diff --git a/RpiLedBars/Makefile b/RpiLedBars/Makefile
index 15824dd..f5b09f3 100644
--- a/RpiLedBars/Makefile
+++ b/RpiLedBars/Makefile
@@ -1,28 +1,34 @@
 CC := gcc
-CFLAGS := -Wall -g -D_DEBUG
-LDFLAGS := -lwiringPi -lasound -lfftw3 -lpthread -lm
+CFLAGS := -Wall -g -Ilibs/log.c/src
+LDFLAGS := -lwiringPi -lasound -lfftw3 -lpthread -lm -L.libs
 
 SRC := src
 OBJ := obj
 BIN := bin/pixled
 
-SOURCES := $(shell find $(SRC) -type f -name "*.c")
+SOURCES := $(shell find $(SRC) -type f -name "*.c") 
 OBJECTS := $(patsubst $(SRC)/%.c, $(OBJ)/%.o, $(SOURCES))
 
-
+.PHONY: all clean debug
 
 all: $(BIN)
 
+libs/log.c/obj/log.o: libs/log.c/src/log.c
+	if [ ! -d "$(dir $@)" ]; then mkdir -p "$(dir $@)"; fi
+	$(CC) -c $< -o $@ -DLOG_USE_COLOR
+
+.libs/log.la: libs/log.c/obj/log.o
+	if [ ! -d "$(dir $@)" ]; then mkdir -p "$(dir $@)"; fi
+	ar r $@ $^
+	ranlib $@
+
 $(OBJ)/%.o: $(SRC)/%.c
 	if [ ! -d "$(dir $@)" ]; then mkdir -p "$(dir $@)"; fi
-	$(CC) -I$(SRC) -c $< -o $@ $(CFLAGS)
+	$(CC) -c $< -o $@ $(CFLAGS)
 	
-$(BIN) : $(OBJECTS)
-	if [ ! -d "$(dir $(BIN))" ]; then mkdir -p "$(dir $(BIN))"; fi
+$(BIN): $(OBJECTS) .libs/log.la
+	if [ ! -d "$(dir $@)" ]; then mkdir -p "$(dir $@)"; fi
 	$(CC) -o $@ $^ $(LDFLAGS)
 
-liblog.a: log.o
-    ar $(ARFLAGS) $@ $^
-
 clean:
-	rm -rf $(OBJ)
\ No newline at end of file
+	rm -rf $(OBJ) .libs libs/*/obj
\ No newline at end of file
diff --git a/RpiLedBars/res/install_i2s_mems_mic b/RpiLedBars/res/install_i2s_mems_mic
index 7b9e69e..f1b2658 100644
--- a/RpiLedBars/res/install_i2s_mems_mic
+++ b/RpiLedBars/res/install_i2s_mems_mic
@@ -1,6 +1,7 @@
 https://makersportal.com/blog/recording-stereo-audio-on-a-raspberry-pi
 https://learn.adafruit.com/adafruit-i2s-mems-microphone-breakout/raspberry-pi-wiring-test
 
+sudo apt install python3-pip
 sudo pip3 install --upgrade adafruit-python-shell
 cd /tmp
 sudo wget https://raw.githubusercontent.com/adafruit/Raspberry-Pi-Installer-Scripts/master/i2smic.py
@@ -15,4 +16,14 @@ arecord -D plughw:1 -c1 -r 48000 -f S32_LE -t wav -V mono -v file.wav
 cp res/.asoundrc ~/.asoundrc
 
 # alsa API
-http://www.equalarea.com/paul/alsa-audio.html
\ No newline at end of file
+http://www.equalarea.com/paul/alsa-audio.html
+
+# for project
+sudo apt install libasound2-dev wiringpi
+
+# for cava
+sudo apt install libfftw3-dev libasound2-dev libtool automake
+./autogen.sh
+./configure
+make
+sudo make install
\ No newline at end of file
diff --git a/RpiLedBars/src/drivers/common.c b/RpiLedBars/src/drivers/common.c
index 32611f6..612095f 100644
--- a/RpiLedBars/src/drivers/common.c
+++ b/RpiLedBars/src/drivers/common.c
@@ -3,9 +3,12 @@
 #include <fcntl.h>
 #include <stdint.h>
 #include <stdio.h>
+#include <stdlib.h>
 #include <sys/mman.h>
 #include <unistd.h>
 
+#include "log.h"
+
 // Use mmap to obtain virtual address, given physical
 void *map_periph(MEM_MAP *mp, void *phys, int size) {
   mp->phys = phys;
@@ -30,20 +33,24 @@ void *map_segment(void *addr, int size) {
   void *mem;
 
   size = PAGE_ROUNDUP(size);
-  if ((fd = open("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC)) < 0)
-    fprintf(stderr, "Error: can't open /dev/mem, run using sudo\n");
+  if ((fd = open("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC)) < 0) {
+    log_fatal("can't open /dev/mem, run using sudo");
+    exit(-EXIT_FAILURE);
+  }
+
   mem = mmap(0, size, PROT_WRITE | PROT_READ, MAP_SHARED, fd, (uint32_t)addr);
   close(fd);
-#if DEBUG
-  printf("Map %p -> %p\n", (void *)addr, mem);
-#endif
-  if (mem == MAP_FAILED)
-    fprintf(stderr, "Error: can't map memory\n");
+  log_info("Map %p -> %p", (void *)addr, mem);
+  if (mem == MAP_FAILED) {
+    log_fatal("can't map memory");
+    exit(-EXIT_FAILURE);
+  }
   return (mem);
 }
 
 // Free mapped memory
 void unmap_segment(void *mem, int size) {
-  if (mem)
+  if (mem) {
     munmap(mem, PAGE_ROUNDUP(size));
+  }
 }
\ No newline at end of file
diff --git a/RpiLedBars/src/drivers/dma/rpi_videocore.c b/RpiLedBars/src/drivers/dma/rpi_videocore.c
index 1cd66a0..81fc9ed 100644
--- a/RpiLedBars/src/drivers/dma/rpi_videocore.c
+++ b/RpiLedBars/src/drivers/dma/rpi_videocore.c
@@ -5,6 +5,8 @@
 #include <sys/ioctl.h>
 #include <unistd.h>
 
