diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 6a33db667831a41fbe32e110317ce4e7ae1f96ff..c5c76ac355545a2697924424c7d9903ee2edd6ec 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -6,7 +6,7 @@ pages:
   script:
   - apt-get update
   - apt-get install --assume-yes pandoc
-  - pip install numpy pandas termcolor paho-mqtt  # top import of Ohmpi.py
+  - pip install numpy pandas termcolor paho-mqtt zmq  # top import of Ohmpi.py
   - pip install sphinx numpydoc sphinx_rtd_theme pandoc recommonmark
   - cd doc
   - make html
diff --git a/PCB_boards/.gitkeep b/PCB_boards/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board.zip b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board.zip
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board.zip
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board.zip
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_contour.gm1 b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_contour.gm1
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_contour.gm1
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_contour.gm1
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_copperBottom.gbl b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_copperBottom.gbl
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_copperBottom.gbl
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_copperBottom.gbl
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_copperTop.gtl b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_copperTop.gtl
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_copperTop.gtl
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_copperTop.gtl
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_drill.txt b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_drill.txt
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_drill.txt
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_drill.txt
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_maskBottom.gbs b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_maskBottom.gbs
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_maskBottom.gbs
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_maskBottom.gbs
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_maskTop.gts b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_maskTop.gts
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_maskTop.gts
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_maskTop.gts
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_pnp.txt b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_pnp.txt
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_pnp.txt
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_pnp.txt
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_silkBottom.gbo b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_silkBottom.gbo
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_silkBottom.gbo
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_silkBottom.gbo
diff --git a/PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_silkTop.gto b/PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_silkTop.gto
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_silkTop.gto
rename to PCB_boards/MUX_board/Gerber_for _printing_MUX_board/ohmPi_MUX_64elec_I2C_silkTop.gto
diff --git a/PCB_file_measurement_card/MUX_board/ohmPi_MUX_64elec_I2C.fzz b/PCB_boards/MUX_board/ohmPi_MUX_64elec_I2C.fzz
similarity index 100%
rename from PCB_file_measurement_card/MUX_board/ohmPi_MUX_64elec_I2C.fzz
rename to PCB_boards/MUX_board/ohmPi_MUX_64elec_I2C.fzz
diff --git a/PCB_file_measurement_card/accessory/accessoire_ohmpi.fzz b/PCB_boards/accessory/accessoire_ohmpi.fzz
similarity index 100%
rename from PCB_file_measurement_card/accessory/accessoire_ohmpi.fzz
rename to PCB_boards/accessory/accessoire_ohmpi.fzz
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16.fzz b/PCB_boards/measurement_board/card_measure_raspberry_v3.16.fzz
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16.fzz
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16.fzz
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_contour.gm1 b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_contour.gm1
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_contour.gm1
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_contour.gm1
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_copperBottom.gbl b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_copperBottom.gbl
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_copperBottom.gbl
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_copperBottom.gbl
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_copperTop.gtl b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_copperTop.gtl
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_copperTop.gtl
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_copperTop.gtl
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_drill.txt b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_drill.txt
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_drill.txt
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_drill.txt
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_maskBottom.gbs b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_maskBottom.gbs
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_maskBottom.gbs
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_maskBottom.gbs
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_maskTop.gts b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_maskTop.gts
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_maskTop.gts
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_maskTop.gts
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_pnp.txt b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_pnp.txt
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_pnp.txt
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_pnp.txt
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_silkBottom.gbo b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_silkBottom.gbo
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_silkBottom.gbo
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_silkBottom.gbo
diff --git a/PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_silkTop.gto b/PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_silkTop.gto
similarity index 100%
rename from PCB_file_measurement_card/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_silkTop.gto
rename to PCB_boards/measurement_board/card_measure_raspberry_v3.16_gerber_export/card_measure_raspberry_v3.16_silkTop.gto
diff --git a/Pipfile b/Pipfile
new file mode 100644
index 0000000000000000000000000000000000000000..4c69a3bc4a2383ea892207e3c90e76e7614092f4
--- /dev/null
+++ b/Pipfile
@@ -0,0 +1,23 @@
+[[source]]
+name = "pypi"
+url = "https://pypi.org/simple"
+verify_ssl = true
+
+[dev-packages]
+
+[packages]
+numpy = "*"
+# cython = "*"
+# pandas = "*"
+paho-mqtt = "*"
+pytz = "*"
+six = "*"
+gpiozero = "*"
+adafruit-blinka = "*"
+adafruit-circuitpython-ads1x15 = "*"
+adafruit-circuitpython-tca9548a = "*"
+adafruit-circuitpython-mcp230xx = "*"
+termcolor ="*"
+
+[requires]
+python_version = "3.9"
diff --git a/Proposition MQTT interface.pdf b/Proposition MQTT interface.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..96a92bca0e11dc1fe46c40cf61f8818744b6ba1f
Binary files /dev/null and b/Proposition MQTT interface.pdf differ
diff --git a/Proposition interface.pdf b/Proposition interface.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..30b8a7cb770b79647dc64f4d7f88edef50f88c09
Binary files /dev/null and b/Proposition interface.pdf differ
diff --git a/README.md b/README.md
index 1fd24228ed9bca9a6a69024627ed3c4414fb2bc6..f4be390a74f9a9418e00506c6c6f84c28b8d9ec9 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # OhmPi
 
-Development of a low-cost multi-electrodes resistivimeter  for electrical resistivity mesaurement for lab applications, based on raspberry board
+Development of a low-cost multi-electrodes resistivity meter for electrical resistivity mesaurement for lab applications, based on raspberry board
 
 ## Installation
 
diff --git a/config.py b/config.py
index 338b5dde6d06eb8f6697b90096389e845765bfd7..622492f61b11c1b9baffdb6ea585b307f217b0aa 100644
--- a/config.py
+++ b/config.py
@@ -1,5 +1,7 @@
+import logging
 from paho.mqtt.client import MQTTv31
 
+mqtt_broker = 'localhost'
 # OhmPi configuration
 OHMPI_CONFIG = {
     'id': '0001',  # Unique identifier of the OhmPi board (string)
@@ -12,15 +14,21 @@ OHMPI_CONFIG = {
     'integer': 2,  # Max value 10 # TODO: Explain what this is...
     'version': 2,
     'max_elec': 64,
-    'board_address': {'A': 0x72, 'B': 0x73, 'M': 0x70, 'N': 0x71}  # def. {'A': 0x76, 'B': 0x71, 'M': 0x74, 'N': 0x70}
-    #'board_address': {'A': 0x76, 'B': 0x71, 'M': 0x74, 'N': 0x70}  # def. {'A': 0x76, 'B': 0x71, 'M': 0x74, 'N': 0x70}
-}
+    'board_address': {'A': 0x72, 'B': 0x73, 'M': 0x70, 'N': 0x71},  # def. {'A': 0x76, 'B': 0x71, 'M': 0x74, 'N': 0x70}
+     #'board_address': {'A': 0x70, 'B': 0x71, 'M': 0x72, 'N': 0x73},  # def. {'A': 0x76, 'B': 0x71, 'M': 0x74, 'N': 0x70}
+    'settings': 'ohmpi_settings.json',
+    'board_version': '22.11',
+}  # TODO: add a dictionary with INA models and associated gain values
 
+CONTROL_CONFIG = {
+    'tcp_port': 5555,
+    'interface': 'http_interface.py' # 'mqtt_interface'
+}
 # Execution logging configuration
 EXEC_LOGGING_CONFIG = {
-    'debug_mode': True,
-    'logging_to_console': False,
-    'file_name': 'ohmpi_log',
+    'logging_level': logging.DEBUG,
+    'logging_to_console': True,
+    'file_name': 'exec.log',
     'max_bytes': 262144,
     'backup_count': 30,
     'when': 'd',
@@ -29,8 +37,9 @@ EXEC_LOGGING_CONFIG = {
 
 # Data logging configuration
 DATA_LOGGING_CONFIG = {
-    'file_name': 'data_log',
-    'logging_to_console': False,
+    'logging_level': logging.INFO,
+    'logging_to_console': True,
+    'file_name': 'data.log',
     'max_bytes': 16777216,
     'backup_count': 1024,
     'when': 'd',
@@ -39,7 +48,7 @@ DATA_LOGGING_CONFIG = {
 
 # State of Health logging configuration
 SOH_LOGGING_CONFIG = {
-    'file_name': 'soh_log',
+    'file_name': 'soh.log',
     'logging_to_console': True,
     'max_bytes': 16777216,
     'backup_count': 1024,
@@ -49,35 +58,34 @@ SOH_LOGGING_CONFIG = {
 
 # MQTT logging configuration parameters
 MQTT_LOGGING_CONFIG = {
-    'hostname': 'raspberrypi.local',
+    'hostname': mqtt_broker,
     'port': 1883,
-    'qos': 0,
+    'qos': 2,
     'retain': False,
     'keepalive': 60,
     'will': None,
-    'auth': None,
+    'auth': { 'username': 'mqtt_user', 'password': 'mqtt_password' },
     'tls': None,
     'protocol': MQTTv31,
     'transport': 'tcp',
-    'client_id': f'ohmpi_sn_{OHMPI_CONFIG["id"]}',
-    'ctrl_topic': f'ctrl_ohmpi_sn_{OHMPI_CONFIG["id"]}',
-    'exec_topic': f'exec_ohmpi_sn_{OHMPI_CONFIG["id"]}',
-    'data_topic': f'data_ohmpi_sn_{OHMPI_CONFIG["id"]}',
-    'soh_topic': f'soh_ohmpi_sn_{OHMPI_CONFIG["id"]}'
+    'client_id': f'{OHMPI_CONFIG["id"]}',
+    'exec_topic': f'ohmpi_{OHMPI_CONFIG["id"]}/exec',
+    'data_topic': f'ohmpi_{OHMPI_CONFIG["id"]}/data',
+    'soh_topic': f'ohmpi_{OHMPI_CONFIG["id"]}/soh'
 }
 
-# MQTT command configuration parameters
+# MQTT control configuration parameters
 MQTT_CONTROL_CONFIG = {
-    'hostname': 'ohmpy.umons.ac.be',
+    'hostname': mqtt_broker,
     'port': 1883,
-    'qos': 0,
+    'qos': 2,
     'retain': False,
     'keepalive': 60,
     'will': None,
-    'auth': None,
+    'auth': { 'username': 'mqtt_user', 'password': 'mqtt_password' },
     'tls': None,
     'protocol': MQTTv31,
     'transport': 'tcp',
-    'client_id': f'ohmpi_sn_{OHMPI_CONFIG["id"]}',
-    'cmd_topic': f'cmd_ohmpi_sn_{OHMPI_CONFIG["id"]}'
+    'client_id': f'{OHMPI_CONFIG["id"]}',
+    'ctrl_topic': f'ohmpi_{OHMPI_CONFIG["id"]}/ctrl'
 }
diff --git a/deploy_virtual_env.sh b/deploy_virtual_env.sh
new file mode 100644
index 0000000000000000000000000000000000000000..6590536381e3428c97f684fe1cbeade84987a916
--- /dev/null
+++ b/deploy_virtual_env.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+sudo apt-get install -y libatlas-base-dev
+python -m venv ohmpy
+source ohmpy/bin/activate || exit 1  # NOTE: Added || exit to avoid installing requirements in system python
+export CFLAGS=-fcommon
+pip install -r requirements.txt
+
diff --git a/doc/source/Ohmpi.rst b/doc/source/Ohmpi.rst
index ab41c4e2d16fe5e3a1acdf22f2c945a7292fc899..78dd684494ee3e6a4cb0aec22a927125653a5056 100644
--- a/doc/source/Ohmpi.rst
+++ b/doc/source/Ohmpi.rst
@@ -29,7 +29,7 @@ OhmPi project
    +----------------------------------+-----------------------------------+-------------------------------+
    |   .. image:: logo_inrae.jpg      |  .. image:: logo_univ_gustave.png |   .. image:: logo_ilvo.png    |
    +----------------------------------+-----------------------------------+-------------------------------+
-   |   .. image:: logo_univ_mons.png  |  .. image:: ige.png               |                               |              
+   |   .. image:: logo_univ_mons.png  |  .. image:: ige.png               |   .. image:: logo-iris.jpg    |              
    +----------------------------------+-----------------------------------+-------------------------------+
    
   
@@ -66,4 +66,4 @@ to the near surface scientific community.
  
