diff --git a/sw/airborne/subsystems/datalink/README.md b/sw/airborne/subsystems/datalink/README.md
index b28d1bd0ab..fd039c4fe6 100644
--- a/sw/airborne/subsystems/datalink/README.md
+++ b/sw/airborne/subsystems/datalink/README.md
@@ -5,15 +5,15 @@ HOWTO export
 ------------
 
 - Export library: in this folder, type
-  ```
+  ~~~
   make export_lib
-  ```
+  ~~~
   be sure that you have correctly build the paparazzi project (`make` in the main directory)
 
 - The default export directory is `${PAPARAZZI_HOME}/var/export`, to change it:
-  ```
+  ~~~
   EXPORT_ROOT=<your_export_root_dir> make export_lib
-  ```
+  ~~~
 
 - `make clean` will only remove the export directory
 
@@ -41,16 +41,16 @@ HOWTO use the datalink library
 
 4. Message parsing and includes:
   in a C file of you project (for example a file named `datalink.c`), add the following lines:
-  ```
-    #define DATALINK_C 1 // this should be placed before the includes
+  ~~~{.c}
+  #define DATALINK_C 1 // this should be placed before the includes
 
-    #inlcude "uart.h" // or change this include to the header of your actual device interface
-    #include "downlink.h"
+  #inlcude "uart.h" // or change this include to the header of your actual device interface
+  #include "downlink.h"
 
-    void dl_parse_msg(void) {
-      <add your code to parse messages here>
-    }
-  ```
+  void dl_parse_msg(void) {
+    <add your code to parse messages here>
+  }
+  ~~~
   You also need to poll for new characters, which means that you have to call the `DatalinkEvent()` function in your main loop.
   This function is non-blocking and calls the decoder on each received byte. Finally the `dl_parse_msg` function is called when a complete message is received (checksum is valid).
 
@@ -58,122 +58,122 @@ Example project for Mbeb dev board
 ==================================
 
 Test file `test_dl.cpp` (assuming you already have the Mbed library)
-```
-    #include "mbed.h"
+~~~{.c}
+#include "mbed.h"
 
-    Ticker daq;
-    Serial uart1(p9, p10);
-    DigitalOut led1(LED1);
-    DigitalOut led2(LED2);
+Ticker daq;
+Serial uart1(p9, p10);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
 
-    /**** PPRZ interface ****/
-    #define DATALINK_C 1
-    #define UartCheckFreeSpace(_len) uart1.writeable()
-    #define UartTransmit(_c) uart1.putc(_c)
-    #define UartSendMessage() {}
-    #define UartChAvailable() uart1.readable()
-    #define UartGetch() uart1.getc()
+/**** PPRZ interface ****/
+#define DATALINK_C 1
+#define UartCheckFreeSpace(_len) uart1.writeable()
+#define UartTransmit(_c) uart1.putc(_c)
+#define UartSendMessage() {}
+#define UartChAvailable() uart1.readable()
+#define UartGetch() uart1.getc()
 
-    #include "downlink.h"
+#include "downlink.h"
 
-    void dl_parse_msg(void) {
-      int msg_id = dl_buffer[1];
+void dl_parse_msg(void) {
+  int msg_id = dl_buffer[1];
 
-      switch (msg_id) {
-        case DL_PONG:
-          led2 =! led2; // toggle led on new PONG message
-          break;
-        default:
-          break;
-      }
+  switch (msg_id) {
+    case DL_PONG:
+      led2 =! led2; // toggle led on new PONG message
+      break;
+    default:
+      break;
+  }
 
-    }
-    /************************/
+}
+/************************/
 
-    void cb()
-    {
-      // Toggle led 1 when sending PING
-      led1 =! led1;
-      // Send PPRZ message
-      DOWNLINK_SEND_PING(DefaultChannel, DefaultDevice);
-    }
+void cb()
+{
+  // Toggle led 1 when sending PING
+  led1 =! led1;
+  // Send PPRZ message
+  DOWNLINK_SEND_PING(DefaultChannel, DefaultDevice);
+}
 
