diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 499d2e7..88c93e5 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,8 +11,8 @@ concurrency:
   cancel-in-progress: true
 
 env:
-  ARDUINO_CLI_VERSION: 'latest'
-  ESP32_CORE_VERSION: 'latest'
+  ARDUINO_CLI_VERSION: '1.3.0'
+  ESP32_CORE_VERSION: '3.3.0'
 
 jobs:
   # ============================================================================
@@ -27,6 +27,25 @@ jobs:
       - name: Checkout Repository
         uses: actions/checkout@v4
 
+      - name: Setup Arduino CLI
+        uses: arduino/setup-arduino-cli@v1
+        with:
+          version: ${{ env.ARDUINO_CLI_VERSION }}
+
+      - name: Cache Arduino data
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.arduino15
+          key: ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-${{ hashFiles('**/libraries/**') }}
+          restore-keys: |
+            ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-
+
+      - name: Install ESP32 core
+        run: |
+          arduino-cli core update-index
+          arduino-cli core install esp32:esp32@${{ env.ESP32_CORE_VERSION }}
+
       - name: Arduino Lint
         uses: arduino/arduino-lint-action@v1
         with:
@@ -55,12 +74,28 @@ jobs:
       - name: Checkout Repository
         uses: actions/checkout@v4
 
-      - name: Compile Example (${{ matrix.build-flags.name }})
-        uses: arduino/compile-sketches@v1
+      - name: Setup Arduino CLI
+        uses: arduino/setup-arduino-cli@v1
         with:
-          fqbn: esp32:esp32:esp32
-          libraries: |
-            - source-path: ${{ github.workspace }}
+          version: ${{ env.ARDUINO_CLI_VERSION }}
+
+      - name: Cache Arduino data
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.arduino15
+          key: ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-${{ hashFiles('**/libraries/**') }}
+          restore-keys: |
+            ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-
+
+      - name: Install ESP32 core
+        run: |
+          arduino-cli core update-index
+          arduino-cli core install esp32:esp32@${{ env.ESP32_CORE_VERSION }}
+
+      - name: Compile Example (${{ matrix.build-flags.name }})
+        run: |
+          arduino-cli compile --fqbn esp32:esp32:esp32 ${{ matrix.example }}
 
   # ============================================================================
   # Static Code Analysis
@@ -74,6 +109,25 @@ jobs:
       - name: Checkout Repository
         uses: actions/checkout@v4
 
+      - name: Setup Arduino CLI
+        uses: arduino/setup-arduino-cli@v1
+        with:
+          version: ${{ env.ARDUINO_CLI_VERSION }}
+
+      - name: Cache Arduino data
+        uses: actions/cache@v4
+        with:
+          path: |
+            ~/.arduino15
+          key: ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-${{ hashFiles('**/libraries/**') }}
+          restore-keys: |
+            ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-
+
+      - name: Install ESP32 core
+        run: |
+          arduino-cli core update-index
+          arduino-cli core install esp32:esp32@${{ env.ESP32_CORE_VERSION }}
+
       - name: Install Cppcheck
         run: sudo apt-get update && sudo apt-get install -y cppcheck
 
diff --git a/.gitignore b/.gitignore
index 2704b2d..304b85a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,3 +21,4 @@ examples/dshot300/esp32.svd
 examples/dshot300/debug_custom.json
 examples/dshot300/debug.svd
 /build
+/.github/chatmodes
diff --git a/DShotRMT.cpp b/DShotRMT.cpp
index d1f24db..ac34cec 100644
--- a/DShotRMT.cpp
+++ b/DShotRMT.cpp
@@ -53,7 +53,7 @@ DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional) :
 }
 
 // Setup and configure DShotRMT
-bool DShotRMT::begin()
+uint16_t DShotRMT::begin()
 {
     // Inits TX Channel
     if (!_initTXChannel())
@@ -320,7 +320,7 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
     // Decodes each symbol to reconstruct the frame
     for (size_t i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
     {
-        bool bit = symbols[i].duration0 < symbols[i].duration1;
+        bool bit = symbols[i].duration0 > symbols[i].duration1;
         received_frame = (received_frame << 1) | bit;
     }
 
diff --git a/DShotRMT.h b/DShotRMT.h
index 3bea80a..01ab298 100644
--- a/DShotRMT.h
+++ b/DShotRMT.h
@@ -15,20 +15,20 @@
 #include <driver/rmt_rx.h>
 
 // --- DShot Protocol Constants ---
-static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
-static constexpr auto DSHOT_THROTTLE_MIN = 48;
-static constexpr auto DSHOT_THROTTLE_MAX = 2047;
+constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
+constexpr auto DSHOT_THROTTLE_MIN = 48;
+constexpr auto DSHOT_THROTTLE_MAX = 2047;
 
-static constexpr auto DSHOT_BITS_PER_FRAME = 16;
-static constexpr auto DSHOT_SWITCH_TIME = 30; // 30us
-static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
+constexpr auto DSHOT_BITS_PER_FRAME = 16;
+constexpr auto DSHOT_SWITCH_TIME = 30; // 30us
+constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
 
 // --- RMT Config Constants ---
-static constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
-static constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz
-static constexpr auto TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
-static constexpr auto RX_BUFFER_SIZE = 128;
-static constexpr auto DSHOT_SYMBOLS_SIZE = 64;
+constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
+constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz
+constexpr auto TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
+constexpr auto RX_BUFFER_SIZE = 128;
+constexpr auto DSHOT_SYMBOLS_SIZE = 64;
 
 // --- DShot Mode Select ---
 typedef enum dshot_mode_e
@@ -71,7 +71,7 @@ public:
     DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
 
     // --- Init RMT Module ---
-    bool begin();
+    uint16_t begin();
 
     // Sets the throttle value and transmits
     [[deprecated("Use sendThrottle() instead")]]
diff --git a/examples/dshot300/dshot300.ino b/examples/dshot300/dshot300.ino
index fea9183..cc68260 100644
--- a/examples/dshot300/dshot300.ino
+++ b/examples/dshot300/dshot300.ino
@@ -42,7 +42,7 @@ void setup()
     USB_SERIAL.printf("CPU Freq = %lu MHz\n", getCpuFrequencyMhz());
     USB_SERIAL.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
     USB_SERIAL.printf("APB Freq = %lu Hz\n", getApbFrequency());
-    
+
     USB_SERIAL.println("***********************************");
     USB_SERIAL.println("  === DShotRMT Demo started. ===   ");
     USB_SERIAL.println("Enter a throttle value (48 – 2047):");
@@ -109,7 +109,7 @@ void print_RMT_packet()
     USB_SERIAL.print("Current Frame: ");
 
     // Print bit by bit
-    for (auto i = 15; i >= 0; --i)
+    for (int i = 15; i >= 0; --i)
     {
         if ((packet >> i) & 1)
         {