diff --git a/306-controller_interface.X/middleware/alive_checker.c b/306-controller_interface.X/middleware/alive_checker.c
new file mode 100644
index 0000000..b674c28
--- /dev/null
+++ b/306-controller_interface.X/middleware/alive_checker.c
@@ -0,0 +1,176 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file alive_checker.c
+ */
+
+#include "alive_checker.h"
+
+void ALIVE_CHECKER_init(ALIVE_CHECKER* me){
+    me->state = STAC_INIT;
+    me->isAlive = false;
+    me->aliveTime = 10;
+    me->setup.f = NULL;
+    me->born.f = NULL;
+    me->wait.f = NULL;
+    me->dead.f = NULL;
+}
+
+void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me){
+    POST(me, &ALIVE_CHECKER_processEvent, evACinit, 0, 0);
+}
+
+bool ALIVE_CHECKER_processEvent(Event* ev) {
+    bool processed = false;
+    ALIVE_CHECKER* me = (ALIVE_CHECKER*)Event_getTarget(ev);
+    ALIVE_CHECKER_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    uint64_t data = Event_getData(ev);
+    
+    switch (me->state) {        // onState
+        case STAC_INIT:
+            if (ev->id == evACinit) {
+                me->state = STAC_SETUP;
+            }
+            break;
+        
+        case STAC_SETUP:
+            if (ev->id = evACborn) {
+                me->state = STAC_BORN;
+            }
+            break;
+        
+        case STAC_BORN:
+            if (ev->id = evACready) {
+                me->state = STAC_WAIT;
+                ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
+            } 
+            break;
+        
+        case STAC_WAIT:
+            if (ev->id = evACpoll) {
+                if (me->isAlive) {
+                    me->state = STAC_WAIT;
+                    ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
+                } else {
+                    me->state = STAC_DEAD;
+                }
+            }
+            break;
+        
+        case STAC_DEAD:
+            if(ev->id = evACborn) {
+                me->state = STAC_BORN;
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STAC_INIT:
+                break;
+            
+            case STAC_SETUP:
+                break;
+            
+            case STAC_BORN:
+                break;
+            
+            case STAC_WAIT:
+                break;
+            
+            case STAC_DEAD:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STAC_INIT:
+                break;
+            
+            case STAC_SETUP:
+                if (me->setup.f != NULL) {
+                    me->setup.f(me->setup.p);
+                }
+                break;
+            
+            case STAC_BORN:
+                if (me->born.f != NULL) {
+                    me->born.f(me->born.p);
+                }
+                break;
+            
+            case STAC_WAIT:
+                me->isAlive = false;
+                if (me->wait.f != NULL) {
+                    me->wait.f(me->wait.p);
+                }
+                break;
+            
+            case STAC_DEAD:
+                if (me->dead.f != NULL) {
+                    me->dead.f(me->dead.p);
+                }
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
+    me->setup.f = f;
+    me->setup.p = p;
+}
+
+void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
+    me->born.f = f;
+    me->born.p = p;
+}
+
+void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
+    me->wait.f = f;
+    me->wait.p = p;
+}
+
+void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
+    me->dead.f = f;
+    me->dead.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_CHECKER_processEvent, evACborn, t, data);
+}
+
+void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_CHECKER_processEvent, evACready, t, data);
+}
+
+void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_CHECKER_processEvent, evACpoll, t, data);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v) {
+    me->aliveTime = v;
+}
+
+void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v) {
+    me->aliveTime = v;
+}
+
+void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) {
+    ALIVE_CHECKER_setIsAlive(me, true);
+}
diff --git a/306-controller_interface.X/middleware/alive_checker.h b/306-controller_interface.X/middleware/alive_checker.h
new file mode 100644
index 0000000..aeecb85
--- /dev/null
+++ b/306-controller_interface.X/middleware/alive_checker.h
@@ -0,0 +1,134 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file alive_checker.h
+ */
+#ifndef ALIVE_CHECKER_H
+#define ALIVE_CHECKER_H
+
+#include "../xf/xf.h"
+
+typedef enum {
+    STAC_INIT,
+    STAC_SETUP,
+    STAC_BORN,
+    STAC_WAIT,
+    STAC_DEAD
+} ALIVE_CHECKER_STATES;
+
+typedef enum {
+    evACinit = 100, // TODO change this number (< 256)
+    evACborn,
+    evACready,
+    evACpoll
+} ALIVE_CHECKER_EVENTS;
+
+typedef void (*ALIVE_CHECKER_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    ALIVE_CHECKER_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} ALIVE_CHECKER_CALLBACK;
+
+typedef struct {
+    ALIVE_CHECKER_STATES state;
+    bool isAlive;
+    uint8_t aliveTime;