 
 .. note:: 
-   Everyone willing to get involved is  welcome in OhmPi Project!.
+   Everyone willing to get involved is  welcome in OhmPi Project!.
\ No newline at end of file
diff --git a/doc/source/Ohmpi_V2_00/V2_00_usage.rst b/doc/source/Ohmpi_V2_00/V2_00_usage.rst
new file mode 100644
index 0000000000000000000000000000000000000000..a85ed70e2fa3ce7cbc83c4bbcb3a13659fc34f75
--- /dev/null
+++ b/doc/source/Ohmpi_V2_00/V2_00_usage.rst
@@ -0,0 +1,103 @@
+
+.. warning::
+	**Ohmpi is a participative project open to all, it requires skills in electronics and to respect the safety rules. Ohmpi must be assembled in a professional context and by people competent in electronics. The Ohmpi team cannot be held responsible for any material or human damage which would be associated with the use or the assembly of OHMPI. The Ohmpi team cannot be held responsible if the equipment does not work after assembly.**
+
+
+
+
+
+
+**Usage** Interfaces and applications
+****************************************************
+
+Different interfaces can be used to communicated with the OhmPi.
+
+*** Web interface ***
+
+The raspberrypi of the OhmPi is used as a Wifi Access Point (AP) and run
+a small webserver to serve the 'index.html' interface. Using a laptop or
+a mobile phone connected to the wifi of the Raspberry Pi, one can see this
+interface, upload sequence, change parameters, run sequence and download data.
+
+To configure the Raspberry Pi to act as an access point and run
+the webserver automatically on start, see instructions in 'runOnStart.sh'.
+
+Once configure, the webserver should start by itself on start and once
+connected to the Pi, the user can go to `10.3.141.1:8080<http://10.3.141.1:8080>`
+ to access the interface.
+ 
+ 
+TODO add screenshot of interface
+ 
+
+
+*** Python interface***
+
+By importing the `OhmPi` class from the ohmpi.py, one can controle the OhmPi using interactive IPython.
+Typically, it involves using the Thonny on the Raspberry Pi or the Terminal. Once can also connect using 
+ssh and run the Python interface (see PuTTY on Windows or ssh command on macOS/Linux).
+
+To access the Python API, make sure the file ohmpi.py is in the same
+directory as where you run the commands/script. The file ohmpi.py can
+be found on the OhmPi gitlab repository. We recommend downloading the 
+entire repository as ohmpi.py import other .py files and default configuration
+files (.json and .py).
+
+
+.. codeblock:: python
+   :caption: Example of using the Python API to control OhmPi
+
+
+   from ohmpi import OhmPi
+   k = OhmPi(idps=True)  # if V3.0 make sure to set idps to True
+   # the DPS5005 is used in V3.0 to inject higher voltage
+   
+   # default parameters are stored in the pardict argument
+   # they can be manually changed
+   k.pardict['injection_duration'] = 0.5  # injection time in seconds
+   k.pardict['nb_stack'] = 1  # one stack is two half-cycles
+   k.pardict['nbr_meas'] = 1  # number of time the sequence is repeated
+   
+   # without multiplexer, one can simple measure using
+   out = k.run_measurement()
+   # out contains information about the measurement and can be save as
+   k.append_and_save('out.csv', out)
+   
+   # custom or adaptative argument (see help of run_measurement())
+   k.run_measurement(nb_stack=4,  # do 4 stacks (8 half-cycles)
+                     injection_duration=2,  # inject for 2 seconds
+                     autogain=True,  # adapt gain of ADS to get good resolution
+                     strategy='vmin',  # inject min voltage for Vab (v3.0)
+                     tx_volt=5)  # vab for finding vmin or vab injectected
+                     # if 'strategy' is 'constant'
+   
+   # if a multiplexer is connected, we can also manually switch it
+   k.reset_mux()  # check that all mux are closed (do this FIRST)
+   k.switch_mux_on([1, 4, 2, 3])
+   k.run_measurement()
+   k.switch_mux_off([1, 4, 2, 3])  # don't forget this! risk of short-circuit
+   
+   # import a sequence
+   k.read_quad('sequence.txt')  # four columns, no header, space as separator
+   print(k.sequence)  # where the sequence is stored
+   
+   # rs check
+   k.rs_check()  # run an RS check (check contact resistances) for all
+   # electrodes of the given sequence
+   
+   # run a sequence
+   k.measure()  # measure accept same arguments as run_measurement()
+   # NOTE: this is an asynchronous command that runs in a separate thread
+   # after executing the command, the prompt will return immediately
+   # the asynchronous thread can be stopped during execution using
+   k.stop()
+   # otherwise, it will exit by itself at the end of the sequence
+   # if multiple measurement are to be taken, the sequence will be repeated
+   
+
+
+   
+***MQTT interface***
+
+Interface to communicate with the Pi designed for the Internet of Things (IoT).
+   
diff --git a/doc/source/Ohmpi_V2_00/step_n_2/a/schema_measurement_board.jpg b/doc/source/Ohmpi_V2_00/step_n_2/a/schema_measurement_board.jpg
deleted file mode 100644
index 0c005103090df5cc9a241bccca624ddc5288b2c5..0000000000000000000000000000000000000000
Binary files a/doc/source/Ohmpi_V2_00/step_n_2/a/schema_measurement_board.jpg and /dev/null differ
diff --git a/webserver.py b/http_interface.py
similarity index 57%
rename from webserver.py
rename to http_interface.py
index e573c07c884501cab945992b6c7a44f9a50961af..992118261ed9f05e07523b30fcd67bf17b2ac579 100644
--- a/webserver.py
+++ b/http_interface.py
@@ -1,123 +1,168 @@
-from http.server import SimpleHTTPRequestHandler, HTTPServer
-import time
-import os
-import json
-from ohmpi import OhmPi
-import threading
-import pandas as pd
-import shutil
-
-#hostName = "raspberrypi.local" # works for AP-STA
-#hostName = "192.168.50.1"  # fixed IP in AP-STA mode
-hostName = "0.0.0.0"  # for AP mode (not AP-STA)
-serverPort = 8080
-
-# https://gist.github.com/MichaelCurrie/19394abc19abd0de4473b595c0e37a3a
-
-with open('ohmpi_param.json') as json_file:
-    pardict = json.load(json_file)
-
-ohmpi = OhmPi(pardict, sequence='dd.txt')
-#ohmpi = OhmPi(pardict, sequence='dd16s0no8.txt')
-
-
-class MyServer(SimpleHTTPRequestHandler):
-    # because we use SimpleHTTPRequestHandler, we do not need to implement
-    # the do_GET() method (if we use the BaseHTTPRequestHandler, we would need to)
-   
-    # def do_GET(self):
-    #     # normal get for wepages (not so secure!)
-    #     print(self.command)
-    #     print(self.headers)
-    #     print(self.request)
-    #     self.send_response(200)
-    #     self.send_header("Content-type", "text/html")
-    #     self.end_headers()
-    #     with open(os.path.join('.', self.path[1:]), 'r') as f:
-    #         self.wfile.write(bytes(f.read(), "utf-8"))
-        
-    def do_POST(self):
-        global ohmpiThread, status, run
-        dic = json.loads(self.rfile.read(int(self.headers['Content-Length'])))
-        rdic = {}
-        if dic['command'] == 'start':
-            ohmpi.measure()
-        elif dic['command'] == 'stop':
-            ohmpi.stop()
-        elif dic['command'] == 'getData':
-            # get all .csv file in data folder
-            fnames = [fname for fname in os.listdir('data/') if fname[-4:] == '.csv']
-            ddic = {}
-            for fname in fnames:
-                if (fname.replace('.csv', '') not in dic['surveyNames'] 
-                    and fname != 'readme.txt'
-                    and '_rs' not in fname):
-                    df = pd.read_csv('data/' + fname)
-                    ddic[fname.replace('.csv', '')] = {
-                        'a': df['A'].tolist(),
-                        'b': df['B'].tolist(),
-                        'm': df['M'].tolist(),
-                        'n': df['N'].tolist(),
-                        'rho': df['R [ohm]'].tolist(),
-                    }
-            rdic['data'] = ddic
-        elif dic['command'] == 'removeData':
-            shutil.rmtree('data')
-            os.mkdir('data')
-        elif dic['command'] == 'setConfig':
-            ohmpi.stop()
-            cdic = dic['config']
-            ohmpi.pardict['nb_electrodes'] = int(cdic['nbElectrodes'])
-            ohmpi.pardict['injection_duration'] = float(cdic['injectionDuration'])
-            ohmpi.pardict['nbr_meas'] = int(cdic['nbMeasurements'])
-            ohmpi.pardict['nb_stack'] = int(cdic['nbStack'])
-            ohmpi.pardict['sequence_delay'] = int(cdic['sequenceDelay'])
-            if cdic['sequence'] != '':
-                with open('sequence.txt', 'w') as f:
-                    f.write(cdic['sequence'])
-                ohmpi.read_quad('sequence.txt')
-                print('new sequence set.')
-            print('setConfig', ohmpi.pardict)
-        elif dic['command'] == 'invert':
-            pass
-        elif dic['command'] == 'getResults':
-            pass
-        elif dic['command'] == 'rsCheck':
-            ohmpi.rs_check()
-            fnames = sorted([fname for fname in os.listdir('data/') if fname[-7:] == '_rs.csv'])
-            df = pd.read_csv('data/' + fnames[-1])
-            ddic = {
-                'AB': (df['A'].astype('str') + '-' + df['B'].astype(str)).tolist(),
-                'res': df['RS [kOhm]'].tolist()
-            }
-            rdic['data'] = ddic
-        elif dic['command'] == 'download':
-            shutil.make_archive('data', 'zip', 'data')
-        elif dic['command'] == 'shutdown':
-            print('shutting down...')
-            os.system('shutdown now -h')
-        elif dic['command'] == 'restart':
-            print('shutting down...')
-            os.system('reboot')
-        else:
-            # command not found
-            rdic['response'] = 'command not found'
-        
-        rdic['status'] = ohmpi.status
-        self.send_response(200)
-        self.send_header('Content-Type', 'text/json')
-        self.end_headers()
-        self.wfile.write(bytes(json.dumps(rdic), 'utf8'))
-
-
-if __name__ == "__main__":        
-    webServer = HTTPServer((hostName, serverPort), MyServer)
-    print("Server started http://%s:%s" % (hostName, serverPort))
-
-    try:
-        webServer.serve_forever()
-    except KeyboardInterrupt:
-        pass
-
-    webServer.server_close()
-    print("Server stopped.")
+from http.server import SimpleHTTPRequestHandler, HTTPServer
+import os
+import json
+import uuid
+from config import CONTROL_CONFIG
+from termcolor import colored
+import threading
+import pandas as pd
+import shutil
+import zmq # to write on TCP
+
+hostName = "0.0.0.0"  # for AP mode (not AP-STA)
+serverPort = 8080
+
+# https://gist.github.com/MichaelCurrie/19394abc19abd0de4473b595c0e37a3a
+
+tcp_port = CONTROL_CONFIG['tcp_port']
+context = zmq.Context()
+socket = context.socket(zmq.REQ)
+socket.connect(f'tcp://localhost:{CONTROL_CONFIG["tcp_port"]}')
+print(colored(f'Sending commands and listening on tcp port {tcp_port}.'))
+
+
+class MyServer(SimpleHTTPRequestHandler):
+    # because we use SimpleHTTPRequestHandler, we do not need to implement
+    # the do_GET() method (if we use the BaseHTTPRequestHandler, we would need to)
+
+    # def do_GET(self):
+    #     # normal get for wepages (not so secure!)
+    #     print(self.command)
+    #     print(self.headers)
+    #     print(self.request)
+    #     self.send_response(200)
+    #     self.send_header("Content-type", "text/html")
+    #     self.end_headers()
+    #     with open(os.path.join('.', self.path[1:]), 'r') as f:
+    #         self.wfile.write(bytes(f.read(), "utf-8"))
+
+    def do_POST(self):
+        cmd_id = uuid.uuid4().hex
+        global socket
+
+        # global ohmpiThread, status, run
+        dic = json.loads(self.rfile.read(int(self.headers['Content-Length'])))
+        rdic = {} # response dictionnary
+        if dic['cmd'] == 'start':
+            #ohmpi.measure()
+            socket.send_string(json.dumps({
+                'cmd_id': cmd_id,
+                'cmd': 'start'
+            }))
+        elif dic['cmd'] == 'stop':
+            # ohmpi.stop()
+            socket.send_string(json.dumps({
+                'cmd_id': cmd_id,
+                'cmd': 'stop'
+            }))
+        elif dic['cmd'] == 'getData':
+            # get all .csv file in data folder
+            fnames = [fname for fname in os.listdir('data/') if fname[-4:] == '.csv']
+            ddic = {}
+            for fname in fnames:
+                if (fname.replace('.csv', '') not in dic['surveyNames']
+                        and fname != 'readme.txt'
+                        and '_rs' not in fname):
+                    df = pd.read_csv('data/' + fname)
+                    ddic[fname.replace('.csv', '')] = {
+                        'a': df['A'].tolist(),
+                        'b': df['B'].tolist(),
+                        'm': df['M'].tolist(),
+                        'n': df['N'].tolist(),
+                        'rho': df['R [ohm]'].tolist(),
+                    }
+            rdic['data'] = ddic
+        elif dic['cmd'] == 'removeData':
+            shutil.rmtree('data')
+            os.mkdir('data')
+        elif dic['cmd'] == 'update_settings':
+            # ohmpi.stop()
+            socket.send_string(json.dumps({
+                'cmd_id': cmd_id,
+                'cmd': 'update_settings',
+                'args': dic['config']
+            }))
+            cdic = dic['config']
+            
+            """
+            ohmpi.pardict['nb_electrodes'] = int(cdic['nbElectrodes'])
+            ohmpi.pardict['injection_duration'] = float(cdic['injectionDuration'])
+            ohmpi.pardict['nbr_meas'] = int(cdic['nbMeasurements'])
+            ohmpi.pardict['nb_stack'] = int(cdic['nbStack'])
+            ohmpi.pardict['sequence_delay'] = int(cdic['sequenceDelay'])
+            if cdic['sequence'] != '':
+                with open('sequence.txt', 'w') as f:
+                    f.write(cdic['sequence'])
+                ohmpi.read_quad('sequence.txt')
+                print('new sequence set.')
+            print('setConfig', ohmpi.pardict)
+            """
+        elif dic['cmd'] == 'invert':
+            pass
+        elif dic['cmd'] == 'getResults':
+            pass
+        elif dic['cmd'] == 'rsCheck':
+            # ohmpi.rs_check()
+            socket.send_string(json.dumps({
+                'cmd_id': cmd_id,
+                'cmd': 'rs_check'
+            }))
+            fnames = sorted([fname for fname in os.listdir('data/') if fname[-7:] == '_rs.csv'])
+            df = pd.read_csv('data/' + fnames[-1])
+            ddic = {
+                'AB': (df['A'].astype('str') + '-' + df['B'].astype(str)).tolist(),
+                'res': df['RS [kOhm]'].tolist()
+            }
+            rdic['data'] = ddic
+        elif dic['cmd'] == 'download':
+            shutil.make_archive('data', 'zip', 'data')
+        elif dic['cmd'] == 'shutdown':
+            print('shutting down...')
+            os.system('shutdown now -h')
+        elif dic['cmd'] == 'restart':
+            print('shutting down...')
+            os.system('reboot')
+        else:
+            # command not found
+            rdic['response'] = 'command not found'
+
+        # rdic['status'] = ohmpi.status
+        rdic['status'] = 'unknown'  # socket_out.
+        # wait for reply
+
+        message = socket.recv()
+        print('+++////', message)
+        rdic['data'] = message.decode('utf-8')
+        """
+        while False:
+            message = socket.recv()
+            print(f'Received command: {message}')
+            e = None
+            try:
+                decoded_message = json.loads(message.decode('utf-8'))
+                cmd = decoded_message.pop('cmd', None)
+                args = decoded_message.pop('args', None)
+                status = False
+                e = None
+                if cmd is not None and cmd_id is decoded_message.pop('cmd_id', None):
+                    print('reply=', decoded_message)
+            except Exception as e:
+                print(f'Unable to decode command {message}: {e}')
+            """
+        self.send_response(200)
+        self.send_header('Content-Type', 'text/json')
+        self.end_headers()
+        self.wfile.write(bytes(json.dumps(rdic), 'utf8'))
+
+
+if __name__ == "__main__":
+    webServer = HTTPServer((hostName, serverPort), MyServer)
+    print("Server started http://%s:%s" % (hostName, serverPort))
+
+    try:
+        webServer.serve_forever()
+    except KeyboardInterrupt:
+        pass
+
+    webServer.server_close()
+    print("Server stopped.")
diff --git a/index.html b/index.html
index fbed636efdff767adcc25909a358a0758b4f2af9..ee10373ba50e0f40cc12c95a2e7f94e15db2b7f6 100644
--- a/index.html
+++ b/index.html
@@ -17,7 +17,7 @@
     <div class='container'>
         <h1>OhmPi Acquisition Board</h1>
         <!-- nb stacks, on-time -->
-        <button id="setConfigBtn" type="button" class="btn btn-secondary" data-toggle="modal" data-target="#exampleModal">Settings</button>
+        <button id="update_settingsBtn" type="button" class="btn btn-secondary" data-toggle="modal" data-target="#exampleModal">Settings</button>
         <button id='startBtn' type="button" class="btn btn-primary">Start</button>
         <button id='stopBtn' type="button" class="btn btn-warning">Stop</button>
         <!-- upload button for csv which display the table ABMN -->
@@ -113,7 +113,7 @@
                             <div class="col-sm-10">
                               <input type="number" class="form-control" id="elecSpacing", value="1">
                             </div>
-                          </div>           
+                          </div>
                       </form>
                 </div>
                 <div class="modal-footer">
@@ -139,11 +139,10 @@
         let interv = null // hold interval for automatic data retrieval
         let quads = [] // available quadrupoles for time-serie figure
         let squads = [] // selected quadrupoles for time-serie figure
-        let elecSpacing = 1 // m
 
         // useful functions
         function sendCommand(query, callback=null) {
-            // dic in the form: {'command': X, ...} as JSON
+            // dic in the form: {'cmd': X, ...} as JSON
             if (callback == null) {
                 function callback(x) {
                     console.log('default callback:', x)
@@ -160,12 +159,11 @@
             xhr.open('POST', serverUrl)
             xhr.setRequestHeader('Content-Type', 'application/json')
             xhr.send(query)
-            console.log('sendCommand:', query)
         }
 
         // start button
         function startBtnFunc() {
-            sendCommand('{"command": "start"}', function(x) {
+            sendCommand('{"cmd": "start"}', function(x) {
                 console.log(x['status'])
                 if (x['status'] == 'running') {
                     output.innerHTML = 'Status: measuring...'
@@ -177,10 +175,9 @@
 
         // stop button
         function stopBtnFunc() {
-            sendCommand('{"command": "stop"}', function(x) {
+            sendCommand('{"cmd": "stop"}', function(x) {
                 output.innerHTML = 'Status: ' + x['status']
                 clearInterval(interv)
-                document.getElementById('dataRetrievalCheck').checked = false
                 getData()
             })
         }
@@ -192,19 +189,18 @@
             // collect values from modal
             let formVals = {}
             for (let field of ['nbElectrodes', 'injectionDuration',
-             'nbMeasurements', 'sequenceDelay', 'nbStack', 'elecSpacing']) {
+             'nbMeasurements', 'sequenceDelay', 'nbStack']) {
                 formVals[field] = document.getElementById(field).value
             }
             console.log(formVals)
-            elecSpacing = formVals['elecSpacing']
             
             // define callback to send settigs to Pi
             function configCallback() {
                 sendCommand(JSON.stringify({
-                    'command': 'setConfig',
+                    'cmd': 'update_settings',
                      'config': formVals
                 }), function(x) {
-                    console.log('setconfig:', x)
+                    console.log('update_settings', x)
                 })
             }
             
