# HG changeset patch
# User ethanzonca@CL-ENS241-08.cedarville.edu
# Date 2013-01-10 21:58:42
# Node ID 0062f8daffe7ce8ba9103465e0f6f7b3f68c6a28
# Parent  e5c11279c2a031ff0b6570d8ccca42b3f8d6fbf2

GPS parser now functional, APRS is now broadcasted with possibly correct position information

diff --git a/master/master/config.h b/master/master/config.h
--- a/master/master/config.h
+++ b/master/master/config.h
@@ -19,7 +19,7 @@
 
 #define F_CPU 11059200
 #define MODULE_ID '1'
-
+#define BOARDTEMP_ADDR 0x90
 
 // --------------------------------------------------------------------------
 // Error Codes config (led.c, used throughout code)
@@ -62,12 +62,18 @@
 // Public broadcast address
 #define BROADCAST_ADDR 0 
 
+
+// --------------------------------------------------------------------------
+// GPS config (xxx.c)
+// --------------------------------------------------------------------------
+#define NMEABUFFER_SIZE 150
+
 // --------------------------------------------------------------------------
 // USART config (serial.c)
 // --------------------------------------------------------------------------
 
 #define USART0_BAUDRATE 115200
-#define USART1_BAUDRATE 4800
+#define USART1_BAUDRATE 115200
 
 
 // --------------------------------------------------------------------------
@@ -112,7 +118,7 @@
 #define APRS_COMMENT    "CedarvilleUniversity HAB"
 
 // Transmit the APRS sentence every X milliseconds
-#define APRS_TRANSMIT_PERIOD 10000
+#define APRS_TRANSMIT_PERIOD 5000
 
 
 // --------------------------------------------------------------------------
diff --git a/master/master/lib/afsk.c b/master/master/lib/afsk.c
--- a/master/master/lib/afsk.c
+++ b/master/master/lib/afsk.c
@@ -204,7 +204,8 @@ void afsk_send(const uint8_t *buffer, in
 
 void afsk_setup() 
 {
-	
+	DDRA |= 0b00100000;
+	DDRD |= 0b10000000;
 	// Source timer2 from clkIO (datasheet p.164)
 	ASSR &= ~(_BV(EXCLK) | _BV(AS2));
 
@@ -222,13 +223,5 @@ void afsk_setup()
 	//TIMSK2 |= _BV(TOIE2);
 	TIMSK2 |= 0b00000001;
 	
-	// FIXME TODO
-	DDRD = 0xff;
-	PORTD = 0xff;
-	
-	// todo: init radio, maybe in main
-	
-	
-	
 	while(afsk_busy());
 }
\ No newline at end of file
diff --git a/master/master/lib/aprs.c b/master/master/lib/aprs.c
--- a/master/master/lib/aprs.c
+++ b/master/master/lib/aprs.c
@@ -13,6 +13,7 @@
 #include "../config.h"
 #include "aprs.h"
 #include "ax25.h"
+#include "trackuinoGPS/gpsMKa.h"
 #include <stdio.h>
 
 const char *gps_aprs_lat = "39.74744N";
@@ -46,17 +47,19 @@ void aprs_send()
   ax25_send_header(addresses, sizeof(addresses)/sizeof(addresses[0]));
   ax25_send_byte('/');                // Report w/ timestamp, no APRS messaging. $ = NMEA raw data
   // ax25_send_string("021709z");     // 021709z = 2nd day of the month, 17:09 zulu (UTC/GMT)
-  ax25_send_string(gps_time);         // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)
+  ax25_send_string(get_timestamp());         // 170915 = 17h:09m:15s zulu (not allowed in Status Reports)
   ax25_send_byte('h');
-  ax25_send_string(gps_aprs_lat);     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)
+  ax25_send_string(get_latitude());     // Lat: 38deg and 22.20 min (.20 are NOT seconds, but 1/100th of minutes)
   ax25_send_byte('/');                // Symbol table
-  ax25_send_string(gps_aprs_lon);     // Lon: 000deg and 25.80 min
+  ax25_send_string(get_longitude());     // Lon: 000deg and 25.80 min
   ax25_send_byte('O');                // Symbol: O=balloon, -=QTH
   snprintf(temp, 4, "%03d", (int)(gps_course + 0.5)); 
   ax25_send_string(temp);             // Course (degrees)
   ax25_send_byte('/');                // and
-  snprintf(temp, 4, "%03d", (int)(gps_speed + 0.5));
-  ax25_send_string(temp);             // speed (knots)
+  //snprintf(temp, 4, "%03d", (int)(gps_speed + 0.5));
+  ax25_send_string(get_speedKnots());             // speed (knots)
+  
+  /*
   ax25_send_string("/A=");            // Altitude (feet). Goes anywhere in the comment area
   snprintf(temp, 7, "%06ld", (long)(meters_to_feet(gps_altitude) + 0.5));
   ax25_send_string(temp);
@@ -69,6 +72,8 @@ void aprs_send()
   ax25_send_string("/V=");
   snprintf(temp, 6, "%d", 123);//sensors_vin());
   ax25_send_string(temp);
+  */
+  
   ax25_send_byte(' ');
   ax25_send_string(APRS_COMMENT);     // Comment
   ax25_send_footer();
diff --git a/master/master/lib/looptime.c b/master/master/lib/looptime.c
--- a/master/master/lib/looptime.c
+++ b/master/master/lib/looptime.c
@@ -20,8 +20,6 @@ volatile uint32_t millis = 0; // Millise
 