+    ALIVE_CHECKER_CALLBACK setup;
+    ALIVE_CHECKER_CALLBACK born;
+    ALIVE_CHECKER_CALLBACK wait;
+    ALIVE_CHECKER_CALLBACK dead;
+} ALIVE_CHECKER;
+
+/**
+ * Initialize the ALIVE_CHECKER
+ * @param me the ALIVE_CHECKER itself
+ */
+void ALIVE_CHECKER_init(ALIVE_CHECKER* me);
+
+/**
+ * Start the ALIVE_CHECKER state machine
+ * @param me the ALIVE_CHECKER itself
+ */
+void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool ALIVE_CHECKER_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the ALIVE_CHECKER is entering state setup
+ * @param me the ALIVE_CHECKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE_CHECKER is entering state born
+ * @param me the ALIVE_CHECKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE_CHECKER is entering state wait
+ * @param me the ALIVE_CHECKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE_CHECKER is entering state dead
+ * @param me the ALIVE_CHECKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the born event
+ * @param me the ALIVE_CHECKER itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data);
+
+/**
+ * Emit the ready event
+ * @param me the ALIVE_CHECKER itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data);
+
+/**
+ * Emit the poll event
+ * @param me the ALIVE_CHECKER itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data);
+
+/***********
+ * SETTERS *
+ ***********/
+
+void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v);
+void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v);
+void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me); // Use this one when you receive CAN message
+
+#endif
diff --git a/UML/alive.uxf b/UML/alive.uxf
new file mode 100644
index 0000000..0f31457
--- /dev/null
+++ b/UML/alive.uxf
@@ -0,0 +1,178 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<diagram program="umlet" version="15.0.0">
+  <zoom_level>14</zoom_level>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>266</x>
+      <y>98</y>
+      <w>28</w>
+      <h>28</h>
+    </coordinates>
+    <panel_attributes>type=initial</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>266</x>
+      <y>112</y>
+      <w>112</w>
+      <h>98</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evACinit</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>210</x>
+      <y>182</y>
+      <w>140</w>
+      <h>56</h>
+    </coordinates>
+    <panel_attributes>STAC_SETUP</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLNote</id>
+    <coordinates>
+      <x>434</x>
+      <y>182</y>
+      <w>140</w>
+      <h>42</h>
+    </coordinates>
+    <panel_attributes>Send params</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>266</x>
+      <y>224</y>
+      <w>126</w>
+      <h>98</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evACborn</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>210</x>
+      <y>294</y>
+      <w>140</w>
+      <h>56</h>
+    </coordinates>
+    <panel_attributes>STAC_BORN</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>168</x>
+      <y>406</y>
+      <w>224</w>
+      <h>84</h>
+    </coordinates>
+    <panel_attributes>STAC_WAIT
+--
+/entry: isAlive = false</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>266</x>
+      <y>336</y>
+      <w>140</w>
+      <h>98</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evACready</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLState</id>
+    <coordinates>
+      <x>210</x>
+      <y>658</y>
+      <w>140</w>
+      <h>56</h>
+    </coordinates>
+    <panel_attributes>STAC_DEAD</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>266</x>
+      <y>476</y>
+      <w>112</w>
+      <h>98</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evACpoll</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLSpecialState</id>
+    <coordinates>
+      <x>252</x>
+      <y>546</y>
+      <w>56</w>
+      <h>56</h>
+    </coordinates>
+    <panel_attributes>type=decision</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>266</x>
+      <y>588</y>
+      <w>84</w>
+      <h>98</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=[else]</panel_attributes>
+    <additional_attributes>10.0;10.0;10.0;50.0</additional_attributes>
+  </element>
+  <element>
+    <id>UMLNote</id>
+    <coordinates>
+      <x>434</x>
+      <y>294</y>
+      <w>140</w>
+      <h>42</h>
+    </coordinates>
+    <panel_attributes>Reset / Init</panel_attributes>
+    <additional_attributes/>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>294</x>
+      <y>420</y>
+      <w>182</w>
+      <h>196</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+m1=[alive]</panel_attributes>
+    <additional_attributes>10.0;110.0;110.0;110.0;110.0;10.0;70.0;10.0</additional_attributes>
+  </element>
+  <element>
+    <id>Relation</id>
+    <coordinates>
+      <x>140</x>
+      <y>308</y>
+      <w>168</w>
+      <h>490</h>
+    </coordinates>
+    <panel_attributes>lt=-&gt;
+evACborn</panel_attributes>
+    <additional_attributes>100.0;290.0;100.0;330.0;10.0;330.0;10.0;10.0;50.0;10.0</additional_attributes>
+  </element>
+</diagram>