@@ -235,69 +231,45 @@
         saveConfigBtn.addEventListener('click', saveConfigBtnFunc)
 
         // make pseudo plot
-        var trace = {}
-        let layout = {}
-        let tdata = []
-        let layout2 = {}
-        let rsdata = []
-        let rslayout = {}
-        
-        // initialize all plots
-        function initPlots() {
-			trace = {
-				x: [],
-				y: [],
-				mode: 'markers',
-				marker: {
-					size: 40,
-					color: [],
-					colorbar: {
-						title: 'App. res. [Ohm.m]',
-						cmin: 0,
-						cmax: 100,
-					}
-				}
-			}
-			layout = {
-				title: 'Pseudo-section',
-				yaxis: {
-					title: 'Pseudo-depth',
-					autorange: 'reversed'
-				},
-				xaxis: {
-					title: 'X'
-				}
+        var trace = {
+            x: [],
+            y: [],
+            mode: 'markers',
+            marker: {
+                size: 40,
+                color: [],
+                colorbar: {
+                    title: 'App. res. [Ohm.m]',
+                    cmin: 0,
+                    cmax: 100,
+                }
+            }
+        }
+        let layout = {
+            title: 'Pseudo-section',
+            yaxis: {
+                title: 'Pseudo-depth',
+                autorange: 'reversed'
+            },
+            xaxis: {
+                title: 'X'
+            }
 
-			}
-			Plotly.newPlot('gd', [trace], layout)
+        }
+        Plotly.newPlot('gd', [trace], layout)
 
-			// make time-serie plot
-			tdata = []
-			layout2 = {
-				title: 'Time-serie',
-				yaxis: {
-					title: 'App. res. [Ohm.m]'
-				},
-				xaxis: {
-					title: 'Sampling time'
-				}
-			}
-			Plotly.newPlot('ts', tdata, layout2)
-			
-			// bar chart for contact resistance
-			rsdata = []
-			rslayout = {
-				title: 'Contact resistances',
-				yaxis: {
-					title: 'Resistance [kOhm]'
-				},
-				xaxis: {
-					title: 'Consecutive electrodes'
-				}
-			}
-			Plotly.newPlot('rs', rsdata, rslayout)
-		}
-		initPlots()
+        // make time-serie plot
+        let tdata = []
+        let layout2 = {
+            title: 'Time-serie',
+            yaxis: {
+                title: 'App. res. [Ohm.m]'
+            },
+            xaxis: {
+                title: 'Sampling time'
+            }
+        }
+        Plotly.newPlot('ts', tdata, layout2)
 
         // add trace to time-serie plot
         function addTraceBtnFunc() {
@@ -329,36 +301,28 @@
             let surveyName = el['target'].value
             let df = data[surveyName]
             if (df != undefined) {
+                let a = df['a']
+                let b = df['b']
+                let m = df['m']
+                let n = df['n']
                 // let's assume electrodes are 1 m distance
                 // compute pseudo-depth (assume no topo)
                 // compute app res (assumping flat, line survey)
                 let xpos = []
                 let ypos = []
                 let app = []
-                for (let i = 0; i < df['a'].length; i++) {
-                    let a = df['a'][i]
-                    let b = df['b'][i]
-                    let m = df['m'][i]
-                    let n = df['n'][i]
-                    // let's sort the electrodes AB are the two left, MN, the two right
-                    // TODO not sure this is correct, resipy code is much more complex here
-                    let abmn = [a, b, m, n]
-                    abmn = abmn.sort((a, b) => a - b)
-                    a = abmn[0]
-                    b = abmn[1]
-                    m = abmn[2]
-                    n = abmn[3]
-                    let ab = (a + b)/2
-                    let mn = (m + n)/2
+                for (let i = 0; i < a.length; i++) {
+                    let ab = (a[i] + b[i])/2
+                    let mn = (m[i] + n[i])/2
                     let dist = Math.abs(ab - mn)
-                    xpos.push((Math.min(ab, mn) + dist/2)*elecSpacing)
-                    ypos.push((Math.sqrt(2)/2*dist)*elecSpacing)
-                    let am = Math.abs(a - m)*elecSpacing
-                    let bm = Math.abs(b - m)*elecSpacing
-                    let an = Math.abs(a - n)*elecSpacing
-                    let bn = Math.abs(a - n)*elecSpacing
+                    xpos.push(Math.min(ab, mn) + dist/2)
+                    ypos.push(Math.sqrt(2)/2*dist)
+                    let am = Math.abs(a[i] - m[i])
+                    let bm = Math.abs(b[i] - m[i])
+                    let an = Math.abs(a[i] - n[i])
+                    let bn = Math.abs(a[i] - n[i])
                     let K = (2*Math.PI)/((1/am)-(1/an)-(1/an)+(1/bn))
-                    app.push(df['rho'][i]*K)
+                    app.push(df['rho'][i]*-K)
                 }
                 console.log(app)
                 // update the trace and redraw the figure
@@ -372,10 +336,22 @@
         }
         let surveySelect = document.getElementById('surveySelect')
 
+        // bar chart for contact resistance
+        let rsdata = []
+        let rslayout = {
+            title: 'Contact resistances',
+            yaxis: {
+                title: 'Resistance [kOhm]'
+            },
+            xaxis: {
+                title: 'Consecutive electrodes'
+            }
+        }
+        Plotly.newPlot('rs', rsdata, rslayout)
         
         // run RS check
         function rsBtnFunc() {
-            sendCommand('{"command": "rsCheck"}', function (res) {
+            sendCommand('{"cmd": "rsCheck"}', function (res) {
                 // update the bar plot
                 rsdata.push({
                 x: res['data']['AB'],
@@ -400,7 +376,7 @@
         // getData
         function getData() {
             sendCommand(JSON.stringify({
-                'command': 'getData',
+                'cmd': 'getData',
                 'surveyNames': Object.keys(data).slice(0, -1)
                 // last survey is often partial so we download it again
             }), function(ddic) {
@@ -439,14 +415,8 @@
                 surveySelectFunc({'target': surveySelect})
 
                 // update list of quadrupoles if any
-                let idiff = false
-                if (data[surveyNames[0]] != undefined) {
-                    idiff = quads.length != data[surveyNames[0]]['a'].length
-                } 
-                //console.log('idiff=', idiff, quads.length, data[surveyNames[0]]['a'].length)
-                if (((quads.length == 0) | idiff) & (data[surveyNames[0]] != undefined)){
+                if (quads.length == 0) {
                     console.log('updating list of quadrupoles')
-                    quads = []
                     let df = data[surveyNames[0]]
                     let quadSelect = document.getElementById('quadSelect')
                     quadSelect.innerHTML = ''
@@ -517,22 +487,20 @@
         // checkbox interaction for data download
         function dataRetrievalCheckFunc(x) {
             if (x['target'].checked == true) {
-                interv = setInterval(getData, 1000) // every 1s
+                interv = setInterval(getData, 1000) // every 5s
             } else {
                 clearInterval(interv)
             }             
         }
         let dataRetrievalCheck = document.getElementById('dataRetrievalCheck')
         dataRetrievalCheck.addEventListener('change', dataRetrievalCheckFunc)
-			
 
         // remove data
         function removeDataBtnFunc() {
-            sendCommand('{"command": "removeData"}',function(x) {
+            sendCommand('{"cmd": "removeData"}',function(x) {
                 data = {}
                 output.innerHTML = 'Status: ' + x['status'] + ' (all data cleared)'
                 console.log('all data removed')
-                initPlots() // reset all plots
             })
         }
         let removeDataBtn = document.getElementById('removeDataBtn')
@@ -540,7 +508,7 @@
 
         // shutdown Pi
         function shutdownBtnFunc() {
-            sendCommand('{"command": "shutdown"}', function(x) {
+            sendCommand('{"cmd": "shutdown"}', function(x) {
                 console.log('shuting down...')
             })
         }
@@ -549,7 +517,7 @@
         
         // restart Pi
         function restartBtnFunc() {
-            sendCommand('{"command": "restart"}', function(x) {
+            sendCommand('{"cmd": "restart"}', function(x) {
                 console.log('rebooting...')
             })
         }
@@ -558,7 +526,7 @@
         
         // invert data
         // function invertBtnFunc() {
-        //     sendCommand('{"command": "invert"}', function(x) {
+        //     sendCommand('{"cmd": "invert"}', function(x) {
         //         console.log('inversion results', x)
         //     })
         // }
@@ -567,7 +535,7 @@
 
         // download data
         function downloadBtnFunc() {
-            sendCommand('{"command": "download"}', function(x) {
+            sendCommand('{"cmd": "download"}', function(x) {
                 let dwl = document.getElementById('download')
                 dwl.setAttribute('href', serverUrl + '/data.zip')
                 dwl.setAttribute('download', 'data.zip')
diff --git a/logging_setup.py b/logging_setup.py
index df8d5f88d537598127249594f7dd7fcf3538a23c..1cc4a9c45a3cdfb210874e1e6535da31ddc15894 100644
--- a/logging_setup.py
+++ b/logging_setup.py
@@ -1,10 +1,11 @@
 import json
-from config import EXEC_LOGGING_CONFIG, DATA_LOGGING_CONFIG, MQTT_LOGGING_CONFIG
+from config import EXEC_LOGGING_CONFIG, DATA_LOGGING_CONFIG, MQTT_LOGGING_CONFIG, MQTT_CONTROL_CONFIG
 from os import path, mkdir, statvfs
 from time import gmtime
 import logging
 from mqtt_logger import MQTTHandler
 from compressed_sized_timed_rotating_logger import CompressedSizedTimedRotatingFileHandler
+import sys
 
 
 def setup_loggers(mqtt=True):
@@ -12,7 +13,7 @@ def setup_loggers(mqtt=True):
     log_path = path.join(path.dirname(__file__), 'logs')
     if not path.isdir(log_path):
         mkdir(log_path)
-    exec_log_filename = path.join(log_path, 'msg_log')
+    exec_log_filename = path.join(log_path, EXEC_LOGGING_CONFIG['file_name'])
     exec_logger = logging.getLogger('exec_logger')
 
     # SOH logging setup
@@ -23,16 +24,9 @@ def setup_loggers(mqtt=True):
     data_path = path.join(base_path, 'data')
     if not path.isdir(data_path):
         mkdir(data_path)
-    data_log_filename = path.join(data_path, 'data_log')
+    data_log_filename = path.join(data_path, DATA_LOGGING_CONFIG['file_name'])
     data_logger = logging.getLogger('data_logger')
 
-    # Debug and logging
-    debug = EXEC_LOGGING_CONFIG['debug_mode']
-    if debug:
-        logging_level = logging.DEBUG
-    else:
-        logging_level = logging.INFO
-
     # Set message logging format and level
     log_format = '%(asctime)-15s | %(process)d | %(levelname)s: %(message)s'
     logging_to_console = EXEC_LOGGING_CONFIG['logging_to_console']
@@ -46,15 +40,27 @@ def setup_loggers(mqtt=True):
     exec_formatter.datefmt = '%Y/%m/%d %H:%M:%S UTC'
     exec_handler.setFormatter(exec_formatter)
     exec_logger.addHandler(exec_handler)
-    exec_logger.setLevel(logging_level)
+    exec_logger.setLevel(EXEC_LOGGING_CONFIG['logging_level'])
 
     if logging_to_console:
-        exec_logger.addHandler(logging.StreamHandler())
+        print(f'logging exec ? {logging_to_console}') # TODO: delete this line
+        console_exec_handler = logging.StreamHandler(sys.stdout)
+        console_exec_handler.setLevel(EXEC_LOGGING_CONFIG['logging_level'])
+        console_exec_handler.setFormatter(exec_formatter)
+        exec_logger.addHandler(console_exec_handler)
+
     if mqtt:
-        mqtt_msg_handler = MQTTHandler(MQTT_LOGGING_CONFIG['hostname'], MQTT_LOGGING_CONFIG['exec_topic'])
-        mqtt_msg_handler.setLevel(logging_level)
-        mqtt_msg_handler.setFormatter(exec_formatter)
-        exec_logger.addHandler(mqtt_msg_handler)
+        mqtt_settings = MQTT_LOGGING_CONFIG.copy()
+        [mqtt_settings.pop(i) for i in ['client_id', 'exec_topic', 'data_topic', 'soh_topic']]
+        mqtt_settings.update({'topic':MQTT_LOGGING_CONFIG['exec_topic']})
+        # TODO: handle the case of MQTT broker down or temporarily unavailable
+        try:
+            mqtt_exec_handler = MQTTHandler(**mqtt_settings)
+            mqtt_exec_handler.setLevel(EXEC_LOGGING_CONFIG['logging_level'])
+            mqtt_exec_handler.setFormatter(exec_formatter)
+            exec_logger.addHandler(mqtt_exec_handler)
+        except:
+            mqtt = False
 
     # Set data logging format and level
     log_format = '%(asctime)-15s | %(process)d | %(levelname)s: %(message)s'
@@ -70,25 +76,32 @@ def setup_loggers(mqtt=True):
     data_formatter.datefmt = '%Y/%m/%d %H:%M:%S UTC'
     data_handler.setFormatter(exec_formatter)
     data_logger.addHandler(data_handler)
-    data_logger.setLevel(logging_level)
+    data_logger.setLevel(DATA_LOGGING_CONFIG['logging_level'])
 
     if logging_to_console:
-        data_logger.addHandler(logging.StreamHandler())
+        console_data_handler = logging.StreamHandler(sys.stdout)
+        console_data_handler.setLevel(DATA_LOGGING_CONFIG['logging_level'])
+        console_data_handler.setFormatter(exec_formatter)
+        data_logger.addHandler(console_data_handler)
+
     if mqtt:
-        mqtt_data_handler = MQTTHandler(MQTT_LOGGING_CONFIG['hostname'], MQTT_LOGGING_CONFIG['data_topic'])
-        mqtt_data_handler.setLevel(logging_level)
+        mqtt_settings = MQTT_LOGGING_CONFIG.copy()
+        [mqtt_settings.pop(i) for i in ['client_id', 'exec_topic', 'data_topic', 'soh_topic']]
+        mqtt_settings.update({'topic': MQTT_LOGGING_CONFIG['data_topic']})
+        mqtt_data_handler = MQTTHandler(**mqtt_settings)
+        mqtt_data_handler.setLevel(DATA_LOGGING_CONFIG['logging_level'])
         mqtt_data_handler.setFormatter(data_formatter)
         data_logger.addHandler(mqtt_data_handler)
 
     try:
-        init_logging(exec_logger, data_logger, logging_level, log_path, data_log_filename)
+        init_logging(exec_logger, data_logger, EXEC_LOGGING_CONFIG['logging_level'], log_path, data_log_filename)
     except Exception as err:
         print(f'ERROR: Could not initialize logging!\n{err}')
     finally:
-        return exec_logger, exec_log_filename, data_logger, data_log_filename, logging_level
+        return exec_logger, exec_log_filename, data_logger, data_log_filename, EXEC_LOGGING_CONFIG['logging_level']
 