+#include "log.h"
+
 // Mailbox command/response structure
 typedef struct {
   uint32_t len,           // Overall length (bytes)
@@ -42,7 +44,7 @@ void *map_uncached_mem(MEM_MAP *mp, int size) {
                 (mp->virt = map_segment(BUS_PHYS_ADDR(mp->bus), mp->size)) != 0
             ? mp->virt
             : 0;
-  printf("VC mem handle %u, phys %p, virt %p\n", mp->h, mp->bus, mp->virt);
+  log_info("VC mem handle %u, phys %p, virt %p", mp->h, mp->bus, mp->virt);
   return (ret);
 }
 
@@ -93,7 +95,7 @@ int open_mbox(void) {
   int fd;
 
   if ((fd = open("/dev/vcio", 0)) < 0)
-    fprintf(stderr, "Error: can't open VC mailbox\n");
+    log_error("can't open VC mailbox");
   return (fd);
 }
 // Close mailbox interface
@@ -110,14 +112,15 @@ uint32_t msg_mbox(int fd, VC_MSG *msgp) {
     msgp->uints[i++] = 0;
   msgp->len = (msgp->blen + 6) * 4;
   msgp->req = 0;
-  if (ioctl(fd, _IOWR(100, 0, void *), msgp) < 0)
-    printf("VC IOCTL failed\n");
-  else if ((msgp->req & 0x80000000) == 0)
-    printf("VC IOCTL error\n");
-  else if (msgp->req == 0x80000001)
-    printf("VC IOCTL partial error\n");
-  else
+  if (ioctl(fd, _IOWR(100, 0, void *), msgp) < 0) {
+    log_error("VC IOCTL failed");
+  } else if ((msgp->req & 0x80000000) == 0) {
+    log_error("VC IOCTL error");
+  } else if (msgp->req == 0x80000001) {
+    log_error("VC IOCTL partial error");
+  } else {
     ret = msgp->uints[0];
+  }
 #if DEBUG
   disp_vc_msg(msgp);
 #endif
diff --git a/RpiLedBars/src/drivers/leddriver/rpi_leddriver.c b/RpiLedBars/src/drivers/leddriver/rpi_leddriver.c
index 1ad781e..6b4743e 100644
--- a/RpiLedBars/src/drivers/leddriver/rpi_leddriver.c
+++ b/RpiLedBars/src/drivers/leddriver/rpi_leddriver.c
@@ -4,6 +4,7 @@
 #include <string.h>
 #include <unistd.h>
 
+#include "../../rpi_param.h"
 #include "../common.h"
 
 #include "../dma/rpi_dma.h"
@@ -49,13 +50,12 @@ TXDATA_T tx_buffer[TX_BUFF_LEN(CHAN_MAXLEDS)];
 void swap_bytes();
 
 void leddriver_setup() {
-  gpio_setup();
   videocore_setup(&vc_mem, VC_MEM_SIZE);
+  gpio_setup();
   smi_setup(LED_NCHANS, SMI_TIMING, &vc_mem, TX_BUFF_LEN(CHAN_MAXLEDS), &txdata);
 }
 
 void leddriver_close() {
-  printf("Closing\n");
   videocore_close(&vc_mem);
   smi_close(LED_NCHANS);
   gpio_close();
@@ -129,4 +129,82 @@ void swap_bytes() {
     *wp = __builtin_bswap16(*wp);
     wp++;
   }
-}
\ No newline at end of file
+}
+
+/* source :
+ * https://github.com/adafruit/Adafruit_NeoPixel/blob/216ccdbff399750f5b02d4cc804c598399e39713/Adafruit_NeoPixel.cpp#L2414
+ */
+uint32_t ColorHSV(uint16_t hue, uint8_t sat, uint8_t val) {
+
+  uint8_t r, g, b;
+
+  // Remap 0-65535 to 0-1529. Pure red is CENTERED on the 64K rollover;
+  // 0 is not the start of pure red, but the midpoint...a few values above
+  // zero and a few below 65536 all yield pure red (similarly, 32768 is the
+  // midpoint, not start, of pure cyan). The 8-bit RGB hexcone (256 values
+  // each for red, green, blue) really only allows for 1530 distinct hues
+  // (not 1536, more on that below), but the full unsigned 16-bit type was
+  // chosen for hue so that one's code can easily handle a contiguous color
+  // wheel by allowing hue to roll over in either direction.
+  hue = (hue * 1530L + 32768) / 65536;
+  // Because red is centered on the rollover point (the +32768 above,
+  // essentially a fixed-point +0.5), the above actually yields 0 to 1530,
+  // where 0 and 1530 would yield the same thing. Rather than apply a
+  // costly modulo operator, 1530 is handled as a special case below.
+
+  // So you'd think that the color "hexcone" (the thing that ramps from
+  // pure red, to pure yellow, to pure green and so forth back to red,
+  // yielding six slices), and with each color component having 256
+  // possible values (0-255), might have 1536 possible items (6*256),
+  // but in reality there's 1530. This is because the last element in
+  // each 256-element slice is equal to the first element of the next
+  // slice, and keeping those in there this would create small
+  // discontinuities in the color wheel. So the last element of each
+  // slice is dropped...we regard only elements 0-254, with item 255
+  // being picked up as element 0 of the next slice. Like this:
+  // Red to not-quite-pure-yellow is:        255,   0, 0 to 255, 254,   0
+  // Pure yellow to not-quite-pure-green is: 255, 255, 0 to   1, 255,   0
+  // Pure green to not-quite-pure-cyan is:     0, 255, 0 to   0, 255, 254
+  // and so forth. Hence, 1530 distinct hues (0 to 1529), and hence why
+  // the constants below are not the multiples of 256 you might expect.
+
+  // Convert hue to R,G,B (nested ifs faster than divide+mod+switch):
+  if (hue < 510) { // Red to Green-1
+    b = 0;
+    if (hue < 255) { //   Red to Yellow-1
+      r = 255;
+      g = hue;       //     g = 0 to 254
+    } else {         //   Yellow to Green-1
+      r = 510 - hue; //     r = 255 to 1
+      g = 255;
+    }
+  } else if (hue < 1020) { // Green to Blue-1
+    r = 0;
+    if (hue < 765) { //   Green to Cyan-1
+      g = 255;
+      b = hue - 510;  //     b = 0 to 254
+    } else {          //   Cyan to Blue-1
+      g = 1020 - hue; //     g = 255 to 1
+      b = 255;
+    }
+  } else if (hue < 1530) { // Blue to Red-1
+    g = 0;
+    if (hue < 1275) { //   Blue to Magenta-1
+      r = hue - 1020; //     r = 0 to 254
+      b = 255;
+    } else { //   Magenta to Red-1
+      r = 255;
+      b = 1530 - hue; //     b = 255 to 1
+    }
+  } else { // Last 0.5 Red (quicker than % operator)
+    r = 255;
+    g = b = 0;
+  }
+
+  // Apply saturation and value to R,G,B, pack into 32-bit result:
+  uint32_t v1 = 1 + val;  // 1 to 256; allows >>8 instead of /255
+  uint16_t s1 = 1 + sat;  // 1 to 256; same reason
+  uint8_t s2 = 255 - sat; // 255 to 0
+  return ((((((r * s1) >> 8) + s2) * v1) & 0xff00) << 8) |
+         (((((g * s1) >> 8) + s2) * v1) & 0xff00) | (((((b * s1) >> 8) + s2) * v1) >> 8);
+}
diff --git a/RpiLedBars/src/drivers/leddriver/rpi_leddriver.h b/RpiLedBars/src/drivers/leddriver/rpi_leddriver.h
index 68e7a19..62dc410 100644
--- a/RpiLedBars/src/drivers/leddriver/rpi_leddriver.h
+++ b/RpiLedBars/src/drivers/leddriver/rpi_leddriver.h
@@ -3,9 +3,6 @@
 
