diff --git a/AgroBase/.vs/AgroBase/v17/.suo b/AgroBase/.vs/AgroBase/v17/.suo
index 1d5ed4d90..38e6db3f9 100644
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index 15edfc75b..621070f46 100644
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+++ b/AgroBase/.vs/AgroBase/v17/DocumentLayout.json
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@@ -58,157 +14,19 @@
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diff --git a/Firmware/Modulos/Enuns.h b/Firmware/Modulos/Enuns.h
index ce99995bf..14fe679a6 100644
--- a/Firmware/Modulos/Enuns.h
+++ b/Firmware/Modulos/Enuns.h
@@ -7,6 +7,12 @@ enum T_Code {
   Dir = 101, 
   Sen = 102, 
   Atu = 103,
+  Gps = 104,
+  Pzm = 105,
+  Lra = 106,
+  Wit = 107,
+  Bld = 108,
+  Mvd = 109,
 };
 
 enum F_Code {
diff --git a/Firmware/Modulos/Pinout.h b/Firmware/Modulos/Pinout.h
index b562a5a0e..0e5be448c 100644
--- a/Firmware/Modulos/Pinout.h
+++ b/Firmware/Modulos/Pinout.h
@@ -87,7 +87,7 @@ class PinoModel {
         }
 };
 
-void iniciarMCP(T_Code Modulo, int sda, int scl, byte endereco, bool Mandatorio = false) {
+void iniciarMCP(T_Code Modulo, String Mod_ID, int sda, int scl, byte endereco, bool Mandatorio = false) {
     Serial.println("Iniciando MCP23X17...");
     if (!mcpInicializado) {
         bool init = Wire.begin(sda, scl);
@@ -99,9 +99,9 @@ void iniciarMCP(T_Code Modulo, int sda, int scl, byte endereco, bool Mandatorio
             Serial.println("Erro ao iniciar MCP23X17!");
             if (Mandatorio) {
                 Serial.println("Conexão obrigatória, tentando novamente em 5 segundos...");
-                EnviarDadosSerial(MontarProtocoloErro(Modulo));
+                EnviarDadosSerial(Mod_ID, MontarProtocoloErro(Modulo));
                 delay(5000);
-                iniciarMCP(Modulo, sda, scl, endereco, Mandatorio);
+                iniciarMCP(Modulo, Mod_ID, sda, scl, endereco, Mandatorio);
             }
         }
         else {
diff --git a/Firmware/Modulos/SerialService.h b/Firmware/Modulos/SerialService.h
index 15c150384..d7cd540ca 100644
--- a/Firmware/Modulos/SerialService.h
+++ b/Firmware/Modulos/SerialService.h
@@ -95,8 +95,9 @@ std::vector<ProtocoloSerial> LerBufferSerialFila() {
 
 
 
-void EnviarDadosSerial(String Mensagem) {
-  Serial.println(Mensagem);
+void EnviarDadosSerial(String ID, String Mensagem) {
+  String ProtocoloEnvio = ID + ";" + Mensagem;
+  Serial.println(ProtocoloEnvio);
   Serial.flush();
   vTaskDelay(pdMS_TO_TICKS(10));
 }
diff --git a/Firmware/MovUnificado/MovUnificado_v1/MovUnificado_v1.ino b/Firmware/MovUnificado/MovUnificado_v1/MovUnificado_v1.ino
new file mode 100644
index 000000000..eb7cd8dec
--- /dev/null
+++ b/Firmware/MovUnificado/MovUnificado_v1/MovUnificado_v1.ino
@@ -0,0 +1,401 @@
+// Dispositivo: Movimentação e Direcional Unificados
+// Versão Firmware: 1
+// Ultima atualização: 06/06/2024
+// Atualização: Unificação dos módulos direcional e movimentação 
+
+#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\SerialService.h"
+#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\ModbusService.h"
+#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\utils.h"
+#include "C:\ZendionInc\agrobot_base\Firmware\Modulos\Pinout.h"
+#include <HardwareSerial.h>
+#include <SimpleKalmanFilter.h>
+
+#define D_Code Mvd
+#define VERSION 1
+String Mod_ID = "";
+int Cod_Alarme = 0;
+
+#define _pinoLED RGB_BUILTIN
+#define _pinoAddr0 36
+#define _pinoAddr1 39
+
+void AtualizarEnderecoModulo() {
+  bool A0 = digitalRead(_pinoAddr0) == 1;
+  bool A1 = digitalRead(_pinoAddr1) == 1;
+
+  if (!A0 && !A1) {
+    Mod_ID = "ET";
+  }
+  else if (A0 && !A1) {
+    Mod_ID = "EF";
+  }
+  else if (!A0 && A1) {
+    Mod_ID = "DT";
+  }
+  else if (A0 && A1) {
+    Mod_ID = "DF";
+  }
+}
+
+long _baudRate = 115200;
+bool Conectado = false;
+int _TaxaAmostragem = 500;
+
+
+class MotorBLDC {
+  public:
+    String _ID = (String)Mov;
+
+    bool Iniciado = false;