 
-def init_logging(exec_logger, data_logger, logging_level, log_path, data_log_filename):
+def init_logging(exec_logger, data_logger, exec_logging_level, log_path, data_log_filename):
     """ This is the init sequence for the logging system """
 
     init_logging_status = True
@@ -97,7 +110,7 @@ def init_logging(exec_logger, data_logger, logging_level, log_path, data_log_fil
     exec_logger.info('*** NEW SESSION STARTING ***')
     exec_logger.info('****************************')
     exec_logger.info('')
-    exec_logger.info('Logging level: %s' % logging_level)
+    exec_logger.info('Logging level: %s' % exec_logging_level)
     try:
         st = statvfs('.')
         available_space = st.f_bavail * st.f_frsize / 1024 / 1024
@@ -109,7 +122,8 @@ def init_logging(exec_logger, data_logger, logging_level, log_path, data_log_fil
     # TODO Add OhmPi settings
     config_dict = {'execution logging configuration': json.dumps(EXEC_LOGGING_CONFIG, indent=4),
                    'data logging configuration': json.dumps(DATA_LOGGING_CONFIG, indent=4),
-                   'mqtt logging configuration': json.dumps(MQTT_LOGGING_CONFIG, indent=4)}
+                   'mqtt logging configuration': json.dumps(MQTT_LOGGING_CONFIG, indent=4),
+                   'mqtt control configuration': json.dumps(MQTT_CONTROL_CONFIG, indent=4)}
     for k, v in config_dict.items():
         exec_logger.info(f'{k}:\n{v}')
     exec_logger.info('')
diff --git a/measurement.csv b/measurement.csv
deleted file mode 100644
index 17a00254f083416fbc7889bb5d606f0272393807..0000000000000000000000000000000000000000
--- a/measurement.csv
+++ /dev/null
@@ -1,12240 +0,0 @@
-0,2021-01-01 18:38:40.599997,1,4,2,3,-119.951,12.102,-9.912,950.539,12.11,-2.071,3,42.394,23.812
-0,2021-01-01 18:38:52.994152,1,4,2,3,-120.888,12.102,-9.989,950.539,12.11,-1.134,3,43.47,23.812
-0,2021-01-01 18:39:08.349997,1,4,2,3,-119.014,12.139,-9.804,947.611,12.11,-3.008,3,41.856,23.937
-0,2021-01-01 18:39:23.694625,1,4,2,3,-119.951,12.083,-9.927,952.004,12.11,-2.071,3,41.318,23.875
-0,2021-01-01 18:39:39.049048,1,4,2,3,-118.077,12.158,-9.712,946.155,12.11,-3.945,3,40.78,23.687
-0,2021-01-01 18:39:54.400928,1,4,2,3,-119.951,12.046,-9.958,954.963,12.11,-2.071,3,41.318,23.687
-0,2021-01-01 18:40:09.759940,1,4,2,3,-119.014,12.139,-9.804,947.607,12.11,-3.008,3,40.78,23.625
-0,2021-01-01 18:40:25.123246,1,4,2,3,-119.951,12.121,-9.896,949.074,12.11,-2.071,3,40.78,23.562
-0,2021-01-01 18:40:40.474256,1,4,2,3,-119.951,12.083,-9.927,952.007,12.11,-2.071,3,40.78,23.687
-0,2021-01-01 18:40:55.860773,1,4,2,3,-119.951,12.121,-9.896,949.074,12.11,-2.071,3,40.78,23.687
-0,2021-01-01 18:41:11.210117,1,4,2,3,-119.951,12.065,-9.942,953.485,12.11,-2.071,3,40.78,23.562
-0,2021-01-01 18:41:26.579167,1,4,2,3,-120.888,12.139,-9.958,947.611,12.11,-1.134,3,40.78,23.562
-0,2021-01-01 18:41:41.938057,1,4,2,3,-119.014,12.121,-9.819,949.07,12.11,-3.008,3,40.78,23.625
-0,2021-01-01 18:41:57.273344,1,4,2,3,-119.951,12.102,-9.912,951.15,12.11,-2.071,3,40.78,23.625
-0,2021-01-01 18:42:12.663466,1,4,2,3,-119.951,12.102,-9.912,950.539,12.11,-2.071,3,40.78,23.625
-0,2021-01-01 18:42:28.022064,1,4,2,3,-120.888,12.121,-9.974,949.07,12.11,-1.134,3,39.704,23.625
-0,2021-01-01 18:42:43.379852,1,4,2,3,-119.014,12.121,-9.819,949.07,12.11,-1.134,3,40.78,23.687
-0,2021-01-01 18:42:58.733862,1,4,2,3,-119.014,12.158,-9.789,946.155,12.11,-3.008,3,40.78,23.687
-0,2021-01-01 18:43:14.090554,1,4,2,3,-117.14,12.158,-9.635,946.155,12.11,-4.882,3,40.78,23.562
-0,2021-01-01 18:43:29.443395,1,4,2,3,-119.951,12.139,-9.881,947.614,12.11,-2.071,3,40.78,23.562
-0,2021-01-01 18:43:44.796827,1,4,2,3,-120.888,12.121,-9.974,949.07,12.11,-1.133,3,40.78,23.5
-0,2021-01-01 18:44:00.150616,1,4,2,3,-120.888,12.083,-10.005,952.007,12.11,-1.134,3,40.242,23.562
-0,2021-01-01 18:44:15.516852,1,4,2,3,-119.014,12.102,-9.834,950.535,12.11,-3.008,3,40.78,23.562
-0,2021-01-01 18:44:30.902191,1,4,2,3,-120.888,12.121,-9.974,949.074,12.11,-1.134,3,40.78,23.687
-0,2021-01-01 18:44:46.263349,1,4,2,3,-119.951,12.102,-9.912,950.539,12.11,-2.071,3,40.78,23.687
-0,2021-01-01 18:45:01.619753,1,4,2,3,-119.951,12.121,-9.896,949.074,12.11,-2.071,3,39.704,23.687
-0,2021-01-01 18:45:16.983340,1,4,2,3,-119.951,12.139,-9.881,947.611,12.11,-2.071,3,39.704,23.687
-0,2021-01-01 18:45:32.338853,1,4,2,3,-120.888,12.083,-10.005,952.011,12.11,-1.134,3,40.242,23.687
-0,2021-01-01 18:45:47.701196,1,4,2,3,-121.825,12.121,-10.051,949.07,12.11,-0.196,3,39.704,23.687
-0,2021-01-01 18:46:03.068826,1,4,2,3,-119.951,12.121,-9.896,949.074,12.11,-2.071,3,40.78,23.687
-0,2021-01-01 18:46:18.410344,1,4,2,3,-119.014,12.121,-9.819,949.07,12.11,-3.008,3,40.242,23.687
-0,2021-01-01 18:46:33.764388,1,4,2,3,-118.077,12.102,-9.757,950.539,12.11,-2.071,3,40.78,23.687
-0,2021-01-01 18:46:49.113619,1,4,2,3,-119.014,12.102,-9.834,950.539,12.11,-3.008,3,40.242,23.687
-0,2021-01-01 18:47:04.504198,1,4,2,3,-120.888,12.158,-9.943,946.152,12.11,-1.134,3,39.704,23.75
-0,2021-01-01 18:47:19.865611,1,4,2,3,-117.14,12.083,-9.694,952.015,12.11,-3.008,3,40.78,23.75
-0,2021-01-01 18:47:35.224422,1,4,2,3,-119.951,12.121,-9.896,949.07,12.11,-2.07,3,40.78,23.75
-0,2021-01-01 18:47:50.575325,1,4,2,3,-119.014,12.102,-9.834,950.546,12.11,-3.008,3,40.242,23.75
-0,2021-01-01 18:48:05.933343,1,4,2,3,-117.14,12.121,-9.664,949.07,12.11,-4.882,3,40.78,23.812
-0,2021-01-01 18:48:21.286517,1,4,2,3,-119.014,12.121,-9.819,949.07,12.11,-3.008,3,40.78,23.812
-0,2021-01-01 18:48:36.637220,1,4,2,3,-118.077,12.139,-9.727,947.611,12.11,-3.945,3,40.78,23.812
-0,2021-01-01 18:48:51.995307,1,4,2,3,-119.014,12.158,-9.789,946.152,12.11,-3.008,3,40.78,23.812
-0,2021-01-01 18:49:07.357159,1,4,2,3,-119.951,12.083,-9.927,952.015,12.11,-2.071,3,40.242,23.812
-0,2021-01-01 18:49:22.704935,1,4,2,3,-119.951,12.158,-9.866,946.152,12.11,-2.071,3,39.704,23.75
-0,2021-01-01 18:49:38.080644,1,4,2,3,-120.888,12.121,-9.974,949.074,12.11,-1.134,3,40.242,23.812
-0,2021-01-01 18:49:53.426490,1,4,2,3,-119.951,12.102,-9.912,950.535,12.11,-2.071,3,40.242,23.812
-0,2021-01-01 18:50:08.790550,1,4,2,3,-120.888,12.121,-9.974,949.07,12.11,-1.134,3,39.704,23.812
-0,2021-01-01 18:50:24.185605,1,4,2,3,-119.951,12.065,-9.942,953.488,12.11,-2.071,3,40.242,23.812
-0,2021-01-01 18:50:39.540659,1,4,2,3,-119.951,12.139,-9.881,947.611,12.11,-2.071,3,40.242,23.812
-0,2021-01-01 18:50:54.902103,1,4,2,3,-119.014,12.121,-9.819,949.078,12.11,-3.008,3,40.78,23.875
-0,2021-01-01 18:51:10.256397,1,4,2,3,-119.951,12.083,-9.927,952.011,12.11,-2.071,3,40.78,23.812
-0,2021-01-01 18:51:25.609293,1,4,2,3,-119.014,12.139,-9.804,947.611,12.11,-3.008,3,40.242,23.812
-0,2021-01-01 18:51:40.962547,1,4,2,3,-119.014,12.121,-9.819,949.078,12.11,-3.008,3,40.78,23.812
-0,2021-01-01 18:51:56.320094,1,4,2,3,-119.014,12.102,-9.834,950.542,12.11,-3.008,3,40.242,23.875
-0,2021-01-01 18:52:11.673487,1,4,2,3,-119.014,12.102,-9.834,950.542,12.11,-3.008,3,39.704,23.812
-0,2021-01-01 18:52:27.055808,1,4,2,3,-120.888,12.102,-9.989,950.542,12.11,-1.134,3,39.704,23.875
-0,2021-01-01 18:52:42.420460,1,4,2,3,-119.014,12.139,-9.804,947.614,12.11,-3.008,3,40.242,23.812
-0,2021-01-01 18:52:57.782072,1,4,2,3,-119.014,12.102,-9.834,950.539,12.11,-3.008,3,39.704,23.812
-0,2021-01-01 18:53:13.253004,1,4,2,3,-118.077,12.065,-9.787,953.481,12.11,-3.945,3,40.242,23.812
-0,2021-01-01 18:53:28.644522,1,4,2,3,-118.077,12.139,-9.727,947.611,12.11,-3.945,3,40.78,23.812
-0,2021-01-01 18:53:43.992206,1,4,2,3,-119.014,12.083,-9.849,952.007,12.11,-3.008,3,40.242,23.812
-0,2021-01-01 18:53:59.348761,1,4,2,3,-119.951,12.083,-9.927,952.015,12.11,-2.071,3,40.78,23.875
-0,2021-01-01 18:54:14.746404,1,4,2,3,-119.014,12.083,-9.849,952.015,12.11,-3.008,3,40.242,23.875
-0,2021-01-01 18:54:30.099781,1,4,2,3,-119.951,12.121,-9.896,949.074,12.11,-2.071,3,40.242,23.875
-0,2021-01-01 18:54:45.456875,1,4,2,3,-119.951,12.139,-9.881,947.611,12.11,-2.071,3,40.78,23.875
-0,2021-01-01 18:55:00.816188,1,4,2,3,-119.951,12.158,-9.866,946.155,12.11,-2.071,3,40.78,23.812
-0,2021-01-01 18:55:16.161659,1,4,2,3,-119.014,12.065,-9.865,953.485,12.11,-1.134,3,40.78,23.812
-0,2021-01-01 18:55:31.517112,1,4,2,3,-119.014,12.121,-9.819,949.078,12.11,-3.008,3,40.78,23.75
-0,2021-01-01 18:55:46.875458,1,4,2,3,-119.951,12.177,-9.851,944.701,12.11,-2.071,3,40.242,23.812
-0,2021-01-01 18:56:02.262121,1,4,2,3,-119.014,12.083,-9.849,952.015,12.11,-3.008,3,39.704,23.812
-0,2021-01-01 18:56:17.622830,1,4,2,3,-120.888,12.121,-9.974,949.078,12.11,-1.134,3,40.242,23.812
-0,2021-01-01 18:56:32.986330,1,4,2,3,-119.014,12.102,-9.834,950.542,12.11,-3.008,3,40.78,23.812
-0,2021-01-01 18:56:48.345486,1,4,2,3,-119.014,12.102,-9.834,950.542,12.11,-1.134,3,40.242,23.875
-0,2021-01-01 18:57:03.695475,1,4,2,3,-119.014,12.139,-9.804,947.611,12.11,-3.008,3,40.78,23.812
-0,2021-01-01 18:57:19.061605,1,4,2,3,-119.951,12.121,-9.896,949.078,12.11,-2.071,3,40.78,23.875
-0,2021-01-01 18:57:34.414618,1,4,2,3,-119.951,12.121,-9.896,949.078,12.11,-2.071,3,40.78,23.75
-0,2021-01-01 18:57:49.773054,1,4,2,3,-119.014,12.158,-9.789,946.155,12.11,-3.008,3,39.704,23.812
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-0,2021-01-03 18:29:16.726772,1,4,2,3,,,,,,,1,47.24,23.12,5.47
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-0,2021-12-09 15:22:34.781225,1,2,3,4,274.07,1400.9,2.81,498.58,9.14,1,45.28,2.22,2
-0,2021-12-09 15:22:39.044949,1,2,3,4,273.36,1399.44,2.81,498.85,9.79,1,45.28,2.2,2
-0,2021-12-09 15:22:43.311734,1,2,3,4,272.79,1397.91,2.8,498.77,9.43,1,45.28,2.21,2
-0,2021-12-09 15:22:47.589921,1,2,3,4,273.21,1396.62,2.8,498.89,8.73,1,44.3,2.22,2
-0,2021-12-09 15:22:51.878923,1,2,3,4,273.32,1395.1,2.8,499.01,9.08,1,45.28,2.22,2
-0,2021-12-09 15:22:56.160506,1,2,3,4,273.67,1394.63,2.79,499.22,8.5,1,44.3,2.22,2
-0,2021-12-09 15:23:00.447383,1,2,3,4,273.13,1393.05,2.79,499.03,8.79,1,45.76,2.22,2
-0,2021-12-09 15:23:04.736508,1,2,3,4,274.42,1391.12,2.79,499.18,8.5,1,45.28,2.22,2
-0,2021-12-09 15:23:09.015311,1,2,3,4,272.83,1390.18,2.78,499.18,8.97,1,45.28,2.21,2
-0,2021-12-09 15:23:13.300408,1,2,3,4,274.33,-0.29,0.1,-3.0,22.79,1,44.79,2.21,2
-0,2021-12-09 15:23:17.588891,1,2,3,4,274.02,2.23,0.1,23.17,23.2,1,46.74,2.22,2
-0,2021-12-09 15:23:21.865978,1,2,3,4,273.13,-5876.37,0.1,-58992.35,5848.36,1,45.28,2.22,2
-0,2021-12-09 15:23:26.145837,1,2,3,4,273.98,-5939.07,0.1,-61205.92,5868.87,1,44.79,2.22,2
-0,2021-12-09 15:23:30.431114,1,2,3,4,272.85,478.96,0.1,4853.92,1123.98,1,45.28,2.21,2
-0,2021-12-09 15:23:34.715761,1,2,3,4,272.98,-612.62,0.1,-6359.49,1154.86,1,44.3,2.21,2
-0,2021-12-09 15:23:38.999170,1,2,3,4,271.55,-188.15,0.1,-1939.01,-61.7,1,45.76,2.22,2
-0,2021-12-09 15:23:43.278698,1,2,3,4,273.02,-261.51,0.1,-2613.0,-73.42,1,44.3,2.21,2
-0,2021-12-09 15:23:47.566416,1,2,3,4,273.92,98.67,0.1,1014.46,-96.92,1,45.76,2.22,2
-0,2021-12-09 15:23:51.856051,1,2,3,4,274.13,76.35,0.1,802.34,-170.57,1,45.76,2.22,2
-0,2021-12-09 15:23:56.140304,1,2,3,4,272.72,-216.1,0.1,-2154.21,-81.68,1,44.79,2.22,2
-0,2021-12-09 15:24:00.422663,1,2,3,4,272.99,-85.02,0.1,-874.1,-44.36,1,44.79,2.22,2
-0,2021-12-09 15:24:04.702306,1,2,3,4,274.15,-203.74,0.1,-2099.64,-107.64,1,45.28,2.22,2
-0,2021-12-09 15:24:08.990681,1,2,3,4,274.21,312.02,0.1,3169.64,-90.18,1,45.28,2.22,2
-0,2021-12-09 15:24:13.255787,1,2,3,4,274.01,-101.02,0.1,-1033.57,-88.48,1,45.28,2.21,2
-0,2021-12-09 15:24:17.536946,1,2,3,4,273.98,-103.25,0.09,-1087.65,-121.53,1,45.76,2.21,2
-0,2021-12-09 15:24:21.816930,1,2,3,4,273.99,44.47,0.1,453.95,-109.05,1,45.76,2.22,2
-0,2021-12-09 15:24:26.103418,1,2,3,4,272.29,-193.37,0.09,-2083.33,-82.03,1,44.79,2.21,2
-0,2021-12-09 15:24:30.390210,1,2,3,4,274.12,12.89,0.1,134.15,-62.11,1,45.28,2.22,2
-0,2021-12-09 15:24:34.669844,1,2,3,4,272.85,77.81,0.1,792.36,-62.7,1,45.76,2.21,2
-0,2021-12-09 15:24:38.961208,1,2,3,4,275.01,243.58,0.1,2547.18,-84.44,1,46.25,2.22,2
-0,2021-12-09 15:24:43.243888,1,2,3,4,274.31,-42.6,0.1,-430.69,-125.34,1,45.76,2.21,2
-0,2021-12-09 15:24:47.525761,1,2,3,4,272.56,-264.38,0.1,-2771.5,-80.98,1,44.79,2.21,2
-0,2021-12-09 15:24:51.802321,1,2,3,4,271.59,-236.67,0.1,-2404.17,-75.53,1,46.25,2.21,2
-0,2021-12-09 15:24:56.081442,1,2,3,4,273.97,237.96,0.1,2458.23,-107.29,1,45.76,2.22,2
-0,2021-12-09 15:25:00.369132,1,2,3,4,273.9,-302.88,0.09,-3230.62,-117.48,1,45.28,2.22,2
-0,2021-12-09 15:25:04.652980,1,2,3,4,273.88,-293.68,0.1,-3012.02,-117.78,1,44.79,2.22,2
-0,2021-12-09 15:25:08.921740,1,2,3,4,272.14,273.41,0.1,2751.18,-132.66,1,45.76,2.21,2
-0,2021-12-09 15:25:13.207472,1,2,3,4,274.45,265.44,0.1,2742.13,-117.54,1,45.28,2.22,2
-0,2021-12-09 15:25:17.494844,1,2,3,4,274.06,-272.41,0.1,-2728.29,-120.77,1,45.76,2.22,2
-0,2021-12-09 15:25:21.780326,1,2,3,4,274.01,-206.96,0.1,-2112.44,-116.96,1,45.76,2.22,2
-0,2021-12-09 15:25:26.058608,1,2,3,4,272.69,-226.3,0.1,-2326.51,-78.4,1,45.76,2.21,2
-0,2021-12-09 15:25:30.345460,1,2,3,4,274.12,26.95,0.1,280.49,-112.5,1,45.76,2.22,2
-0,2021-12-09 15:25:34.633997,1,2,3,4,274.66,294.03,0.1,2986.9,-107.93,1,46.25,2.22,2
-0,2021-12-09 15:25:38.914499,1,2,3,4,272.67,152.76,0.1,1581.92,-164.59,1,44.79,2.21,2
-0,2021-12-09 15:25:43.199491,1,2,3,4,273.97,-33.75,0.1,-343.68,-125.16,1,44.79,2.22,2
-0,2021-12-09 15:25:47.487933,1,2,3,4,274.02,-306.04,0.1,-3079.6,-100.61,1,45.76,2.22,2
-0,2021-12-09 15:25:51.772956,1,2,3,4,274.16,-5.33,0.1,-54.43,-89.94,1,45.28,2.22,2
-0,2021-12-09 15:25:56.050767,1,2,3,4,271.49,140.39,0.1,1450.36,-90.82,1,45.28,2.21,2
-0,2021-12-09 15:26:00.328272,1,2,3,4,273.93,-294.56,0.1,-2950.12,-84.9,1,45.76,2.21,2
-0,2021-12-09 15:26:04.614838,1,2,3,4,273.82,-214.34,0.1,-2151.76,-105.24,1,46.74,2.22,2
-0,2021-12-09 15:26:08.890851,1,2,3,4,274.75,71.31,0.1,726.13,-135.53,1,45.28,2.22,2
-0,2021-12-09 15:26:13.168428,1,2,3,4,272.27,-62.46,0.1,-637.56,-155.28,1,45.76,2.21,2
-0,2021-12-09 15:26:17.448206,1,2,3,4,274.13,300.01,0.1,3084.34,-113.21,1,44.3,2.22,2
-0,2021-12-09 15:26:21.737920,1,2,3,4,273.95,-291.57,0.1,-2968.97,-100.32,1,45.28,2.22,2
-0,2021-12-09 15:26:26.025331,1,2,3,4,274.01,7.38,0.1,75.36,-79.92,1,46.25,2.22,2
-0,2021-12-09 15:26:30.408944,1,2,3,4,323.26,315.01,0.1,3207.64,-103.25,1,45.28,2.32,2
-0,2021-12-09 15:26:34.689739,1,2,3,4,272.9,309.27,0.1,3126.78,-126.57,1,46.25,2.22,2
-0,2021-12-09 15:26:38.977563,1,2,3,4,274.29,-13.13,0.1,-134.94,-114.03,1,45.76,2.22,2
-0,2021-12-09 15:26:43.263285,1,2,3,4,275.13,-292.27,0.1,-2941.04,-131.02,1,46.25,2.22,2
-0,2021-12-09 15:26:47.549206,1,2,3,4,274.21,-186.1,0.1,-1872.64,-75.59,1,46.25,2.22,2
-0,2021-12-09 15:26:51.837341,1,2,3,4,273.29,174.44,0.1,1810.83,-40.96,1,46.25,2.22,2
-0,2021-12-09 15:26:56.125682,1,2,3,4,272.88,-280.26,0.1,-2787.3,-97.8,1,45.76,2.21,2
-0,2021-12-09 15:27:00.409685,1,2,3,4,273.05,-273.76,0.1,-2780.95,-120.12,1,46.74,2.21,2
-0,2021-12-09 15:27:04.691365,1,2,3,4,272.82,-192.31,0.1,-1953.57,-130.67,1,45.28,2.21,2
-0,2021-12-09 15:27:08.977003,1,2,3,4,272.91,-102.84,0.1,-1029.93,-23.73,1,47.22,2.22,2
-0,2021-12-09 15:27:13.257398,1,2,3,4,272.22,5.39,0.1,55.56,-49.45,1,45.76,2.22,2
-0,2021-12-09 15:27:17.535898,1,2,3,4,272.97,-218.39,0.1,-2239.78,-111.16,1,45.28,2.21,2
-0,2021-12-09 15:27:21.814543,1,2,3,4,273.94,-255.07,0.1,-2519.1,-104.94,1,46.25,2.22,2
diff --git a/mqtt_controller.py b/mqtt_controller.py
new file mode 100644
index 0000000000000000000000000000000000000000..dd2e6a5c21636c82faa5294c961aa331d8137a65
--- /dev/null
+++ b/mqtt_controller.py
@@ -0,0 +1,45 @@
+import json
+
+import paho.mqtt.client as mqtt
+import paho.mqtt.publish as publish
+from config import MQTT_CONTROL_CONFIG, OHMPI_CONFIG
+import time
+import uuid
+
+client = mqtt.Client(f'ohmpi_{OHMPI_CONFIG["id"]}_controller', clean_session=False)  # create new instance
+print('connecting controller to broker')
+client.connect(MQTT_CONTROL_CONFIG['hostname'])
+client.loop_start()
+publisher_config = MQTT_CONTROL_CONFIG.copy()
+publisher_config['topic'] = MQTT_CONTROL_CONFIG['ctrl_topic']
+publisher_config.pop('ctrl_topic')
+settings = {
+            'injection_duration': 0.2,
+            'nbr_meas': 1,
+            'sequence_delay': 1,
+            'nb_stack': 1,
+            'export_path': 'data/measurement.csv'
+        }
+
+cmd_id = uuid.uuid4().hex
+payload = json.dumps({'cmd_id': cmd_id, 'cmd': 'update_settings', 'args': settings})
+print(f'Update settings setup message: {payload} to {publisher_config["topic"]} with config {publisher_config}')
+publish.single(payload=payload, **publisher_config)
+
+sequence = [[1, 2, 3, 4]]
+cmd_id = uuid.uuid4().hex
+payload = json.dumps({'cmd_id': cmd_id, 'cmd': 'set_sequence', 'args': sequence})
+print(f'Set sequence message: {payload} to {publisher_config["topic"]} with config {publisher_config}')
+publish.single(payload=payload, **publisher_config)
+cmd_id = uuid.uuid4().hex
+payload = json.dumps({'cmd_id': cmd_id, 'cmd': 'rs_check'})
+print(f'Run rs_check: {payload} to {publisher_config["topic"]} with config {publisher_config}')
+publish.single(payload=payload, **publisher_config)
+
+for i in range(4):
+    cmd_id = uuid.uuid4().hex
+    payload = json.dumps({'cmd_id': cmd_id, 'cmd': 'start'})
+    print(f'Publishing message {i}: {payload} to {publisher_config["topic"]} with config {publisher_config}')
+    publish.single(payload=payload, **publisher_config)
+    time.sleep(1)
+client.loop_stop()
diff --git a/mqtt_interface.py b/mqtt_interface.py
new file mode 100644
index 0000000000000000000000000000000000000000..6968a29594eee7647f3b9d03c4c2960ed4ac57d5
--- /dev/null
+++ b/mqtt_interface.py
@@ -0,0 +1,51 @@
+import paho.mqtt.client as mqtt
+from config import MQTT_CONTROL_CONFIG, CONTROL_CONFIG, OHMPI_CONFIG
+import time
+from queue import Queue
+import zmq
+
+ctrl_queue = Queue()
+
+def on_message(client, userdata, message):
+    global socket
+
+    # Send the command
+    print(f'Sending command {message.payload.decode("utf-8")}')
+    socket.send(message.payload)
+
+    #  Get the reply
+    reply = socket.recv()
+    print(f'Received reply {message.payload.decode("utf-8")}: {reply}')
+
+mqtt_client = mqtt.Client(f'ohmpi_{OHMPI_CONFIG["id"]}_listener', clean_session=False)  # create new instance
+print('connecting command listener to broker')
+trials = 0
+trials_max = 10
+broker_connected = False
+while trials < trials_max:
+    try:
+        mqtt_client.username_pw_set(MQTT_CONTROL_CONFIG['auth'].get('username'),MQTT_CONTROL_CONFIG['auth']['password'])
+        mqtt_client.connect(MQTT_CONTROL_CONFIG['hostname'])
+        trials = trials_max
+        broker_connected = True
+    except:
+        print('trying again...')
+        time.sleep(2)
+        trials+=1
+if broker_connected:
+    print('Subscribing to topic', MQTT_CONTROL_CONFIG['ctrl_topic'])
+    mqtt_client.subscribe(MQTT_CONTROL_CONFIG['ctrl_topic'], MQTT_CONTROL_CONFIG['qos'])
+    mqtt_client.on_message = on_message
+    mqtt_client.loop_start()
+
+    context = zmq.Context()
+    #  Socket to talk to server
+    print("Connecting to ohmpi control server")
+    socket = context.socket(zmq.REQ)
+    socket.connect(f'tcp://localhost:{CONTROL_CONFIG["tcp_port"]}')
+
+    while True:
+       time.sleep(.1)
+else:
+    print("Unable to connect to broker")
+    exit(1)
diff --git a/mqtt_logger.py b/mqtt_logger.py
index 10cbbc9d10258ba80b7d26fab0fe4466ff56771a..c497907318e776c9166003e541d59afed2b5514d 100644
--- a/mqtt_logger.py
+++ b/mqtt_logger.py
@@ -51,8 +51,11 @@ class MQTTHandler(logging.Handler):
         cleanly.
         """
         msg = self.format(record)
-        publish.single(self.topic, msg, self.qos, self.retain,
+        try:
+            publish.single(self.topic, msg, self.qos, self.retain,
                        hostname=self.hostname, port=self.port,
                        client_id=self.client_id, keepalive=self.keepalive,
                        will=self.will, auth=self.auth, tls=self.tls,
                        protocol=self.protocol, transport=self.transport)
+        except Exception as e:
+            pass # TODO log in exec ?
diff --git a/ohmpi.py b/ohmpi.py
index 59f32c08b597c774dbe114ce044d7ea856690f14..09f3650af8c3abdb2a43e636e5aabda0099f35ca 100644
--- a/ohmpi.py
+++ b/ohmpi.py
@@ -1,18 +1,20 @@
 # -*- coding: utf-8 -*-
 """
 created on January 6, 2020.
-Update March 2022
+Updates May 2022, Oct 2022.
 Ohmpi.py is a program to control a low-cost and open hardware resistivity meter OhmPi that has been developed by
 Rémi CLEMENT (INRAE),Vivien DUBOIS (INRAE), Hélène GUYARD (IGE), Nicolas FORQUET (INRAE), Yannick FARGIER (IFSTTAR)
-Olivier KAUFMANN (UMONS) and Guillaume BLANCHY (ILVO).
+Olivier KAUFMANN (UMONS), Arnaud WATELET (UMONS) and Guillaume BLANCHY (ILVO).
 """
 