 #include <stdint.h>
 
-#define CHAN_MAXLEDS 6 * 60 // Maximum number of LEDs per channel
-#define LED_NCHANS 8        // Number of LED channels (8 or 16)
-
 void leddriver_setup();
 
 void leddriver_close();
diff --git a/RpiLedBars/src/drivers/selector/rpi_selector.c b/RpiLedBars/src/drivers/selector/rpi_selector.c
index d2ff7a4..24f9378 100644
--- a/RpiLedBars/src/drivers/selector/rpi_selector.c
+++ b/RpiLedBars/src/drivers/selector/rpi_selector.c
@@ -5,6 +5,8 @@
 /***************************************************************************************************
  * Includes
  **************************************************************************************************/
+#include "rpi_selector.h"
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <wiringPi.h>
@@ -19,6 +21,7 @@
 unsigned const selectorPinNumber = 4;
 /* TODO use GPIO function from ../gpio/gipo.h (same pin number) */
 int selectorPins[4] = {5, 6, 26, 27};
+char modeStr[] = "0 | 0 | 0 | 0 \n";
 
 /***************************************************************************************************
  * Persistent Variables
@@ -49,12 +52,11 @@ int selector_get_position() {
   return -1;
 }
 
-void selector_print() {
-  char modeStr[] = "0 | 0 | 0 | 0 \n";
+char *selector_tostr() {
   for (size_t i = 0; i < selectorPinNumber; ++i) {
     modeStr[i * 4] = digitalRead(selectorPins[i]) ? '1' : '0';
   }
-  fprintf(stderr, modeStr);
+  return modeStr;
 }
 
 /***************************************************************************************************
diff --git a/RpiLedBars/src/drivers/selector/rpi_selector.h b/RpiLedBars/src/drivers/selector/rpi_selector.h
index a2718ec..5dd0150 100644
--- a/RpiLedBars/src/drivers/selector/rpi_selector.h
+++ b/RpiLedBars/src/drivers/selector/rpi_selector.h
@@ -33,8 +33,8 @@ void selector_setup();
 int selector_get_position();
 
 /**
- * \brief debug: print the selector position
+ * \brief Get string with selector debug info
  **/
-void selector_print();
+char *selector_tostr();
 
 #endif /* __RPI_SELECTOR_H__ */
\ No newline at end of file
diff --git a/RpiLedBars/src/main.c b/RpiLedBars/src/main.c
index d49b82c..8c33bf9 100644
--- a/RpiLedBars/src/main.c
+++ b/RpiLedBars/src/main.c
@@ -1,4 +1,12 @@
+/** \file main.c
+ *  \brief This is the main exectution program
+ */
+
+/***************************************************************************************************
+ * Includes
+ **************************************************************************************************/
 #include <ctype.h>
+#include <errno.h>
 #include <pthread.h>
 #include <signal.h>
 #include <stdbool.h>
@@ -8,23 +16,51 @@
 #include <time.h>
 #include <unistd.h>
 
+#include "log.h"
+
 #include "drivers/leddriver/rpi_leddriver.h"
 #include "drivers/selector/rpi_selector.h"
 
-#include "rpi_midi_controller.h"
 #include "tasks/artnet/rpi_artnet.h"
 #include "tasks/cava/rpi_cava.h"
 
+#include "rpi_midi_controller.h"
+#include "rpi_param.h"
+
+/***************************************************************************************************
+ * Preprocessor Constants and Macros
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * Type and Contant Definitions
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * Persistent Variables
+ **************************************************************************************************/
 /*  Command-line parameters */
 bool IsTestMode = false;
 int chanLedCount = 0;
+int logLevel = 2;
 
-pthread_t *bgTasks[4] = {NULL};
+int previousMode = -1;
+
+unsigned long mainLoopCycle = 0;
+
+pthread_mutex_t logLockMutex = PTHREAD_MUTEX_INITIALIZER;
+
+/***************************************************************************************************
+ * Internal Function Prototypes
+ **************************************************************************************************/
 
 void parseCommandLineArgs(int argc, char const *argv[]);
 
 void terminate(int sig);
 
+void manage_tasks(int previousMode, int currentMode);
+
+void execute_task(int mode);
+
 void execute_test_mode();
 
 void execute_artnet_mode();
@@ -35,86 +71,59 @@ void execute_manual_mode();
 
 void adjust_loop(struct timespec const *loopStart);
 
-int main(int argc, char const *argv[]) {
-  int previousMode = -1;
+void log_lock_helper(bool lock, void *udata);
 
+/***************************************************************************************************
+ * External Function Definitions
+ **************************************************************************************************/
+
+int main(int argc, char const *argv[]) {
   // setup
   parseCommandLineArgs(argc, argv);
+  log_set_level(logLevel);
 
   signal(SIGINT, terminate);
 
