pos, color);
+        led_add_pixel_a(led_get_num_leds_a() - pos - 1, color);
     }
     else
     {
@@ -178,42 +181,14 @@ static void anim_sinelon(void)
     }
 }
 
-static void anim_bpm(void)
-{
-    // Colored stripes pulsing at 33 BPM
-    uint8_t bpm = 33;
-    uint8_t beat = beatsin8(bpm, 64, 255);
-
-    uint16_t num_leds_a = led_get_num_leds_a();
-    uint16_t num_leds_b = led_get_num_leds_b();
-
-    // PartyColors palette simulation
-    const uint8_t palette_colors[] = {
-        170, 240, 90, 150, 210, 30, 180, 0,
-        210, 255, 150, 240, 255, 60, 255, 120};
-
-    for (uint16_t i = 0; i < num_leds_a; i++)
-    {
-        uint8_t color_index = (global_hue + (i * 2)) & 0x0F;
-        uint8_t brightness = beat - global_hue + (i * 10);
-        hsv_t hsv = {palette_colors[color_index], 255, brightness};
-        led_set_pixel_a(i, led_hsv_to_rgb(hsv));
-    }
-
-    for (uint16_t i = 0; i < num_leds_b; i++)
-    {
-        uint8_t color_index = (global_hue + ((i + num_leds_a) * 2)) & 0x0F;
-        uint8_t brightness = beat - global_hue + ((i + num_leds_a) * 10);
-        hsv_t hsv = {palette_colors[color_index], 255, brightness};
-        led_set_pixel_b(i, led_hsv_to_rgb(hsv));
-    }
-}
-
 static void anim_navigation(void)
 {
-    // Navigation lights: left red, right green, with blinking white
+    // Aviation navigation lights with strobe overlay:
-    static uint8_t blink_state = 0;
+    // - Red: Port (left) wingtip - steady
+    // - Green: Starboard (right) wingtip - steady
+    // - White strobe: Overlays outer nav lights with bright flashes
 
+    static uint8_t strobe_counter = 0;
     led_clear_all();
 
     uint16_t num_leds_a = led_get_num_leds_a();
@@ -222,50 +197,34 @@ static void anim_navigation(void)
     rgb_t red = {255, 0, 0};
     rgb_t green = {0, 255, 0};
     rgb_t white = {255, 255, 255};
+    rgb_t black = {0, 0, 0};
 
-    // Left side red (first 3 LEDs of strip A)
+    // Anti-collision strobe pattern: Double flash at ~1 Hz
+    // Flash duration: 3 frames (~50ms) for high-intensity effect
+    bool first_flash = (strobe_counter < 3);
+    bool second_flash = (strobe_counter >= 7 && strobe_counter < 10);
+    bool strobe_active = (first_flash || second_flash);
+
+    // Port (left) - Red navigation light OR white strobe (outer 3 LEDs of strip A)
     if (num_leds_a >= 3)
     {
-        led_set_pixel_a(0, red);
+        rgb_t color_a = strobe_active ? white : black;
-        led_set_pixel_a(1, red);
+        led_set_pixel_a(num_leds_a - 1, color_a);
-        led_set_pixel_a(2, red);
+        led_set_pixel_a(num_leds_a - 2, red);
+        led_set_pixel_a(num_leds_a - 3, red);
     }
 
-    // Right side green (last 3 LEDs)
+    // Starboard (right) - Green navigation light OR white strobe (outer 3 LEDs of strip B)
     if (num_leds_b >= 3)
     {
-        led_set_pixel_b(num_leds_b - 1, green);
+        rgb_t color_b = strobe_active ? white : black;
+        led_set_pixel_b(num_leds_b - 1, color_b);
         led_set_pixel_b(num_leds_b - 2, green);
         led_set_pixel_b(num_leds_b - 3, green);
     }
-    else if (num_leds_a >= 6)
-    {
-        led_set_pixel_a(num_leds_a - 1, green);
-        led_set_pixel_a(num_leds_a - 2, green);
-        led_set_pixel_a(num_leds_a - 3, green);
-    }
 
-    // Blinking white lights (positions 5-6 and 37-38 from original)
+    // Strobe cycle: 90 frames = 1.5 second at 60 FPS
-    if (blink_state < FRAMES_PER_SECOND / 2)
+    strobe_counter = (strobe_counter + 1) % 90;
-    {
-        if (num_leds_a > 6)
-        {
-            led_set_pixel_a(5, white);
-            led_set_pixel_a(6, white);
-        }
-        if (num_leds_b > 2)
-        {
-            led_set_pixel_b(1, white);
-            led_set_pixel_b(2, white);
-        }
-        else if (num_leds_a > 38)
-        {
-            led_set_pixel_a(37, white);
-            led_set_pixel_a(38, white);
-        }
-    }
-
-    blink_state = (blink_state + 1) % FRAMES_PER_SECOND;
 }
 
 static void anim_chase(void)
@@ -273,25 +232,45 @@ static void anim_chase(void)
     // Red dot sweeping with trailing dots
     led_clear_all();
 
-    uint16_t num_leds = led_get_num_leds_a() + led_get_num_leds_b();
+    uint16_t num_leds_a = led_get_num_leds_a();
-    int16_t pos = beatsin16(40, 0, num_leds - 1);
+    uint16_t num_leds_b = led_get_num_leds_b();
+    uint16_t total_leds = num_leds_a + num_leds_b;
+
+    // Get oscillating position across both strips
+    int16_t center_pos = beatsin16(40, 0, total_leds - 1);
 
     rgb_t red = {255, 0, 0};
 