 import os
 import io
 import json
+
 import numpy as np
 import csv
 import time
+import zmq
 from datetime import datetime
 from termcolor import colored
 import threading
@@ -21,6 +23,8 @@ import minimalmodbus  # for programmable power supply
 from copy import deepcopy
 
 # from mqtt_setup import mqtt_client_setup
+from config import CONTROL_CONFIG, OHMPI_CONFIG
+from subprocess import Popen
 
 # finish import (done only when class is instantiated as some libs are only available on arm64 platform)
 try:
@@ -49,14 +53,14 @@ class OhmPi(object):
 
     Parameters
     ----------
-    config : str, optional
+    settings : str, optional
         Path to the .json configuration file.
     sequence : str, optional
         Path to the .txt where the sequence is read. By default, a 1 quadrupole
         sequence: 1, 2, 3, 4 is used.
     """
 
-    def __init__(self, config=None, sequence=None, mqtt=False, on_pi=None, idps=False):
+    def __init__(self, settings=None, sequence=None, mqtt=False, on_pi=None, idps=False):
         # flags and attributes
         if on_pi is None:
             _, on_pi = OhmPi.get_platform()
@@ -65,7 +69,7 @@ class OhmPi(object):
         self.status = 'idle'  # either running or idle
         self.run = False  # flag is True when measuring
         self.thread = None  # contains the handle for the thread taking the measurement
-        self.path = 'data/'  # where to save the .csv
+        # self.path = 'data/'  # where to save the .csv
 
         # set loggers
         config_exec_logger, _, config_data_logger, _, _ = setup_loggers(mqtt=mqtt)  # TODO: add SOH
@@ -77,27 +81,25 @@ class OhmPi(object):
         print(colored(f'Data logger {self.data_logger.handlers if self.data_logger is not None else "None"}', 'blue'))
         print(colored(f'SOH logger {self.soh_logger.handlers if self.soh_logger is not None else "None"}', 'blue'))
 
-        # read in hardware parameters (settings.py)
-        self._read_hardware_parameters()
+        # read in hardware parameters (config.py)
+        self._read_hardware_config()
 
-        # default acquisition parameters
-        self.pardict = {
+        # default acquisition settings
+        self.settings = {
             'injection_duration': 0.2,
-            'nbr_meas': 100,
+            'nbr_meas': 1,
             'sequence_delay': 1,
             'nb_stack': 1,
             'export_path': 'data/measurement.csv'
         }
-
-        # read in acquisition parameters
-        if config is not None:
-            self._read_acquisition_parameters(config)
-
-        self.exec_logger.debug('Initialized with configuration:' + str(self.pardict))
+        # read in acquisition settings
+        if settings is not None:
+            self._update_acquisition_settings(settings)
+        self.exec_logger.debug('Initialized with settings:' + str(self.settings))
 
