diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8b5c4b0..c10d2e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,6 +23,7 @@ gyro_ADXRS453.c
 i2c_maitre.c
 i2c_annexe.c
 Localisation.c
+Log.c
 Moteurs.c
 Monitoring.c
 Robot_config.c
@@ -34,6 +35,7 @@ Strategie_prise_cerises.c
 Strategie_pousse_gateau.c
 Temps.c
 Test.c
+Test_log.c
 Test_strategie.c
 Trajet.c
 Trajectoire.c
diff --git a/Holonome2023.c b/Holonome2023.c
index f2795ce..151766a 100644
--- a/Holonome2023.c
+++ b/Holonome2023.c
@@ -41,6 +41,12 @@ uint temps_cycle;
 
 int mode_test();
 
+void init_led(uint Numero_de_la_led, uint etat){
+    gpio_init(Numero_de_la_led);
+    gpio_set_dir(Numero_de_la_led, GPIO_OUT);
+    gpio_put(Numero_de_la_led, etat);
+}
+
 int main() {
     bi_decl(bi_program_description("This is a test binary."));
     bi_decl(bi_1pin_with_name(LED_PIN, "On-board LED"));
@@ -54,13 +60,8 @@ int main() {
 
     stdio_init_all();
 
-    gpio_init(LED_PIN);
-    gpio_set_dir(LED_PIN, GPIO_OUT);
-    gpio_put(LED_PIN, 1);
-
-    gpio_init(LED_PIN_ROUGE);
-    gpio_set_dir(LED_PIN_ROUGE, GPIO_OUT);
-    gpio_put(LED_PIN_ROUGE, 0);
+    init_led(LED_PIN, 1);
+    init_led(LED_PIN_ROUGE, 0);
 
     gpio_init(COULEUR);
     gpio_init(TIRETTE);
@@ -85,7 +86,7 @@ int main() {
     AsserMoteur_Init();
     Localisation_init();
 
-    //while(mode_test());
+    while(mode_test());
     i2c_maitre_init();
     Trajet_init();
     Balise_VL53L1X_init();
@@ -161,7 +162,7 @@ int main() {
                     break;
 
                 case MATCH_EN_COURS:
-                    if (timer_match_ms > 98000){
+                    if (timer_match_ms > 98000){ // 98 secondes
                         printf("MATCH_ARRET_EN_COURS\n");
                         statu_match = MATCH_ARRET_EN_COURS;
                     }
@@ -176,7 +177,7 @@ int main() {
                         Score_set_pieds_dans_plat();
                     }
 
-                    if (timer_match_ms > 100000){
+                    if (timer_match_ms > 100000){ // 100 secondes
                         statu_match = MATCH_TERMINEE;
                     }
                     
