diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_frm_signal.h b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_frm_signal.h
index f598bfa..44caeb1 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_frm_signal.h
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_frm_signal.h
@@ -10,7 +10,7 @@ extern "C"
 #include "app_dependence.h"
 
 #define MAX_SIGNALS 500u     // 每个优先级的最大信号数量
-#define MAX_SUBSCRIBERS 50u  // 不同信号的订阅者数量
+#define MAX_SUBSCRIBERS 70u  // 不同信号的订阅者数量
 #define MAX_CALLBACKS 25u    // 每个信号最多支持多少订阅者
 #define PRIORITY_LEVELS 2u   // 优先级层次
 
diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_rc.c b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_rc.c
index 7f52626..112b994 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_rc.c
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/app/app_rc.c
@@ -142,6 +142,21 @@ void rcNodeCheck(void *signal_id)
         &rc_app_state.rc_traditional_last_seq, 
         rc_app_state.rc_traditional_enable
     );
+    
+    /************************* 新增：状态打印 *************************/
+    // 打印16通道遥控器：使能状态 + 节点状态
+    printf("[RC Check] 16CH Remote: Enable=%d, State=%d\r\n",
+           rc_app_state.rc_16ch_enable,
+           rc_app_state.rc_16ch_state);
+
+    // 打印传统遥控器：使能状态 + 节点状态
+    printf("[RC Check] Traditional RC: Enable=%d, State=%d\r\n",
+           rc_app_state.rc_traditional_enable,
+           rc_app_state.rc_traditional_state);
+    /******************************************************************/    
+    
+    // 启动定时器，500ms周期
+    timerStart(&rc_timer, 500, 1);    
 }
 
 
@@ -195,30 +210,30 @@ void rcInputHandler(void *signal_id)
     else if (rc_app_state.rc_16ch_state == RC_NODE_ONLINE)
     {
         // 16通道遥控器在线，使用16通道遥控器数据
-        // 通道2（CH2）：速度，映射 -2000~2000
+        // 通道2（CH2）：速度，映射 -2000~2000 需要反相
         int16_t processed_ch2 = remote_control_16ch_output.frame.CH2 - RC_CH_MID_VALUE;
         if (processed_ch2 < -RC_DEADZONE)
         {
-            un_remote_control_input.bit_data.speed = (int16_t)(processed_ch2 * 2000.0f / (RC_CH_MAX_VALUE - RC_CH_MID_VALUE));
+            un_remote_control_input.bit_data.speed = -(int16_t)(processed_ch2 * 2000.0f / (RC_CH_MAX_VALUE - RC_CH_MID_VALUE));
         }
         else if (processed_ch2 > RC_DEADZONE)
         {
-            un_remote_control_input.bit_data.speed = (int16_t)(processed_ch2 * 2000.0f / (RC_CH_MAX_VALUE - RC_CH_MID_VALUE));
+            un_remote_control_input.bit_data.speed = -(int16_t)(processed_ch2 * 2000.0f / (RC_CH_MAX_VALUE - RC_CH_MID_VALUE));
         }
         else
         {
             un_remote_control_input.bit_data.speed = 0;
         }
         
-        // 通道1（CH1）：转向，映射 -20000~20000
+        // 通道1（CH1）：转向，映射 -20000~20000 需要反相
         int16_t processed_ch1 = remote_control_16ch_output.frame.CH1 - RC_CH_MID_VALUE;
         if (processed_ch1 < -RC_DEADZONE)
         {
-            un_remote_control_input.bit_data.curvature = (int16_t)(processed_ch1 * 20000.0f / (RC_CH_MAX_VALUE - RC_CH_MID_VALUE));
+            un_remote_control_input.bit_data.curvature = -(int16_t)(processed_ch1 * 20000.0f / (RC_CH_MAX_VALUE - RC_CH_MID_VALUE));
         }
         else if (processed_ch1 > RC_DEADZONE)
         {
-            un_remote_control_input.bit_data.curvature = (int16_t)(processed_ch1 * 20000.0f / (RC_CH_MAX_VALUE - RC_CH_MID_VALUE));
+            un_remote_control_input.bit_data.curvature = -(int16_t)(processed_ch1 * 20000.0f / (RC_CH_MAX_VALUE - RC_CH_MID_VALUE));
         }
         else
         {
diff --git a/boards/e3_176_ref/app_demo/eth-xip/sf/interface.h b/boards/e3_176_ref/app_demo/eth-xip/sf/interface.h
index 53bb399..b234eeb 100644
--- a/boards/e3_176_ref/app_demo/eth-xip/sf/interface.h
+++ b/boards/e3_176_ref/app_demo/eth-xip/sf/interface.h
@@ -224,9 +224,9 @@ typedef union _UnRequestFrame
 typedef struct _StrRemoteControlInput
 {
     //-----接收数据0x12000013----------------------------------------------
-    unsigned int speed      : 16;  // 速度
-    unsigned int curvature  : 16;  // 曲率
-    unsigned int reserve1   : 16;  // 遥控轴
+    int16_t speed              ;  // 速度
+    int16_t curvature          ;  // 曲率
+    int16_t reserve1           ;  // 遥控轴
 
     unsigned int switch_a   : 1;   // SwA
     unsigned int switch_b   : 2;   // SwB  急停开关 1释放  0/2是急停
@@ -235,7 +235,7 @@ typedef struct _StrRemoteControlInput
     unsigned int reserve2   : 1;   // 保留
     unsigned int reserve3   : 1;   // 保留
                             
-    unsigned int enable     : 8;   // 使能
+    int8_t enable              ;   // 使能
 } StrRemoteControlInput;
 
 typedef union _UnRemoteControlInput