diff --git a/CMakePresets.json b/CMakePresets.json
index 2a14daa..792223a 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -34,12 +34,13 @@
         "USE_UART": true,
         "USE_LUA_ST": true,
         "USE_LUA_ST_UART": true,
-        "USE_TALNET": true,
+        "USE_TALNET": false,
         "USE_LWIP": true,
-        "USE_PRINT": false,
+        "USE_PRINT": true,
+        "PRINT_ID": "3",
         "USE_W25QXX": true,
         "USE_FREERTOS": true,
-        "CONFIG_UART_IT_IDLEDMA": false,
+        "CONFIG_UART_IT_IDLEDMA": true,
         "CONFIG_CAN_NEW_VERSION": "1",
         "USE_CAN": true,
         "LUACOM_ID": "3",
@@ -57,7 +58,7 @@
         "BUILD_PAINT_ROBOT_NEW": "ON",
         "USE_LUA_ST_UART": false,
         "USE_PRINT": true,
-        "PRINT_ID": "3",
+        "CONFIG_UART_IT_IDLEDMA": false,
         "CFG_MK32_COM": "COM_SBUS",
         "CFG_CLI_SET_COM": "COM_LPUART",
         "CFG_TL720D_COM": "COM_RS485_1",
diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c
index 500c398..3062c5b 100644
--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@@ -23,6 +23,7 @@
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
 #include "common.h"
+#include "bsp_uart.h"
 #ifdef BUILD_RBCORE
 #include "drv_interface.h"
 #endif
diff --git a/robot b/robot
index b6c39bc..95d9f5e 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit b6c39bc782f14d31ee045c77cac4bb9384c739a3
+Subproject commit 95d9f5e66f5daadf404836f2208cf78223d89ec4