-    // Set main dot and trailing dots
+    // Draw center dot with dimmed trailing dots (3 dots total: center ±1)
-    for (int offset = -2; offset <= 2; offset++)
+    for (int8_t offset = -1; offset <= 1; offset++)
     {
-        int16_t led_pos = pos + offset;
+        int16_t led_pos = center_pos + offset;
-        if (led_pos >= 0 && led_pos < num_leds)
+
+        // Skip if position is out of bounds
+        if (led_pos < 0 || led_pos >= total_leds)
+            continue;
+
+        // Calculate brightness based on distance from center
+        uint8_t brightness = (offset == 0) ? 255 : 32; // Center: full, trailing: 12%
+
+        // Create dimmed color
+        rgb_t dimmed_red = {
+            (red.r * brightness) / 255,
+            (red.g * brightness) / 255,
+            (red.b * brightness) / 255};
+
+        // Map virtual position to physical LED
+        if (led_pos < num_leds_a)
         {
-            if (led_pos < led_get_num_leds_a())
+            // Strip A (mirrored: position 0 maps to last LED)
-            {
+            uint16_t strip_a_index = num_leds_a - led_pos - 1;
-                led_set_pixel_a(led_pos, red);
+            led_set_pixel_a(strip_a_index, dimmed_red);
-            }
+        }
-            else
+        else
-            {
+        {
-                led_set_pixel_b(led_pos - led_get_num_leds_a(), red);
+            // Strip B (direct mapping)
-            }
+            uint16_t strip_b_index = led_pos - num_leds_a;
+            led_set_pixel_b(strip_b_index, dimmed_red);
         }
     }
 }
@@ -301,26 +280,46 @@ static void anim_chase_rgb(void)
     // RGB cycling dot sweeping with trailing dots
     led_clear_all();
 
-    uint16_t num_leds = led_get_num_leds_a() + led_get_num_leds_b();
+    uint16_t num_leds_a = led_get_num_leds_a();
-    int16_t pos = beatsin16(40, 0, num_leds - 1);
+    uint16_t num_leds_b = led_get_num_leds_b();
+    uint16_t total_leds = num_leds_a + num_leds_b;
+
+    // Get oscillating position across both strips
+    int16_t center_pos = beatsin16(40, 0, total_leds - 1);
 
     hsv_t hsv = {global_hue, 255, 192};
     rgb_t color = led_hsv_to_rgb(hsv);
 
-    // Set main dot and trailing dots
+    // Draw center dot with dimmed trailing dots (3 dots total: center ±1)
-    for (int offset = -2; offset <= 2; offset++)
+    for (int8_t offset = -1; offset <= 1; offset++)
     {
-        int16_t led_pos = pos + offset;
+        int16_t led_pos = center_pos + offset;
-        if (led_pos >= 0 && led_pos < num_leds)
+
+        // Skip if position is out of bounds
+        if (led_pos < 0 || led_pos >= total_leds)
+            continue;
+
+        // Calculate brightness based on distance from center
+        uint8_t brightness = (offset == 0) ? 255 : 32; // Center: full, trailing: 12%
+
+        // Create dimmed color
+        rgb_t dimmed_color = {
+            (color.r * brightness) / 255,
+            (color.g * brightness) / 255,
+            (color.b * brightness) / 255};
+
+        // Map virtual position to physical LED
+        if (led_pos < num_leds_a)
         {
-            if (led_pos < led_get_num_leds_a())
+            // Strip A (mirrored: position 0 maps to last LED)
-            {
+            uint16_t strip_a_index = num_leds_a - led_pos - 1;
-                led_add_pixel_a(led_pos, color);
+            led_set_pixel_a(strip_a_index, dimmed_color);
-            }
+        }
-            else
+        else
-            {
+        {
-                led_add_pixel_b(led_pos - led_get_num_leds_a(), color);
+            // Strip B (direct mapping)
-            }
+            uint16_t strip_b_index = led_pos - num_leds_a;
+            led_set_pixel_b(strip_b_index, dimmed_color);
         }
     }
 }
@@ -331,18 +330,26 @@ static void anim_random(void)
     uint16_t num_leds = led_get_num_leds_a() + led_get_num_leds_b();
     uint16_t random_pos = random16(num_leds);
 
-    // Randomly clear all (rare event)
-    if (random_pos == num_leds - 1 && random8() > 200)
-    {
-        led_clear_all();
-        return;
-    }
-
-    // Set random LED to random color
     rgb_t random_color = {
-        random8(),
+        0,
-        random8(),
+        0,
-        random8()};
+        0};
+
+    // Set random LED to random basis color
+    switch (random16(3))
+    {
+    case 0:
+        random_color.r = 255;
+        break;
+    case 1:
+        random_color.g = 255;
+        break;
+    case 2:
+        random_color.b = 255;
+        break;
+    default:
+        break;
+    }
 
     if (random_pos < led_get_num_leds_a())
     {
@@ -357,31 +364,26 @@ static void anim_random(void)
 esp_err_t animation_init(void)
 {
     current_mode = ANIM_BLACK;
-    global_hue = 0;
+    global_hue = 0U;
-    frame_counter = 0;
+    frame_counter = 0U;
 
-    ESP_LOGI(TAG, "Animation system initialized");
+    ESP_LOGI(TAG, "Animation initialized");
     return ESP_OK;
 }
 
 void animation_set_mode(animation_mode_t mode)
 {
-    if (mode >= ANIM_MODE_COUNT)
+    if ((mode >= ANIM_MODE_COUNT) || (mode < 0U))
     {
         mode = ANIM_BLACK;
     }
 
     current_mode = mode;
-    frame_counter = 0;
+    frame_counter = 0U;
 
