diff --git a/sw/boitarire_sw/boitarire_sw.ino b/sw/boitarire_sw/boitarire_sw.ino
index 09968bf25ccf64021c747490cd031d67c75e1c81..e0d4762a71bab6efb165bbbb38e82b44c9712746 100644
--- a/sw/boitarire_sw/boitarire_sw.ino
+++ b/sw/boitarire_sw/boitarire_sw.ino
@@ -41,13 +41,14 @@
 //#define MP3_RESET
 //
 //#define DEBUG_UART_ACCELEROMETER // Warning : conflict with MP3 player
-//#define BLANK_READ_BUSY           // MP3 module BUSY signal is taken in account when blanking. If not defined, only the blanking value in the playlist is used
-#define BLANK_DELAY_MIN     200   // Minimum blankig delay before checking BUSY, when BLANK_READ_BUSY is used
+#define ACCEL_ROTATION_DETECT     // When set with SENSOR_ACCELEROMETER, trigger is activated on rotation detection, instead of raw movement threshold
 #define DELAY_MP3_RESET     100   // Time of ground cut of MP3 module for re-init (ms) : Adjust only if hardware proiblems with new revisions of the mp3 module
 #define DEBOUNCE_DELAY      200   // Position sensor input debounce (ms)
 #define ACCEL_THRES_GYX     9999  // Detection threshold for X axis acceleration
 #define ACCEL_THRES_GYY     9999  // Detection threshold for Y axis acceleration
-#define ACCEL_THRES_GYZ     25000  // Detection threshold for Z axis acceleration
+#define ACCEL_THRES_GYZ     25000 // Detection threshold for Z axis acceleration
+#define ACCEL_THRES_ROT     200   // Rotation threshold detection, for rotational speed integration pre-filtering
+#define ACCEL_TRIG_ROT      2000  // Rotational distance to be traveled to trigger detection
 #define PLAYLIST_LENGTH     4     // Number of songs in the playlist
 
 // Typedefs
@@ -83,21 +84,46 @@ typedef struct
   uint16_t blank_delay_u16;  // Blanking time for the song (ms)
 } tSongItem;
 
+/* Accelerometer sample structure
+ * Stores two samples, filtered value, integrated value
+ */
+typedef struct
+{
+  int16_t sample1_s16;
+  int16_t sample2_s16;
+  int16_t sample_filt_s16;
+  int16_t sample_int_s16;
+} tAccelSample;
+
+/* Accelerometer samples
+ * Stores all samples for signal processing of accelerometer data
+ */
+typedef struct
+{
+  tAccelSample AcX; // X linear axis
+  tAccelSample AcY; // Y linear axis
+  tAccelSample AcZ; // Z linear axis
+  tAccelSample GyX; // X rotational axis
+  tAccelSample GyY; // Y rotational axis
+  tAccelSample GyZ; // Z rotational axis
+} tAccelData;
+
 // Constant variables
 
 /* Indifference table for songs cycles
  *  Contains the indexes of the songs to be played and the number of times each one must be played.
- *  Contains couples {index of the song in the MP3 device memory, number of times the song must be played},
+ *  Contains couples {index of the song in the MP3 device memory, number of times the song must be played, blanking time},
  *  Playlist cycles from first element to last and loops.
  *  Don't forget to update PLAYLIST_LENGTH define.
  */
 const tSongItem cPlaylistIndif_TA[PLAYLIST_LENGTH] =
 {
-  {0, 2, 100}, 
-  {1, 3, 100},
+  {0, 2, 1000}, 
+  {1, 2, 1000},
 };
 
 // Local variables
+
 String inputString = "";         // a String to hold incoming data
 bool stringComplete = false;  // whether the string is complete
 
