diff --git a/CMakePresets.json b/CMakePresets.json
index acf600c..67afa4d 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -28,7 +28,7 @@
         "BUILD_PERIPHERAL": "ON",
         "BUILD_LIST": "ON",
         "BUILD_BSPMCU": "ON",
-        "MEM_POOL_TOTAL_SIZE": "96*1024",
+        "MEM_POOL_TOTAL_SIZE": "128*1024",
         "IOC_100PIN": true,
         "USE_UART": true,
         "CONFIG_UART_IT_IDLEDMA": false,
diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c
index 0d3f78d..717e310 100644
--- a/Core/Src/freertos.c
+++ b/Core/Src/freertos.c
@@ -132,9 +132,9 @@ void MX_FREERTOS_Init(void) {
   defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
   /* USER CODE BEGIN RTOS_THREADS */
-  /* add threads, ... */  
-  Drv_InterfaceInit();
+  /* add threads, ... */
   MyTask_Init();
+  Drv_InterfaceInit();
   /* USER CODE END RTOS_THREADS */
 
   /* USER CODE BEGIN RTOS_EVENTS */
diff --git a/robot b/robot
index b80d448..b32de2c 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit b80d44894ff5bf2135372500b4c0f16b6cfea5dd
+Subproject commit b32de2c39bb63c74ce20bf2ed13a51a193426b98