     ESP_LOGI(TAG, "Animation mode set to: %s", animation_get_mode_name(mode));
 }
 
-animation_mode_t animation_get_mode(void)
-{
-    return current_mode;
-}
-
 void animation_update(void)
 {
     // Update global hue every frame (slowly cycles colors)
@@ -421,9 +423,6 @@ void animation_update(void)
     case ANIM_SINELON:
         anim_sinelon();
         break;
-    case ANIM_BPM:
-        anim_bpm();
-        break;
     case ANIM_NAVIGATION:
         anim_navigation();
         break;
@@ -456,7 +455,6 @@ const char *animation_get_mode_name(animation_mode_t mode)
         "Rainbow with Glitter",
         "Confetti",
         "Sinelon",
-        "BPM",
         "Navigation",
         "Chase",
         "Chase RGB",

main/animation.h

@@ -23,11 +23,10 @@ typedef enum {
     ANIM_RAINBOW_GLITTER = 6, // Rainbow with glitter
     ANIM_CONFETTI = 7,        // Random colored speckles
     ANIM_SINELON = 8,         // Colored dot sweeping (RGB cycling)
-    ANIM_BPM = 9,             // Colored stripes @ 33 BPM
+    ANIM_NAVIGATION = 9,     // Navigation lights (red left, green right)
-    ANIM_NAVIGATION = 10,     // Navigation lights (red left, green right)
+    ANIM_CHASE = 10,          // Red dot sweeping
-    ANIM_CHASE = 11,          // Red dot sweeping
+    ANIM_CHASE_RGB = 11,      // RGB cycling dot sweeping
-    ANIM_CHASE_RGB = 12,      // RGB cycling dot sweeping
+    ANIM_RANDOM = 12,         // Random mode
-    ANIM_RANDOM = 13,         // Random mode
     ANIM_MODE_COUNT
 } animation_mode_t;
 
@@ -43,12 +42,6 @@ esp_err_t animation_init(void);
  */
 void animation_set_mode(animation_mode_t mode);
 
-/**
- * @brief Get current animation mode
- * @return Current mode
- */
-animation_mode_t animation_get_mode(void);
-
 /**
  * @brief Update animation (call periodically, e.g., 30-60 FPS)
  */
@@ -59,6 +52,6 @@ void animation_update(void);
  * @param mode Animation mode
  * @return Mode name string
  */
-const char* animation_get_mode_name(animation_mode_t mode);
+const char *animation_get_mode_name(animation_mode_t mode);
 
 #endif // ANIMATION_H

main/config.c

@@ -22,12 +22,25 @@ static const char *TAG = "CONFIG";
 
 #define HARDCODED_CONFIG
 #ifdef HARDCODED_CONFIG
-#define HARDCODED_CONFIG_LED_STRIP_A_PIN 12U
+#define HARDCODED_CONFIG_LED_STRIP_A_PIN 2U
-#define HARDCODED_CONFIG_LED_STRIP_B_PIN 14U
+#define HARDCODED_CONFIG_LED_STRIP_B_PIN 3U
-#define HARDCODED_CONFIG_LED_STRIP_A_COUNT 7U
+#define HARDCODED_CONFIG_LED_STRIP_A_COUNT 9U
-#define HARDCODED_CONFIG_LED_STRIP_B_COUNT 7U
+#define HARDCODED_CONFIG_LED_STRIP_B_COUNT 9U
-#define HARDCODED_CONFIG_PWM_PIN 13U
+#define HARDCODED_CONFIG_RC_SIGNAL_PIN 1U
-#define HARDCODED_CONFIG_LOCALBTN_PIN GPIO_NUM_0
+#define HARDCODED_CONFIG_USE_SBUS_MODE true
+#define HARDCODED_CONFIG_SBUS_TRIGGER_CHANNEL 3U // Channel 4
+#define HARDCODED_CONFIG_SBUS_THRESHOLD_LOW 800U
+#define HARDCODED_CONFIG_SBUS_THRESHOLD_HIGH 1100U
+#define HARDCODED_CONFIG_SBUS_INVERTED true // Set inverted RX for FrSky receivers (they output inverted SBUS)
+
+#if defined(CONFIG_IDF_TARGET_ESP32C3)
+#define HARDCODED_CONFIG_LOCALBTN_PIN 9
+#elif defined(CONFIG_IDF_TARGET_ESP32)
+#define HARDCODED_CONFIG_LOCALBTN_PIN 0
+#else
+#error "Unsupported target: BOOT button GPIO not defined"
+#endif
+
 #endif
 
 // Global state
@@ -36,8 +49,14 @@ static config_t current_config = {
     .led_pin_strip_b = -1,
     .led_count_strip_a = -1,
     .led_count_strip_b = -1,
-    .pwm_pin = -1,
+    .rc_signal_pin = -1,
-    .localBtn_pin = -1};
+    .localBtn_pin = -1,
+    .use_sbus_mode = false,
+    .sbus_trigger_channel = 3,
+    .sbus_threshold_low = 800,
+    .sbus_threshold_high = 1100,
+    .sbus_inverted = false,
+};
 
 static void calculate_config_hash(const config_t *cfg, uint8_t *out_hash);
 
@@ -74,13 +93,19 @@ static esp_err_t load_config_from_nvs(void)
         // We found a valid config
         break;
     }
-    
+
     ESP_LOGI(TAG, "Loaded config from NVS");
     ESP_LOGI(TAG, "  Strip A: GPIO%d", current_config.led_pin_strip_a);
     ESP_LOGI(TAG, "  Strip B: GPIO%d", current_config.led_pin_strip_b);
     ESP_LOGI(TAG, "  Strip A LED count: %d", current_config.led_count_strip_a);
     ESP_LOGI(TAG, "  Strip B LED count: %d", current_config.led_count_strip_b);
-    ESP_LOGI(TAG, "  PWM Pin: GPIO%d", current_config.pwm_pin);
+    ESP_LOGI(TAG, "  RC Signal Pin: GPIO%d", current_config.rc_signal_pin);
+    ESP_LOGI(TAG, "  RC Signal Mode: %s", current_config.use_sbus_mode ? "SBUS" : "PWM");
+    if (current_config.use_sbus_mode)
+    {
+        ESP_LOGI(TAG, "  SBUS Trigger Channel: %d", current_config.sbus_trigger_channel + 1);
+        ESP_LOGI(TAG, "  SBUS Thresholds: %d / %d", current_config.sbus_threshold_low, current_config.sbus_threshold_high);
+    }
     ESP_LOGI(TAG, "  Local btn Pin: GPIO%d", current_config.localBtn_pin);
 
