diff --git a/04_software/CMakeLists.txt b/04_software/CMakeLists.txt
new file mode 100644
index 0000000..a7a743e
--- /dev/null
+++ b/04_software/CMakeLists.txt
@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.10)
+project(kyncat C)
+
+# Set C standard
+set(CMAKE_C_STANDARD 99)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+
+# Set output directory for the compiled binary
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_SOURCE_DIR}")
+set(CMAKE_BINARY_DIRECTORY "${CMAKE_SOURCE_DIR}")
+
+# SOEM Repository Info
+set(SOEM_REPO "https://github.com/OpenEtherCATsociety/SOEM.git")
+set(SOEM_PATH "${CMAKE_SOURCE_DIR}/SOEM")
+
+# Check if SOEM exists, if not, clone it
+if(NOT EXISTS ${SOEM_PATH}/CMakeLists.txt)
+    message(STATUS "SOEM not found! Cloning from ${SOEM_REPO}...")
+    execute_process(
+        COMMAND git clone --depth 1 ${SOEM_REPO} ${SOEM_PATH}
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        RESULT_VARIABLE GIT_CLONE_RESULT
+    )
+    if(NOT GIT_CLONE_RESULT EQUAL 0)
+        message(FATAL_ERROR "Failed to clone SOEM repository!")
+    endif()
+endif()
+
+# Include SOEM as a subdirectory (it has its own CMakeLists.txt)
+add_subdirectory(${SOEM_PATH})
+
+# Include directories for SOEM
+include_directories(
+    ${SOEM_PATH}/soem
+    ${SOEM_PATH}/osal
+    ${SOEM_PATH}/osal/linux
+    ${SOEM_PATH}/oshw/linux
+)
+
+# Define the source files for kyncat
+set(SOURCES
+    main.c
+    slaveconfig.c
+)
+
+set(HEADERS
+    slaveconfig.h
+)
+
+# Create the executable and link against the SOEM static library
+add_executable(kyncat ${SOURCES} ${HEADERS})
+
+# Link SOEM library and required system libraries
+target_link_libraries(kyncat soem pthread rt)
+
diff --git a/04_software/main.c b/04_software/main.c
new file mode 100644
index 0000000..6d946d1
--- /dev/null
+++ b/04_software/main.c
@@ -0,0 +1,295 @@
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include "slaveconfig.h"
+#include "ethercat.h"
+
+#define EC_TIMEOUTMON 100
+
+char IOmap[4096];
+volatile int wkc;
+OSAL_THREAD_HANDLE thread1;
+int expectedWKC;
+boolean needlf;
+volatile int wkc;
+uint8 currentgroup = 0;
+
+
+/*!
+ * @brief Set the given Slave to given State 
+ * @return 1 if No Error | 0 if Error
+ * */
+uint8_t setSlaveState(uint8_t slave_index, uint16_t ethercat_state )
+{
+	//printf("SET STATE: %s - Slave[%d] \n",ec_slave[slave_index].name, slave_index);
+	ec_slave[slave_index].state = ethercat_state;// ec_slave[0] refers to a special virtual slave that represents all slaves 
+	ec_writestate(slave_index); // Same as above
+	ec_statecheck(slave_index, ethercat_state,  EC_TIMEOUTSTATE);
+
+	if (ec_slave[slave_index].state == ethercat_state) {
+		{
+	//		printf("  |- ");
+	//		printState(ec_slave[slave_index].state);
+		}
+		return 1;
+	} else {
+	//	printf("  |-> Failed\n");
+		return 0; 
+	}
+	return 0; 
+}
+
+/*
+void searchForSlave()
+{
+	for (int i = 1; i <= ec_slavecount; i++) {
+	    if (strcmp(ec_slave[i].name, "EL2008") == 0) {
+		el2008_slave = i;
+		printf("Found EL2008 at slave %d.\n", i);
+	    }
+	}
+
+	if (el2008_slave == -1) {
+	    printf("EL2008 not found on the network.\n");
+	}
+}
+*/
+
+
+void print_device_info() {
+	printf("--------------------------------------------------\n");
+    printf("EtherCAT Device Info Panel\n");
+    printf("--------------------------------------------------\n");
+
+    for (int i = 1; i <= ec_slavecount; i++) {
+        printf("Slave %d: %s\n", i, ec_slave[i].name);
+        printf("  Vendor ID: 0x%08X\n", ec_slave[i].eep_man);