-  struct sched_param sp;
-  sp.sched_priority = 32;
-  if (pthread_setschedparam(pthread_self(), SCHED_FIFO, &sp)) {
-    fprintf(stderr, "WARNING: Failed to set stepper thread to real-time priority\n");
-  }
+  // struct sched_param sp;
+  // sp.sched_priority = 32;
+  // if (pthread_setschedparam(pthread_self(), SCHED_FIFO, &sp)) {
+  //   fprintf(stderr, "WARNING: Failed to set stepper thread to real-time priority: %s\n",
+  //           strerror(errno));
+  // }
 
+  log_set_lock(log_lock_helper, &logLockMutex);
+
+  param_setup();
   midi_controller_setup();
   selector_setup();
   leddriver_setup();
 
-  artnet_init();
-  setup_cava();
+  // setup_cava();
 
   // loop
   while (1) {
     struct timespec loopStart;
+    int mode;
+
     clock_gettime(CLOCK_MONOTONIC, &loopStart);
-    int mode = selector_get_position();
+    if (IsTestMode) {
+      if (mainLoopCycle % 300 < 150) {
+        mode = 2;
+      } else {
+        mode = 1;
+      }
+    } else {
+      mode = selector_get_position();
+    }
+    /* todo thread ? */
     midi_controller_execute();
 
     if (mode != -1) {
       if (mode != previousMode) {
-#if defined(_DEBUG)
-        printf("swtching to mode : %d\n", mode);
-#endif
-        /* stop previous bg task */
-        switch (previousMode) {
-        case 1:
-          artnet_stop();
-          break;
-        case 2:
-          stop_cava_bg_worker();
-          break;
-        default:
-          break;
-        }
-
-        /* start new bg task */
-        switch (mode) {
-        case 1:
-          artnet_start();
-          break;
-        case 2:
-          start_cava_bg_worker();
-          break;
-        default:
-          break;
-        }
+        log_info("swtching to mode : %d", mode);
+        manage_tasks(previousMode, mode);
       } else {
-        switch (mode) {
-        case 0:
-          // mode test
-          execute_test_mode();
-          break;
-        case 1:
-          // artnet mode
-          execute_artnet_mode();
-          break;
-        case 2:
-          execute_autonomous_mode();
-          break;
-        case 3:
-          // manual mode
-          execute_manual_mode();
-          break;
-
-        default:
-          if (mode != previousMode) {
-            fprintf(stderr, "Error in selector\n");
-          }
-          break;
-        }
+        execute_task(mode);
       }
       previousMode = mode;
     }
@@ -122,6 +131,10 @@ int main(int argc, char const *argv[]) {
   }
 }
 
+/***************************************************************************************************
+ * Internal Function Definitions
+ **************************************************************************************************/
+
 void parseCommandLineArgs(int argc, char const *argv[]) {
   int args = 0;
 
@@ -130,28 +143,90 @@ void parseCommandLineArgs(int argc, char const *argv[]) {
     if (argv[args][0] == '-') {
       switch (toupper(argv[args][1])) {
       case 'N': // -N: number of LEDs per channel
-        if (args >= argc - 1)
-          fprintf(stderr, "Error: no numeric value\n");
-        else
+        if (args >= argc - 1) {
+          log_error("no numeric value");
+          exit(-EXIT_FAILURE);
+        } else {
           chanLedCount = atoi(argv[++args]);
+        }
+        break;
+      case 'D': // -D: debug level
+        if (args >= argc - 1) {
+          log_error("no debug level");
+          exit(-EXIT_FAILURE);
+        } else {
+          logLevel = atoi(argv[++args]);
+        }
         break;
       case 'T': // -T: test mode
         IsTestMode = true;
         break;
       default: // Otherwise error
-        printf("Unrecognised option '%c'\n", argv[args][1]);
-        printf("Options:\n"
-               "  -n num    number of LEDs per channel\n"
-               "  -t        Test mode (flash LEDs)\n");
-        exit(1);
+        log_error("Unrecognised option '%c'\n", argv[args][1]);
+        fprintf(stderr, "Options:\n"
+                        "  -t        Test mode (flash LEDs)\n"
+                        "  -n num    number of LEDs per channel\n"
+                        "  -d lvl    debug level\n");
+        exit(-EXIT_FAILURE);
       }
     }
   }
 }
 
 void terminate(int sig) {
+  manage_tasks(previousMode, -1);
   leddriver_close();
-  exit(0);
+  log_info("Goodbye !");
+  exit(EXIT_SUCCESS);
+}
+
+void manage_tasks(int previousMode, int currentMode) {
+  /* stop previous bg task */
+  switch (previousMode) {
+  case 1:
+    artnet_stop();
+    break;
+  case 2:
+    cava_stop();
+    break;
+  default:
+    break;
+  }
+
+  /* start new bg task */
+  switch (currentMode) {
+  case 1:
+    artnet_start();
+    break;
+  case 2:
+    cava_start();
+    break;
+  default:
+    break;
+  }
+}
+
+void execute_task(int mode) {
+  switch (mode) {
+  case 0:
+    // mode test
+    execute_test_mode();
+    break;
+  case 1:
+    // artnet mode
+    execute_artnet_mode();
+    break;
+  case 2:
+    execute_autonomous_mode();
+    break;
+  case 3:
+    // manual mode
+    execute_manual_mode();
+    break;
+
+  default:
+    break;
+  }
 }
 
 // Pointer to uncached Tx data buffer
@@ -159,13 +234,13 @@ void terminate(int sig) {
 
 void execute_test_mode() {
   // RGB values for test mode (1 value for each of 16 channels)
-  uint32_t on_rgbs[] = {0xef0000, 0x00ef00, 0x0000ef, 0xefef00, 0xef00ef, 0x00efef, 0xefefef};
+  uint32_t on_rgbs[] = {0x5f0000, 0x005f00, 0x00005f, 0x5f5f00, 0x5f005f, 0x005f5f, 0x5f5f5f};
   uint32_t off_rgbs = 0x000000;
 
   static int i = 0, offset = 0;
 
   for (size_t ledIndex = 0; ledIndex < chanLedCount; ++ledIndex) {
-    set_color(ledIndex <= offset % chanLedCount ? on_rgbs[i] : off_rgbs, ledIndex);
+    set_color(ledIndex <= offset % chanLedCount ? on_rgbs[i] * .5 : off_rgbs, ledIndex);
   }
 
   leddriver_refresh();
@@ -205,7 +280,7 @@ void execute_autonomous_mode() {
   int ret;
   uint16_t *buffer;
 
