diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 0a96e91..35cc97d 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -102,6 +102,14 @@ void Error_Handler(void);
 #define LED_Y_GPIO_Port GPIOE
 #define DO_EN_Pin GPIO_PIN_10
 #define DO_EN_GPIO_Port GPIOB
+#define RELAY_1_Pin GPIO_PIN_14
+#define RELAY_1_GPIO_Port GPIOB
+#define RELAY_2_Pin GPIO_PIN_15
+#define RELAY_2_GPIO_Port GPIOB
+#define RELAY_3_Pin GPIO_PIN_8
+#define RELAY_3_GPIO_Port GPIOD
+#define RELAY_4_Pin GPIO_PIN_9
+#define RELAY_4_GPIO_Port GPIOD
 #define DO_CH1_Pin GPIO_PIN_10
 #define DO_CH1_GPIO_Port GPIOD
 #define DO_CH2_Pin GPIO_PIN_11
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index a730d72..6b9204a 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -61,6 +61,12 @@ void MX_GPIO_Init(void)
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(LED_Y_GPIO_Port, LED_Y_Pin, GPIO_PIN_SET);
 
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOB, RELAY_1_Pin|RELAY_2_Pin, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOD, RELAY_3_Pin|RELAY_4_Pin, GPIO_PIN_RESET);
+
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOD, DO_CH1_Pin|DO_CH2_Pin|DO_CH3_Pin|DO_CH4_Pin
                           |DO_CH5_Pin|DO_CH6_Pin|DO_CH13_Pin|DO_CH14_Pin
@@ -84,8 +90,10 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
   HAL_GPIO_Init(ETH_RESET_GPIO_Port, &GPIO_InitStruct);
 
-  /*Configure GPIO pins : PBPin PBPin PBPin */
-  GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|DO_EN_Pin;
+  /*Configure GPIO pins : PBPin PBPin PBPin PBPin
+                           PBPin */
+  GPIO_InitStruct.Pin = LED_R_Pin|LED_G_Pin|DO_EN_Pin|RELAY_1_Pin
+                          |RELAY_2_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
@@ -100,10 +108,10 @@ void MX_GPIO_Init(void)
 
   /*Configure GPIO pins : PDPin PDPin PDPin PDPin
                            PDPin PDPin PDPin PDPin
-                           PDPin PDPin */
-  GPIO_InitStruct.Pin = DO_CH1_Pin|DO_CH2_Pin|DO_CH3_Pin|DO_CH4_Pin
-                          |DO_CH5_Pin|DO_CH6_Pin|DO_CH13_Pin|DO_CH14_Pin
-                          |DO_CH15_Pin|DO_CH16_Pin;
+                           PDPin PDPin PDPin PDPin */
+  GPIO_InitStruct.Pin = RELAY_3_Pin|RELAY_4_Pin|DO_CH1_Pin|DO_CH2_Pin
+                          |DO_CH3_Pin|DO_CH4_Pin|DO_CH5_Pin|DO_CH6_Pin
+                          |DO_CH13_Pin|DO_CH14_Pin|DO_CH15_Pin|DO_CH16_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
diff --git a/LWIP/App/lwip.c b/LWIP/App/lwip.c
index 06f2ae0..94df81f 100644
--- a/LWIP/App/lwip.c
+++ b/LWIP/App/lwip.c
@@ -61,7 +61,7 @@ void MX_LWIP_Init(void)
   IP_ADDRESS[0] = 192;
   IP_ADDRESS[1] = 168;
   IP_ADDRESS[2] = 1;
-  IP_ADDRESS[3] = 100;
+  IP_ADDRESS[3] = 101;
   NETMASK_ADDRESS[0] = 255;
   NETMASK_ADDRESS[1] = 255;
   NETMASK_ADDRESS[2] = 255;
@@ -69,7 +69,7 @@ void MX_LWIP_Init(void)
   GATEWAY_ADDRESS[0] = 192;
   GATEWAY_ADDRESS[1] = 168;
   GATEWAY_ADDRESS[2] = 1;
-  GATEWAY_ADDRESS[3] = 29;
+  GATEWAY_ADDRESS[3] = 27;
 
 /* USER CODE BEGIN IP_ADDRESSES */
 /* USER CODE END IP_ADDRESSES */
diff --git a/MDK-ARM/EventRecorderStub.scvd b/MDK-ARM/EventRecorderStub.scvd
new file mode 100644
index 0000000..2956b29
--- /dev/null
+++ b/MDK-ARM/EventRecorderStub.scvd
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
+
+<component name="EventRecorderStub" version="1.0.0"/>       <!--name and version of the component-->
+  <events>
+  </events>
+
+</component_viewer>
diff --git a/MDK-ARM/remote_dido_unit.uvoptx b/MDK-ARM/remote_dido_unit.uvoptx
index 2c637cd..8451f46 100644
--- a/MDK-ARM/remote_dido_unit.uvoptx
+++ b/MDK-ARM/remote_dido_unit.uvoptx
@@ -117,6 +117,26 @@
         <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMRTXEVENTFLAGS</Key>
+          <Name>-L70 -Z18 -C0 -M0 -T1</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGTARM</Key>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ARMDBGFLAGS</Key>
+          <Name></Name>
+        </SetRegEntry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>DLGUARM</Key>
+          <Name>(105=-1,-1,-1,-1,0)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
@@ -125,10 +145,17 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U-O142 -O2254 -S0 -C0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407VGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-U-O142 -O2254 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407VGTx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
       <Breakpoint/>
+      <WatchWindow1>
+        <Ww>
+          <count>0</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>user_communication_di</ItemText>
+        </Ww>
+      </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
diff --git a/MDK-ARM/remote_dido_unit/remote_dido_unit.build_log.htm b/MDK-ARM/remote_dido_unit/remote_dido_unit.build_log.htm
new file mode 100644
index 0000000..35f5e71
--- /dev/null
+++ b/MDK-ARM/remote_dido_unit/remote_dido_unit.build_log.htm
@@ -0,0 +1,183 @@
+<html>
+<body>
+<pre>
+<h1>µVision Build Log</h1>
+<h2>Tool Versions:</h2>
+IDE-Version: ¦ÌVision V5.36.0.0
+Copyright (C) 2021 ARM Ltd and ARM Germany GmbH. All rights reserved.
+License Information: aaa Administrator, aaa, LIC=6XJT4-F8J98-8YUVV-P833R-DBAKX-Y8EU6
+ 
+Tool Versions:
+Toolchain:       MDK-ARM Professional  Version: 5.36.0.0
+Toolchain Path:  C:\Keil_v5\ARM\ARMCC\Bin
+C Compiler:      Armcc.exe V5.06 update 7 (build 960)
+Assembler:       Armasm.exe V5.06 update 7 (build 960)
+Linker/Locator:  ArmLink.exe V5.06 update 7 (build 960)
+Library Manager: ArmAr.exe V5.06 update 7 (build 960)
+Hex Converter:   FromElf.exe V5.06 update 7 (build 960)
+CPU DLL:         SARMCM3.DLL V5.36.0.0
+Dialog DLL:      DCM.DLL V1.17.3.0
+Target DLL:      STLink\ST-LINKIII-KEIL_SWO.dll V3.0.9.0
+Dialog DLL:      TCM.DLL V1.53.0.0
+ 
+<h2>Project:</h2>
+D:\WORK\positioner_testing\Remote dido unit\MDK-ARM\remote_dido_unit.uvprojx
+Project File Date:  02/19/2025
+
+<h2>Output:</h2>
+*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'C:\Keil_v5\ARM\ARMCC\Bin'
+Build target 'remote_dido_unit'
+assembling startup_stm32f407xx.s...
+compiling lan8742.c...
+compiling gpio.c...
+compiling freertos.c...
+compiling stm32f4xx_hal_msp.c...
+compiling stm32f4xx_hal_flash.c...
+compiling stm32f4xx_hal_flash_ex.c...
+compiling tim.c...
+compiling stm32f4xx_hal_rcc_ex.c...
+compiling stm32f4xx_it.c...
+compiling stm32f4xx_hal_rcc.c...
+compiling main.c...
+compiling lwip.c...
+compiling ethernetif.c...
+compiling stm32f4xx_hal_timebase_tim.c...
+compiling stm32f4xx_hal_gpio.c...
+compiling stm32f4xx_hal_flash_ramfunc.c...
+compiling list.c...
+compiling croutine.c...
+compiling event_groups.c...
+compiling queue.c...
+compiling stm32f4xx_hal_dma_ex.c...
+compiling stm32f4xx_hal_pwr.c...
+compiling stm32f4xx_hal_dma.c...
+compiling stm32f4xx_hal_exti.c...
+compiling stm32f4xx_hal_pwr_ex.c...
+compiling stm32f4xx_hal_cortex.c...
+compiling stm32f4xx_hal.c...
+compiling timers.c...
+compiling stm32f4xx_hal_eth.c...
+compiling system_stm32f4xx.c...
+compiling stream_buffer.c...
+compiling stm32f4xx_hal_tim_ex.c...
+compiling tasks.c...
+compiling heap_4.c...
+compiling stm32f4xx_hal_tim.c...
+compiling cmsis_os.c...
+compiling port.c...
+compiling chap-md5.c...
+compiling ccp.c...
+compiling demand.c...
+compiling chap_ms.c...
+compiling eui64.c...
+compiling chap-new.c...
+compiling eap.c...
+compiling ipcp.c...
+compiling fsm.c...
+compiling auth.c...