@@ -107,8 +133,10 @@ unsigned long play_blank_delay, play_blank_delay_threshold, mp3_reset_delay;
 unsigned long millis_temp;
 
 const int MPU=0x68; 
-int16_t AcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;
+int16_t Tmp;
+tAccelData AccelData_T;
 bool accel_detect;
+bool accel_detect_x, accel_detect_y, accel_detect_z;
 
 uint8_t song_cycles_cnt_u8;       // Counts the number of times the current song has been played
 uint8_t song_playing_current_u8;  // Holds the index of the playlist song actually being played
@@ -180,6 +208,7 @@ void setup() {
   Wire.write(0x06);    
   Wire.endTransmission(true);
 #endif
+
   accel_detect = false;
 
   // Connect ground for MP3 module
@@ -217,20 +246,111 @@ void loop() {
   Wire.write(0x3B);  
   Wire.endTransmission(false);
   Wire.requestFrom(MPU,14,true);  
-  AcX=Wire.read()<<8|Wire.read();    
-  AcY=Wire.read()<<8|Wire.read();  
-  AcZ=Wire.read()<<8|Wire.read();
-  Tmp=Wire.read()<<8|Wire.read();
-  GyX=Wire.read()<<8|Wire.read();  
-  GyY=Wire.read()<<8|Wire.read();  
-  GyZ=Wire.read()<<8|Wire.read();
-
-  if ((GyX > ACCEL_THRES_GYX) || 
-      (GyY > ACCEL_THRES_GYY) || 
-      (GyZ > ACCEL_THRES_GYZ) || 
-      (GyX < ((int16_t)(-1) * ACCEL_THRES_GYX)) ||
-      (GyY < ((int16_t)(-1) * ACCEL_THRES_GYY)) ||
-      (GyZ < ((int16_t)(-1) * ACCEL_THRES_GYZ)))
+  AccelData_T.AcX.sample1_s16=Wire.read()<<8|Wire.read();   
+  AccelData_T.AcY.sample1_s16=Wire.read()<<8|Wire.read(); 
+  AccelData_T.AcZ.sample1_s16=Wire.read()<<8|Wire.read(); 
+  Tmp=Wire.read()<<8|Wire.read();  
+  AccelData_T.GyX.sample1_s16=Wire.read()<<8|Wire.read();   
+  AccelData_T.GyY.sample1_s16=Wire.read()<<8|Wire.read(); 
+  AccelData_T.GyZ.sample1_s16=Wire.read()<<8|Wire.read(); 
+
+#ifdef ACCEL_ROTATION_DETECT
+/*
+ * Rotation detection
+ * Detection is done independantely on each axis.
+ * On each axis, Gy... input is filtered high-pass in order to filter the idle / background noise.
+ * High(pass filter is standard first order IIR with alpha = 0.5.
+ * If the high-pass filtered data reaches the ACCEL_THRES_ROT threshold, or if the unfiltered data reaches  2^4 times ACCEL_THRES_ROT, 
+ *   the data is then considered valid and integrated.
+ * Once valid, the input measure is added to the integrated data.
+ * Once the integrated data reaches ACCEL_TRIG_ROT, a trig is launched on this axis.
+ * A trigger occurs if any of the three axis is triggered.
+ */
+ 
+  // X axis processing -----
+  // GyX high-pass filtering
+  AccelData_T.GyX.sample_filt_s16 = (AccelData_T.GyX.sample_filt_s16 + (AccelData_T.GyX.sample1_s16 - AccelData_T.GyX.sample2_s16)) >> 1;
+  if ((AccelData_T.GyX.sample1_s16 > (ACCEL_THRES_ROT << 4)) ||
+      (AccelData_T.GyX.sample1_s16 < -(ACCEL_THRES_ROT << 4)) ||
+      (AccelData_T.GyX.sample_filt_s16 > ACCEL_THRES_ROT) || 
+      (AccelData_T.GyX.sample_filt_s16 < -(ACCEL_THRES_ROT))) // Threshold for movement detection
+  {
+    AccelData_T.GyX.sample_int_s16 += (AccelData_T.GyX.sample1_s16 >> 9); // Integration
+  }
+