+        printf("  Product Code: 0x%08X\n", ec_slave[i].eep_id);
+        printf("  Revision: 0x%08X\n", ec_slave[i].eep_rev);
+		printf("  ");
+        printState(ec_slave[i].state);
+        printf("  AL Status Code: 0x%04X\n", ec_slave[i].ALstatuscode);
+
+        // Print Process Data (PDOs)
+        printf("  Process Data:\n");
+        printf("    Inputs (%d bytes): ", ec_slave[i].Ibytes);
+        for (uint32_t j = 0; j < ec_slave[i].Ibytes; j++) {
+            printf("%02X ", ec_slave[i].inputs[j]);
+        }
+        printf("\n");
+
+        printf("    Outputs (%d bytes): ", ec_slave[i].Obytes);
+        for (uint32_t j = 0; j < ec_slave[i].Obytes; j++) {
+            printf("%02X ", ec_slave[i].outputs[j]);
+        }
+        printf("\n");
+
+        // Read available SDOs
+        printf("  SDO List:\n");
+        for (int sdo_index = 0x1000; sdo_index <= 0x1FFF; sdo_index++) {
+            uint32_t sdo_value;
+            int size = sizeof(sdo_value);
+            if (ec_SDOread(i, sdo_index, 0x00, FALSE, &size, &sdo_value, EC_TIMEOUTSAFE) > 0) {
+                printf("    Index 0x%04X: Value 0x%08X\n", sdo_index, sdo_value);
+            }
+        }
+        printf("--------------------------------------------------\n");
+    }
+}
+
+
+void setPin1Out()
+	{
+    uint8_t *outputs = (uint8_t *)ec_slave[3].outputs;
+
+    // Print current output state before modification
+    printf("Current output state: 0x%02X\n", outputs[0]);
+
+    // Set bit 0 (Channel 1 ON)
+    outputs[0] |= 1;
+
+    // Send process data to the slave
+    ec_send_processdata();
+
+    wkc = ec_receive_processdata(EC_TIMEOUTRET);
+
+    if (wkc >= expectedWKC) {
+        printf("Process data exchanged successfully.\n");
+    } else {
+        printf("Process data exchange failed. WKC: %d, expectedWKC: %d\n", wkc, expectedWKC);
+    }
+
+    // Print final output state
+    printf("Final output state: 0x%02X\n", outputs[0]);
+
+    // Print slave state and AL status code
+	printState(ec_slave[3].state);
+}
+
+
+/*!
+ * @brief Initialising Distributed Clocks. you should initialize Distributed Clocks (DC) 
+ * after all slaves are configured and mapped, 
+ * but before transitioning them to OPERATIONAL (EC_STATE_OPERATIONAL).
+ * @return 1 if No Error | 0 if Error
+ * */
+uint8_t initDisributedClocks()
+{
+	printf("Init Distributed Clocks\n");
+	if (ec_configdc()) {
+		printf("  |-> Succeeded \n");
+		return 1;
+	}else 
+	{
+		printf("  |-> Failed \n");
+		return 0;
+	}
+}
+
+
+/*!
+ * @brief map process data objects (PDOs) of all detected EtherCAT slaves into a single memory buffer (IOmap). 
+ * and groupe them into group[0] This will be important for the Slaves state intitalisation phase.  
+ * @return 1 if No Error | 0 if Error
+ * */
+uint8_t mapSlavesGrouped()
+{
+	printf("Mapping Slaves\n");
+	if(ec_config_map(&IOmap)){
+		printf("  |-> Succeeded \n");
+		for (uint8_t i = 1; i <= ec_slavecount; i++) {
+			printf("   |-> (%s) - ",ec_slave[i].name);
+			printState(ec_slave[i].state);
+		}
+		return 1;
+	}else 
+	{
+		printf("  |-> Failed \n");
+		return 0;
+	}
+}
+
+/*!
+ * @brief Enumerate and init all slaves.> 
+ * @return 1 if No Error | 0 if Error
+ * */
+uint8_t enumerateSlaves()
+{
+	printf("Detection and enumeration \n");
+	if (ec_config_init(FALSE) > 0) {
+		printf("  |-> Succeeded \n");
+		printf("   |-> Slave Count: %d \n",ec_slavecount);
+		return 1;
+	}else 
+	{
+		printf("  |-> Failed \n");
+		return 0;
+	}
+}	
+
+/*!
