diff --git a/frtos/CMakeLists.txt b/frtos/CMakeLists.txt
index be93bcf..6aa36ca 100644
--- a/frtos/CMakeLists.txt
+++ b/frtos/CMakeLists.txt
@@ -5,6 +5,7 @@ add_subdirectory(line_sensor)
 add_subdirectory(car)
 add_subdirectory(ultrasonic_sensor)
 add_subdirectory(magnetometer)
+add_subdirectory(frontend)
 
 add_executable(rtos_car rtos_car.c)
 
@@ -20,6 +21,7 @@ target_include_directories(rtos_car PRIVATE
         ${CMAKE_CURRENT_LIST_DIR}/motor
         ${CMAKE_CURRENT_LIST_DIR}/line_sensor
         ${CMAKE_CURRENT_LIST_DIR}/ultrasonic_sensor
+        ${CMAKE_CURRENT_LIST_DIR}/frontend
 )
 target_link_libraries(rtos_car
         pico_cyw43_arch_lwip_sys_freertos
diff --git a/frtos/frontend/CMakeLists.txt b/frtos/frontend/CMakeLists.txt
new file mode 100644
index 0000000..5edf451
--- /dev/null
+++ b/frtos/frontend/CMakeLists.txt
@@ -0,0 +1,39 @@
+add_executable(
+        frontend
+        frontend.c
+        )
+
+#message("Running makefsdata python script")
+#execute_process(COMMAND
+#    py makefsdata.py
+#    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+#)
+
+message("Running makefsdata C script")
+execute_process(COMMAND
+    gcc makefsdata.c -o makefsdata.exe
+    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+)
+message("Generating htmldata.c")
+execute_process(COMMAND
+    ./makefsdata.exe
+    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+)
+
+target_link_libraries(
+        frontend
+        hardware_adc
+        pico_stdlib
+        #FreeRTOS-Kernel-Heap4 # FreeRTOS kernel and dynamic heap
+        pico_cyw43_arch_lwip_threadsafe_background
+        pico_lwip_http
+        )
+
+target_include_directories(frontend PRIVATE
+        #../config
+        ${CMAKE_CURRENT_LIST_DIR}
+        ${CMAKE_CURRENT_LIST_DIR}../config
+        )
+
+pico_enable_stdio_usb(frontend 1)
+pico_add_extra_outputs(frontend)
\ No newline at end of file
diff --git a/frtos/frontend/FreeRTOSConfig.h b/frtos/frontend/FreeRTOSConfig.h
new file mode 100644
index 0000000..f715e60
--- /dev/null
+++ b/frtos/frontend/FreeRTOSConfig.h
@@ -0,0 +1,143 @@
+/*
+ * FreeRTOS V202111.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1
+#define configUSE_TICKLESS_IDLE                 0
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES                    32
+#define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 256
+#define configUSE_16_BIT_TICKS                  0
+
+#define configIDLE_SHOULD_YIELD                 1
+
+/* Synchronization Related */
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_APPLICATION_TASK_TAG          0
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               8
+#define configUSE_QUEUE_SETS                    1
+#define configUSE_TIME_SLICING                  1
+#define configUSE_NEWLIB_REENTRANT              0
+// todo need this for lwip FreeRTOS sys_arch to compile
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+
+/* System */
+#define configSTACK_DEPTH_TYPE                  uint32_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+#define configTOTAL_HEAP_SIZE                   (128*1024)
+#define configAPPLICATION_ALLOCATED_HEAP        0
+
+/* Hook function related definitions. */
+#define configCHECK_FOR_STACK_OVERFLOW          0
+#define configUSE_MALLOC_FAILED_HOOK            0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS           0
+#define configUSE_TRACE_FACILITY                1
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
+#define configTIMER_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            1024
+
+/* Interrupt nesting behaviour configuration. */
+/*
+#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+*/
+
+#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
+/* SMP port only */
