diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c
index c37d2b4..4093cdd 100644
--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@@ -119,7 +119,7 @@ __attribute__((naked)) void HardFault_Handler(void)
 	"ITE EQ \n"
 	"MRSEQ r0, MSP \n"
 	"MRSNE r0, PSP \n"
-	"B hard_fault_handler_c \n"
+	"BL hard_fault_handler_c \n"
   );
   /* USER CODE END HardFault_IRQn 0 */
   while (1)
@@ -140,7 +140,7 @@ __attribute__((naked)) void MemManage_Handler(void)
 	"ITE EQ \n"
 	"MRSEQ r0, MSP \n"
 	"MRSNE r0, PSP \n"
-	"B hard_fault_handler_c \n"
+	"BL hard_fault_handler_c \n"
   );
   /* USER CODE END MemoryManagement_IRQn 0 */
   while (1)
@@ -161,7 +161,7 @@ __attribute__((naked)) void BusFault_Handler(void)
 	"ITE EQ \n"
 	"MRSEQ r0, MSP \n"
 	"MRSNE r0, PSP \n"
-	"B hard_fault_handler_c \n"
+	"BL hard_fault_handler_c \n"
   );
   /* USER CODE END BusFault_IRQn 0 */
   while (1)
@@ -182,7 +182,7 @@ __attribute__((naked)) void UsageFault_Handler(void)
 	"ITE EQ \n"
 	"MRSEQ r0, MSP \n"
 	"MRSNE r0, PSP \n"
-	"B hard_fault_handler_c \n"
+	"BL hard_fault_handler_c \n"
   );
   /* USER CODE END UsageFault_IRQn 0 */
   while (1)
diff --git a/robot b/robot
index 97080d9..e0db2ea 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit 97080d9a12248878e2ca38ce2b8c7f9196d0c9d8
+Subproject commit e0db2eaa10a4192f8d015b6ebf7d7a21aece8e54