-  if ((ret = get_cava_buffer(&buffer)) == 0) {
+  if ((ret = cava_get_buffer(&buffer)) == 0) {
     for (size_t ledBarIndex = 0; ledBarIndex < 4; ++ledBarIndex) {
       uint16_t barMax = 0;
       for (size_t bar = 0; bar < 20 / 4; ++bar) {
@@ -230,7 +305,15 @@ void execute_autonomous_mode() {
   }
 }
 
-void execute_manual_mode() {}
+void execute_manual_mode() {
+  for (size_t ledBarIndex = 0; ledBarIndex < LED_NCHANS; ++ledBarIndex) {
+    for (size_t i = 0; i < chanLedCount; ++i) {
+      rgb_data[i][ledBarIndex] = 0x000000;
+      rgb_txdata(rgb_data[i], i);
+    }
+  }
+  leddriver_refresh();
+}
 
 void adjust_loop(struct timespec const *loopStart) {
   struct timespec loopEnd;
@@ -242,11 +325,21 @@ void adjust_loop(struct timespec const *loopStart) {
   remainingTimeUs = 16000 - elapsedTimeUs;
 
   if (remainingTimeUs >= 0) {
-    // printf("loop remaining time %ld\n", remainingTimeUs);
+    log_trace("cycle %lu, loop remaining time %ld", mainLoopCycle, remainingTimeUs);
     usleep(remainingTimeUs);
   } else {
-    printf("loop overlap by %06ldus\n", -remainingTimeUs);
-    printf("loop start %ld.%09lds\n", loopStart->tv_sec, loopStart->tv_nsec);
-    printf("loop end %ld.%09lds\n", loopEnd.tv_sec, loopEnd.tv_nsec);
+    log_warn("loop overlap by %06ldus", -remainingTimeUs);
+    log_info("loop start %ld.%09lds - loop end %ld.%09lds", loopStart->tv_sec, loopStart->tv_nsec,
+             loopEnd.tv_sec, loopEnd.tv_nsec);
   }
-}
\ No newline at end of file
+  ++mainLoopCycle;
+}
+
+void log_lock_helper(bool lock, void *udata) {
+  pthread_mutex_t *pLogLockMutex = (pthread_mutex_t *)(udata);
+  if (lock) {
+    pthread_mutex_lock(pLogLockMutex);
+  } else {
+    pthread_mutex_unlock(pLogLockMutex);
+  }
+}
diff --git a/RpiLedBars/src/rpi_midi_controller.c b/RpiLedBars/src/rpi_midi_controller.c
index e112b59..7fa2fe3 100644
--- a/RpiLedBars/src/rpi_midi_controller.c
+++ b/RpiLedBars/src/rpi_midi_controller.c
@@ -1,19 +1,85 @@
+/** \file .c
+ *  \brief This module
+ */
+
+/***************************************************************************************************
+ * Includes
+ **************************************************************************************************/
+
 #include "rpi_midi_controller.h"
 
 #include <alsa/asoundlib.h>
 
+#include "log.h"
+
+#include "rpi_param.h"
+
+/***************************************************************************************************
+ * Preprocessor Constants and Macros
+ **************************************************************************************************/
+
+#define C3 0x30
+
+/***************************************************************************************************
+ * Type and Contant Definitions
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * Persistent Variables
+ **************************************************************************************************/
+
+/**
+ * Boolean for interrupting the main thread loop
+ */
 static snd_seq_t *seq_handle;
+
+/**
+ * Boolean for interrupting the main thread loop
+ */
 static int sys_port;
+
+/**
+ * Boolean for interrupting the main thread loop
+ */
 static int in_port;
 
+/* state machine */
+int destChannel = 0xf;
+
+/***************************************************************************************************
+ * Internal Function Prototypes
+ **************************************************************************************************/
+
+/**
+ * \brief
+ */
 void subscribe_system_port();
 
+/**
+ * \brief
+ *
+ * \param   controller
+ */
 void subscribe_midi_controller(snd_seq_addr_t controller);
 
+/**
+ * \brief
+ *
+ * \param   ev
+ */
 void handle_system_port_events(snd_seq_event_t *ev);
 
+/**
+ * \brief
+ *
+ * \param   ev
+ */
 void handle_in_port_events(snd_seq_event_t *ev);
 
+/***************************************************************************************************
+ * External Function Definitions
+ **************************************************************************************************/
+
 void midi_controller_setup() {
   if (snd_seq_open(&seq_handle, "default", SND_SEQ_OPEN_INPUT, SND_SEQ_NONBLOCK) != 0) {
     SNDERR("snd_seq_open");
@@ -23,8 +89,8 @@ void midi_controller_setup() {
     SNDERR("snd_seq_set_client_name");
   }
 
-  sys_port = snd_seq_create_simple_port(seq_handle, "listen:in",
-                                        SND_SEQ_PORT_CAP_WRITE | SND_SEQ_PORT_CAP_NO_EXPORT,
+  sys_port = snd_seq_create_simple_port(seq_handle, "sys:in",
+                                        SND_SEQ_PORT_CAP_WRITE | SND_SEQ_PORT_CAP_SUBS_WRITE,
                                         SND_SEQ_PORT_TYPE_APPLICATION);
 
   if (sys_port < 0) {
@@ -52,10 +118,9 @@ void midi_controller_execute() {
     if (ev->dest.port == sys_port) {
       handle_system_port_events(ev);
     } else if (ev->dest.port == in_port) {
-      printf("ev %02d : %#010x - %#010x - %#010x\n", ev->type, ev->data.raw32.d[0],
-             ev->data.raw32.d[1], ev->data.raw32.d[2]);
+      handle_in_port_events(ev);
     } else {
-      fprintf(stderr, "unkonwn midi dest port\n");
+      log_warn("Unkonwn midi dest port %d", ev->dest.port);
     }
   }
   if (ret < 0 && ret != -EAGAIN) {
@@ -65,6 +130,10 @@ void midi_controller_execute() {
 