     return ESP_OK;
@@ -123,8 +148,12 @@ esp_err_t config_reset_config(void)
     current_config.led_pin_strip_b = -1;
     current_config.led_count_strip_a = -1;
     current_config.led_count_strip_b = -1;
-    current_config.pwm_pin = -1;
+    current_config.rc_signal_pin = -1;
     current_config.localBtn_pin = -1;
+    current_config.use_sbus_mode = false;
+    current_config.sbus_trigger_channel = 3;
+    current_config.sbus_threshold_low = 800;
+    current_config.sbus_threshold_high = 1100;
 
     return save_config_to_nvs();
 }
@@ -135,8 +164,12 @@ void config_get_config(config_t *const cnf)
     cnf->led_pin_strip_b = current_config.led_pin_strip_b;
     cnf->led_count_strip_a = current_config.led_count_strip_a;
     cnf->led_count_strip_b = current_config.led_count_strip_b;
-    cnf->pwm_pin = current_config.pwm_pin;
+    cnf->rc_signal_pin = current_config.rc_signal_pin;
     cnf->localBtn_pin = current_config.localBtn_pin;
+    cnf->use_sbus_mode = current_config.use_sbus_mode;
+    cnf->sbus_trigger_channel = current_config.sbus_trigger_channel;
+    cnf->sbus_threshold_low = current_config.sbus_threshold_low;
+    cnf->sbus_threshold_high = current_config.sbus_threshold_high;
 }
 
 esp_err_t config_init(void)
@@ -160,8 +193,13 @@ esp_err_t config_init(void)
     current_config.led_pin_strip_b = HARDCODED_CONFIG_LED_STRIP_B_PIN;
     current_config.led_count_strip_a = HARDCODED_CONFIG_LED_STRIP_A_COUNT;
     current_config.led_count_strip_b = HARDCODED_CONFIG_LED_STRIP_B_COUNT;
-    current_config.pwm_pin = HARDCODED_CONFIG_PWM_PIN;
+    current_config.rc_signal_pin = HARDCODED_CONFIG_RC_SIGNAL_PIN;
     current_config.localBtn_pin = HARDCODED_CONFIG_LOCALBTN_PIN;
+    current_config.use_sbus_mode = HARDCODED_CONFIG_USE_SBUS_MODE;
+    current_config.sbus_trigger_channel = HARDCODED_CONFIG_SBUS_TRIGGER_CHANNEL;
+    current_config.sbus_threshold_low = HARDCODED_CONFIG_SBUS_THRESHOLD_LOW;
+    current_config.sbus_threshold_high = HARDCODED_CONFIG_SBUS_THRESHOLD_HIGH;
+    current_config.sbus_inverted = HARDCODED_CONFIG_SBUS_INVERTED;
 
     save_config_to_nvs();
 #endif

main/config.h

@@ -17,12 +17,20 @@
  */
 typedef struct
 {
-    int8_t led_pin_strip_a;        // GPIO pin for LED strip A (-1 = not configured)
+    int8_t led_pin_strip_a;   // GPIO pin for LED strip A (-1 = not configured)
-    int8_t led_pin_strip_b;        // GPIO pin for LED strip B (-1 = not configured)
+    int8_t led_pin_strip_b;   // GPIO pin for LED strip B (-1 = not configured)
-    int8_t led_count_strip_a;      // LED count for LED strip A (-1 = not configured)
+    int8_t led_count_strip_a; // LED count for LED strip A (-1 = not configured)
-    int8_t led_count_strip_b;      // LED count for LED strip B (-1 = not configured)
+    int8_t led_count_strip_b; // LED count for LED strip B (-1 = not configured)
-    int8_t pwm_pin;                // GPIO pin for PWM input (-1 = not configured)
+    int8_t rc_signal_pin;     // GPIO pin for RC signal input (-1 = not configured)
-    int8_t localBtn_pin;           // GPIO pin for local btn input (-1 = not configured)
+    int8_t localBtn_pin;      // GPIO pin for local btn input (-1 = not configured)
+
+    // RC Signal mode settings
+    bool use_sbus_mode;           // true = SBUS mode, false = PWM mode
+    uint8_t sbus_trigger_channel; // SBUS channel for mode trigger (0-15, typically 3 for CH4)
+    uint16_t sbus_threshold_low;  // SBUS low threshold (default 800)
+    uint16_t sbus_threshold_high; // SBUS high threshold (default 1100)
+    bool sbus_inverted;           // true = SBUS in inverted mode (like FrSky), false = normal mode
+
     uint8_t hash[CONFIG_HASH_LEN]; // SHA256 Hash of config
 } config_t;
 

main/control.c

@@ -13,6 +13,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_log.h"
+#include "driver/gpio.h"
 
 static const char *TAG = "CONTROL";
 static uint8_t current_animation_mode = 0;
@@ -24,15 +25,6 @@ static void on_mode_change()
     animation_set_mode((animation_mode_t)current_animation_mode);
 }
 
-void control_set_animation_mode(uint8_t mode)
-{
-    if (mode >= ANIM_MODE_COUNT)
-    {
-        mode = 0;
-    }
-    on_mode_change(mode);
-}
-
 uint8_t control_get_animation_mode(void)
 {
     return current_animation_mode;
@@ -58,7 +50,7 @@ esp_err_t control_init(void)
 