+  if ((AccelData_T.GyX.sample_int_s16 > ACCEL_TRIG_ROT) ||
+      (AccelData_T.GyX.sample_int_s16 < -(ACCEL_TRIG_ROT)))
+  {
+    AccelData_T.GyX.sample_int_s16 = 0; // Reset integrator
+    accel_detect_x = true;
+  }
+  else
+  {
+    accel_detect_x = false;
+  }
+  
+  AccelData_T.GyX.sample2_s16=AccelData_T.GyX.sample1_s16; // N-1 sample memorisation
+
+  // Y Axis processing -----
+  // GyY high-pass filtering
+  AccelData_T.GyY.sample_filt_s16 = (AccelData_T.GyY.sample_filt_s16 + (AccelData_T.GyY.sample1_s16 - AccelData_T.GyY.sample2_s16)) >> 1;
+  
+  if ((AccelData_T.GyY.sample1_s16 > (ACCEL_THRES_ROT << 4)) ||
+      (AccelData_T.GyY.sample1_s16 < -(ACCEL_THRES_ROT << 4)) ||
+      (AccelData_T.GyY.sample_filt_s16 > ACCEL_THRES_ROT) || 
+      (AccelData_T.GyY.sample_filt_s16 < -(ACCEL_THRES_ROT))) // Threshold for movement detection
+  {
+    AccelData_T.GyY.sample_int_s16 += (AccelData_T.GyY.sample1_s16 >> 9); // Integration
+  }
+
+  if ((AccelData_T.GyY.sample_int_s16 > ACCEL_TRIG_ROT) ||
+      (AccelData_T.GyY.sample_int_s16 < -(ACCEL_TRIG_ROT)))
+  {
+    AccelData_T.GyY.sample_int_s16 = 0; // Reset integrator
+    accel_detect_y = true;
+  }
+  else
+  {
+    accel_detect_y = false;
+  }
+  
+  AccelData_T.GyY.sample2_s16=AccelData_T.GyY.sample1_s16; // N-1 sample memorisation
+  
+  // Z Axis processing -----
+  // GyZ high-pass filtering
+  AccelData_T.GyZ.sample_filt_s16 = (AccelData_T.GyZ.sample_filt_s16 + (AccelData_T.GyZ.sample1_s16 - AccelData_T.GyZ.sample2_s16)) >> 1;
+  
+  if ((AccelData_T.GyZ.sample1_s16 > (ACCEL_THRES_ROT << 4)) ||
+      (AccelData_T.GyZ.sample1_s16 < -(ACCEL_THRES_ROT << 4)) ||
+      (AccelData_T.GyZ.sample_filt_s16 > ACCEL_THRES_ROT) || 
+      (AccelData_T.GyZ.sample_filt_s16 < -(ACCEL_THRES_ROT))) // Threshold for movement detection
+  {
+    AccelData_T.GyZ.sample_int_s16 += (AccelData_T.GyZ.sample1_s16 >> 9); // Integration
+  }
+
+  if ((AccelData_T.GyZ.sample_int_s16 > ACCEL_TRIG_ROT) ||
+      (AccelData_T.GyZ.sample_int_s16 < -(ACCEL_TRIG_ROT)))
+  {
+    AccelData_T.GyZ.sample_int_s16 = 0; // Reset integrator
+    accel_detect_z = true;
+  }
+  else
+  {
+    accel_detect_z = false;
+  }
+  
+  AccelData_T.GyZ.sample2_s16=AccelData_T.GyZ.sample1_s16; // N-1 sample memorisation
+
+  // Concatenation of the three axis
+  accel_detect = accel_detect_x || accel_detect_y ||accel_detect_z;
+
+#else //ACCEL_ROTATION_DETECT
+  if ((AccelData_T.GyX.sample1_s16 > ACCEL_THRES_GYX) || 
+      (AccelData_T.GyY.sample1_s16 > ACCEL_THRES_GYY) || 
+      (AccelData_T.GyZ.sample1_s16 > ACCEL_THRES_GYZ) || 
+      (AccelData_T.GyX.sample1_s16 < ((int16_t)(-1) * ACCEL_THRES_GYX)) ||
+      (AccelData_T.GyY.sample1_s16 < ((int16_t)(-1) * ACCEL_THRES_GYY)) ||
+      (AccelData_T.GyZ.sample1_s16 < ((int16_t)(-1) * ACCEL_THRES_GYZ)))
   {
     accel_detect = true;
   }
@@ -238,16 +358,17 @@ void loop() {
   {
     accel_detect = false;
   }
-#else
+#endif //ACCEL_ROTATION_DETECT
+#else //SENSOR_ACCELEROMETER
   accel_detect = false;
-#endif
+#endif //SENSOR_ACCELEROMETER
   
