diff --git a/CMakePresets.json b/CMakePresets.json
index 5982e27..bce0f20 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -53,6 +53,9 @@
         "USE_W25QXX": true,
         "PRINT_ID": "3",
         "USE_FREERTOS": true,
+        "CFG_MK32_COM": "COM_SBUS",
+        "CFG_CLI_SET_COM": "COM_LPUART",
+        "CFG_TL720D_COM": "COM_RS485_1",
         "TREE_SUPPORT_NULL": false,
         "RD_VERSION": "paint_robot_new v1.6"
       }
diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c
index 4093cdd..8546b93 100644
--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@@ -372,7 +372,7 @@ void TIM3_IRQHandler(void)
 void USART1_IRQHandler(void)
 {
   /* USER CODE BEGIN USART1_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptrs485_1);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_1]);
   /* USER CODE END USART1_IRQn 0 */
   HAL_UART_IRQHandler(&huart1);
   /* USER CODE BEGIN USART1_IRQn 1 */
@@ -386,7 +386,7 @@ void USART1_IRQHandler(void)
 void USART2_IRQHandler(void)
 {
   /* USER CODE BEGIN USART2_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptlte_7S0);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_LTE_7S0]);
   /* USER CODE END USART2_IRQn 0 */
   HAL_UART_IRQHandler(&huart2);
   /* USER CODE BEGIN USART2_IRQn 1 */
@@ -403,7 +403,7 @@ void USART3_IRQHandler(void)
 #ifdef USE_PRINT
   UART_DMA_RX_IRQHandler(g_ptUartCtrl);
 #else
-  UART_DMA_RX_IRQHandler(g_ptrs485_2);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_2]);
 #endif
   /* USER CODE END USART3_IRQn 0 */
   HAL_UART_IRQHandler(&huart3);
@@ -446,7 +446,7 @@ void DMA1_Stream7_IRQHandler(void)
 void UART4_IRQHandler(void)
 {
   /* USER CODE BEGIN UART4_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptInterCall);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_INTERCALL]);
   /* USER CODE END UART4_IRQn 0 */
   HAL_UART_IRQHandler(&huart4);
   /* USER CODE BEGIN UART4_IRQn 1 */
@@ -460,7 +460,7 @@ void UART4_IRQHandler(void)
 void UART5_IRQHandler(void)
 {
   /* USER CODE BEGIN UART5_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptSbus);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_SBUS]);
   /* USER CODE END UART5_IRQn 0 */
   HAL_UART_IRQHandler(&huart5);
   /* USER CODE BEGIN UART5_IRQn 1 */
@@ -572,7 +572,7 @@ void DMA2_Stream5_IRQHandler(void)
 void USART6_IRQHandler(void)
 {
   /* USER CODE BEGIN USART6_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptrs485_3);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_3]);
   /* USER CODE END USART6_IRQn 0 */
   HAL_UART_IRQHandler(&huart6);
   /* USER CODE BEGIN USART6_IRQn 1 */
@@ -586,7 +586,7 @@ void USART6_IRQHandler(void)
 void UART7_IRQHandler(void)
 {
   /* USER CODE BEGIN UART7_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptrs485_4);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_RS485_4]);
   /* USER CODE END UART7_IRQn 0 */
   HAL_UART_IRQHandler(&huart7);
   /* USER CODE BEGIN UART7_IRQn 1 */
@@ -628,7 +628,7 @@ void I2C4_ER_IRQHandler(void)
 void LPUART1_IRQHandler(void)
 {
   /* USER CODE BEGIN LPUART1_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptlpuart);
+  UART_DMA_RX_IRQHandler(g_apstUart[COM_LPUART]);
   /* USER CODE END LPUART1_IRQn 0 */
   HAL_UART_IRQHandler(&hlpuart1);
   /* USER CODE BEGIN LPUART1_IRQn 1 */
diff --git a/robot b/robot
index dbbee8f..63126e1 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit dbbee8f10843455b092738cdc152cdd733440205
+Subproject commit 63126e1036134a1b6bbb825dfeea29dfc151b719