     // Initialize LED strips
     ret = led_init(current_config.led_pin_strip_a, current_config.led_pin_strip_b,
-                   current_config.led_count_strip_a, current_config.led_count_strip_a);
+                   current_config.led_count_strip_a, current_config.led_count_strip_b);
     if (ret != ESP_OK)
     {
         ESP_LOGE(TAG, "LED init failed: %s", esp_err_to_name(ret));
@@ -73,8 +65,11 @@ esp_err_t control_init(void)
         return ret;
     }
 
+    // Start ISR service
+    ESP_ERROR_CHECK(gpio_install_isr_service(0));
+
     // Initialize RC signal
-    ret = rcsignal_init(current_config.pwm_pin);
+    ret = rcsignal_init(&current_config);
     if (ret != ESP_OK)
     {
         ESP_LOGE(TAG, "RC signal init failed: %s", esp_err_to_name(ret));

main/control.h

@@ -18,12 +18,6 @@
  */
 esp_err_t control_init(void);
 
-/**
- * @brief Set animation mode manually
- * @param mode Animation mode (0-13)
- */
-void control_set_animation_mode(uint8_t mode);
-
 /**
  * @brief Get current animation mode
  * @return Current mode (0-13)

main/led.c

@@ -194,7 +194,13 @@ static esp_err_t init_strip(led_strip_t *strip, int8_t pin, uint16_t num_leds)
     rmt_tx_channel_config_t tx_chan_config = {
         .clk_src = RMT_CLK_SRC_DEFAULT,
         .gpio_num = pin,
+#if defined(CONFIG_IDF_TARGET_ESP32C3)
+        .mem_block_symbols = 48,
+#elif defined(CONFIG_IDF_TARGET_ESP32)
         .mem_block_symbols = 64,
+#else
+#error "Unsupported target: rmt block symbols undefined"
+#endif
         .resolution_hz = 80000000, // 80MHz
         .trans_queue_depth = 4,
     };
@@ -321,7 +327,10 @@ static void show_strip(led_strip_t *strip)
     // Convert RGB to GRB for WS2812B
     uint8_t *grb_data = malloc(strip->num_leds * 3);
     if (!grb_data)
+    {
+        ESP_LOGE(TAG, "Failed to allocate GRB buffer");
         return;
+    }
 
     for (uint16_t i = 0; i < strip->num_leds; i++)
     {
@@ -334,7 +343,21 @@ static void show_strip(led_strip_t *strip)
         .loop_count = 0,
     };
 
-    rmt_transmit(strip->rmt_channel, strip->encoder, grb_data, strip->num_leds * 3, &tx_config);
+    esp_err_t ret = rmt_transmit(strip->rmt_channel, strip->encoder, grb_data, strip->num_leds * 3, &tx_config);
+    if (ret != ESP_OK)
+    {
+        ESP_LOGE(TAG, "RMT transmit failed: %s", esp_err_to_name(ret));
+        free(grb_data);
+        return;
+    }
+
+    // Wait for transmission to complete before freeing buffer
+    ret = rmt_tx_wait_all_done(strip->rmt_channel, pdMS_TO_TICKS(100));
+    if (ret != ESP_OK)
+    {
+        ESP_LOGW(TAG, "RMT wait timeout");
+    }
+
     free(grb_data);
 }
 

main/main.c

@@ -76,6 +76,8 @@ void app_main(void)
         }
     }
 
+    animation_set_mode((animation_mode_t)control_get_animation_mode());
+
     ESP_LOGI(TAG, "System initialized successfully");
 
     // Main loop - just monitor system status
@@ -84,6 +86,6 @@ void app_main(void)
         vTaskDelay(pdMS_TO_TICKS(5000));
 
         // Periodic status logging
-        ESP_LOGI(TAG, "Status - Mode: %d", control_get_animation_mode());
+        ESP_LOGI(TAG, "Animation Mode set to: %s", animation_get_mode_name(control_get_animation_mode()));
     }
 }

main/rcsignal.c

@@ -1,11 +1,13 @@
 /**
  * @file rcsignal.c
- * @brief RC PWM signal reading implementation using edge capture
+ * @brief RC PWM/SBUS signal reading implementation with runtime mode selection
  */
 
 #include "rcsignal.h"
+#include "config.h"
 
 #include "driver/gpio.h"
+#include "driver/uart.h"
 #include "esp_timer.h"
 #include "esp_log.h"
 #include "freertos/FreeRTOS.h"
@@ -15,15 +17,41 @@
 
 static const char *TAG = "RCSIGNAL";
 
+// SBUS protocol constants
+#define SBUS_FRAME_SIZE 25
+#define SBUS_HEADER 0x0F
+#define SBUS_FOOTER 0x00
+#define SBUS_FOOTER2 0x04 // Alternative footer
+#define SBUS_BAUDRATE 100000
+#define SBUS_CH_MIN 172
+#define SBUS_CH_CENTER 992
+#define SBUS_CH_MAX 1811
+#define UART_NUM UART_NUM_1
+#define UART_BUF_SIZE 256
+
+// PWM mode constants
 #define PULSE_THRESHOLD_US 1500
 #define SIGNAL_TIMEOUT_MS 100
 static struct
 {
     int8_t gpio_pin;
+    bool use_sbus_mode;           // Runtime mode selection
+    uint8_t sbus_trigger_channel; // SBUS trigger channel
+    uint16_t sbus_threshold_low;  // SBUS low threshold
+    uint16_t sbus_threshold_high; // SBUS high threshold
+
+    // SBUS state
+    volatile uint16_t channels[SBUS_NUM_CHANNELS];
+    volatile int64_t last_frame_time;
+    uint8_t rx_buffer[SBUS_FRAME_SIZE];
+
+    // PWM state
     volatile uint32_t pulse_width_us;
     volatile int64_t last_edge_time;
     volatile int64_t pulse_start_time;
     volatile bool last_level;
+
+    // Common state
     volatile bool signal_active;
     volatile bool pull_detected;
     uint8_t current_mode;
@@ -32,6 +60,13 @@ static struct
     TaskHandle_t monitor_task;
 } rcsignal = {
     .gpio_pin = -1,
+    .use_sbus_mode = false,
+    .sbus_trigger_channel = 3,
+    .sbus_threshold_low = 800,
+    .sbus_threshold_high = 1100,
+    .channels = {0},
+    .last_frame_time = 0,
+    .rx_buffer = {0},
     .pulse_width_us = 0,
     .last_edge_time = 0,
     .pulse_start_time = 0,
@@ -44,6 +79,7 @@ static struct
     .monitor_task = NULL,
 };
 