diff --git a/Log.c b/Log.c
new file mode 100644
index 0000000..77773f3
--- /dev/null
+++ b/Log.c
@@ -0,0 +1,98 @@
+#include "Log.h"
+#include "string.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+#define LOG_CACHE_SIZE 10
+
+struct log_message_storage{
+    struct Log_message_data message;
+    struct log_message_storage * next;
+} * log_message_storage_envoi, log_message_storage_premier, *log_message_storage_courant;
+
+struct Log_message_data log_cache[LOG_CACHE_SIZE];
+uint log_cache_index_entry = 0;
+uint log_cache_index_stored = 0;
+uint log_error = 0;
+
+void increment_cache_index(uint * index);
+int store_new_message(struct Log_message_data message, struct log_message_storage * stockage);
+void envoi_message(struct Log_message_data message);
+
+void Log_init(void){
+    log_message_storage_premier.message.log_level = INFO;
+    strcpy(log_message_storage_premier.message.message,"Debut du programme");
+    log_message_storage_premier.message.timestamp = time_us_32() / 1000;
+    log_message_storage_premier.next = NULL;
+
+    log_message_storage_courant = &log_message_storage_premier;
+    log_message_storage_envoi = &log_message_storage_premier;
+
+}
+
+
+/// @brief Add one log message to local cache. Should be quick
+/// @param message : string, without '\n' at the end.
+/// @param log_level : can be in TELEPLOT, TRACE, DEBUG, INFO, WARN, ERROR, FATAL
+void Log_message(char * message, enum Log_level log_level){
+    uint temps0, temps1;
+    temps0 = time_us_32();
+    if(strlen(message) > LOG_MAX_MESSAGE_SIZE){
+        strcpy(log_cache[log_cache_index_entry].message, "MSG TOO LONG");
+    }else{
+        strcpy(log_cache[log_cache_index_entry].message, message);
+    }
+    log_cache[log_cache_index_entry].log_level = log_level;
+    log_cache[log_cache_index_entry].timestamp = time_us_32() / 1000;
+
+    increment_cache_index(&log_cache_index_entry);
+    temps1 = time_us_32();
+
+    printf("temps tableau : %u us\n", temps1 - temps0);
+
+    // Cache overflow - est-ce pertinent ? Ne faudrait-il pas réaliser ce test avant d'incrémenter cache_index_entry ?
+    /*if(log_cache_index_entry == log_cache_index_stored){
+        log_error |= LOG_ERROR_CACHE_OVERFLOW;
+    }*/
+}
+
+/// @brief Read messages in cache, store them and send them through the serial connection
+void Log_gestion(){
+    // Store all message from the cache
+    
+    while(log_cache_index_entry != log_cache_index_stored){
+        store_new_message(log_cache[log_cache_index_stored], log_message_storage_courant);
+        increment_cache_index(&log_cache_index_stored);
+        log_message_storage_courant = log_message_storage_courant->next;
+    }
+    
+    // Envoi 1 message par la liaison série
+    
+    if(log_message_storage_envoi->next != NULL){
+        log_message_storage_envoi = log_message_storage_envoi->next;
+        envoi_message(log_message_storage_envoi->message);
+    }
+}
+
+void increment_cache_index(uint * index){
+    *index = *index +1;
+    if(*index >= LOG_CACHE_SIZE){
+        *index = 0;
+    }
+}
+
+/// @brief Alloue l'espace pour stocker un nouveau message
+/// @return 0 en cas de succès, 1 si la mémoire est pleine
+int store_new_message(struct Log_message_data message, struct log_message_storage * stockage){
+    stockage->next = (struct log_message_storage*) malloc(sizeof(struct log_message_storage));
+    if(stockage->next != NULL){
+        stockage->next->message = message;
+        stockage->next->next = NULL;
+        return 0;
+    }
+    return 1;
+}
+
+void envoi_message(struct Log_message_data message){
+    printf("%u ms:%s\n", message.timestamp, message.message);
+}
diff --git a/Log.h b/Log.h
new file mode 100644
index 0000000..303bdc3
--- /dev/null
+++ b/Log.h
@@ -0,0 +1,20 @@
+#include "pico/stdlib.h"
+
+#define LOG_MAX_MESSAGE_SIZE 64
+
+#define LOG_ERROR_MEMORY_FULL 1
+#define LOG_ERROR_CACHE_OVERFLOW 2
+
+enum Log_level{
+    TELEPLOT, TRACE, DEBUG, INFO, WARN, ERROR, FATAL
+};
+
+struct Log_message_data{
+    char message[LOG_MAX_MESSAGE_SIZE];
+    enum Log_level log_level;
+    uint32_t timestamp;
+};
+
+void Log_init(void);
+void Log_gestion(void);
+void Log_message(char * message, enum Log_level log_level);
\ No newline at end of file
diff --git a/Test.c b/Test.c
index fce97bf..50d74cb 100644
--- a/Test.c
+++ b/Test.c
@@ -28,6 +28,7 @@
 #include "Trajectoire.h"
 #include "Trajet.h"
 