+#define configNUM_CORES                         1
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           1
+#define configUSE_CORE_AFFINITY                 0
+#endif
+
+/* RP2040 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
+
+#include <assert.h>
+/* Define to trap errors during development. */
+#define configASSERT(x)                         assert(x)
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet                1
+#define INCLUDE_uxTaskPriorityGet               1
+#define INCLUDE_vTaskDelete                     1
+#define INCLUDE_vTaskSuspend                    1
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          1
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     1
+#define INCLUDE_xTaskGetIdleTaskHandle          1
+#define INCLUDE_eTaskGetState                   1
+#define INCLUDE_xTimerPendFunctionCall          1
+#define INCLUDE_xTaskAbortDelay                 1
+#define INCLUDE_xTaskGetHandle                  1
+#define INCLUDE_xTaskResumeFromISR              1
+#define INCLUDE_xQueueGetMutexHolder            1
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */
+
diff --git a/frtos/frontend/cgi.h b/frtos/frontend/cgi.h
new file mode 100644
index 0000000..39a9f99
--- /dev/null
+++ b/frtos/frontend/cgi.h
@@ -0,0 +1,60 @@
+#include "lwip/apps/httpd.h"
+#include "pico/cyw43_arch.h"
+#include "stdio.h"
+
+// CGI handler for start/stop car
+const char * cgi_status_handler(int iIndex, int iNumParams, char *pcParam[], char *pcValue[])
+{
+    // Check if an request for LED has been made (/led.cgi?led=x)
+    // check if start/stop car button
+    if (strcmp(pcParam[0] , "status") == 0){
+        // Look at the argument to check if LED is to be turned on (x=1) or off (x=0)
+        if(strcmp(pcValue[0], "0") == 0){
+            cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 0);
+            printf("CAR STOP"); // call car stop func
+        }else if(strcmp(pcValue[0], "1") == 0){
+            cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, 1);
+            printf("CAR START"); // call car start func
+        }
+    }
+    
+    // Send the index page back to the user
+    return "/index.shtml";
+}
+
+// CGI handler for speed control
+const char * cgi_speed_handler(int iIndex, int iNumParams, char *pcParam[], char *pcValue[])
+{
+    // Check if an request for LED has been made (/led.cgi?led=x)
+    // check for speed increment/decrement control
+    if (strcmp(pcParam[0] , "speed") == 0){
+        if(strcmp(pcValue[0], "0") == 0){
+            printf("SPEED Decrease"); // call speed decrement
+        }else if(strcmp(pcValue[0], "1") == 0){
+            printf("Speed Increase"); // call speed increment
+        }
+    }
+    
+    // Send the index page back to the user
+    return "/index.shtml";
+}
+
+
+
+// tCGI Struct
+// Fill this with all of the CGI requests and their respective handlers
+static const tCGI cgi_handlers[] = {
+    {
+        // Html request for "/status.cgi" triggers cgi_handler
+        "/status.cgi", cgi_status_handler
+    },
+    {
+        // Html request for "/speed.cgi" triggers cgi_handler
+        "/speed.cgi", cgi_speed_handler
+    },
+};
+
+void cgi_init(void)
+{
+    http_set_cgi_handlers(cgi_handlers, 2);
+}
\ No newline at end of file
diff --git a/frtos/frontend/frontend.c b/frtos/frontend/frontend.c
new file mode 100644
index 0000000..10ffb7f
--- /dev/null
+++ b/frtos/frontend/frontend.c
@@ -0,0 +1,56 @@
+#include "lwip/apps/httpd.h"
+#include "pico/stdlib.h"
+#include "pico/cyw43_arch.h"
+#include "lwipopts.h"
+#include "ssi.h"
+#include "cgi.h"
+#include "lwip/inet.h"
+//#include "FreeRTOS.h"
+//#include "task.h"
+#include "lwip/sockets.h"
+
+// WIFI Credentials - take care if pushing to GitHub!