+// PWM Mode: GPIO ISR handler
 static void IRAM_ATTR gpio_isr_handler(void *arg)
 {
     int64_t now = esp_timer_get_time();
@@ -68,81 +104,214 @@ static void IRAM_ATTR gpio_isr_handler(void *arg)
     rcsignal.last_level = level;
 }
 
+// SBUS Mode: Parse SBUS frame
+static bool parse_sbus_frame(const uint8_t *frame, uint16_t *channels)
+{
+    // Check header and footer
+    if (frame[0] != SBUS_HEADER || (frame[24] != SBUS_FOOTER && frame[24] != SBUS_FOOTER2))
+    {
+        return false;
+    }
+
+    // SBUS uses 11 bits per channel, packed into bytes
+    channels[0] = ((frame[1] | frame[2] << 8) & 0x07FF);
+    channels[1] = ((frame[2] >> 3 | frame[3] << 5) & 0x07FF);
+    channels[2] = ((frame[3] >> 6 | frame[4] << 2 | frame[5] << 10) & 0x07FF);
+    channels[3] = ((frame[5] >> 1 | frame[6] << 7) & 0x07FF);
+    channels[4] = ((frame[6] >> 4 | frame[7] << 4) & 0x07FF);
+    channels[5] = ((frame[7] >> 7 | frame[8] << 1 | frame[9] << 9) & 0x07FF);
+    channels[6] = ((frame[9] >> 2 | frame[10] << 6) & 0x07FF);
+    channels[7] = ((frame[10] >> 5 | frame[11] << 3) & 0x07FF);
+    channels[8] = ((frame[12] | frame[13] << 8) & 0x07FF);
+    channels[9] = ((frame[13] >> 3 | frame[14] << 5) & 0x07FF);
+    channels[10] = ((frame[14] >> 6 | frame[15] << 2 | frame[16] << 10) & 0x07FF);
+    channels[11] = ((frame[16] >> 1 | frame[17] << 7) & 0x07FF);
+    channels[12] = ((frame[17] >> 4 | frame[18] << 4) & 0x07FF);
+    channels[13] = ((frame[18] >> 7 | frame[19] << 1 | frame[20] << 9) & 0x07FF);
+    channels[14] = ((frame[20] >> 2 | frame[21] << 6) & 0x07FF);
+    channels[15] = ((frame[21] >> 5 | frame[22] << 3) & 0x07FF);
+
+    return true;
+}
+
 static void monitor_task(void *arg)
 {
-    uint32_t last_pulse_width = 0;
+    if (rcsignal.use_sbus_mode)
-
-    while (1)
     {
-        vTaskDelay(pdMS_TO_TICKS(10));
+        // SBUS mode
-
+        while (1)
-        // Check for signal timeout
-        int64_t now = esp_timer_get_time();
-        if (rcsignal.signal_active && (now - rcsignal.last_edge_time) > (SIGNAL_TIMEOUT_MS * 1000))
         {
-            rcsignal.signal_active = false;
+            // Read SBUS data from UART
-            rcsignal.pulse_width_us = 0;
+            int len = uart_read_bytes(UART_NUM, rcsignal.rx_buffer, SBUS_FRAME_SIZE, pdMS_TO_TICKS(20));
-        }
 
-        // Detect mode change (rising edge on PWM signal > 1500us)
+            if (len == SBUS_FRAME_SIZE)
-        if (rcsignal.pulse_width_us != last_pulse_width)
-        {
-            last_pulse_width = rcsignal.pulse_width_us;
-
-            if (rcsignal.pulse_width_us < PULSE_THRESHOLD_US)
             {
-                rcsignal.pull_detected = true;
+                uint16_t temp_channels[SBUS_NUM_CHANNELS];
+
+                if (parse_sbus_frame(rcsignal.rx_buffer, temp_channels))
+                {
+                    // Copy parsed channels
+                    for (int i = 0; i < SBUS_NUM_CHANNELS; i++)
+                    {
+                        rcsignal.channels[i] = temp_channels[i];
+                    }
+
+                    rcsignal.last_frame_time = esp_timer_get_time();
+                    rcsignal.signal_active = true;
+
+                    // Check trigger channel for mode change
+                    uint16_t ch_value = rcsignal.channels[rcsignal.sbus_trigger_channel];
+
+                    // Detect pull low
+                    if (ch_value < rcsignal.sbus_threshold_low)
+                    {
+                        rcsignal.pull_detected = true;
+                    }
+
+                    // Detect rising edge (pull high after low)
+                    if (ch_value > rcsignal.sbus_threshold_high && rcsignal.pull_detected)
+                    {
+                        rcsignal.pull_detected = false;
+
+                        if (rcsignal.callback)
+                        {
+                            rcsignal.callback();
+                        }
+                    }
+                }
             }
 
-            if (rcsignal.pulse_width_us > PULSE_THRESHOLD_US && rcsignal.pull_detected)
+            // Check for signal timeout
+            int64_t now = esp_timer_get_time();
+            if (rcsignal.signal_active && (now - rcsignal.last_frame_time) > (SIGNAL_TIMEOUT_MS * 1000))
             {
-                // Mode change detected
+                rcsignal.signal_active = false;
-                rcsignal.pull_detected = false;
+                memset((void *)rcsignal.channels, 0, sizeof(rcsignal.channels));
+            }
 