 void midi_controller_close() {}
 
+/***************************************************************************************************
+ * Internal Function Definitions
+ **************************************************************************************************/
+
 void subscribe_system_port() {
   snd_seq_addr_t sender = {.client = 0, .port = SND_SEQ_PORT_SYSTEM_ANNOUNCE};
   snd_seq_connect_from(seq_handle, sys_port, sender.client, sender.port);
@@ -78,17 +147,60 @@ void handle_system_port_events(snd_seq_event_t *ev) {
   if (ev->type == SND_SEQ_EVENT_PORT_START) {
     snd_seq_addr_t *newport = (snd_seq_addr_t *)&ev->data;
     if (newport->client != snd_seq_client_id(seq_handle)) {
-      fprintf(stdout, "New port %d:%d\n", newport->client, newport->port);
+      log_info("New port %d:%d", newport->client, newport->port);
       subscribe_midi_controller(*newport);
     }
   }
 }
 
 void handle_in_port_events(snd_seq_event_t *ev) {
+  switch (ev->type) {
+  case SND_SEQ_EVENT_PGMCHANGE:
+    if (ev->data.control.value < LED_NCHANS) {
+      if (ev->data.control.value != destChannel) {
+        destChannel = ev->data.control.value;
+        log_info("Control param channel %d", ev->data.control.value);
+      }
+    } else {
+      log_debug("PGMCHANGE : ch %#04x - param %u - value %d", ev->data.control.channel,
+                ev->data.control.param, ev->data.control.value);
+    }
+    break;
+
+  case SND_SEQ_EVENT_NOTEON:
+    if (ev->data.note.note == C3) {
+      if (destChannel != 0xf) {
+        destChannel = 0xf;
+        log_info("Control global param");
+      }
+    } else {
+      log_debug("NOTEON : ch %#04x - note %d - vel %d", ev->data.note.channel, ev->data.note.note,
+                ev->data.note.velocity);
+    }
+    break;
+
+  case SND_SEQ_EVENT_CONTROLLER:
+    switch (ev->data.control.param) {
+    case 1:
+
+      break;
+
+    default:
+      break;
+    }
+    log_debug("CONTROLLER : ch %#04x - param %u - value %d", ev->data.control.channel,
+              ev->data.control.param, ev->data.control.value);
+    break;
+
+  default:
+    log_debug("ev %02d : %#010x - %#010x - %#010x", ev->type, ev->data.raw32.d[0],
+              ev->data.raw32.d[1], ev->data.raw32.d[2]);
+    break;
+  }
   if (ev->type == SND_SEQ_EVENT_PORT_START) {
     snd_seq_addr_t *newport = (snd_seq_addr_t *)&ev->data;
     if (newport->client != snd_seq_client_id(seq_handle)) {
-      fprintf(stdout, "New port %d:%d\n", newport->client, newport->port);
+      log_debug("New port %d:%d", newport->client, newport->port);
       subscribe_midi_controller(*newport);
     }
   }
diff --git a/RpiLedBars/src/rpi_midi_controller.h b/RpiLedBars/src/rpi_midi_controller.h
index 60db392..f4d673c 100644
--- a/RpiLedBars/src/rpi_midi_controller.h
+++ b/RpiLedBars/src/rpi_midi_controller.h
@@ -1,10 +1,42 @@
+/** \file .h
+ *  \brief This module
+ */
 #if !defined(__RPI_MIDI_CONTROLLER_H__)
 #define __RPI_MIDI_CONTROLLER_H__
 
+/***************************************************************************************************
+ * Includes
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * Preprocessor Constants and Macros
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * Type and Contant Definitions
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * Global Variables
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * External Function Prototypes
+ **************************************************************************************************/
+
+/**
+ * \brief
+ */
 void midi_controller_setup();
 
+/**
+ * \brief
+ */
 void midi_controller_execute();
 
+/**
+ * \brief
+ */
 void midi_controller_close();
 
 #endif /* __RPI_MIDI_CONTROLLER_H__ */
\ No newline at end of file
diff --git a/RpiLedBars/src/rpi_param.c b/RpiLedBars/src/rpi_param.c
index 30f0937..9b3a5a0 100644
--- a/RpiLedBars/src/rpi_param.c
+++ b/RpiLedBars/src/rpi_param.c
@@ -1 +1,58 @@
+/** \file .c
+ *  \brief This module
+ */
+
+/***************************************************************************************************
+ * Includes
+ **************************************************************************************************/
+
 #include "rpi_param.h"
+
+#include <stdlib.h>
+
+/***************************************************************************************************
+ * Preprocessor Constants and Macros
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * Type and Contant Definitions
+ **************************************************************************************************/
+
+pixled_param_t const dummyPixledParam = {.intensity = .5, .hue = 0};
+auton_param_t const dummyAutonParam = {.sensitivity = 1};
+ledbar_param_t const dummyLedbarParam = {.sensitivity = 1};
+
+/***************************************************************************************************
+ * Persistent Variables
+ **************************************************************************************************/
+
+param_t param;
+
+/***************************************************************************************************
+ * Internal Function Prototypes
+ **************************************************************************************************/
+
+/***************************************************************************************************
+ * External Function Definitions
+ **************************************************************************************************/
+
+void param_setup() {
+  param.pixled = dummyPixledParam;
+  param.auton = dummyAutonParam;
+  for (size_t i = 0; i < 10; ++i) {
+    param.ledbar[i] = dummyLedbarParam;
+  }
+  param_access = &param;
+}
+
+void set_sensitivity(int channel, unsigned int sensitivity) {
+  if (channel >= 10) {
+    param.auton.sensitivity = sensitivity;
+  } else {
+    param.ledbar[channel].sensitivity = sensitivity;
+  }
+}
+
+/***************************************************************************************************
+ * Internal Function Definitions
+ **************************************************************************************************/
diff --git a/RpiLedBars/src/rpi_param.h b/RpiLedBars/src/rpi_param.h
index 8b0cc72..b202a4c 100644
--- a/RpiLedBars/src/rpi_param.h
+++ b/RpiLedBars/src/rpi_param.h
@@ -1,4 +1,80 @@
+/** \file .h
+ *  \brief This module
+ */
+
 #if !defined(__RPI_PARAM_H__)
 #define __RPI_PARAM_H__
 