+const char WIFI_SSID[] = "XXX";
+const char WIFI_PASSWORD[] = "XXX";
+
+void print_ip_address() {
+    struct netif *netif = netif_list;
+    while (netif != NULL) {
+        if (netif_is_up(netif)) {
+            printf("IP Address: %s\n", ipaddr_ntoa(&(netif->ip_addr)));
+        }
+        netif = netif->next;
+    }
+}
+
+int main() {
+    stdio_init_all();
+
+    cyw43_arch_init();
+
+    cyw43_arch_enable_sta_mode();
+
+    // Connect to the WiFI network - loop until connected
+    while(cyw43_arch_wifi_connect_timeout_ms(WIFI_SSID, WIFI_PASSWORD, CYW43_AUTH_WPA2_AES_PSK, 30000) != 0){
+        printf("Attempting to connect...\n");
+    }
+    // Print a success message once connected
+    printf("Connected! \n");
+
+    // Print the assigned IP address
+    print_ip_address();
+    
+    // Initialize web server
+    httpd_init();
+    printf("Http server initialized\n");
+
+    // Configure SSI and CGI handler
+    ssi_init(); 
+    printf("SSI Handler initialized\n");
+    cgi_init();
+    printf("CGI Handler initialized\n");
+    
+    // Infinite loop
+    while(1);
+
+}
\ No newline at end of file
diff --git a/frtos/frontend/html_files/index.shtml b/frtos/frontend/html_files/index.shtml
new file mode 100644
index 0000000..a30f9a3
--- /dev/null
+++ b/frtos/frontend/html_files/index.shtml
@@ -0,0 +1,129 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <style>
+        body {
+            font-family: Arial, sans-serif;
+            text-align: center;
+        }
+
+        h1 {
+            color: #333;
+        }
+
+        .container {
+            display: flex;
+            flex-direction: column;
+            align-items: center;
+        }
+
+        .buttons {
+            display: flex;
+            justify-content: center;
+            gap: 20px;
+            margin-top: 20px;
+        }
+
+        .button {
+            padding: 10px 20px;
+            font-size: 18px;
+            background-color: #0074d9;
+            color: white;
+            border: none;
+            cursor: pointer;
+        }
+
+        .speed {
+            font-size: 24px;
+            margin-top: 20px;
+        }
+
+        .speed-control {
+            display: flex;
+            align-items: center;
+            justify-content: center;
+        }
+
+        .output {
+            font-size: 24px;
+            margin-top: 20px;
+        }
+
+        .pid-output {
+            font-size: 24px;
+            margin-top: 20px;
+        }
+
+        .orientation-output {
+            font-size: 24px;
+            margin-top: 20px;
+        }
+
+        .maze-map {
+            margin-top: 20px;
+            width: 200px;
+            height: 200px;
+            border: 1px solid #333;
+        }
+    </style>
+</head>
+<body>
+    <h1>Car Control Panel</h1>
+    <div class="container">
+        <div class="time">
+            <p id="elapsed-time">0 seconds</p>
+        </div>
+        <div class="buttons">
+            <a href="/status.cgi?status=1" ><button class="button" >Start</button></a>
+            
+            <a href="/status.cgi?status=0" ><button class="button" >Stop</button></a>
+        
+        </div>
+        <div class="speed">
+            <p>Speed: <!--#speed--></span></p>
+            <div class="speed-control">
+                <a href="/speed.cgi?speed=0" ><button class="button" >-</button></a>
+                <a href="/speed.cgi?speed=1" ><button class="button" >+</button></a>
+            </div>
+        </div>
+        <div class="output">
+            <p>Barcode Scanner Output: <!--#barcode--></span></p>
+        </div>
+        <div class="pid-output">
+            <p>PID Controller Output: <!--#pid--></p>
+        </div>
+        <div class="orientation-output">
+            <p>Orientation: <!--#orient--></p>
+        </div>
+        <div class="maze-map" id="maze-map">
+            <!-- maze map part -->
+        </div>
+    </div>
+    <script>
+        // Function to update and display elapsed time
+        function updateElapsedTime() {