-                if (rcsignal.callback)
+            vTaskDelay(pdMS_TO_TICKS(5));
+        }
+    }
+    else
+    {
+        // PWM mode
+        uint32_t last_pulse_width = 0;
+
+        while (1)
+        {
+            vTaskDelay(pdMS_TO_TICKS(10));
+
+            // Check for signal timeout
+            int64_t now = esp_timer_get_time();
+            if (rcsignal.signal_active && (now - rcsignal.last_edge_time) > (SIGNAL_TIMEOUT_MS * 1000))
+            {
+                rcsignal.signal_active = false;
+                rcsignal.pulse_width_us = 0;
+            }
+
+            // Detect mode change (rising edge on PWM signal > 1500us)
+            if (rcsignal.pulse_width_us != last_pulse_width)
+            {
+                last_pulse_width = rcsignal.pulse_width_us;
+
+                if (rcsignal.pulse_width_us < PULSE_THRESHOLD_US)
                 {
-                    rcsignal.callback();
+                    rcsignal.pull_detected = true;
+                }
+
+                if (rcsignal.pulse_width_us > PULSE_THRESHOLD_US && rcsignal.pull_detected)
+                {
+                    // Mode change detected
+                    rcsignal.pull_detected = false;
+
+                    if (rcsignal.callback)
+                    {
+                        rcsignal.callback();
+                    }
                 }
             }
         }
     }
 }
 
-esp_err_t rcsignal_init(int8_t pin)
+esp_err_t rcsignal_init(const config_t *config)
 {
-    if (pin < 0)
+    if (!config || config->rc_signal_pin < 0)
     {
         ESP_LOGI(TAG, "RC signal disabled (no pin configured)");
         return ESP_OK;
     }
 
-    rcsignal.gpio_pin = pin;
+    // Store configuration
+    rcsignal.gpio_pin = config->rc_signal_pin;
+    rcsignal.use_sbus_mode = config->use_sbus_mode;
+    rcsignal.sbus_trigger_channel = config->sbus_trigger_channel;
+    rcsignal.sbus_threshold_low = config->sbus_threshold_low;
+    rcsignal.sbus_threshold_high = config->sbus_threshold_high;
 
-    // Configure GPIO
+    if (rcsignal.use_sbus_mode)
-    gpio_config_t io_conf = {
+    {
-        .pin_bit_mask = (1ULL << pin),
+        // SBUS Mode: Configure UART with inverted RX
-        .mode = GPIO_MODE_INPUT,
+        ESP_LOGI(TAG, "Initializing SBUS mode on GPIO%d", rcsignal.gpio_pin);
-        .pull_up_en = GPIO_PULLUP_ENABLE,
+        ESP_LOGI(TAG, "  Trigger channel: CH%d", rcsignal.sbus_trigger_channel + 1);
-        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        ESP_LOGI(TAG, "  Thresholds: %d / %d", rcsignal.sbus_threshold_low, rcsignal.sbus_threshold_high);
-        .intr_type = GPIO_INTR_ANYEDGE,
-    };
-    ESP_ERROR_CHECK(gpio_config(&io_conf));
 
-    // Install ISR service
+        uart_config_t uart_config = {
-    ESP_ERROR_CHECK(gpio_install_isr_service(0));
+            .baud_rate = SBUS_BAUDRATE,
-    ESP_ERROR_CHECK(gpio_isr_handler_add(pin, gpio_isr_handler, NULL));
+            .data_bits = UART_DATA_8_BITS,
+            .parity = UART_PARITY_EVEN,
+            .stop_bits = UART_STOP_BITS_2,
+            .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+            .source_clk = UART_SCLK_APB,
+        };
+
+        ESP_ERROR_CHECK(uart_param_config(UART_NUM, &uart_config));
+        ESP_ERROR_CHECK(uart_set_pin(UART_NUM, UART_PIN_NO_CHANGE, rcsignal.gpio_pin, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
+        ESP_ERROR_CHECK(uart_driver_install(UART_NUM, UART_BUF_SIZE * 2, 0, 0, NULL, 0));
+
+        if (config->sbus_inverted)
+        {
+            // Set inverted RX for FrSky receivers (they output inverted SBUS)
+            ESP_ERROR_CHECK(uart_set_line_inverse(UART_NUM, UART_SIGNAL_RXD_INV));
+        }
+
+        ESP_LOGI(TAG, "SBUS UART configured with inverted RX");
+    }
+    else
+    {
+        // PWM Mode: Configure GPIO with interrupts
+        ESP_LOGI(TAG, "Initializing PWM mode on GPIO%d", rcsignal.gpio_pin);
+
+        gpio_config_t io_conf = {
+            .pin_bit_mask = (1ULL << rcsignal.gpio_pin),
+            .mode = GPIO_MODE_INPUT,
+            .pull_up_en = GPIO_PULLUP_ENABLE,
+            .pull_down_en = GPIO_PULLDOWN_DISABLE,
+            .intr_type = GPIO_INTR_ANYEDGE,
+        };
+        ESP_ERROR_CHECK(gpio_config(&io_conf));
+
+        // Add ISR handler (ISR service must be installed by caller)
+        ESP_ERROR_CHECK(gpio_isr_handler_add(rcsignal.gpio_pin, gpio_isr_handler, NULL));
+    }
 
