diff --git a/Cargo.lock b/Cargo.lock
index c2966ad..4294697 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -42,7 +42,7 @@ dependencies = [
 [[package]]
 name = "ch32-hal"
 version = "0.1.0"
-source = "git+https://github.com/paval-shlyk/ch32-hal?rev=ace32859924ab0d5e411521a8f392df01ce262ff#ace32859924ab0d5e411521a8f392df01ce262ff"
+source = "git+https://github.com/paval-shlyk/ch32-hal?rev=f9490337b9c5c97b480e5a7274ff01264da7e1ee#f9490337b9c5c97b480e5a7274ff01264da7e1ee"
 dependencies = [
  "ch32-metapac",
  "critical-section",
diff --git a/Cargo.toml b/Cargo.toml
index ca42a1c..a5225c2 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,7 +12,7 @@ bench = false
 panic-halt = "1.0.0"
 
 # https://github.com/ch32-rs/ch32-hal/pull/75
-ch32-hal = {git = "https://github.com/paval-shlyk/ch32-hal", rev="ace32859924ab0d5e411521a8f392df01ce262ff", features = [
+ch32-hal = {git = "https://github.com/paval-shlyk/ch32-hal", rev="f9490337b9c5c97b480e5a7274ff01264da7e1ee", features = [
     "ch32v203f6p6",
     "time-driver-tim1",
 ]}
diff --git a/src/main.rs b/src/main.rs
index a43a47b..79e5666 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -4,21 +4,37 @@
 #![feature(impl_trait_in_assoc_type)]
 
 use ch32_hal as hal;
+use hal::gpio::{Input, Pull};
 use hal::println;
 use hal::time::Hertz;
 use hal::timer::low_level::CountingMode;
 use hal::timer::simple_pwm::{PwmPin, SimplePwm};
-use hal::can::{Can, CanFifo, CanFilter, CanFrame, CanMode, StandardId};
-use qingke::riscv;
-use embedded_can::nb::Can as _;
+use hal::can::{Can, CanFifo, CanFilter, CanMode};
+use embedded_can::blocking::Can as _;
 
 #[qingke_rt::entry]
 fn main() -> ! {
     hal::debug::SDIPrint::enable();
     let p = hal::init(hal::Config::default());
 
+    let j1 = Input::new(p.PA0, Pull::Up);
+    let j2 = Input::new(p.PA4, Pull::Up);
+    let j3 = Input::new(p.PA5, Pull::Up);
+    let j4 = Input::new(p.PB1, Pull::Up);
+
+    let mut addr: u16 = 0;
+    if j1.is_low() { addr |= 1; }
+    if j2.is_low() { addr |= 2; }
+    if j3.is_low() { addr |= 4; }
+    if j4.is_low() { addr |= 8; }
+
+    let base_id: u16 = 0x180;
+    let node_id: u16 = base_id + addr;
+
+    println!("CAN Node ID: 0x{:03X}", node_id);
+
     println!("setting up can");
-    let mut can = Can::new(p.CAN1, p.PA11, p.PA12, CanFifo::Fifo1, CanMode::Normal, 500_000).expect("Valid");
+    let mut can = Can::new_blocking(p.CAN1, p.PA11, p.PA12, CanFifo::Fifo0, CanMode::Normal, 500_000, Default::default()).expect("Valid");
     can.add_filter(CanFilter::accept_all());
 
     println!("setting up pwm");
@@ -58,7 +74,6 @@ fn main() -> ! {
     );
     let (ch_cw, ch_ww) = (hal::timer::Channel::Ch1, hal::timer::Channel::Ch2);
 
-    let _max_duty = pwm_w.get_max_duty();
     pwm_w.set_duty(ch_ww, 0);
     pwm_w.enable(ch_ww);
 
@@ -66,40 +81,35 @@ fn main() -> ! {
     pwm_w.enable(ch_cw);
 
     println!("entering main loop");
-    let msg: [u8; 3] = [0xAB, 0xCD, 0xEF];
 
-    let delay = 100_000;
     loop {
-        let frame = CanFrame::new(StandardId::new(0x42).unwrap(), &msg).unwrap();
-         match can.transmit(&frame) {
-            Ok(_) => println!("Sent CAN message {:?}", msg),
-            Err(_) => println!("Error sending CAN message"),
-        };
-        let _ = can.transmit(&frame);
-
-        println!("-");
         match can.receive() {
-            Err(err) => println!("Receive error: {:?}", err),
-            Ok(recv_msg) => println!("Received: {:?}", recv_msg),
-        }
-    
-        println!(".");
-        
-        for x in 0..100 {
-            pwm_w.set_duty(ch_cw, x*8);
-            riscv::asm::delay(delay);
-        }
-        for x in 0..100 {
-            pwm_w.set_duty(ch_cw, (100-x)*8);
-            riscv::asm::delay(delay);
-        }
-        for x in 0..100 {
-            pwm_w.set_duty(ch_ww, x*8);
-            riscv::asm::delay(delay);
-        }
-        for x in 0..100 {
-            pwm_w.set_duty(ch_ww, (100-x)*8);
-            riscv::asm::delay(delay);
+            Ok(recv_msg) => {
+                if let embedded_can::Id::Standard(std_id) = recv_msg.id() {
+                    if std_id.as_raw() == node_id {
+                        let data = recv_msg.data();
+                        if data.len() >= 5 {
+                            let channel = data[0];
+
+                            let mut fbytes = [0u8; 4];
+                            fbytes.copy_from_slice(&data[1..5]);
+                            let value = f32::from_le_bytes(fbytes).clamp(0.0, 1.0);
+
+                            let duty = (value * pwm_w.get_max_duty() as f32) as u32;
+
+                            match channel {
+                                0 => { pwm_w.set_duty(ch_cw, duty); println!("CW -> {}", duty); }
+                                1 => { pwm_w.set_duty(ch_ww, duty); println!("WW -> {}", duty); }
+                                2 => { pwm_rgb.set_duty(ch_r, duty); println!("R -> {}", duty); }
+                                3 => { pwm_rgb.set_duty(ch_g, duty); println!("G -> {}", duty); }
+                                4 => { pwm_rgb.set_duty(ch_b, duty); println!("B -> {}", duty); }
+                                _ => println!("Unknown channel {}", channel),
+                            }
+                        }
+                    }
+                }
+            }
+            Err(err) => println!("CAN error: {:?}", err),
         }
     }
 }