+    bool Testando = false;
+
+    PinoModel _pinoTMP;
+    SimpleKalmanFilter* tempKalman;
+
+    byte _endereco;
+    int _numPolos;
+    int _rampa;
+    int _rpmMax;
+
+    // Consumo
+    double RPM;
+    double RPM_SP;
+    double Temperatura;
+    double TemperaturaDriver;
+    double Tensao;
+    double CorrenteMax;
+    bool Ligado;
+    bool Freio;
+    Sentido _Sentido = Parado;
+    int CodAlarme;
+    
+    // Entrada de dados
+    double _RPM_SP;
+    bool _Ligado = false;
+    bool _Freio = false;
+    Sentido _SentidoSP = Parado;
+    
+    
+    void Inicializar() {
+      if (Iniciado) {
+        EnviarDadosSerial(Mod_ID, _ID + " ja inicializado");
+        EnviarDadosSerial(Mod_ID, MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
+        return;
+      }
+
+      Iniciado = ConfigurarDriver();
+
+      if (Iniciado) {
+        if (_pinoTMP.Definido()) {
+          _pinoTMP.Conectar();
+          tempKalman = new SimpleKalmanFilter(2, 2, 0.01);
+        }
+
+        xTaskCreatePinnedToCore(&MotorBLDC::MovTaskWrapper, "MovTask", 5000, this, 20, &MovTaskHandle, tskNO_AFFINITY);
+
+        AtualizarDadosControle(true);
+
+        EnviarDadosSerial(Mod_ID, _ID + " Iniciado");
+      }
+
+      EnviarDadosSerial(Mod_ID, MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
+    }
+
+    void Desligar() {
+      if (!Iniciado) {
+        EnviarDadosSerial(Mod_ID, _ID + " nao esta inicializado");
+        EnviarDadosSerial(Mod_ID, MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
+        return;
+      }
+
+      // Parar a execução das tarefas
+      vTaskDelete(MovTaskHandle);
+
+      // Redefinir as configurações para os valores iniciais
+      _pinoTMP.Desconectar();
+
+      // Outras redefinições de variáveis de estado, se necessário
+      delete tempKalman;
+
+      EnviarDadosSerial(Mod_ID, _ID + " Desligado");
+
+      Iniciado = false;
+
+      EnviarDadosSerial(Mod_ID, MontarProtocoloSensor(sCFG, _ID, Iniciado ? "1" : "0"));
+
+      AtualizarDadosControle(true);
+    }
+
+    ModbusGetResponse EnviarComandoModbus(byte endereco, byte funcao, byte registro, int valor, bool aguardarResposta = true) {
+      const int maxTentativas = 2;
+      int tentativas = 0;
+      bool sucesso = false;
+      ModbusGetResponse resposta;
+
+      while (tentativas < maxTentativas && !sucesso) {
+          uint8_t response[256];
+          uint8_t length = 0;
+
+          sendModbusCommand(endereco, funcao, registro, valor, response, length, aguardarResposta);
+
+          if (aguardarResposta) {
+            // GET
+            if (funcao == 0x03) {
+                if (length >= 5) { // Verifica se a resposta tem pelo menos 5 bytes (endereco, codigo_comando, numero_registros, 2 bytes de dados, 2 bytes de CRC)
+                    resposta._success = true;
+                    resposta._address = response[0];
+                    resposta._command_code = response[1];
+                    resposta._num_registers = response[2];
+
+                    if (resposta._num_registers == 2) { // Caso de 2 bytes (sem ponto flutuante)
+                        uint16_t value = (response[3] << 8) | response[4]; // Combina os dois bytes
+                        resposta._value = static_cast<double>(value); // Converte para double
+                        sucesso = true;
+                    } else if (resposta._num_registers == 4 && length >= 7) { // Caso de 4 bytes (com ponto flutuante)
+                        uint16_t highBytes = (response[3] << 8) | response[4]; // Combina os dois primeiros bytes
+                        uint16_t lowBytes = (response[5] << 8) | response[6];  // Combina os dois últimos bytes
+
+                        // Converte para double
+                        resposta._value = highBytes + (lowBytes / 10000.0); // Supondo que os valores após a vírgula são representados em 4 dígitos decimais
+                        sucesso = true;