+            // Check if the start time is stored in localStorage
+            let startTime = localStorage.getItem('startTime');
+
+            if (!startTime) {
+                // If no start time is stored, set the current time as the start time
+                startTime = Date.now();
+                localStorage.setItem('startTime', startTime);
+            }
+
+            // Calculate the elapsed time in seconds
+            const currentTime = Date.now();
+            const elapsedTime = Math.floor((currentTime - startTime) / 1000);
+
+            // Update the displayed elapsed time
+            document.getElementById('elapsed-time').textContent = `${elapsedTime} seconds`;
+        }
+
+        // Call the updateElapsedTime function when the page loads
+        window.onload = updateElapsedTime;
+
+        // Update the elapsed time every second
+        setInterval(updateElapsedTime, 1000);
+        </script>
+        </body>
+</html>
diff --git a/frtos/frontend/htmldata.c b/frtos/frontend/htmldata.c
new file mode 100644
index 0000000..8faf14a
--- /dev/null
+++ b/frtos/frontend/htmldata.c
@@ -0,0 +1,384 @@
+static const unsigned char data_index_shtml[] = {
+	/* ./index.shtml */
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+
+const struct fsdata_file file_index_shtml[] = {{ NULL, data_index_shtml, data_index_shtml + 13, sizeof(data_index_shtml) - 13, FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT }};
+
+#define FS_ROOT file_index_shtml
+#define FS_NUMFILES 1
diff --git a/frtos/frontend/lwipopts.h b/frtos/frontend/lwipopts.h
new file mode 100644
index 0000000..8b4e785
--- /dev/null
+++ b/frtos/frontend/lwipopts.h
@@ -0,0 +1,93 @@
+// Common settings used in most of the pico_w examples
+// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html for details)]
+
+// allow override in some examples
+#ifndef NO_SYS
+#define NO_SYS                      1
+#endif
+// allow override in some examples
+#ifndef LWIP_SOCKET
+#define LWIP_SOCKET                 0
+#endif
+#if PICO_CYW43_ARCH_POLL
+#define MEM_LIBC_MALLOC             1
+#else
+// MEM_LIBC_MALLOC is incompatible with non polling versions
+#define MEM_LIBC_MALLOC             0
+#endif
+#define MEM_ALIGNMENT               4
+#define MEM_SIZE                    4000
+#define MEMP_NUM_TCP_SEG            32
+#define MEMP_NUM_ARP_QUEUE          10
+#define PBUF_POOL_SIZE              24
+#define LWIP_ARP                    1
+#define LWIP_ETHERNET               1
+#define LWIP_ICMP                   1
+#define LWIP_RAW                    1
+#define TCP_WND                     (8 * TCP_MSS)
+#define TCP_MSS                     1460
+#define TCP_SND_BUF                 (8 * TCP_MSS)
+#define TCP_SND_QUEUELEN            ((4 * (TCP_SND_BUF) + (TCP_MSS - 1)) / (TCP_MSS))
+#define LWIP_NETIF_STATUS_CALLBACK  1
+#define LWIP_NETIF_LINK_CALLBACK    1
+#define LWIP_NETIF_HOSTNAME         1
+#define LWIP_NETCONN                0
+#define MEM_STATS                   0
+#define SYS_STATS                   0
+#define MEMP_STATS                  0
+#define LINK_STATS                  0
+// #define ETH_PAD_SIZE                2
+#define LWIP_CHKSUM_ALGORITHM       3
+#define LWIP_DHCP                   1
+#define LWIP_IPV4                   1
+#define LWIP_TCP                    1
+#define LWIP_UDP                    1
+#define LWIP_DNS                    1
+#define LWIP_TCP_KEEPALIVE          1
+#define LWIP_NETIF_TX_SINGLE_PBUF   1
+#define DHCP_DOES_ARP_CHECK         0
+#define LWIP_DHCP_DOES_ACD_CHECK    0
+
+#ifndef NDEBUG
+#define LWIP_DEBUG                  1
+#define LWIP_STATS                  1
+#define LWIP_STATS_DISPLAY          1
+#endif
+
+#define ETHARP_DEBUG                LWIP_DBG_OFF
+#define NETIF_DEBUG                 LWIP_DBG_OFF
+#define PBUF_DEBUG                  LWIP_DBG_OFF
+#define API_LIB_DEBUG               LWIP_DBG_OFF
+#define API_MSG_DEBUG               LWIP_DBG_OFF
+#define SOCKETS_DEBUG               LWIP_DBG_OFF
+#define ICMP_DEBUG                  LWIP_DBG_OFF