-    int main()
-    {
-      uart1.baud(57600); // set serial baud rate for PPRZ
-      led1 = led2 = 0; // turn off all LEDs
+int main()
+{
+  uart1.baud(57600); // set serial baud rate for PPRZ
+  led1 = led2 = 0; // turn off all LEDs
 
-      daq.attach(&cb, 1); // callback
+  daq.attach(&cb, 1); // callback
 
-      while(1) {
+  while(1) {
 
-        // Your (non-blocking) code
+    // Your (non-blocking) code
 
-        // Poll new bytes on uart
-        DatalinkEvent();
+    // Poll new bytes on uart
+    DatalinkEvent();
 
-      } // ~while
-    } // ~main
-```
+  } // ~while
+} // ~main
+~~~
 
 With the makefile:
-```
-    # This file was automagically generated by mbed.org with PPRZ datalink library addition
+~~
+# This file was automagically generated by mbed.org with PPRZ datalink library addition
 
-    GCC_BIN = /usr/bin/
-    PROJECT = Test_PPRZ_Datalink
-    OBJECTS = ./test_dl.o
-    SYS_OBJECTS = ./mbed/LPC1768/GCC_CS/sys.o ./mbed/LPC1768/GCC_CS/cmsis_nvic.o ./mbed/LPC1768/GCC_CS/system_LPC17xx.o ./mbed/LPC1768/GCC_CS/core_cm3.o ./mbed/LPC1768/GCC_CS/startup_LPC17xx.o
-    INCLUDE_PATHS = -I. -I./mbed -I./mbed/LPC1768 -I./mbed/LPC1768/GCC_CS
-    LIBRARY_PATHS = -L./mbed/LPC1768/GCC_CS
-    LIBRARIES = -lmbed -lcapi
-    LINKER_SCRIPT = ./mbed/LPC1768/GCC_CS/LPC1768.ld
+GCC_BIN = /usr/bin/
+PROJECT = Test_PPRZ_Datalink
+OBJECTS = ./test_dl.o
+SYS_OBJECTS = ./mbed/LPC1768/GCC_CS/sys.o ./mbed/LPC1768/GCC_CS/cmsis_nvic.o ./mbed/LPC1768/GCC_CS/system_LPC17xx.o ./mbed/LPC1768/GCC_CS/core_cm3.o ./mbed/LPC1768/GCC_CS/startup_LPC17xx.o
+INCLUDE_PATHS = -I. -I./mbed -I./mbed/LPC1768 -I./mbed/LPC1768/GCC_CS
+LIBRARY_PATHS = -L./mbed/LPC1768/GCC_CS
+LIBRARIES = -lmbed -lcapi
+LINKER_SCRIPT = ./mbed/LPC1768/GCC_CS/LPC1768.ld
 
-    CC = $(GCC_BIN)arm-none-eabi-gcc
-    CPP = $(GCC_BIN)arm-none-eabi-g++
-    CC_FLAGS = -c -Os -fno-common -fmessage-length=0 -Wall -fno-exceptions -mcpu=cortex-m3 -mthumb -ffunction-sections -fdata-sections
-    ONLY_C_FLAGS = -std=gnu99
-    ONLY_CPP_FLAGS = -std=gnu++98
-    CC_SYMBOLS = -DTARGET_LPC1768 -DTOOLCHAIN_GCC_CS -DNDEBUG
+CC = $(GCC_BIN)arm-none-eabi-gcc
+CPP = $(GCC_BIN)arm-none-eabi-g++
+CC_FLAGS = -c -Os -fno-common -fmessage-length=0 -Wall -fno-exceptions -mcpu=cortex-m3 -mthumb -ffunction-sections -fdata-sections
+ONLY_C_FLAGS = -std=gnu99
+ONLY_CPP_FLAGS = -std=gnu++98
+CC_SYMBOLS = -DTARGET_LPC1768 -DTOOLCHAIN_GCC_CS -DNDEBUG
 