 #ifdef SENSOR_INCLINATION
   // Read instantaneous value of position sensor
   input_position_sensor = digitalRead(PIN_SENSOR_POSITION);
-#else
+#else //SENSOR_INCLINATION
   input_position_sensor = LOW;
-#endif
+#endif //SENSOR_INCLINATION
 
   // Inclination debounce state machine
   //-----------------------------------
@@ -349,7 +470,7 @@ void loop() {
 
     case STM_PLAY:
       WritePlaySong(cPlaylistIndif_TA[song_playing_current_u8].song_index_u8 + 1U); // Play the current song
-      digitalWrite(LED_BUILTIN, HIGH); // DEBUG
+      //digitalWrite(LED_BUILTIN, HIGH); // DEBUG
       play_blank_delay_threshold = cPlaylistIndif_TA[song_playing_current_u8].blank_delay_u16; // Load blankig time for the current song
       song_cycles_cnt_u8++;                                                         // Increment cycles counter
       
@@ -407,18 +528,24 @@ void loop() {
   }
 
 #ifdef DEBUG_UART_ACCELEROMETER
-  Serial.print("Accelerometer: ");
-  Serial.print("X = "); Serial.print(AcX);
-  Serial.print(" | Y = "); Serial.print(AcY);
-  Serial.print(" | Z = "); Serial.println(AcZ); 
+  // Format : https://diyrobocars.com/2020/05/04/arduino-serial-plotter-the-missing-manual/
+  // Adapted for serial plotter
+  // //Serial.print("Accelerometer: ");
+  //Serial.print("X:"); Serial.print(AccelData_T.AcX.sample1_s16);Serial.print(",");
+  //Serial.print("Y:"); Serial.print(AccelData_T.AcY.sample1_s16);Serial.print(",");
+  //Serial.print("Z:"); Serial.print(AccelData_T.AcZ.sample1_s16);Serial.print(",");
   
-  Serial.print("Gyroscope: ");
-  Serial.print("X = "); Serial.print(GyX);
-  Serial.print(" | Y = "); Serial.print(GyY);
-  Serial.print(" | Z = "); Serial.println(GyZ);
-
-  Serial.print("Temperature: "); Serial.print(Tmp);
-  Serial.println(" ");
+  //Serial.print("Gyroscope: ");
+  //Serial.print("GX:"); Serial.print(AccelData_T.GyX.sample1_s16);Serial.print(",");
+  //Serial.print("GY:"); Serial.print(AccelData_T.GyY.sample1_s16);Serial.print(",");
+  //Serial.print("GZ:"); Serial.print(AccelData_T.GyZ.sample1_s16);Serial.print(",");
+  //Serial.print("GXfilt:"); Serial.print(AccelData_T.GyX.sample_filt_s16);Serial.print(",");
+  Serial.print("GXint:"); Serial.print(AccelData_T.GyX.sample_int_s16);Serial.print(",");
+  Serial.print("GYint:"); Serial.print(AccelData_T.GyY.sample_int_s16);Serial.print(",");
+  Serial.print("GZint:"); Serial.print(AccelData_T.GyZ.sample_int_s16);Serial.print(",");
+
+  Serial.print("Temp:"); Serial.println(Tmp);
+  //Serial.println(" ");
 #endif
 }