+compiling ipv6cp.c...
+compiling lcp.c...
+compiling magic.c...
+compiling mppe.c...
+compiling multilink.c...
+compiling ppp.c...
+compiling pppapi.c...
+compiling pppcrypt.c...
+compiling pppoe.c...
+compiling pppos.c...
+compiling upap.c...
+compiling pppol2tp.c...
+compiling utils.c...
+compiling vj.c...
+compiling bridgeif_fdb.c...
+compiling ethernet.c...
+compiling bridgeif.c...
+compiling lowpan6.c...
+compiling lowpan6_common.c...
+compiling lowpan6_ble.c...
+compiling api_msg.c...
+compiling zepif.c...
+compiling ecp.c...
+compiling if_api.c...
+compiling netdb.c...
+compiling netbuf.c...
+compiling err.c...
+compiling api_lib.c...
+compiling slipif.c...
+compiling netifapi.c...
+compiling altcp.c...
+compiling tcpip.c...
+compiling altcp_alloc.c...
+compiling sockets.c...
+compiling altcp_tcp.c...
+compiling dns.c...
+compiling def.c...
+compiling ip.c...
+compiling inet_chksum.c...
+compiling mem.c...
+compiling init.c...
+compiling memp.c...
+compiling raw.c...
+compiling stats.c...
+compiling sys.c...
+compiling netif.c...
+compiling pbuf.c...
+compiling tcp.c...
+compiling tcp_in.c...
+compiling udp.c...
+compiling tcp_out.c...
+compiling autoip.c...
+compiling dhcp.c...
+compiling timeouts.c...
+compiling icmp.c...
+compiling igmp.c...
+compiling etharp.c...
+compiling ip4_addr.c...
+compiling ip4.c...
+compiling ethip6.c...
+compiling ip4_frag.c...
+compiling dhcp6.c...
+compiling communication_protocol.c...
+compiling user_lib.c...
+compiling icmp6.c...
+compiling inet6.c...
+compiling ip6_addr.c...
+compiling ip6.c...
+compiling nd6.c...
+compiling ip6_frag.c...
+compiling mld6.c...
+compiling sys_arch.c...
+compiling leds.c...
+compiling tcpserverc.c...
+compiling mqtt.c...
+compiling user_gpio.c...
+linking...
+Program Size: Code=74336 RO-data=1344 RW-data=408 ZI-data=51600  
+"remote_dido_unit\remote_dido_unit.axf" - 0 Error(s), 0 Warning(s).
+
+<h2>Software Packages used:</h2>
+
+Package Vendor: ARM
+                http://www.keil.com/pack/ARM.CMSIS.5.8.0.pack
+                ARM.CMSIS.5.8.0
+                CMSIS (Common Microcontroller Software Interface Standard)
+   * Component: CORE Version: 5.5.0
+
+Package Vendor: Keil
+                http://www.keil.com/pack/Keil.STM32F4xx_DFP.2.12.0.pack
+                Keil.STM32F4xx_DFP.2.12.0
+                STMicroelectronics STM32F4 Series Device Support, Drivers and Examples
+
+<h2>Collection of Component include folders:</h2>
+  .\RTE\_remote_dido_unit
+  C:\Users\Administrator\AppData\Local\Arm\Packs\ARM\CMSIS\5.8.0\CMSIS\Core\Include
+  C:\Users\Administrator\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.12.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
+
+<h2>Collection of Component Files used:</h2>
+
+   * Component: ARM::CMSIS:CORE:5.5.0
+      Include file:  CMSIS\Core\Include\tz_context.h
+Build Time Elapsed:  00:00:06
+</pre>
+</body>
+</html>
diff --git a/remote_dido_unit.ioc b/remote_dido_unit.ioc
index c407358..506fc94 100644
--- a/remote_dido_unit.ioc
+++ b/remote_dido_unit.ioc
@@ -15,9 +15,9 @@ GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 LWIP.BSP.number=1