 
-    ### PPRZ Datalink ###
+### PPRZ Datalink ###
 
-    PPRZ_DATALINK_PORT = Uart
-    PPRZ_DATALINK_DIR = .
-      include $(PPRZ_DATALINK_DIR)/datalink/pprz_datalink.mk
-      OBJECTS += $(PPRZ_DATALINK_OBJS)
-    CC_SYMBOLS += $(PPRZ_DATALINK_CFLAGS)
+PPRZ_DATALINK_PORT = Uart
+PPRZ_DATALINK_DIR = .
+include $(PPRZ_DATALINK_DIR)/datalink/pprz_datalink.mk
+OBJECTS += $(PPRZ_DATALINK_OBJS)
+CC_SYMBOLS += $(PPRZ_DATALINK_CFLAGS)
 
-    #####################
+#####################
 
 
-      AS = $(GCC_BIN)arm-none-eabi-as
+AS = $(GCC_BIN)arm-none-eabi-as
 
-      LD = $(GCC_BIN)arm-none-eabi-gcc
-      LD_FLAGS = -mcpu=cortex-m3 -mthumb -Wl,--gc-sections
-      LD_SYS_LIBS = -lstdc++ -lsupc++ -lm -lc -lgcc
+LD = $(GCC_BIN)arm-none-eabi-gcc
+LD_FLAGS = -mcpu=cortex-m3 -mthumb -Wl,--gc-sections
+LD_SYS_LIBS = -lstdc++ -lsupc++ -lm -lc -lgcc
 
-      OBJCOPY = $(GCC_BIN)arm-none-eabi-objcopy
+OBJCOPY = $(GCC_BIN)arm-none-eabi-objcopy
 
-      all: $(PROJECT).bin
+all: $(PROJECT).bin
 
-      clean:
-    rm -f $(PROJECT).bin $(PROJECT).elf $(OBJECTS)
+clean:
+	rm -f $(PROJECT).bin $(PROJECT).elf $(OBJECTS)
 
-      .s.o:
-      $(AS)  $(CC_FLAGS) $(CC_SYMBOLS) -o $@ $<
+.s.o:
+	$(AS)  $(CC_FLAGS) $(CC_SYMBOLS) -o $@ $<
 
-      .c.o:
-      $(CC)  $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_C_FLAGS)   $(INCLUDE_PATHS) -o $@ $<
+.c.o:
+	$(CC)  $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_C_FLAGS)   $(INCLUDE_PATHS) -o $@ $<
 
-      .cpp.o:
-      $(CPP) $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_CPP_FLAGS) $(INCLUDE_PATHS) -o $@ $<
+.cpp.o:
+	$(CPP) $(CC_FLAGS) $(CC_SYMBOLS) $(ONLY_CPP_FLAGS) $(INCLUDE_PATHS) -o $@ $<
 
 
-      $(PROJECT).elf: $(OBJECTS) $(SYS_OBJECTS)
-    $(LD) $(LD_FLAGS) -T$(LINKER_SCRIPT) $(LIBRARY_PATHS) -o $@ $^ $(LIBRARIES) $(LD_SYS_LIBS) $(LIBRARIES) $(LD_SYS_LIBS)
+$(PROJECT).elf: $(OBJECTS) $(SYS_OBJECTS)
+	$(LD) $(LD_FLAGS) -T$(LINKER_SCRIPT) $(LIBRARY_PATHS) -o $@ $^ $(LIBRARIES) $(LD_SYS_LIBS) $(LIBRARIES) $(LD_SYS_LIBS)
 
-      $(PROJECT).bin: $(PROJECT).elf
-      $(OBJCOPY) -O binary $< $@
-```
+$(PROJECT).bin: $(PROJECT).elf
+	$(OBJCOPY) -O binary $< $@
+~~~