+                    } else {
+                        Serial.println("Numero de registros inesperado ou resposta incompleta.");
+                        resposta._success = false;
+                    }
+                } else {
+                    Serial.println("Resposta incompleta.");
+                    resposta._success = false;
+                }
+            }
+            // SET
+            else if (funcao == 0x06) {
+                if (length >= 8) {
+                    resposta._success = true;
+                    resposta._address = response[0];
+                    resposta._command_code = response[1];
+                    resposta._num_registers = 0;
+                    resposta._value = (response[4] << 8) | response[5];
+                    sucesso = true;
+                } else {
+                    Serial.println("Erro ao enviar comando");
+                    resposta._success = false;
+                }
+            }
+
+            tentativas++;
+          }
+          else {
+            sucesso = true;
+            resposta._success = sucesso;
+          }
+
+      }
+
+      return resposta;
+    }
+
+    bool ConfigurarDriver() {
+      ModbusGetResponse a = EnviarComandoModbus(_endereco, 0x06, 0x00B6, 1);
+      if (a._success) {
+        ModbusGetResponse b = EnviarComandoModbus(_endereco, 0x06, 0x0076, 0);
+        if (b._success) {
+          ModbusGetResponse c = EnviarComandoModbus(_endereco, 0x06, 0x0086, _numPolos);
+          if (c._success) {
+            ModbusGetResponse d = EnviarComandoModbus(_endereco, 0x06, 0x008A, _rampa);
+            if (d._success) {
+              ModbusGetResponse e = EnviarComandoModbus(_endereco, 0x06, 0x0092, _rpmMax);
+              return e._success;
+            }
+          }
+        }
+      }
+      return false;
+    }
+
+    void AtualizarDadosControle(bool reset = false) {
+      if (!Iniciado) {
+        return;
+      }
+
+      if (reset) {
+        _Ligado = false;
+        _Freio = false;
+        _SentidoSP = Parado;
+        _RPM_SP = 0;
+      }
+
+      /*if (_SentidoSP != Parado && _SentidoSP != _Sentido) {
+        int std = EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0)._value;
+        _Sentido = !Ligado ? Parado : std == 0 ? Horario : Antihorario;
+      }
+      if (_RPM_SP != RPM_SP) {
+        RPM_SP = EnviarComandoModbus(_endereco, 0x06, 0x0056, _RPM_SP)._value;
+      }
+      if (_Freio != Freio) {
+        Freio = EnviarComandoModbus(_endereco, 0x06, 0x006A, _Freio ? 1 : 0)._value == 1;
+      }
+      if (_Ligado != Ligado) {
+        Ligado = EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0)._value == 1;
+      }*/
+
+      if (_SentidoSP != Parado && _SentidoSP != _Sentido) {
+        EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0, false);
+      }
+      if (_RPM_SP != RPM_SP) {
+        EnviarComandoModbus(_endereco, 0x06, 0x0056, _RPM_SP, false);
+      }
+      if (_Freio != Freio) {
+        EnviarComandoModbus(_endereco, 0x06, 0x006A, _Freio ? 1 : 0, false);
+      }
+      if (_Ligado != Ligado) {
+        EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0, false);
+      }
+
+      /*EnviarComandoModbus(_endereco, 0x06, 0x006D, _SentidoSP == Horario ? 1 : 0, false);
+      EnviarComandoModbus(_endereco, 0x06, 0x0056, _RPM_SP, false);
+      EnviarComandoModbus(_endereco, 0x06, 0x006A, _Freio ? 1 : 0, false);
+      EnviarComandoModbus(_endereco, 0x06, 0x0066, _Ligado ? 1 : 0, false);*/
+      
+    }
+
+  private:
+
+    TaskHandle_t MovTaskHandle = NULL;
+    static void MovTaskWrapper(void *pvParameters) {
+      MotorBLDC *motor = static_cast<MotorBLDC*>(pvParameters);
+      motor->MovTask();
+    }
+
+    void MovTask() {
+      unsigned long firstMilis = millis();
+      while (1)
+      {
+        if (!Conectado) {
+          // Caso não esteja conectado, aguarda 1 segundo até a próxima verificação, liberando uso de CPU
