diff --git a/sdk b/sdk
index d3696cb..a796f5c 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit d3696cb389eb9dbdc808d961944bcc3a9fbc2a82
+Subproject commit a796f5c582eef8b06107d7558b3dfafe6be0f639
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 7211a6a..39f39ba 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -59,8 +59,9 @@ static StepMotor45::cfg_t cfg1 = {
     .enable_max_pos_limit = false,
     .mirror               = true,
 
-    .zeroPin       = PinNull,
-    .zeroPinMirror = false,
+    .zeroPin       = PB13,
+    .ioPollType    = ZGPIO::kMode_pullup,
+    .zeroPinMirror = true,
 
     .driverPin       = {PB15, PD11, PD12, PD13},
     .driverPinMirror = true,
@@ -72,7 +73,8 @@ static StepMotor45::cfg_t cfg2 = {
     .enable_max_pos_limit = false,
     .mirror               = true,
 
-    .zeroPin       = PinNull,
+    .zeroPin       = PG1,
+    .ioPollType    = ZGPIO::kMode_pullup,
     .zeroPinMirror = false,
 
     .driverPin       = {PG2, PG3, PG4, PG5},
@@ -85,7 +87,8 @@ static StepMotor45::cfg_t cfg3 = {
     .enable_max_pos_limit = false,
     .mirror               = true,
 
-    .zeroPin       = PinNull,
+    .zeroPin       = PB12,
+    .ioPollType    = ZGPIO::kMode_pullup,
     .zeroPinMirror = false,
 
     .driverPin       = {PG6, PG7, PG8, PC6},
@@ -246,7 +249,6 @@ void        Main::run() {
   g_script_step_motor45.regmodule(5, &g_step_motor45[4]);
   g_script_step_motor45.regmodule(6, &g_step_motor45[5]);
 
-
 #if 0
   step_motor_cmd_reg();
 #endif