+/***************************************************************************************************
+ * Includes
+ **************************************************************************************************/
+
+#include <stdint.h>
+
+/***************************************************************************************************
+ * Preprocessor Constants and Macros
+ **************************************************************************************************/
+
+#define CHAN_MAXLEDS 6 * 60 // Maximum number of LEDs per channel
+#define LED_NCHANS 8        // Number of LED channels (8 or 16)
+
+/***************************************************************************************************
+ * Type and Contant Definitions
+ **************************************************************************************************/
+
+/**
+ *
+ */
+typedef struct {
+  uint8_t intensity;
+  int hue;
+} pixled_param_t;
+
+/**
+ *
+ */
+typedef struct {
+  unsigned int sensitivity;
+} auton_param_t;
+
+/**
+ *
+ */
+typedef struct {
+  unsigned int sensitivity;
+} ledbar_param_t;
+
+/**
+ *
+ */
+typedef struct {
+  pixled_param_t pixled;
+  auton_param_t auton;
+  ledbar_param_t ledbar[10];
+} param_t;
+
+/***************************************************************************************************
+ * Global Variables
+ **************************************************************************************************/
+
+static param_t *param_access;
+
+/***************************************************************************************************
+ * External Function Prototypes
+ **************************************************************************************************/
+
+/**
+ * \brief
+ */
+void param_setup();
+
+/**
+ * \brief
+ *
+ * \param[in] channel
+ *
+ * \param[in] sensitivity
+ */
+void set_sensitivity(int channel, unsigned int sensitivity);
+
 #endif /* __RPI_PARAM_H__ */
\ No newline at end of file
diff --git a/RpiLedBars/src/tasks/artnet/rpi_artnet.c b/RpiLedBars/src/tasks/artnet/rpi_artnet.c
index 531eac8..6d71639 100644
--- a/RpiLedBars/src/tasks/artnet/rpi_artnet.c
+++ b/RpiLedBars/src/tasks/artnet/rpi_artnet.c
@@ -20,6 +20,7 @@
 #include <sys/socket.h>
 #include <unistd.h>
 
+#include "log.h"
 #include "rpi_artnet_utils.h"
 
 /***************************************************************************************************
@@ -33,6 +34,7 @@
 /***************************************************************************************************
  * Persistent Variables
  **************************************************************************************************/
+
 /**
  * Boolean for interrupting the main thread loop
  */
@@ -76,7 +78,7 @@ void artnet_start() {
   isUdpListenerRunning = true;
 
   if (pthread_create(&udpListener, NULL, artnet_udp_handler, NULL) < 0) {
-    perror("pthread_create");
+    log_error("pthread_create: %s", strerror(errno));
   }
 }
 
@@ -84,23 +86,25 @@ void artnet_stop() {
   isUdpListenerRunning = false;
 
   if (pthread_join(udpListener, NULL) != 0) {
-    perror("pthread_join");
+    log_error("pthread_join: %s", strerror(errno));
   }
 }
 
 int artnet_get_dmx_data(unsigned int univerve, uint8_t *dmxData[]) {
   if (univerve > 8) {
-    fprintf(stderr, "Universe %d out of bounds %d\n", univerve, 16);
+    log_error("Universe %d out of bounds %d\n", univerve, 16);
     *dmxData = NULL;
     return -1;
   }
   *dmxData = artDmxBufferArray[univerve];
+  log_trace("%d;%d;%d;%d", (*dmxData)[0], (*dmxData)[1], (*dmxData)[2], (*dmxData)[3]);
   return 0;
 }
 
 /***************************************************************************************************
  * Internal Function Definitions
  **************************************************************************************************/
+
 static void *artnet_udp_handler(void *arg) {
   int fdUdpSocket = -1;
   struct pollfd pollFdArray[1];
@@ -113,7 +117,7 @@ static void *artnet_udp_handler(void *arg) {
   /* Create UDP socket */
   fdUdpSocket = socket(PF_INET, SOCK_DGRAM, 0);
   if (fdUdpSocket < 0) {
-    perror("Opening socket failed");
+    log_error("Opening socket failed: %s", strerror(errno));
   }
 
   /* Set non-blocking socket */
@@ -170,7 +174,7 @@ static void *artnet_udp_handler(void *arg) {
       }
 
     } else if (pollReturn < 0) {
-      fprintf(stderr, "error polling %d: %s\n", fdUdpSocket, strerror(errno));
+      log_error("error polling %d: %s", fdUdpSocket, strerror(errno));
     }
   }
 
@@ -187,7 +191,7 @@ static void artnet_send_poll_reply(int fdUdpSocket, struct sockaddr_in senderAdd
 
   if (sendto(fdUdpSocket, (uint8_t *)&artPollReply, sizeof(artPollReply_t), 0,
              (struct sockaddr *)&senderAddr, sizeof(senderAddr)) < 0) {
-    fprintf(stderr, "Error sending poll reply to %s:%d: %s\n", inet_ntoa(senderAddr.sin_addr),
-            strerror(errno));
+    log_error("%s: sending poll reply to \"%s:%d\": %s", inet_ntoa(senderAddr.sin_addr),
+              senderAddr.sin_port, strerror(errno));
   }
 }
\ No newline at end of file
diff --git a/RpiLedBars/src/tasks/artnet/rpi_artnet_packets.h b/RpiLedBars/src/tasks/artnet/rpi_artnet_packets.h
index d4828f6..30fb25f 100644
--- a/RpiLedBars/src/tasks/artnet/rpi_artnet_packets.h
+++ b/RpiLedBars/src/tasks/artnet/rpi_artnet_packets.h
@@ -139,7 +139,7 @@ typedef struct {
   uint8_t Filler[26]; // Filler bytes, currently zero.
 } artPollReply_t;
 
-static artPollReply_t artPollReply = {
+static artPollReply_t const artPollReply = {
     .ID = "Art-Net",
     .OpCode = OpPollReply,
     .IPAddr = {0},
diff --git a/RpiLedBars/src/tasks/cava/rpi_cava.c b/RpiLedBars/src/tasks/cava/rpi_cava.c
index 141f4d4..f33d107 100644
--- a/RpiLedBars/src/tasks/cava/rpi_cava.c
+++ b/RpiLedBars/src/tasks/cava/rpi_cava.c
@@ -17,6 +17,9 @@
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
+#include <wait.h>
+
+#include "log.h"
 