+          vTaskDelay(1000);
+          continue;
+        }
+
+        long intMillis = (millis() - firstMilis);
+
+        // A cada _TaxaAmostragem, enviar os dados para o software
+        if (intMillis >= _TaxaAmostragem) {
+
+          AferirTemperatura();
+          AferirDadosDriver();
+
+          EnviarDadosSerial(Mod_ID, MontarProtocoloSensor(sBLD, _ID, MontarDadosProtocoloBLD(RPM, Temperatura, Tensao, CorrenteMax, Ligado, _Sentido, Freio, CodAlarme, TemperaturaDriver)));
+          firstMilis = millis();
+        }
+
+        // Aguarda metade do menor período possível entre leituras
+        vTaskDelay(1);
+      }
+    }
+
+    void AferirDadosDriver() {
+      RPM_SP = EnviarComandoModbus(_endereco, 0x03, 0x0056, 1)._value;
+      RPM = EnviarComandoModbus(_endereco, 0x03, 0x005F, 1)._value;
+      Ligado = EnviarComandoModbus(_endereco, 0x03, 0x0066, 1)._value == 1;
+      Freio = EnviarComandoModbus(_endereco, 0x03, 0x006A, 1)._value == 1;
+      _Sentido = Ligado ? EnviarComandoModbus(_endereco, 0x03, 0x006D, 1)._value == 1 ? Horario : Antihorario : Parado;
+      CodAlarme = EnviarComandoModbus(_endereco, 0x03, 0x0076, 1)._value;
+      Tensao = EnviarComandoModbus(_endereco, 0x03, 0x00C8, 2)._value;
+      CorrenteMax = EnviarComandoModbus(_endereco, 0x03, 0x0096, 2)._value;
+      TemperaturaDriver = EnviarComandoModbus(_endereco, 0x03, 0x00D2, 2)._value;
+    }
+
+    void AferirTemperatura() {
+      int leitura = _pinoTMP.get();
+      float leituraNormalizada = tempKalman->updateEstimate(leitura);
+      Temperatura = leituraNormalizada;
+    }
+
+};
+
+MotorBLDC MotorMOV;
+
+void setup() {
+  pinMode(_pinoAddr0, INPUT);
+  pinMode(_pinoAddr1, INPUT);
+
+  AtualizarEnderecoModulo();
+
+  Serial.begin(_baudRate);
+
+  delay(10);
+
+  InicializarModbus();
+}
+
+void loop() {
+  std::vector<ProtocoloSerial> protocolos = LerBufferSerialFila();
+
+  for (int i = 0; i < protocolos.size(); i++) {
+    ProcessarProtocolo(protocolos[i].protocolo, protocolos[i].funcao, protocolos[i].idMensagem);
+  }
+}
+
+void ProcessarProtocolo(String Protocolo, F_Code _funcao, int idMensagem) {
+
+  if (_funcao == Chk) {
+    EnviarDadosSerial(Mod_ID, MontarProtocoloVerificacao(D_Code, VERSION));
+  }
+  /*else if (_funcao == Cfg) {
+    std::vector<String> Partes = SplitString(Protocolo, (char*)",");
+
+    String ID = Partes[0];
+    bool Conectar = Partes[1] == "1";
+    if (ID == "MD") {
+      _TaxaAmostragem = Partes[2].toInt();
+      
+      EnviarDadosSerial(MontarProtocoloSensor(sCFG, "MD", Conectar ? "1" : "0"));
+
+      vTaskDelay(pdMS_TO_TICKS(100));
+
+      Conectado = Conectar;
+    }
+    else {
+      int canal = Partes[2].toInt();
+      String addr = Partes[3];
+      int num_polos = Partes[4].toInt();
+      int rampa = Partes[5].toInt();
+      int rpm_max = Partes[6].toInt();
+      TiposBarramentos tmpB = (TiposBarramentos)Partes[7].toInt();
+      int tmp = Partes[8].toInt();
+      
+      MotorBLDC* _motor = MotorPorID(ID);
+      if (Conectar) {
+        _motor->_canal = canal;
+        _motor->_endereco = stringToByte(addr);
+        _motor->_numPolos = num_polos;
+        _motor->_rampa = rampa;
+        _motor->_rpmMax = rpm_max;
+        _motor->_pinoTMP = PinoModel(tmp, tmpB, _INPUT, ANALOGICO);
+              
+        _motor->Inicializar();
+      }
+      else {
+        _motor->Desligar();
+      }
+      vTaskDelay(pdMS_TO_TICKS(500));
+    }
+  }
+  else if (_funcao == Cmd) {
+    std::vector<String> Partes = SplitString(Protocolo, (char*)",");
+
+    String ID = Partes[0];
+
+    MotorBLDC* _motor = MotorPorID(ID);
+
+    _motor->_SentidoSP = (Sentido)Partes[1].toInt();
+    _motor->_Ligado = _motor->_SentidoSP != Parado;
+    _motor->_RPM_SP = Partes[2].toInt();
+    _motor->_Freio = Partes[3] == "1";
+
+    _motor->AtualizarDadosControle();
+  }*/
+
+  EnviarDadosSerial(Mod_ID, MontarProtocoloMensagemRecebida(idMensagem));
+
+}