         # read quadrupole sequence
         if sequence is None:
-            self.sequence = np.array([[1, 4, 2, 3]])
+            self.sequence = np.array([[1, 2, 3, 4]], dtype=np.int32)
         else:
             self.read_quad(sequence)
 
@@ -105,7 +107,7 @@ class OhmPi(object):
         
         # connect to components on the OhmPi board
         if self.on_pi:
-            # activation of I2C protocol
+            # activation of I2C protocolge
             self.i2c = busio.I2C(board.SCL, board.SDA)  # noqa
 
             # I2C connexion to MCP23008, for current injection
@@ -138,8 +140,14 @@ class OhmPi(object):
             self.pin1.value = False
 
 
-    def _read_acquisition_parameters(self, config):
-        """Read acquisition parameters.
+        # Starts the command processing thread
+        self.cmd_listen = True
+        self.cmd_thread = threading.Thread(target=self.process_commands)
+        self.cmd_thread.start()
+
+
+    def _update_acquisition_settings(self, config):
+        """Update acquisition settings from a json file or dictionary.
         Parameters can be:
             - nb_electrodes (number of electrode used, if 4, no MUX needed)
             - injection_duration (in seconds)
@@ -154,36 +162,34 @@ class OhmPi(object):
             Path to the .json or dictionary.
         """
         if isinstance(config, dict):
-            self.pardict.update(config)
+            self.settings.update(config)
         else:
             with open(config) as json_file:
                 dic = json.load(json_file)
-            self.pardict.update(dic)
-        self.exec_logger.debug('Acquisition parameters updated: ' + str(self.pardict))
+            self.settings.update(dic)
+        self.exec_logger.debug('Acquisition parameters updated: ' + str(self.settings))
 
 
-    def _read_hardware_parameters(self):
-        """Read hardware parameters from config.py
+    def _read_hardware_config(self):
+        """Read hardware configuration from config.py
         """
         from config import OHMPI_CONFIG
         self.id = OHMPI_CONFIG['id']  # ID of the OhmPi
         self.r_shunt = OHMPI_CONFIG['R_shunt']  # reference resistance value in ohm
         self.Imax = OHMPI_CONFIG['Imax']  # maximum current
         self.exec_logger.warning(f'The maximum current cannot be higher than {self.Imax} mA')
-        self.coef_p2 = OHMPI_CONFIG['coef_p2']  # slope for current conversion for ads.P2, measurement in V/V
-        self.coef_p3 = OHMPI_CONFIG['coef_p3']  # slope for current conversion for ads.P3, measurement in V/V
-        # self.offset_p2 = OHMPI_CONFIG['offset_p2'] parameter removed
-        # self.offset_p3 = OHMPI_CONFIG['offset_p3'] parameter removed
         self.nb_samples = OHMPI_CONFIG['integer']  # number of samples measured for each stack
         self.version = OHMPI_CONFIG['version']  # hardware version
         self.max_elec = OHMPI_CONFIG['max_elec']  # maximum number of electrodes
         self.board_address = OHMPI_CONFIG['board_address']
+        self.board_version = OHMPI_CONFIG['board_version']
         self.exec_logger.debug(f'OHMPI_CONFIG = {str(OHMPI_CONFIG)}')
+        
 
 
     @staticmethod
     def find_identical_in_line(quads):
-        """Find quadrupole which where A and B are identical.
+        """Find quadrupole where A and B are identical.
         If A and B are connected to the same relay, the Pi burns (short-circuit).
         
         Parameters
@@ -193,7 +199,7 @@ class OhmPi(object):
         
         Returns
         -------
-        output : 1D array of int
+        output : numpy.ndarray 1D array of int
             List of index of rows where A and B are identical.
         """
         # TODO is this needed for M and N?
@@ -252,16 +258,19 @@ class OhmPi(object):
 
         Returns
         -------
-        output : numpy.ndarray
+        sequence : numpy.array
             Array of shape (number quadrupoles * 4).
         """
-        output = np.loadtxt(filename, delimiter=" ", dtype=int)  # load quadrupole file
+        sequence = np.loadtxt(filename, delimiter=" ", dtype=np.int32)  # load quadrupole file
+
+        if sequence is not None:
+            self.exec_logger.debug('Sequence of {:d} quadrupoles read.'.format(sequence.shape[0]))
 
         # locate lines where the electrode index exceeds the maximum number of electrodes
-        test_index_elec = np.array(np.where(output > self.max_elec))
+        test_index_elec = np.array(np.where(sequence > self.max_elec))
 
         # locate lines where electrode A == electrode B
-        test_same_elec = self.find_identical_in_line(output)
+        test_same_elec = self.find_identical_in_line(sequence)
 
         # if statement with exit cases (TODO rajouter un else if pour le deuxième cas du ticket #2)
         if test_index_elec.size != 0:
@@ -269,17 +278,17 @@ class OhmPi(object):
                 self.exec_logger.error(f'An electrode index at line {str(test_index_elec[0, i] + 1)} '
                                        f'exceeds the maximum number of electrodes')
             # sys.exit(1)
-            output = None
+            sequence = None
         elif len(test_same_elec) != 0:
             for i in range(len(test_same_elec)):
                 self.exec_logger.error(f'An electrode index A == B detected at line {str(test_same_elec[i] + 1)}')
             # sys.exit(1)
-            output = None
+            sequence = None
 
-        if output is not None:
-            self.exec_logger.debug('Sequence of {:d} quadrupoles read.'.format(output.shape[0]))
+        if sequence is not None:
+            self.exec_logger.info('Sequence of {:d} quadrupoles read.'.format(sequence.shape[0]))
 
-        self.sequence = output
+        self.sequence = sequence
 
 
     def switch_mux(self, electrode_nr, state, role):
@@ -454,14 +463,14 @@ class OhmPi(object):
         # autogain
         self.ads_current = ads.ADS1115(self.i2c, gain=2/3, data_rate=860, address=0x49)
         self.ads_voltage = ads.ADS1115(self.i2c, gain=2/3, data_rate=860, address=0x48)
-        print('current P0', AnalogIn(self.ads_current, ads.P0).voltage)
-        print('voltage P0', AnalogIn(self.ads_voltage, ads.P0).voltage)
-        print('voltage P2', AnalogIn(self.ads_voltage, ads.P2).voltage)
+        #print('current P0', AnalogIn(self.ads_current, ads.P0).voltage)
+        #print('voltage P0', AnalogIn(self.ads_voltage, ads.P0).voltage)
+        #print('voltage P2', AnalogIn(self.ads_voltage, ads.P2).voltage)
         gain_current = self.gain_auto(AnalogIn(self.ads_current, ads.P0))
         gain_voltage0 = self.gain_auto(AnalogIn(self.ads_voltage, ads.P0))
         gain_voltage2 = self.gain_auto(AnalogIn(self.ads_voltage, ads.P2))
         gain_voltage = np.min([gain_voltage0, gain_voltage2])
-        print('gain current: {:.3f}, gain voltage: {:.3f}'.format(gain_current, gain_voltage))
+        #print('gain current: {:.3f}, gain voltage: {:.3f}'.format(gain_current, gain_voltage))
         self.ads_current = ads.ADS1115(self.i2c, gain=gain_current, data_rate=860, address=0x49)
         self.ads_voltage = ads.ADS1115(self.i2c, gain=gain_voltage, data_rate=860, address=0x48)
         
@@ -469,10 +478,10 @@ class OhmPi(object):
         I = (AnalogIn(self.ads_current, ads.P0).voltage) * 1000/50/self.r_shunt # measure current
         U0 = AnalogIn(self.ads_voltage, ads.P0).voltage * 1000 # measure voltage
         U2 = AnalogIn(self.ads_voltage, ads.P2).voltage * 1000
-        print('I (mV)', I*50*self.r_shunt)
-        print('I (mA)', I)
-        print('U0 (mV)', U0)
-        print('U2 (mV)', U2)
+        #print('I (mV)', I*50*self.r_shunt)
+        #print('I (mA)', I)
+        #print('U0 (mV)', U0)
+        #print('U2 (mV)', U2)
         
         # check polarity
         polarity = 1  # by default, we guessed it right
@@ -480,24 +489,24 @@ class OhmPi(object):
         if U0 < 0: # we guessed it wrong, let's use a correction factor
             polarity = -1
             vmn = U2
-        print('polarity', polarity)
+        #print('polarity', polarity)
         
         # compute constant
         c = vmn / I
         Rab = (volt * 1000) / I
         
-        print('Rab', Rab)
+        self.exec_logger.debug('Rab = {:.2f} Ohms'.format(Rab))
 
         # implement different strategy
         if strategy == 'vmax':
             vmn_max = c * current_max
             if vmn_max < voltage_max and vmn_max > voltage_min:
                 vab = current_max * Rab
-                print('target max current')
+                self.exec_logger.debug('target max current')
             else:
                 iab = voltage_max / c
                 vab = iab * Rab
-                print('target max voltage')
+                self.exec_logger.debug('target max voltage')
             if vab > 25000:
                 vab = 25000
             vab = vab / 1000 * 0.9
@@ -506,11 +515,11 @@ class OhmPi(object):
             vmn_min = c * current_min
             if vmn_min > voltage_min and vmn_min < voltage_max:
                 vab = current_min * Rab
-                print('target min current')
+                self.exec_logger.debug('target min current')
             else:
                 iab = voltage_min / c
                 vab = iab * Rab
-                print('target min voltage')
+                self.exec_logger.debug('target min voltage')
             if vab < 1000:
                 vab = 1000
             vab = vab / 1000 * 1.1
@@ -523,6 +532,7 @@ class OhmPi(object):
         #self.DPS.write_register(0x09, 0) # DPS5005 off
         self.pin0.value = False
         self.pin1.value = False
+        
         return vab, polarity
 
         
@@ -532,7 +542,7 @@ class OhmPi(object):
 
         Parameters
         ----------
-        quad : list of int
+        quad : iterable (list of int)
             Quadrupole to measure, just for labelling. Only switch_mux_on/off
             really create the route to the electrodes.
         nb_stack : int, optional
@@ -556,229 +566,230 @@ class OhmPi(object):
         best_tx_injtime : float, optional
             (V3.0 only) Injection time in seconds used for finding the best voltage.
         """
-        # check arguments
-        if nb_stack is None:
-            nb_stack = self.pardict['nb_stack']
-        if injection_duration is None:
-            injection_duration = self.pardict['injection_duration']
-        if tx_volt > 0:
-            strategy == 'constant'
-        else:
-            tx_volt = 5
-
-        # inner variable initialization
-        sum_i = 0
-        sum_vmn = 0
-        sum_ps = 0
-
         self.exec_logger.debug('Starting measurement')
         self.exec_logger.info('Waiting for data')
-
-        # let's define the pin again as if we run through measure()
-        # as it's run in another thread, it doesn't consider these
-        # and this can lead to short circuit!
-        self.pin0 = self.mcp.get_pin(0)
-        self.pin0.direction = Direction.OUTPUT
-        self.pin0.value = False
-        self.pin1 = self.mcp.get_pin(1)
-        self.pin1.direction = Direction.OUTPUT
-        self.pin1.value = False
         
-        # get best voltage to inject AND polarity
-        if self.idps:
-            tx_volt, polarity = self.compute_tx_volt(
-                best_tx_injtime=best_tx_injtime, strategy=strategy, tx_volt=tx_volt)
-            print('tx volt V:', tx_volt)
-        else:
-            polarity = 1
-        
-        # first reset the gain to 2/3 before trying to find best gain (mode 0 is continuous)
-        self.ads_current = ads.ADS1115(self.i2c, gain=2 / 3, data_rate=860, address=0x49, mode=0)
-        self.ads_voltage = ads.ADS1115(self.i2c, gain=2 / 3, data_rate=860, address=0x48, mode=0)
-        
-        # turn on the power supply
-        oor = False
-        if self.idps:
-            print('++++ tx_volt', tx_volt)
-            if np.isnan(tx_volt) == False:
-                self.DPS.write_register(0x0000, tx_volt, 2) # set tx voltage in V
-                self.DPS.write_register(0x09, 1) # DPS5005 on
-                time.sleep(0.05)
-            else:
-                print('no best voltage found, will not take measurement')
-                oor = True
-                
-        if oor == False:
-            if autogain:
-                # compute autogain
-                self.pin0.value = True
-                self.pin1.value = False
-                time.sleep(injection_duration)
-                gain_current = self.gain_auto(AnalogIn(self.ads_current, ads.P0))
-                if polarity > 0:
-                    gain_voltage = self.gain_auto(AnalogIn(self.ads_voltage, ads.P0))
-                else:
-                    gain_voltage = self.gain_auto(AnalogIn(self.ads_voltage, ads.P2))
-                self.pin0.value = False
-                self.pin1.value = False
-                print('gain current: {:.3f}, gain voltage: {:.3f}'.format(gain_current, gain_voltage))
-                self.ads_current = ads.ADS1115(self.i2c, gain=gain_current, data_rate=860, address=0x49, mode=0)
-                self.ads_voltage = ads.ADS1115(self.i2c, gain=gain_voltage, data_rate=860, address=0x48, mode=0)
-
+        if self.on_pi:
+            
+            # check arguments
+            if nb_stack is None:
+                nb_stack = self.settings['nb_stack']
+            if injection_duration is None:
+                injection_duration = self.settings['injection_duration']
+            tx_volt = float(tx_volt)
+
+            # inner variable initialization
+            sum_i = 0
+            sum_vmn = 0
+            sum_ps = 0
+
+            # let's define the pin again as if we run through measure()
+            # as it's run in another thread, it doesn't consider these
+            # and this can lead to short circuit!
+            self.pin0 = self.mcp.get_pin(0)
+            self.pin0.direction = Direction.OUTPUT
             self.pin0.value = False
+            self.pin1 = self.mcp.get_pin(1)
+            self.pin1.direction = Direction.OUTPUT
             self.pin1.value = False
             
-            # one stack = 2 half-cycles (one positive, one negative)
-            pinMN = 0 if polarity > 0 else 2
+            # get best voltage to inject AND polarity
+            if self.idps:
+                tx_volt, polarity = self.compute_tx_volt(
+                    best_tx_injtime=best_tx_injtime, strategy=strategy, tx_volt=tx_volt)
+                self.exec_logger.debug('Best vab found is {:.3}V'.format(tx_volt))
+            else:
+                polarity = 1
             
-            # sampling for each stack at the end of the injection
-            sampling_interval = 10  # ms
-            self.nb_samples = int(injection_duration * 1000 // sampling_interval) + 1
-
-            # full data for waveform
-            fulldata = []
+            # first reset the gain to 2/3 before trying to find best gain (mode 0 is continuous)
+            self.ads_current = ads.ADS1115(self.i2c, gain=2 / 3, data_rate=860, address=0x49, mode=0)
+            self.ads_voltage = ads.ADS1115(self.i2c, gain=2 / 3, data_rate=860, address=0x48, mode=0)
             