+#define INET_DEBUG                  LWIP_DBG_OFF
+#define IP_DEBUG                    LWIP_DBG_OFF
+#define IP_REASS_DEBUG              LWIP_DBG_OFF
+#define RAW_DEBUG                   LWIP_DBG_OFF
+#define MEM_DEBUG                   LWIP_DBG_OFF
+#define MEMP_DEBUG                  LWIP_DBG_OFF
+#define SYS_DEBUG                   LWIP_DBG_OFF
+#define TCP_DEBUG                   LWIP_DBG_OFF
+#define TCP_INPUT_DEBUG             LWIP_DBG_OFF
+#define TCP_OUTPUT_DEBUG            LWIP_DBG_OFF
+#define TCP_RTO_DEBUG               LWIP_DBG_OFF
+#define TCP_CWND_DEBUG              LWIP_DBG_OFF
+#define TCP_WND_DEBUG               LWIP_DBG_OFF
+#define TCP_FR_DEBUG                LWIP_DBG_OFF
+#define TCP_QLEN_DEBUG              LWIP_DBG_OFF
+#define TCP_RST_DEBUG               LWIP_DBG_OFF
+#define UDP_DEBUG                   LWIP_DBG_OFF
+#define TCPIP_DEBUG                 LWIP_DBG_OFF
+#define PPP_DEBUG                   LWIP_DBG_OFF
+#define SLIP_DEBUG                  LWIP_DBG_OFF
+#define DHCP_DEBUG                  LWIP_DBG_OFF
+
+// This section enables HTTPD server with SSI, SGI
+// and tells server which converted HTML files to use
+#define LWIP_HTTPD 1
+#define LWIP_HTTPD_SSI 1
+#define LWIP_HTTPD_CGI 1
+#define LWIP_HTTPD_SSI_INCLUDE_TAG 0
+#define HTTPD_FSDATA_FILE "htmldata.c"
+
diff --git a/frtos/frontend/makefsdata.c b/frtos/frontend/makefsdata.c
new file mode 100644
index 0000000..31cb6e3
--- /dev/null
+++ b/frtos/frontend/makefsdata.c
@@ -0,0 +1,129 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+// Function to encode a string to hexadecimal
+void stringToHex(const char* input, char* file, int length) {
+    for (int i = 0; i < length; i++) {
+        sprintf(file + 2 * i, "%02X", input[i]);
+    }
+}
+
+int main() {
+    FILE *file;
+    file = fopen("htmldata.c", "w");
+    const char *folder[] = {
+        //Add your file path here
+        "./html_files/index.shtml"
+    }; 
+    const char *files[] = {
+        "./index.shtml"
+    };
+    char *varnames[100] = {
+
+    };
+    
+    int fileCount = sizeof(files)/sizeof(files[0]);
+    for(int i = 0; i< fileCount ;i++){
+        char header[1024];
+        char fvar[256];
+        if (strstr(files[i], "404")) {
+            snprintf(header, sizeof(header), "HTTP/1.0 404 File not found\r\n");
+        } else {
+            snprintf(header, sizeof(header), "HTTP/1.0 200 OK\r\n");
+        }
+
+        snprintf(header + strlen(header), sizeof(header) - strlen(header),
+            "Server: lwIP/pre-0.6 (http://www.sics.se/~adam/lwip/)\r\n");
+
+        // Add content-type based on files extension
+        if (strstr(files[i], ".html") || strstr(files[i], ".shtml")) {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: text/html\r\n");
+        } else if (strstr(files[i], ".jpg")) {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: image/jpeg\r\n");
+        } else if (strstr(files[i], ".gif")) {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: image/gif\r\n");
+        } else if (strstr(files[i], ".png")) {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: image/png\r\n");
+        } else if (strstr(files[i], ".class")) {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: application/octet-stream\r\n");
+        } else if (strstr(files[i], ".js")) {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: text/javascript\r\n");
+        } else if (strstr(files[i], ".css")) {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: text/css\r\n");
+        } else if (strstr(files[i], ".svg")) {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: image/svg+xml\r\n");
+        } else {
+            snprintf(header + strlen(header), sizeof(header) - strlen(header), "Content-type: text/plain\r\n");
+        }
+
+        snprintf(header + strlen(header), sizeof(header) - strlen(header), "\r\n");
+
+        // Create a variable name for the files[i]
+        strcpy(fvar, files[i] + 1);  // Remove the leading dot in the filename
+        for (int j = 0; fvar[j]; j++) {
+            if (fvar[j] == '/' || fvar[j] == '\\') {