 LWIP.CMSIS_VERSION-Enabled=1
-LWIP.GATEWAY_ADDRESS=192.168.001.029
+LWIP.GATEWAY_ADDRESS=192.168.001.027
 LWIP.IPParameters=LWIP_DHCP,IP_ADDRESS,NETMASK_ADDRESS,GATEWAY_ADDRESS,LWIP_UDP,CMSIS_VERSION-Enabled
-LWIP.IP_ADDRESS=192.168.001.100
+LWIP.IP_ADDRESS=192.168.001.101
 LWIP.LWIP_DHCP=0
 LWIP.LWIP_UDP=0
 LWIP.NETMASK_ADDRESS=255.255.255.000
@@ -59,48 +59,52 @@ Mcu.Pin18=PB11
 Mcu.Pin19=PB12
 Mcu.Pin2=PE4
 Mcu.Pin20=PB13
-Mcu.Pin21=PD10
-Mcu.Pin22=PD11
-Mcu.Pin23=PD12
-Mcu.Pin24=PD13
-Mcu.Pin25=PD14
-Mcu.Pin26=PD15
-Mcu.Pin27=PC9
-Mcu.Pin28=PA8
-Mcu.Pin29=PA11
+Mcu.Pin21=PB14
+Mcu.Pin22=PB15
+Mcu.Pin23=PD8
+Mcu.Pin24=PD9
+Mcu.Pin25=PD10
+Mcu.Pin26=PD11
+Mcu.Pin27=PD12
+Mcu.Pin28=PD13
+Mcu.Pin29=PD14
 Mcu.Pin3=PE5
-Mcu.Pin30=PA12
-Mcu.Pin31=PA13
-Mcu.Pin32=PA14
-Mcu.Pin33=PA15
-Mcu.Pin34=PC12
-Mcu.Pin35=PD0
-Mcu.Pin36=PD1
-Mcu.Pin37=PD2
-Mcu.Pin38=PD3
-Mcu.Pin39=PD4
+Mcu.Pin30=PD15
+Mcu.Pin31=PC9
+Mcu.Pin32=PA8
+Mcu.Pin33=PA11
+Mcu.Pin34=PA12
+Mcu.Pin35=PA13
+Mcu.Pin36=PA14
+Mcu.Pin37=PA15
+Mcu.Pin38=PC12
+Mcu.Pin39=PD0
 Mcu.Pin4=PE6
-Mcu.Pin40=PD5
-Mcu.Pin41=PD6
-Mcu.Pin42=PD7
-Mcu.Pin43=PB3
-Mcu.Pin44=PB4
-Mcu.Pin45=PB5
-Mcu.Pin46=PB6
-Mcu.Pin47=PB7
-Mcu.Pin48=PE0
-Mcu.Pin49=PE1
+Mcu.Pin40=PD1
+Mcu.Pin41=PD2
+Mcu.Pin42=PD3
+Mcu.Pin43=PD4
+Mcu.Pin44=PD5
+Mcu.Pin45=PD6
+Mcu.Pin46=PD7
+Mcu.Pin47=PB3
+Mcu.Pin48=PB4
+Mcu.Pin49=PB5
 Mcu.Pin5=PH0-OSC_IN
-Mcu.Pin50=VP_FREERTOS_VS_CMSIS_V1
-Mcu.Pin51=VP_LWIP_VS_Enabled
-Mcu.Pin52=VP_SYS_VS_tim1
-Mcu.Pin53=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin54=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin50=PB6
+Mcu.Pin51=PB7
+Mcu.Pin52=PE0
+Mcu.Pin53=PE1
+Mcu.Pin54=VP_FREERTOS_VS_CMSIS_V1
+Mcu.Pin55=VP_LWIP_VS_Enabled
+Mcu.Pin56=VP_SYS_VS_tim1
+Mcu.Pin57=VP_TIM2_VS_ClockSourceINT
+Mcu.Pin58=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin6=PH1-OSC_OUT
 Mcu.Pin7=PC0
 Mcu.Pin8=PC1
 Mcu.Pin9=PA1
-Mcu.PinsNb=55
+Mcu.PinsNb=59
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F407VGTx
@@ -177,6 +181,16 @@ PB12.Mode=RMII
 PB12.Signal=ETH_TXD0
 PB13.Mode=RMII
 PB13.Signal=ETH_TXD1
+PB14.GPIOParameters=GPIO_Speed,GPIO_Label
+PB14.GPIO_Label=RELAY_1
+PB14.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
+PB14.Locked=true
+PB14.Signal=GPIO_Output
+PB15.GPIOParameters=GPIO_Speed,GPIO_Label
+PB15.GPIO_Label=RELAY_2
+PB15.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
+PB15.Locked=true
+PB15.Signal=GPIO_Output
 PB2.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
 PB2.GPIO_Label=LED_G
 PB2.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
@@ -312,6 +326,17 @@ PD7.GPIO_Label=DI_CH4
 PD7.GPIO_PuPd=GPIO_PULLUP
 PD7.Locked=true
 PD7.Signal=GPIO_Input
+PD8.GPIOParameters=GPIO_Speed,GPIO_Label
+PD8.GPIO_Label=RELAY_3
+PD8.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
+PD8.Locked=true
+PD8.Signal=GPIO_Output
+PD9.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
+PD9.GPIO_Label=RELAY_4
+PD9.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
+PD9.Locked=true
+PD9.PinState=GPIO_PIN_RESET
+PD9.Signal=GPIO_Output
 PE0.GPIOParameters=GPIO_PuPd,GPIO_Label
 PE0.GPIO_Label=DI_CH10
 PE0.GPIO_PuPd=GPIO_PULLUP