-            # start counter
-            #  we sample every 10 ms (as using AnalogIn for both current
-            # and voltage takes about 7 ms). When we go over the injection
-            # duration, we break the loop and truncate the meas arrays
-            # only the last values in meas will be taken into account
-            start_time = time.time()
-            for n in range(0, nb_stack * 2):  # for each half-cycles
-                # current injection
-                if (n % 2) == 0:
+            # turn on the power supply
+            oor = False
+            if self.idps:
+                if np.isnan(tx_volt) == False:
+                    self.DPS.write_register(0x0000, tx_volt, 2) # set tx voltage in V
+                    self.DPS.write_register(0x09, 1) # DPS5005 on
+                    time.sleep(0.05)
+                else:
+                    self.exec_logger.debug('No best voltage found, will not take measurement')
+                    oor = True
+                    
+            if oor == False:  # we found a vab in the range so we measure
+                if autogain:
+                    # compute autogain
                     self.pin0.value = True
                     self.pin1.value = False
-                else:
-                    self.pin0.value = False
-                    self.pin1.value = True  # current injection nr2
-                print('stack', n, self.pin0.value, self.pin1.value)
-
-                # measurement of current i and voltage u during injection
-                meas = np.zeros((self.nb_samples, 3)) * np.nan
-                start_delay = time.time()  # stating measurement time
-                dt = 0
-                for k in range(0, self.nb_samples):
-                    # reading current value on ADS channels
-                    meas[k, 0] = (AnalogIn(self.ads_current, ads.P0).voltage * 1000) / (50 * self.r_shunt)
-                    if pinMN == 0:
-                        meas[k, 1] = AnalogIn(self.ads_voltage, ads.P0).voltage * 1000
+                    time.sleep(injection_duration)
+                    gain_current = self.gain_auto(AnalogIn(self.ads_current, ads.P0))
+                    if polarity > 0:
+                        gain_voltage = self.gain_auto(AnalogIn(self.ads_voltage, ads.P0))
                     else:
-                        meas[k, 1] = AnalogIn(self.ads_voltage, ads.P2).voltage * 1000 *-1
-                    time.sleep(sampling_interval / 1000)
-                    dt = time.time() - start_delay  # real injection time (s)
-                    meas[k, 2] = time.time() - start_time
-                    if dt > (injection_duration - 0 * sampling_interval /1000):
-                        break
-                
-                # stop current injection
+                        gain_voltage = self.gain_auto(AnalogIn(self.ads_voltage, ads.P2))
+                    self.pin0.value = False
+                    self.pin1.value = False
+                    self.exec_logger.debug('Gain current: {:.3f}, gain voltage: {:.3f}'.format(gain_current, gain_voltage))
+                    self.ads_current = ads.ADS1115(self.i2c, gain=gain_current, data_rate=860, address=0x49, mode=0)
+                    self.ads_voltage = ads.ADS1115(self.i2c, gain=gain_voltage, data_rate=860, address=0x48, mode=0)
+
                 self.pin0.value = False
                 self.pin1.value = False
-                end_delay = time.time()
+                
+                # one stack = 2 half-cycles (one positive, one negative)
+                pinMN = 0 if polarity > 0 else 2
+                
+                # sampling for each stack at the end of the injection
+                sampling_interval = 10  # ms
+                self.nb_samples = int(injection_duration * 1000 // sampling_interval) + 1
 
-                # truncate the meas array if we didn't fill the last samples
-                meas = meas[:k+1]
+                # full data for waveform
+                fulldata = []
                 
-                # measurement of current i and voltage u during off time
-                measpp = np.zeros((meas.shape[0], 3)) * np.nan
-                start_delay = time.time()  # stating measurement time
-                dt = 0
-                for k in range(0, measpp.shape[0]):
-                    # reading current value on ADS channels
-                    measpp[k, 0] = (AnalogIn(self.ads_current, ads.P0).voltage * 1000) / (50 * self.r_shunt)
+                #  we sample every 10 ms (as using AnalogIn for both current
+                # and voltage takes about 7 ms). When we go over the injection
+                # duration, we break the loop and truncate the meas arrays
+                # only the last values in meas will be taken into account
+                start_time = time.time()  # start counter
+                for n in range(0, nb_stack * 2):  # for each half-cycles
+                    # current injection
+                    if (n % 2) == 0:
+                        self.pin0.value = True
+                        self.pin1.value = False
+                    else:
+                        self.pin0.value = False
+                        self.pin1.value = True  # current injection nr2
+                    self.exec_logger.debug(str(n) + ' ' + str(self.pin0.value) + ' ' + str(self.pin1.value))
+
+                    # measurement of current i and voltage u during injection
+                    meas = np.zeros((self.nb_samples, 3)) * np.nan
+                    start_delay = time.time()  # stating measurement time
+                    dt = 0
+                    for k in range(0, self.nb_samples):
+                        # reading current value on ADS channels
+                        meas[k, 0] = (AnalogIn(self.ads_current, ads.P0).voltage * 1000) / (50 * self.r_shunt)
+                        if self.board_version == '22.11':
+                            if pinMN == 0:
+                                meas[k, 1] = AnalogIn(self.ads_voltage, ads.P0).voltage * 1000
+                            else:
+                                meas[k, 1] = AnalogIn(self.ads_voltage, ads.P2).voltage * 1000 *-1
+                        elif self.board_version == '22.10':
+                            meas[k, 1] = AnalogIn(self.ads_voltage, ads.P0, ads.P1).voltage * 1000
+                        #else:
+                        #   self.exec_logger.debug('Unknown board')
+                        time.sleep(sampling_interval / 1000)
+                        dt = time.time() - start_delay  # real injection time (s)
+                        meas[k, 2] = time.time() - start_time
+                        if dt > (injection_duration - 0 * sampling_interval /1000):
+                            break
+                    
+                    # stop current injection
+                    self.pin0.value = False
+                    self.pin1.value = False
+                    end_delay = time.time()
+
+                    # truncate the meas array if we didn't fill the last samples
+                    meas = meas[:k+1]
+                    
+                    # measurement of current i and voltage u during off time
+                    measpp = np.zeros((meas.shape[0], 3)) * np.nan
+                    start_delay = time.time()  # stating measurement time
+                    dt = 0
+                    for k in range(0, measpp.shape[0]):
+                        # reading current value on ADS channels
+                        measpp[k, 0] = (AnalogIn(self.ads_current, ads.P0).voltage * 1000) / (50 * self.r_shunt)
+                        if self.board_version == '22.11':
+                            if pinMN == 0:
+                                measpp[k, 1] = AnalogIn(self.ads_voltage, ads.P0).voltage * 1000
+                            else:
+                                measpp[k, 1] = AnalogIn(self.ads_voltage, ads.P2).voltage * 1000 *-1
+                        elif self.board_version == '22.10':
+                            measpp[k, 1] = AnalogIn(self.ads_voltage, ads.P0, ads.P1).voltage * 1000
+                        else:
+                            self.exec_logger.debug('unknown board')
+                        time.sleep(sampling_interval / 1000)
+                        dt = time.time() - start_delay  # real injection time (s)
+                        measpp[k, 2] = time.time() - start_time
+                        if dt > (injection_duration - 0 * sampling_interval /1000):
+                            break
+                    
+                    end_delay = time.time()
+                    
+                    # truncate the meas array if we didn't fill the last samples
+                    measpp = measpp[:k+1]
+                    
+                    # we alternate on which ADS1115 pin we measure because of sign of voltage
                     if pinMN == 0:
-                        measpp[k, 1] = AnalogIn(self.ads_voltage, ads.P0).voltage * 1000
+                        pinMN = 2
                     else:
-                        measpp[k, 1] = AnalogIn(self.ads_voltage, ads.P2).voltage * 1000 *-1
-                    time.sleep(sampling_interval / 1000)
-                    dt = time.time() - start_delay  # real injection time (s)
-                    measpp[k, 2] = time.time() - start_time
-                    if dt > (injection_duration - 0 * sampling_interval /1000):
-                        break
+                        pinMN = 0
+                    
+                    # store data for full wave form
+                    fulldata.append(meas)
+                    fulldata.append(measpp)
                 
-                end_delay = time.time()
-                
-                # truncate the meas array if we didn't fill the last samples
-                measpp = measpp[:k+1]
-                
-                # we alternate on which ADS1115 pin we measure because of sign of voltage
-                if pinMN == 0:
-                    pinMN = 2
-                else:
-                    pinMN = 0
-                
-                # store data for full wave form
-                fulldata.append(meas)
-                fulldata.append(measpp)
-                
-                # wait once the actual injection time between two injection
-                # so it's a 50% duty cycle
-                #print('crenaux (s)', (end_delay - start_delay))
-                #print('sleep for (s)', injection_duration - (end_delay - start_delay))
-                #print(meas)
-                #print(measpp)
-            
-            # TODO get battery voltage and warn if battery is running low
-            # TODO send a message on SOH stating the battery level
-                
-            # let's do some calculation (out of the stacking loop)
-            for n, meas in enumerate(fulldata[::2]):
-                # take average from the samples per stack, then sum them all
-                # average for the last third of the stacked values
-                #  is done outside the loop
-                sum_i = sum_i + (np.mean(meas[-int(meas.shape[0]//3):, 0]))
-                vmn1 = np.mean(meas[-int(meas.shape[0]//3), 1])
-                if (n % 2) == 0:
-                    sum_vmn = sum_vmn - vmn1
-                    sum_ps = sum_ps + vmn1
-                else:
-                    sum_vmn = sum_vmn + vmn1
-                    sum_ps = sum_ps + vmn1
+                # TODO get battery voltage and warn if battery is running low
+                # TODO send a message on SOH stating the battery level
+                    
+                # let's do some calculation (out of the stacking loop)
+                for n, meas in enumerate(fulldata[::2]):
+                    # take average from the samples per stack, then sum them all
+                    # average for the last third of the stacked values
+                    #  is done outside the loop
+                    sum_i = sum_i + (np.mean(meas[-int(meas.shape[0]//3):, 0]))
+                    vmn1 = np.mean(meas[-int(meas.shape[0]//3), 1])
+                    if (n % 2) == 0:
+                        sum_vmn = sum_vmn - vmn1
+                        sum_ps = sum_ps + vmn1
+                    else:
+                        sum_vmn = sum_vmn + vmn1
+                        sum_ps = sum_ps + vmn1
+
+            else:
+                sum_i = np.nan
+                sum_vmn = np.nan
+                sum_ps = np.nan
                 
             if self.idps:
                 self.DPS.write_register(0x0000, 0, 2)  # reset to 0 volt
                 self.DPS.write_register(0x09, 0) # DPS5005 off
-                print('off')
-        else:
-            sum_i = np.nan
-            sum_vmn = np.nan
-            sum_ps = np.nan
+                
+            # reshape full data to an array of good size
+            # we need an array of regular size to save in the csv
+            if oor == False:
+                fulldata = np.vstack(fulldata)
+                # we create a big enough array given nb_samples, number of
+                # half-cycles (1 stack = 2 half-cycles), and twice as we 
+                # measure decay as well
+                a = np.zeros((nb_stack * self.nb_samples * 2 * 2, 3)) * np.nan
+                a[:fulldata.shape[0], :] = fulldata
+                fulldata = a
+            else:
+                np.array([[]])
+
+            # create a dictionary and compute averaged values from all stacks
+            d = {
+                "time": datetime.now().isoformat(),
+                "A": quad[0],
+                "B": quad[1],
+                "M": quad[2],
+                "N": quad[3],
+                "inj time [ms]": (end_delay - start_delay) * 1000 if oor == False else 0,
+                "Vmn [mV]": sum_vmn / (2 * nb_stack),
+                "I [mA]": sum_i / (2 * nb_stack),
+                "R [ohm]": sum_vmn / sum_i,
+                "Ps [mV]": sum_ps / (2 * nb_stack),
+                "nbStack": nb_stack,
+                "Tx [V]": tx_volt if oor == False else 0,
+                "CPU temp [degC]": CPUTemperature().temperature,
+                "Nb samples [-]": self.nb_samples,
+                "fulldata": fulldata,
+            }
             
-        # reshape full data to an array of good size
-        # we need an array of regular size to save in the csv
-        if oor == False:
-            fulldata = np.vstack(fulldata)
-            # we create a big enough array given nb_samples, number of
-            # half-cycles (1 stack = 2 half-cycles), and twice as we 
-            # measure decay as well
-            a = np.zeros((nb_stack * self.nb_samples * 2 * 2, 3)) * np.nan
-            a[:fulldata.shape[0], :] = fulldata
-            fulldata = a
-        else:
-            np.array([[]])
-
-        # create a dictionary and compute averaged values from all stacks
-        d = {
-            "time": datetime.now().isoformat(),
-            "A": quad[0],
-            "B": quad[1],
-            "M": quad[2],
-            "N": quad[3],
-            "inj time [ms]": (end_delay - start_delay) * 1000 if oor == False else 0,
-            "Vmn [mV]": sum_vmn / (2 * nb_stack),
-            "I [mA]": sum_i / (2 * nb_stack),
-            "R [ohm]": sum_vmn / sum_i,
-            "Ps [mV]": sum_ps / (2 * nb_stack),
-            "nbStack": nb_stack,
-            "Tx [V]": tx_volt if oor == False else 0,
-            "CPU temp [degC]": CPUTemperature().temperature,
-            "Nb samples [-]": self.nb_samples,
-            "fulldata": fulldata,
-        }
-        a = deepcopy(d)
-        a.pop('fulldata')
-        print(a)
-        
+        else:  # for testing, generate random data
+            d = {'time': datetime.now().isoformat(), 'A': quad[0], 'B': quad[1], 'M': quad[2], 'N': quad[3],
+                 'R [ohm]': np.abs(np.random.randn(1)).tolist()}
+
         # round number to two decimal for nicer string output
         output = [f'{k}\t' for k in d.keys()]
         output = str(output)[:-1] + '\n'
@@ -789,7 +800,16 @@ class OhmPi(object):
                 val = d[k]
                 output += f'{val}\t'
         output = output[:-1]
-        self.exec_logger.debug(output)
+        #self.exec_logger.debug(output)
+
+        # to the data logger
+        dd = d.copy()
+        dd.pop('fulldata')  # too much for logger
+        dd.update({'A': str(dd['A'])})
+        dd.update({'B': str(dd['B'])})
+        dd.update({'M': str(dd['M'])})
+        dd.update({'N': str(dd['N'])})
+        self.data_logger.info(json.dumps(dd))
 
         return d
 
@@ -799,7 +819,7 @@ class OhmPi(object):
         """
         # create custom sequence where MN == AB
         # we only check the electrodes which are in the sequence (not all might be connected)
-        elec = np.sort(np.unique(self.sequence.flatten())) # assumed order
+        elec = np.sort(np.unique(self.sequence.flatten()))  # assumed order
         quads = np.vstack([
             elec[:-1],
             elec[1:],
@@ -809,62 +829,70 @@ class OhmPi(object):
         if self.idps:
             quads[:, 2:] = 0  # we don't open Vmn to prevent burning the MN part
             # as it has a smaller range of accepted voltage
-        
+
         # create filename to store RS
-        export_path_rs = self.pardict['export_path'].replace('.csv', '') \
-                      + '_' + datetime.now().strftime('%Y%m%dT%H%M%S') + '_rs.csv'
+        export_path_rs = self.settings['export_path'].replace('.csv', '') \
+                         + '_' + datetime.now().strftime('%Y%m%dT%H%M%S') + '_rs.csv'
 
         # perform RS check
         self.run = True
         self.status = 'running'
+
+        if self.on_pi:
         
-        # make sure all mux are off to start with
-        self.reset_mux()
-
-        # measure all quad of the RS sequence
-        for i in range(0, quads.shape[0]):
-            quad = quads[i, :]  # quadrupole
-            self.switch_mux_on(quad)  # put before raising the pins (otherwise conflict i2c)
-            d = self.run_measurement(quad=quad, nb_stack=1, injection_duration=1, tx_volt=tx_volt, autogain=False)
-            
-            if self.idps:
-                voltage = tx_volt  # imposed voltage on dps5005
-            else:
-                voltage = d['Vmn [mV]']
-            current = d['I [mA]']
-            
-            # compute resistance measured (= contact resistance)
-            resist = abs(voltage / current) / 1000
-            print(str(quad) + '> I: {:>10.3f} mA, V: {:>10.3f} mV, R: {:>10.3f} kOhm'.format(
-                current, voltage, resist))
-            msg = 'Contact resistance {:s}: {:.3f} kOhm'.format(
-                str(quad), resist)
-            self.exec_logger.debug(msg)
-            
-            # if contact resistance = 0 -> we have a short circuit!!
-            if resist < 1e-5:
-                msg = '!!!SHORT CIRCUIT!!! {:s}: {:.3f} kOhm'.format(
-                    str(quad), resist)
-                self.exec_logger.warning(msg)
-                print(msg)
+            # make sure all mux are off to start with
+            self.reset_mux()
+
+            # measure all quad of the RS sequence
+            for i in range(0, quads.shape[0]):
+                quad = quads[i, :]  # quadrupole
+                self.switch_mux_on(quad)  # put before raising the pins (otherwise conflict i2c)
+                d = self.run_measurement(quad=quad, nb_stack=1, injection_duration=1, tx_volt=tx_volt, autogain=False)
                 
-            # save data and print in a text file
-            self.append_and_save(export_path_rs, {
-                'A': quad[0],
-                'B': quad[1],
-                'RS [kOhm]': resist,
-            })
-            
-            # close mux path and put pin back to GND
-            self.switch_mux_off(quad)
+                if self.idps:
+                    voltage = tx_volt  # imposed voltage on dps5005
+                else:
+                    voltage = d['Vmn [mV]']
+                current = d['I [mA]']
+                
+                # compute resistance measured (= contact resistance)
+                resist = abs(voltage / current) / 1000
+                print(str(quad) + '> I: {:>10.3f} mA, V: {:>10.3f} mV, R: {:>10.3f} kOhm'.format(
+                    current, voltage, resist))
+                msg = f'Contact resistance {str(quad):s}: I: {current * 1000.:>10.3f} mA, ' \
+                          f'V: {voltage * 1000.:>10.3f} mV, ' \
+                          f'R: {resistance /1000.:>10.3f} kOhm'
+
+                self.exec_logger.debug(msg)
+                
+                # if contact resistance = 0 -> we have a short circuit!!
+                if resist < 1e-5:
+                    msg = '!!!SHORT CIRCUIT!!! {:s}: {:.3f} kOhm'.format(
+                        str(quad), resist)
+                    self.exec_logger.warning(msg)
+                    print(msg)
+                    
+                # save data and print in a text file
+                self.append_and_save(export_path_rs, {
+                    'A': quad[0],
+                    'B': quad[1],
+                    'RS [kOhm]': resist,
+                })
+                
+                # close mux path and put pin back to GND
+                self.switch_mux_off(quad)
+                
+            self.reset_mux()
+
+        else:
+            pass
             
-        self.reset_mux()
         self.status = 'idle'
         self.run = False
 
     #
     #         # TODO if interrupted, we would need to restore the values
-    #         # TODO or we offer the possiblity in 'run_measurement' to have rs_check each time?
+    #         # TODO or we offer the possibility in 'run_measurement' to have rs_check each time?
 