     // Create monitor task
     BaseType_t ret = xTaskCreate(monitor_task, "rcsignal_monitor", 2048, NULL, 5, &rcsignal.monitor_task);
     if (ret != pdPASS)
     {
-        gpio_isr_handler_remove(pin);
+        if (rcsignal.use_sbus_mode)
-        gpio_uninstall_isr_service();
+        {
+            uart_driver_delete(UART_NUM);
+        }
+        else
+        {
+            gpio_isr_handler_remove(rcsignal.gpio_pin);
+        }
         return ESP_FAIL;
     }
 
     rcsignal.initialized = true;
-    ESP_LOGI(TAG, "RC signal initialized on GPIO%d", pin);
+    ESP_LOGI(TAG, "RC signal initialized successfully");
 
     return ESP_OK;
 }
@@ -158,9 +327,16 @@ void rcsignal_deinit(void)
         rcsignal.monitor_task = NULL;
     }
 
-    if (rcsignal.gpio_pin >= 0)
+    if (rcsignal.use_sbus_mode)
     {
-        gpio_isr_handler_remove(rcsignal.gpio_pin);
+        uart_driver_delete(UART_NUM);
+    }
+    else
+    {
+        if (rcsignal.gpio_pin >= 0)
+        {
+            gpio_isr_handler_remove(rcsignal.gpio_pin);
+        }
     }
 
     rcsignal.initialized = false;
@@ -173,7 +349,21 @@ void rcsignal_register_callback(rcsignal_mode_change_callback_t callback)
 
 uint32_t rcsignal_get_pulse_width(void)
 {
-    return rcsignal.pulse_width_us;
+    if (rcsignal.use_sbus_mode)
+    {
+        // In SBUS mode, return trigger channel value mapped to microseconds
+        // SBUS: 172-1811 -> PWM: ~1000-2000us
+        if (rcsignal.signal_active)
+        {
+            uint16_t ch_val = rcsignal.channels[rcsignal.sbus_trigger_channel];
+            return 1000 + ((ch_val - SBUS_CH_MIN) * 1000) / (SBUS_CH_MAX - SBUS_CH_MIN);
+        }
+        return 0;
+    }
+    else
+    {
+        return rcsignal.pulse_width_us;
+    }
 }
 
 bool rcsignal_is_active(void)
@@ -185,3 +375,45 @@ uint8_t rcsignal_get_current_mode(void)
 {
     return rcsignal.current_mode;
 }
+
+uint16_t rcsignal_get_sbus_channel(uint8_t channel)
+{
+    if (!rcsignal.use_sbus_mode || channel >= SBUS_NUM_CHANNELS)
+    {
+        return 0;
+    }
+    return rcsignal.channels[channel];
+}
+
+void rcsignal_debug_print_channels(void)
+{
+    if (!rcsignal.use_sbus_mode)
+    {
+        ESP_LOGW(TAG, "Not in SBUS mode");
+        return;
+    }
+
+    if (!rcsignal.signal_active)
+    {
+        ESP_LOGW(TAG, "No SBUS signal active");
+        return;
+    }
+
+    ESP_LOGI(TAG, "SBUS Channels:");
+    ESP_LOGI(TAG, "  CH1: %4d  CH2: %4d  CH3: %4d  CH4: %4d",
+             rcsignal.channels[0], rcsignal.channels[1],
+             rcsignal.channels[2], rcsignal.channels[3]);
+    ESP_LOGI(TAG, "  CH5: %4d  CH6: %4d  CH7: %4d  CH8: %4d",
+             rcsignal.channels[4], rcsignal.channels[5],
+             rcsignal.channels[6], rcsignal.channels[7]);
+    ESP_LOGI(TAG, "  CH9: %4d CH10: %4d CH11: %4d CH12: %4d",
+             rcsignal.channels[8], rcsignal.channels[9],
+             rcsignal.channels[10], rcsignal.channels[11]);
+    ESP_LOGI(TAG, " CH13: %4d CH14: %4d CH15: %4d CH16: %4d",
+             rcsignal.channels[12], rcsignal.channels[13],
+             rcsignal.channels[14], rcsignal.channels[15]);
+
+    // Highlight the trigger channel
+    ESP_LOGI(TAG, "Trigger channel (CH%d): %d", rcsignal.sbus_trigger_channel + 1,
+             rcsignal.channels[rcsignal.sbus_trigger_channel]);
+}

main/rcsignal.h

@@ -1,16 +1,20 @@
 /**
  * @file rcsignal.h
- * @brief RC PWM signal reading and parsing module
+ * @brief RC PWM/SBUS signal reading and parsing module
  */
 
 #ifndef RCSIGNAL_H
 #define RCSIGNAL_H
 
 #include "esp_err.h"
+#include "config.h"
 
 #include <stdint.h>
 #include <stdbool.h>
 
+// SBUS protocol constants (always defined for use in both modes)
+#define SBUS_NUM_CHANNELS 16 // SBUS supports 16 proportional channels
+
 /**
  * @brief Callback function type for mode changes
  */
@@ -18,10 +22,10 @@ typedef void (*rcsignal_mode_change_callback_t)();
 
 /**
  * @brief Initialize RC signal reading
- * @param pin GPIO pin for PWM input (-1 to disable)
+ * @param config Pointer to configuration structure
  * @return ESP_OK on success
  */
-esp_err_t rcsignal_init(int8_t pin);
+esp_err_t rcsignal_init(const config_t *config);
 
 /**
  * @brief Deinitialize RC signal reading
@@ -52,4 +56,16 @@ bool rcsignal_is_active(void);
  */
 uint8_t rcsignal_get_current_mode(void);
 
+/**
+ * @brief Get SBUS channel value (only valid in SBUS mode)
+ * @param channel Channel index (0-15)
+ * @return Channel value (172-1811) or 0 if invalid/not in SBUS mode
+ */
+uint16_t rcsignal_get_sbus_channel(uint8_t channel);
+
+/**
+ * @brief Debug function to print all SBUS channels (only valid in SBUS mode)
+ */
+void rcsignal_debug_print_channels(void);
+
 #endif // RCSIGNAL_H