 /***************************************************************************************************
  * Preprocessor Constants and Macros
@@ -65,48 +68,29 @@ uint16_t buffer[128 + 2];
  */
 static void *fifo_to_buffer(void *arg);
 
+static int start_cava_process();
+
+static void stop_cava_process();
+
 /***************************************************************************************************
  * External Function Definitions
  **************************************************************************************************/
 
-void setup_cava() {
-  if ((cavaPid = fork()) == -1) {
-    perror("fork");
-    exit(1);
-  }
-
-  if (cavaPid == 0) {
-    /* Child process*/
-    char *args[] = {"/usr/local/bin/cava", "-p", "/home/pi/LedBars/RpiLedBars/cava_config", NULL};
-
-    if (execv(args[0], args) != 0) {
-      perror("execv");
-    }
-
-  } else {
-    sleep(1);
-  }
-}
-
-void close_cava() {
-  stop_cava_bg_worker();
-  kill(cavaPid, SIGTERM);
-}
-
-void start_cava_bg_worker() {
+void cava_start() {
   isFifoReaderRunning = true;
   pthread_create(&fifoReader, NULL, fifo_to_buffer, NULL);
 }
 
-void stop_cava_bg_worker() {
+void cava_stop() {
   isFifoReaderRunning = false;
   if (pthread_join(fifoReader, NULL) != 0) {
-    perror("pthread_join");
+    log_error("pthread_join: %s", strerror(errno));
   }
 }
 
-int get_cava_buffer(uint16_t **buffer_dst) {
+int cava_get_buffer(uint16_t **buffer_dst) {
   *buffer_dst = buffer;
+  log_trace("%d;%d;%d;%d", buffer[0], buffer[1], buffer[2], buffer[3]);
   return 0;
 }
 
@@ -122,12 +106,8 @@ static void *fifo_to_buffer(void *arg) {
   char strValue[6] = "0\0";
   bool hasToBeDiscarded = true;
 
-  if start_cava_process ()
-    ;
-  if ((fdCavaInput = open("/tmp/cava_output", O_RDONLY | O_NONBLOCK)) < 0) {
-    perror("open");
-    close_cava();
-    exit(1);
+  if ((fdCavaInput = start_cava_process()) < 0) {
+    log_error("y'a un truc qui a pas marché");
   }
 
   memset(fds, 0, sizeof(fds));
@@ -165,26 +145,27 @@ static void *fifo_to_buffer(void *arg) {
                 valueIndex = 0;
 
                 if (valueIndex > 129) {
-                  fprintf(stderr, "Buffer overflow, \\n missed, discarding next\n");
+                  log_warn("Buffer overflow, \\n missed, discarding next");
                   hasToBeDiscarded = true;
                 }
               }
 
             } else {
-              fprintf(stderr, "Unexpected char %d [%c]\n", current, current);
+              log_warn("Unexpected char %d [%c]\n", current, current);
             }
           }
         }
       } else {
         if (errno != EAGAIN) {
-          perror("read");
+          log_error("read: %s", strerror(errno));
         }
       }
     } else if (ret < 0) {
-      fprintf(stderr, "error polling %d: %s\n", fdCavaInput, strerror(errno));
+      log_error("polling %d: %s\n", fdCavaInput, strerror(errno));
     }
   }
 
+  stop_cava_process();
   close(fdCavaInput);
 
   return NULL;
@@ -194,17 +175,18 @@ static int start_cava_process() {
   int fdCavaPipe[2];
 
   if (pipe(fdCavaPipe) < 0) {
-    fprintf(stderr, "Cava pipe failure: %s\n", strerror(errno));
+    log_error("Cava pipe failure: %s", strerror(errno));
     return -EXIT_FAILURE;
   }
 
   if ((cavaPid = fork()) < 0) {
-    fprintf(stderr, "Cava fork failure: %s\n", strerror(errno));
-    exit(EXIT_FAILURE);
+    log_error("Cava fork failure: %s", strerror(errno));
+    exit(-EXIT_FAILURE);
   }
 
   if (cavaPid == 0) {
     /* Child process*/
+    int fdLogOut;
     char *args[] = {"cava", "-p", "/home/pi/LedBars/RpiLedBars/cava_config", NULL};
 
     /* Close reading end of the pipe */
@@ -214,10 +196,16 @@ static int start_cava_process() {
     /* Close writing end of the pipe */
     close(fdCavaPipe[1]);
 
+    /* Open / create a log file for cava */
+    fdLogOut = open("/dev/null", O_WRONLY, NULL);
+    /* Dup file in place of stderr */
+    dup2(fdLogOut, STDERR_FILENO);
+
     execvp(args[0], args);
-    fprintf(stderr, "Cava execvp failure or return: %s\n", strerror(errno));
-    exit(EXIT_FAILURE);
+    log_error("Cava execvp failure or return: %s", strerror(errno));
+    exit(-EXIT_FAILURE);
   } else {
+    int flags;
     /* Close writing end of the pipe */
     close(fdCavaPipe[1]);
     /* Set reading end of the pipe non-blocking */
@@ -231,4 +219,7 @@ static int start_cava_process() {
   return -1;
 }
 
-static void stop_cava_process() { kill(cavaPid, SIGTERM); }
+static void stop_cava_process() {
+  kill(cavaPid, SIGTERM);
+  waitpid(0, NULL, WNOHANG);
+}
diff --git a/RpiLedBars/src/tasks/cava/rpi_cava.h b/RpiLedBars/src/tasks/cava/rpi_cava.h
index 4eacffb..fd15c5c 100644
--- a/RpiLedBars/src/tasks/cava/rpi_cava.h
+++ b/RpiLedBars/src/tasks/cava/rpi_cava.h
@@ -30,12 +30,12 @@
  **/
 void setup_cava();
 
-int get_cava_buffer(uint16_t **buffer_dst);
+int cava_get_buffer(uint16_t **buffer_dst);
 
 void close_cava();
 
-void start_cava_bg_worker();
+void cava_start();
 
-void stop_cava_bg_worker();
+void cava_stop();
 
 #endif /* __RPI_CAVA_H__ */
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