 
     @staticmethod
@@ -907,7 +935,82 @@ class OhmPi(object):
                 # last_measurement.to_csv(f, header=True)
 
 
-    def measure(self, **kwargs):
+    def process_commands(self):
+        context = zmq.Context()
+        tcp_port = CONTROL_CONFIG["tcp_port"]
+        socket = context.socket(zmq.REP)
+        socket.bind(f'tcp://*:{tcp_port}')
+
+        print(colored(f'Listening to commands on tcp port {tcp_port}.'
+                      f' Make sure your client interface is running and bound to this port...', 'blue'))
+        self.exec_logger.debug(f'Start listening for commands on port {tcp_port}')
+        while self.cmd_listen:
+            try:
+                message = socket.recv() # flags=zmq.NOBLOCK)
+                self.exec_logger.debug(f'Received command: {message}')
+                e = None
+                try:
+                    cmd_id = None
+                    decoded_message = json.loads(message.decode('utf-8'))
+                    cmd_id = decoded_message.pop('cmd_id', None)
+                    cmd = decoded_message.pop('cmd', None)
+                    args = decoded_message.pop('args', None)
+                    status = False
+                    e = None
+                    if cmd is not None and cmd_id is not None:
+                        if cmd == 'update_settings' and args is not None:
+                            self._update_acquisition_settings(args)
+                            status = True
+                        elif cmd == 'set_sequence' and args is not None:
+                            self.sequence = np.array_str
+                            self._update_acquisition_settings(args)
+                            status = True
+                        elif cmd == 'start':
+                            self.measure(cmd_id)
+                            while not self.status == 'idle':
+                                time.sleep(0.1)
+                            status = True
+                        elif cmd == 'stop':
+                            self.stop()
+                            status = True
+                        elif cmd == 'read_sequence':
+                            try:
+                                self.read_quad(args)
+                                status = True
+                            except Exception as e:
+                                self.exec_logger.warning(f'Unable to read sequence: {e}')
+                        elif cmd == 'set_sequence':
+                            try:
+                                self.sequence = np.array(args)
+                                status = True
+                            except Exception as e:
+                                self.exec_logger.warning(f'Unable to set sequence: {e}')
+                        elif cmd == 'rs_check':
+                            try:
+                                self.rs_check()
+                                status = True
+                            except Exception as e:
+                                print('error====', e)
+                                self.exec_logger.warning(f'Unable to run rs-check: {e}')
+                        else:
+                            self.exec_logger.warning(f'Unknown command {cmd} - cmd_id: {cmd_id}')
+                except Exception as e:
+                    self.exec_logger.warning(f'Unable to decode command {message}: {e}')
+                    status = False
+                finally:
+                    reply = {'cmd_id': cmd_id, 'status': status}
+                    reply = json.dumps(reply)
+                    self.exec_logger.debug(f'Execution report: {reply}')
+                    reply = reply.encode('utf-8')
+                    socket.send(reply)
+            except zmq.ZMQError as e:
+                if e.errno == zmq.EAGAIN:
+                    pass # no message was ready (yet!)
+                else:
+                    self.exec_logger.error(f'Unexpected error while process: {e}')
+
+
+    def measure(self, cmd_id=None):
         """Run the sequence in a separate thread. Can be stopped by 'OhmPi.stop()'.
         """
         self.run = True
@@ -915,14 +1018,14 @@ class OhmPi(object):
         self.exec_logger.debug(f'Status: {self.status}')
 
         def func():
-            for g in range(0, self.pardict["nbr_meas"]):  # for time-lapse monitoring
+            for g in range(0, self.settings["nbr_meas"]):  # for time-lapse monitoring
                 if self.run is False:
                     self.exec_logger.warning('Data acquisition interrupted')
                     break
                 t0 = time.time()
 
                 # create filename with timestamp
-                filename = self.pardict["export_path"].replace('.csv',
+                filename = self.settings["export_path"].replace('.csv',
                                                                f'_{datetime.now().strftime("%Y%m%dT%H%M%S")}.csv')
                 self.exec_logger.debug(f'Saving to {filename}')
 
@@ -940,9 +1043,9 @@ class OhmPi(object):
 
                     # run a measurement
                     if self.on_pi:
-                        current_measurement = self.run_measurement(quad, **kwargs)
+                        acquired_data = self.run_measurement(quad, **kwargs)
                     else:  # for testing, generate random data
-                        current_measurement = {
+                        acquired_data = {
                             'A': [quad[0]], 'B': [quad[1]], 'M': [quad[2]], 'N': [quad[3]],
                             'R [ohm]': np.abs(np.random.randn(1))
                         }
@@ -950,16 +1053,19 @@ class OhmPi(object):
                     # switch mux off
                     self.switch_mux_off(quad)
 
+                    # add command_id in dataset
+                    acquired_data.update({'cmd_id': cmd_id})
                     # log data to the data logger
-                    self.data_logger.info(f'{current_measurement}')
+                    self.data_logger.info(f'{acquired_data}')
+                    print(f'{acquired_data}')
                     # save data and print in a text file
-                    self.append_and_save(filename, current_measurement)
-                    self.exec_logger.debug('{:d}/{:d}'.format(i + 1, self.sequence.shape[0]))
+                    self.append_and_save(filename, acquired_data)
+                    self.exec_logger.debug(f'{i+1:d}/{self.sequence.shape[0]:d}')
 
                 # compute time needed to take measurement and subtract it from interval
                 # between two sequence run (= sequence_delay)
                 measuring_time = time.time() - t0
-                sleep_time = self.pardict["sequence_delay"] - measuring_time
+                sleep_time = self.settings["sequence_delay"] - measuring_time
 
                 if sleep_time < 0:
                     # it means that the measuring time took longer than the sequence delay
@@ -968,7 +1074,7 @@ class OhmPi(object):
                                              'Increase the sequence delay')
 
                 # sleeping time between sequence
-                if self.pardict["nbr_meas"] > 1:
+                if self.settings["nbr_meas"] > 1:
                     time.sleep(sleep_time)  # waiting for next measurement (time-lapse)
             self.status = 'idle'
 
@@ -983,6 +1089,15 @@ class OhmPi(object):
             self.thread.join()
         self.exec_logger.debug(f'Status: {self.status}')
 
+    def quit(self):
+        """Quit OhmPi.
+        """
+        self.cmd_listen = False
+        if self.cmd_thread is not None:
+            self.cmd_thread.join()
+        self.exec_logger.debug(f'Stopped listening to tcp port.')
+        exit()
+
 
 VERSION = '2.1.0'
 
@@ -1010,10 +1125,17 @@ print(current_time.strftime("%Y-%m-%d %H:%M:%S"))
 
 # for testing
 if __name__ == "__main__":
-    ohmpi = OhmPi(config='ohmpi_param.json')
-    ohmpi.run_measurement()
+    
+    # to run from 'python ohmpi.py'
+    #ohmpi = OhmPi(config='ohmpi_param.json')
+    #ohmpi.run_measurement()
     #ohmpi.measure()
     #ohmpi.read_quad('breadboard.txt')
     #ohmpi.measure()
     #time.sleep(20)
     #ohmpi.stop()
+    
+    # to start interface (also python ohmpi.py)
+    Popen(['python', CONTROL_CONFIG['interface']])
+    print('done')
+    ohmpi = OhmPi(settings=OHMPI_CONFIG['settings'])
diff --git a/ohmpi_param.json b/ohmpi_param.json
deleted file mode 100644
index c2c68558a80f39841ea5d17858a2900ca4f9d454..0000000000000000000000000000000000000000
--- a/ohmpi_param.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
-    "nb_electrodes": 64,
-    "injection_duration":0.2,
-    "nbr_meas": 100,
-    "sequence_delay": 1,
-    "nb_stack": 1,
-    "export_path": "data/measurement.csv" 
-}
diff --git a/ohmpi_settings.json b/ohmpi_settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe28a272124e643c4f6f8f8f61a864b5bfb99836
--- /dev/null
+++ b/ohmpi_settings.json
@@ -0,0 +1,8 @@
+{
+    "nb_electrodes": 64,
+    "injection_duration": 0.2,
+    "nbr_meas": 1,
+    "sequence_delay": 1,
+    "nb_stack": 1,
+    "export_path": "data/measurement.csv"
+}
diff --git a/requirements.txt b/requirements.txt
index 15a37eb68287b89f22241774e8b031a34d481e43..633c08af9bcc4ed68f0d15d98c8c0f965394f0b5 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,9 +2,11 @@ RPi.GPIO
 adafruit-blinka
 numpy
 paho-mqtt
-adafruit-circuitpython-ads1x15
+adafruit-circuitpython-adsgit 1x15
 adafruit-circuitpython-tca9548a
 adafruit-circuitpython-mcp230xx
 gpiozero
 termcolor
-pyzmq
\ No newline at end of file
+pyzmq
+pandas
+pyzmq
diff --git a/requirements_not_on_pi.txt b/requirements_not_on_pi.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d26aec9769d214526d1194413304c3ae460be25e
--- /dev/null
+++ b/requirements_not_on_pi.txt
@@ -0,0 +1,5 @@
+numpy
+paho-mqtt
+termcolor
+pandas
+pyzmq
diff --git a/run.sh b/run.sh
index f0886f0aa8512771cecf32c7a5c4667f05e0e75c..20e920502eca97449578502248296edbee2805f9 100755
--- a/run.sh
+++ b/run.sh
@@ -1,4 +1,6 @@
 #!bin/bash
 
-source ./ohmpy/bin/activate
-python webserver.py
+cd /home/pi/OhmPi
+
+source /home/pi/OhmPi/ohmpy/bin/activate
+python ohmpi.py
diff --git a/simple_ohmpi_flow.json b/simple_ohmpi_flow.json
new file mode 100644
index 0000000000000000000000000000000000000000..17df4bd741b1a7e62d377b50136b8b0146a3afdd
--- /dev/null
+++ b/simple_ohmpi_flow.json
@@ -0,0 +1 @@
+[{"id":"ea6628fd.4d57e8","type":"tab","label":"Flow 1","disabled":false,"info":""},{"id":"6ae7e77e.04c64","type":"mqtt-broker","name":"ohmpi_mqtt_broker","broker":"mg3d-dev.umons.ac.be","port":"1883","clientid":"","usetls":false,"compatmode":false,"keepalive":"60","cleansession":true,"birthTopic":"","birthQos":"0","birthPayload":"","closeTopic":"","closeQos":"0","closePayload":"","willTopic":"","willQos":"0","willPayload":""},{"id":"64a75353.37700c","type":"ui_group","name":"Messages","tab":"5d888f29.07334","order":1,"disp":true,"width":"16","collapse":true},{"id":"142ad6ae.d55e29","type":"ui_group","name":"Buttons","tab":"5d888f29.07334","order":3,"disp":true,"width":"6","collapse":false},{"id":"5d888f29.07334","type":"ui_tab","name":"Home","icon":"dashboard","disabled":false,"hidden":false},{"id":"ea73b76b.ee0738","type":"ui_base","theme":{"name":"theme-light","lightTheme":{"default":"#0094CE","baseColor":"#0094CE","baseFont":"-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif","edited":false},"darkTheme":{"default":"#097479","baseColor":"#097479","baseFont":"-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif","edited":false},"customTheme":{"name":"Untitled Theme 1","default":"#4B7930","baseColor":"#4B7930","baseFont":"-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif"},"themeState":{"base-color":{"default":"#0094CE","value":"#0094CE","edited":false},"page-titlebar-backgroundColor":{"value":"#0094CE","edited":false},"page-backgroundColor":{"value":"#fafafa","edited":false},"page-sidebar-backgroundColor":{"value":"#ffffff","edited":false},"group-textColor":{"value":"#1bbfff","edited":false},"group-borderColor":{"value":"#ffffff","edited":false},"group-backgroundColor":{"value":"#ffffff","edited":false},"widget-textColor":{"value":"#111111","edited":false},"widget-backgroundColor":{"value":"#0094ce","edited":false},"widget-borderColor":{"value":"#ffffff","edited":false},"base-font":{"value":"-apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen-Sans,Ubuntu,Cantarell,Helvetica Neue,sans-serif"}},"angularTheme":{"primary":"indigo","accents":"blue","warn":"red","background":"grey","palette":"light"}},"site":{"name":"Node-RED Dashboard","hideToolbar":"false","allowSwipe":"false","lockMenu":"false","allowTempTheme":"true","dateFormat":"DD/MM/YYYY","sizes":{"sx":48,"sy":48,"gx":6,"gy":6,"cx":6,"cy":6,"px":0,"py":0}}},{"id":"147e389f.fc5a6f","type":"mqtt in","z":"ea6628fd.4d57e8","name":"","topic":"ohmpi_0001/exec","qos":"2","datatype":"auto","broker":"6ae7e77e.04c64","inputs":0,"x":110,"y":40,"wires":[["ddcc63.c93813a","40efede3.33021c"]]},{"id":"ddcc63.c93813a","type":"debug","z":"ea6628fd.4d57e8","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","statusVal":"","statusType":"auto","x":390,"y":40,"wires":[]},{"id":"40efede3.33021c","type":"ui_text","z":"ea6628fd.4d57e8","group":"64a75353.37700c","order":0,"width":"0","height":"0","name":"MQTT exec","label":"Execution","format":"{{msg.payload}}","layout":"row-spread","x":390,"y":80,"wires":[]},{"id":"64e06023.868f58","type":"mqtt in","z":"ea6628fd.4d57e8","name":"","topic":"ohmpi_0001/data","qos":"2","datatype":"auto","broker":"6ae7e77e.04c64","inputs":0,"x":100,"y":140,"wires":[["ac400b27.992c78","8d7f5d51.c06c4"]]},{"id":"ac400b27.992c78","type":"debug","z":"ea6628fd.4d57e8","name":"","active":true,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload","targetType":"msg","statusVal":"","statusType":"auto","x":390,"y":140,"wires":[]},{"id":"8d7f5d51.c06c4","type":"ui_text","z":"ea6628fd.4d57e8","group":"64a75353.37700c","order":1,"width":0,"height":0,"name":"MQTT Data","label":"Data","format":"{{msg.payload}}","layout":"row-spread","x":390,"y":180,"wires":[]},{"id":"e1cc28ee.d2dd6","type":"mqtt out","z":"ea6628fd.4d57e8","name":"MQTT 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