+ * @brief Initialising network atapter for communication with slaves
+ * @param char *Ifname is the interface name
+ * @return 1 if No Error | 0 if Error
+ * */
+uint8_t initNetworkAdapterSingle(char *ifname)
+{
+	printf("Init Network Interface < %s >\n", ifname);
+	if (ec_init(ifname)) {
+		printf("  |-> Succeeded \n");
+		return 1;
+	}else 
+	{
+		printf("  |-> Failed \n");
+		return 0;
+	}
+}
+
+void dataLoop()
+{
+	ec_send_processdata(); 
+	wkc = ec_receive_processdata(EC_TIMEOUTRET); 
+	if(wkc >= expectedWKC)
+	{
+		
+	}
+	osal_usleep(5000);
+}
+
+int main(int argc, char *argv[]) {
+	if (argc > 1) {
+		// Init Network adapter
+		if(!initNetworkAdapterSingle(argv[1])){
+			printf("Unable to Initiate Network Adapter -> Quitting");
+			ec_close();
+			return 0;
+		}
+		
+		if(!enumerateSlaves()){
+			printf("Unable to Enumerate Slaves -> Quitting");
+			ec_close();
+			return 0;
+		}
+
+		if(!mapSlavesGrouped()){
+			printf("Unable to Map Slaves -> Quitting");
+			ec_close();
+			return 0;
+		}
+		
+		expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
+		printf("Calculated workcounter %d\n", expectedWKC);
+		
+		if(!initDisributedClocks()){
+			printf("Unable to Initialise Distributed Clocks -> Quitting");
+			ec_close();
+			return 0;
+		}
+
+		for (uint8_t i = 1; i <= ec_slavecount; i++) {
+			printf("-----------------------------------------------------------------------\n"); 
+			print_device_info();
+			printf("-----------------------------------------------------------------------\n"); 
+			if(!setSlaveState(1,EC_STATE_INIT)){
+				printf("Unable chnage Slave mode -> Quitting");
+				ec_close();
+				return 0;
+			}
+			if(!setSlaveState(i,EC_STATE_PRE_OP)){
+				printf("Unable chnage Slave mode -> Quitting");
+				ec_close();
+				return 0;
+			}
+			if(!setSlaveState(i,EC_STATE_SAFE_OP)){
+				printf("Unable chnage Slave mode -> Quitting");
+				ec_close();
+				return 0;
+			}
+			if(!setSlaveState(i,EC_STATE_OPERATIONAL)){
+				printf("Unable chnage Slave mode -> Quitting");
+				ec_close();
+			}
+			printf("-----------------------------------------------------------------------\n"); 
+		}
+
+		 setPin1Out();
+
+		 for(uint16_t j = 0; j < 10000; j++) 
+		 {
+			ec_send_processdata();
+			wkc = ec_receive_processdata(EC_TIMEOUTRET);
+
+			if (wkc >= expectedWKC) {
+			} else {
+			printf("Process data exchange failed. WKC: %d, expectedWKC: %d\n", wkc, expectedWKC);
+			}
+			 usleep(100);
+		 }
+
+		ec_close();
+	} else {
+		printf("Usage   : sudo %s <network interface name>  need to be passed\n", argv[0]);
+		printf("Example : sudo %s eth0 \n", argv[0]);
+	}
+	return 0;
+}
diff --git a/04_software/slaveconfig.c b/04_software/slaveconfig.c
new file mode 100644
index 0000000..b2b6552
--- /dev/null
+++ b/04_software/slaveconfig.c
@@ -0,0 +1,40 @@
+#include "slaveconfig.h"
+#include <stdio.h>
+
+
+/*!
+ * @brief Prints the state in which the Slave is and also give basic infomations about that state.  
+ * @param uint16_t state is the state flag of the slave which will be masked to ist 8 LSB's  
+ * @link https://infosys.beckhoff.com/english.php?content=../content/1033/ethercatsystem/1036980875.html&id=
+ * @return void
+ * */
+void printState(uint16_t state)
+{
+	uint8_t state_masked = state & 0x0F;  // Mask first byte
+
+	switch (state_masked) {
+		case EC_STATE_INIT:  
+			printf("State: INIT (0x%02X) - No communication yet.\n", state_masked);
+			break;
+
+		case EC_STATE_PRE_OP:  
+			printf("State: PRE-OP (0x%02X) - Configuration possible.\n", state_masked);
+			break;
+
+		case EC_STATE_SAFE_OP:  
+			printf("State: SAFE-OP (0x%02X) - Inputs work, outputs disabled.\n", state_masked);
+			break;
+
+		case EC_STATE_OPERATIONAL:  
+			printf("State: OPERATIONAL (0x%02X) - Fully active.\n", state_masked);
+			break;
+
+		case EC_STATE_BOOT:  
+			printf("State: BOOTSTRAP (0x%02X) - Firmware update mode.\n", state_masked);
+			break;
+
+		default:
+			printf("State: UNKNOWN STATE (0x%02X)\n", state_masked);
+			break;
+	}
+}
diff --git a/04_software/slaveconfig.h b/04_software/slaveconfig.h
new file mode 100644
index 0000000..a705e71
--- /dev/null
+++ b/04_software/slaveconfig.h
@@ -0,0 +1,30 @@
+/*
+ * Licensed under the GNU General Public License version 2 with exceptions. See
+ * LICENSE file in the project root for full license information
+ */
+
+/** \file
+ * \brief
+ * Headerfile for ethercatbase.c
+ */
+
+#ifndef _slave_config_
+#define _slave_config_
+
+#include "ethercat.h"
+
+/*!
+ * @brief Prints the state in which the Slave is and also give basic infomations about that state.  
+ * @param uint16_t state is the state flag of the slave which will be masked to ist 8 LSB's  
+ * @link https://infosys.beckhoff.com/english.php?content=../content/1033/ethercatsystem/1036980875.html&id=
+ * @return void
+ * */
+void printState(uint16_t state); 
+
+/*!
+ * @brief Set the given Slave to given State 
+ * @return 1 if No Error | 0 if Error
+ * */
+//uint8_t setSlaveState(uint8_t slave_index, uint16_t ethercat_state);
+
+#endif