+                fvar[j] = '_';
+            } else if (fvar[j] == '.') {
+                fvar[j] = '_';
+            }
+        }
+
+        fprintf(file, "static const unsigned char data%s[] = {\n", fvar);
+        fprintf(file, "\t/* %s */\n\t", files[i]);
+
+        // Encode the filename as hexadecimal
+        char hexFileName[2 * strlen(files[i]) + 1];
+        stringToHex(files[i] + 1, hexFileName, strlen(files[i]) - 1);
+        int count = 0;
+        for (int j = 0; hexFileName[j]; j++) {
+            fprintf(file, "0x%c%c, ", hexFileName[j], hexFileName[j + 1]);
+            j++;
+            count++;
+        }
+        fprintf(file, "0x00,\n\t");
+
+        // Encode the HTTP header as hexadecimal
+        char hexHeader[2 * strlen(header) + 1];
+        stringToHex(header, hexHeader, strlen(header));
+        count = 0;
+        for (int j = 0; hexHeader[j]; j++) {
+            fprintf(file, "0x%c%c, ", hexHeader[j], hexHeader[j + 1]);
+            j++;
+            count++;
+            if (count == 10) {
+                fprintf(file, "\n\t");
+                count = 0;
+            }
+        }
+        fprintf(file, "\n\t");
+         // Encode the file content as hexadecimal
+        FILE* filePtr = fopen(folder[i], "rb");
+        count = 0;
+        if (filePtr) {
+            int ch;
+            while ((ch = fgetc(filePtr)) != EOF) {
+                fprintf(file, "0x%02X, ", ch);
+                count++;
+                if (count == 10) {
+                    fprintf(file, "\n\t");
+                    count = 0;
+                }
+            }
+            fclose(filePtr);
+        }
+
+        fprintf(file, "};\n\n");
+        varnames[i] = malloc(strlen(fvar) + 1);
+        strcpy(varnames[i], fvar); 
+        
+        
+        fprintf(file, "const struct fsdata_file file%s[] = {{ %s, data%s, data%s + %d, sizeof(data%s) - %d, FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT }};\n",
+            fvar,"NULL", fvar, fvar, strlen(files[i]) , fvar, strlen(files[i]));
+    }
+
+    fprintf(file, "\n#define FS_ROOT file%s\n",varnames[fileCount - 1] );
+    fprintf(file, "#define FS_NUMFILES %d\n", fileCount);
+
+    fclose(file);
+}
diff --git a/frtos/frontend/makefsdata.exe b/frtos/frontend/makefsdata.exe
new file mode 100644
index 0000000..50286c4
Binary files /dev/null and b/frtos/frontend/makefsdata.exe differ
diff --git a/frtos/frontend/makefsdata.py b/frtos/frontend/makefsdata.py
new file mode 100644
index 0000000..6d2f98f
--- /dev/null
+++ b/frtos/frontend/makefsdata.py
@@ -0,0 +1,106 @@
+#!/usr/bin/python3
+
+# This script is by @rspeir on GitHub: 
+# https://github.com/krzmaz/pico-w-webserver-example/pull/1/files/4b3e78351dd236f213da9bebbb20df690d470476#diff-e675c4a367e382db6f9ba61833a58c62029d8c71c3156a9f238b612b69de279d
+# Renamed output to avoid linking incorrect file
+
+import os
+import binascii
+
+#Create file to write output into
+output = open('htmldata.c', 'w') 
+
+#Traverse directory, generate list of files
+files = list()
+os.chdir('./html_files')
+for(dirpath, dirnames, filenames) in os.walk('.'):
+    files += [os.path.join(dirpath, file) for file in filenames]
+
+filenames = list()
+varnames  = list()
+
+#Generate appropriate HTTP headers
+for file in files:
+
+    if '404' in file:
+        header = "HTTP/1.0 404 File not found\r\n"
+    else:
+        header = "HTTP/1.0 200 OK\r\n"
+
+    header += "Server: lwIP/pre-0.6 (http://www.sics.se/~adam/lwip/)\r\n"
+
+    if '.html' in file:
+        header += "Content-type: text/html\r\n"
+    elif '.shtml' in file:
+        header += "Content-type: text/html\r\n"
+    elif '.jpg' in file:
+        header += "Content-type: image/jpeg\r\n"
+    elif '.gif' in file:
+        header += "Content-type: image/gif\r\n"
+    elif '.png' in file:
+        header += "Content-type: image/png\r\n"
+    elif '.class' in file:
+       header += "Content-type: application/octet-stream\r\n"
+    elif '.js' in file:
+       header += "Content-type: text/javascript\r\n"