+#include "Test_log.h"
 #include "Test_strategie.h"
 #include "Test.h"
 
@@ -86,6 +87,7 @@ int mode_test(){
     printf("O - Analyse obstacle\n");
     printf("P - Asser Position - perturbation\n");
     printf("Q - Asser Position - transition Gyro -> Pas gyro\n");
+    printf("R - Test des logs\n");
     printf("T - Trajectoire\n");
     printf("U - Scan du bus i2c\n");
     printf("V - APDS_9960\n");
@@ -181,6 +183,11 @@ int mode_test(){
     case 'q':
         while(test_transition_gyro_pas_gyro());
         break;
+    
+    case 'R':
+    case 'r':
+        while(test_log());
+        break;
 
     case 'T':
     case 't':
diff --git a/Test_log.c b/Test_log.c
new file mode 100644
index 0000000..45207b4
--- /dev/null
+++ b/Test_log.c
@@ -0,0 +1,73 @@
+#include "Log.h"
+#include "pico/multicore.h"
+#include <stdio.h>
+
+#define TEST_TIMEOUT_US 10000000
+
+void log_core1_routine(){
+    while(1){
+        Log_gestion();
+    }
+}
+
+
+/// @brief Fonction pour testes les fonctions Log
+/// @param  
+/// @return 1 si la doit être ré-appelée, 0 si l'utilisateur quitte.
+int test_log(void){
+    int lettre;
+    char message[50];
+
+    Log_init();
+
+    multicore_launch_core1(log_core1_routine);
+
+    while(1){
+
+        do{
+            printf("A : 1 message\n");
+            printf("B : 9 messages d'affilés\n");
+            printf("C : 100 messages à 100 µs d'intervalle\n");
+            printf("Q : Quitter\n");
+            lettre = getchar_timeout_us(TEST_TIMEOUT_US);
+            stdio_flush();
+        }while(lettre == PICO_ERROR_TIMEOUT ||lettre == 0);
+
+        
+
+        switch(lettre){
+            case 'A':
+            case 'a':
+                printf("A : 1 message\n");
+                Log_message("Test 1 message", DEBUG);
+                break;
+
+            case 'B':
+            case 'b':
+                printf("B : 9 messages d'affilés\n");
+                for(int i=0; i<9; i++){
+                    sprintf(message, "Test message %d/9", i);
+                    Log_message(message, DEBUG);
+                }
+                break;
+
+            case 'C':
+            case 'c':
+                printf("C : 100 messages à 100 µs d'intervalle\n");
+                for(int i=0; i<100; i++){
+                    sprintf(message, "Test message %d/100", i);
+                    Log_message(message, DEBUG);
+                    sleep_us(100);
+                }
+                break;
+
+            case 'Q':
+            case 'q':
+                printf("Q : Quitter\n");
+                multicore_reset_core1();
+                return 0;
+                break;
+        }
+    }
+}
+
diff --git a/Test_log.h b/Test_log.h
new file mode 100644
index 0000000..d8aff7b
--- /dev/null
+++ b/Test_log.h
@@ -0,0 +1 @@
+int test_log(void);
\ No newline at end of file
diff --git a/gyro.c b/gyro.c
index 659f7c0..6759c1b 100644
--- a/gyro.c
+++ b/gyro.c
@@ -77,6 +77,7 @@ void Gyro_Init(void){
         Monitoring_Error("Gyroscope non trouve");
         while(1){
             puts("Gyroscope non trouve");
+            sleep_ms(500);
         }; // On s'arrête là !
     }else{
         //puts("Gyroscope trouve");
@@ -86,6 +87,7 @@ void Gyro_Init(void){
             Monitoring_Error("gyro_config FAILED !");
             while(1){
                 puts("gyro_config FAILED !");
+                sleep_ms(500);
             }; // On s'arrête là !
 
         }