MS IO-Box: pick settings from config

dron0gus · Apr 20, 2024 · 2a9cd13 · 2a9cd13
1 parent f0d7cb5
commit 2a9cd13
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/firmware/hw_layer/drivers/gpio/can_gpio.cpp b/firmware/hw_layer/drivers/gpio/can_gpio.cpp
@@ -415,10 +415,15 @@ CanListener* MsIoBox::request(void) {
 static MsIoBox instance[BOARD_CAN_GPIO_COUNT];
 
 void initCanGpio() {
+	if (engineConfiguration->msIoBox0.id == MsIoBoxId::OFF) {
+		return;
+	}
 	// CAN_PIN_0
 	for (size_t i = 0; i < BOARD_CAN_GPIO_COUNT; i++) {
-		/* TODO: pick can bus, base CAN ID (and refresh rate) from settings */
-		if (instance[i].config(0, CAN_IOBOX_BASE1, 20) == 0) {
+		uint32_t can_id = CAN_IOBOX_BASE1 + 0x20 * (static_cast<uint32_t>(engineConfiguration->msIoBox0.id) - static_cast<uint32_t>(MsIoBoxId::ID200));
+
+		/* TODO: pick can bus and refresh rate from settings */
+		if (instance[i].config(0, can_id, 20) == 0) {
 			registerCanListener(instance[i]);
 		}
 	}