+    elif '.css' in file:
+       header += "Content-type: text/css\r\n"
+    elif '.svg' in file:
+       header += "Content-type: image/svg+xml\r\n"
+    else:
+        header += "Content-type: text/plain\r\n"
+
+    header += "\r\n"
+
+    fvar = file[1:]                 #remove leading dot in filename
+    fvar = fvar.replace('/', '_')   #replace *nix path separator with underscore
+    fvar = fvar.replace('\\', '_')  #replace DOS path separator with underscore
+    fvar = fvar.replace('.', '_')   #replace file extension dot with underscore
+
+    output.write("static const unsigned char data{}[] = {{\n".format(fvar))
+    output.write("\t/* {} */\n\t".format(file))
+
+    #first set of hex data encodes the filename
+    b = bytes(file[1:].replace('\\', '/'), 'utf-8')     #change DOS path separator to forward slash     
+    for byte in binascii.hexlify(b, b' ', 1).split():
+        output.write("0x{}, ".format(byte.decode()))
+    output.write("0,\n\t")
+
+    #second set of hex data is the HTTP header/mime type we generated above
+    b = bytes(header, 'utf-8')
+    count = 0
+    for byte in binascii.hexlify(b, b' ', 1).split():
+        output.write("0x{}, ".format(byte.decode()))
+        count = count + 1
+        if(count == 10):
+            output.write("\n\t")
+            count = 0
+    output.write("\n\t")
+
+    #finally, dump raw hex data from files
+    with open(file, 'rb') as f:
+        count = 0
+        while(byte := f.read(1)):
+            byte = binascii.hexlify(byte)
+            output.write("0x{}, ".format(byte.decode()))
+            count = count + 1
+            if(count == 10):
+                output.write("\n\t")
+                count = 0
+        output.write("};\n\n")
+
+    filenames.append(file[1:])
+    varnames.append(fvar)
+
+for i in range(len(filenames)):
+    prevfile = "NULL"
+    if(i > 0):
+        prevfile = "file" + varnames[i-1]
+
+    output.write("const struct fsdata_file file{0}[] = {{{{ {1}, data{2}, ".format(varnames[i], prevfile, varnames[i]))
+    output.write("data{} + {}, ".format(varnames[i], len(filenames[i]) + 1))
+    output.write("sizeof(data{}) - {}, ".format(varnames[i], len(filenames[i]) + 1))
+    output.write("FS_FILE_FLAGS_HEADER_INCLUDED | FS_FILE_FLAGS_HEADER_PERSISTENT}};\n")
+
+output.write("\n#define FS_ROOT file{}\n".format(varnames[-1])) 
+output.write("#define FS_NUMFILES {}\n".format(len(filenames)))
\ No newline at end of file
diff --git a/frtos/frontend/ssi.h b/frtos/frontend/ssi.h
new file mode 100644
index 0000000..df1e5b0
--- /dev/null
+++ b/frtos/frontend/ssi.h
@@ -0,0 +1,56 @@
+#include "lwip/apps/httpd.h"
+#include "pico/cyw43_arch.h"
+#include "hardware/adc.h"
+#include "pico/stdlib.h"
+
+// SSI tags - tag length limited to 8 bytes by default
+const char * ssi_tags[] = {"speed","barcode","pid","orient"};
+
+u16_t ssi_handler(int iIndex, char *pcInsert, int iInsertLen) {
+  size_t printed;
+  switch (iIndex) {
+  case 0: // Speed
+    {
+      // call getSpeed() function
+      const float Speed = adc_read() * 3.3f / (1 << 12);
+      printed = snprintf(pcInsert, iInsertLen, "%f ",Speed);
+    }
+    break;
+  case 1: // barcode
+    {
+      // call getBarcodeOutput() function
+      const char* barC = "36"  ;  
+      printed = snprintf(pcInsert, iInsertLen, "%s", barC);
+    }
+    break;
+  case 2: //PID
+    {
+      // whatever to display for PID  
+      const char* PID = "54"  ;  
+      printed = snprintf(pcInsert, iInsertLen, "%s", PID);
+    }
+    break;
+    case 3: //Orientation
+    {
+      // call getOrientation() function
+      const char* orien = "South"  ;  
+      printed = snprintf(pcInsert, iInsertLen, "%s", orien);
+    }
+    break;
+  default:
+    printed = 0;
+    break;
+  }
+
+  return (u16_t)printed;
+}
+
+// Initialise the SSI handler
+void ssi_init() {
+  // Initialise ADC (internal pin)
+  adc_init();
+  adc_set_temp_sensor_enabled(true);
+  adc_select_input(4);
+
+  http_set_ssi_handler(ssi_handler, ssi_tags, LWIP_ARRAYSIZE(ssi_tags));
+}