diff --git a/CMakePresets.json b/CMakePresets.json
index 8cecad7..bfe83ea 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -39,7 +39,6 @@
       "name": "paint_robot_new",
       "inherits": "rb-core",
       "cacheVariables": {
-        "BUILD_OPTIONAL": "ON",
         "BUILD_MOTOR": "ON",
         "BUILD_PAINT_ROBOT_NEW": "ON",
         "USE_LUA_ST": true,
@@ -47,7 +46,8 @@
         "USE_LWIP": true,
         "USE_PRINT": true,
         "PRINT_ID": "3",
-        "USE_FREERTOS": true
+        "USE_FREERTOS": true,
+        "RD_VERSION": "paint_robot_new v1.0"
       }
     }
   ]
diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c
index 209ce62..0c5bb05 100644
--- a/Core/Src/stm32h7xx_it.c
+++ b/Core/Src/stm32h7xx_it.c
@@ -349,7 +349,7 @@ 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_ptrs485_1);
   /* USER CODE END USART1_IRQn 0 */
   HAL_UART_IRQHandler(&huart1);
   /* USER CODE BEGIN USART1_IRQn 1 */
@@ -363,7 +363,7 @@ 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_ptlte_7S0);
   /* USER CODE END USART2_IRQn 0 */
   HAL_UART_IRQHandler(&huart2);
   /* USER CODE BEGIN USART2_IRQn 1 */
@@ -380,7 +380,7 @@ 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_ptrs485_2);
 #endif
   /* USER CODE END USART3_IRQn 0 */
   HAL_UART_IRQHandler(&huart3);
@@ -437,7 +437,7 @@ void UART4_IRQHandler(void)
 void UART5_IRQHandler(void)
 {
   /* USER CODE BEGIN UART5_IRQn 0 */
-  UART_DMA_RX_IRQHandler(g_ptE28_SBUS);
+  UART_DMA_RX_IRQHandler(g_ptSbus);
   /* USER CODE END UART5_IRQn 0 */
   HAL_UART_IRQHandler(&huart5);
   /* USER CODE BEGIN UART5_IRQn 1 */
@@ -563,7 +563,7 @@ 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_ptrs485_3);
   /* USER CODE END USART6_IRQn 0 */
   HAL_UART_IRQHandler(&huart6);
   /* USER CODE BEGIN USART6_IRQn 1 */
@@ -577,7 +577,7 @@ 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_ptrs485_4);
   /* USER CODE END UART7_IRQn 0 */
   HAL_UART_IRQHandler(&huart7);
   /* USER CODE BEGIN UART7_IRQn 1 */
diff --git a/robot b/robot
index 4049fe8..692c8a0 160000
--- a/robot
+++ b/robot
@@ -1 +1 @@
-Subproject commit 4049fe84af279899df5cf4adb1aa86b73b2cd5f1
+Subproject commit 692c8a031cd1bc64f7e052b58357d3cc80cdf765