 void time_setup() 
 {
-	DDRA = 0xff;
-	
 	// Generic microcontroller config options
 	OCR0A = 173; // Approx 172.7969 ticks per ms with 64 prescaler
 	
diff --git a/master/master/lib/serial.c b/master/master/lib/serial.c
--- a/master/master/lib/serial.c
+++ b/master/master/lib/serial.c
@@ -36,12 +36,8 @@ void serial0_setup() {
 	//UCSR0A |= (1<<RXC0);
 }
 
-volatile uint8_t charTest;
 
-ISR(USART1_RX_vect)
-{
-	serial1_sendChar(UDR1);
-}
+
 
 void serial1_setup() {
 //PROVEN in test project
diff --git a/master/master/lib/trackuinoGPS/gpsMKa.c b/master/master/lib/trackuinoGPS/gpsMKa.c
--- a/master/master/lib/trackuinoGPS/gpsMKa.c
+++ b/master/master/lib/trackuinoGPS/gpsMKa.c
@@ -7,10 +7,31 @@
 
 #include <stdbool.h>
 #include <avr/io.h>
+#include <avr/interrupt.h>
 #include "gpsMKa.h"
 #include "../serial.h"
+#include "../../config.h"
 
 
+
+// Circular buffer for incoming data
+uint8_t nmeaBuffer[NMEABUFFER_SIZE];
+
+// Location of parser in the buffer
+uint8_t nmeaBufferParsePosition = 0;
+
+// Location of receive byte interrupt in the buffer
+volatile uint16_t nmeaBufferDataPosition = 0;
+
+
+/*
+volatile uint8_t charTest;
+ISR(USART1_RX_vect)
+{
+	serial0_sendChar(UDR1);
+	
+}*/
+
 // holds the byte ALREADY PARSED. includes starting character
 int bytesReceived = 0;
 
@@ -25,25 +46,46 @@ int numBytes = 0;
 
 //variables to store data from transmission
 //least significant digit is stored at location 0 of arrays
-uint8_t tramsmissionType[5];
-uint8_t timestamp[9];	//hhmmss.ss
-uint8_t latitude[8];	//lllll.lla
-uint8_t longitude[8];	//yyyyy.yyb
-uint8_t quality;		//quality for GGA and validity for RMC
-uint8_t numSatellites[2];
-uint8_t hdop[4];		//xx.x
-uint8_t altitude[8];	//xxxxxx.x
-uint8_t wgs84Height[6];	//sxxx.x
-uint8_t lastUpdated[6];	//blank - included for testing
-uint8_t stationID[6];	//blank - included for testing
-uint8_t checksum[2];	//xx
-uint8_t knots[5];		//xxx.xx
-uint8_t course[5];		//xxx.x
-uint8_t datestamp[6];	//ddmmyy
-uint8_t variation[6];	//xxx.xb
+char tramsmissionType[7];
+
+char timestamp[12];	//hhmmss.ss
+char* get_timestamp() {
+	return timestamp;
+}
+	
+char latitude[14];	//lllll.lla
+char* get_latitude() {
+	return latitude;
+}
+
+char longitude[14];	//yyyyy.yyb
+char* get_longitude() {
+	return longitude;
+}
+
+
+char quality;		//quality for GGA and validity for RMC
+char numSatellites[3];
+char hdop[6];		//xx.x
+char altitude[10];	//xxxxxx.x
+char wgs84Height[8];	//sxxx.x
+char lastUpdated[8];	//blank - included for testing
+char stationID[8];	//blank - included for testing
+char checksum[3];	//xx
+char knots[8];		//xxx.xx
+char* get_speedKnots() {
+	return knots;
+}
+
+char course[8];		//xxx.x
+char datestamp[9];	//ddmmyy
+char variation[9];	//xxx.xb
 int calculatedChecksum;
 int receivedChecksum;
 
+char convertBuf1[15];
+char convertBuf2[15];
+
 // transmission state machine
 enum decodeState {
 	//shared fields
@@ -74,390 +116,559 @@ enum decodeState {
 }decodeState;
 
 
+char debugBuff[128];
+
+ISR(USART1_RX_vect)
+{
+	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
+	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
+	//serial0_sendChar(UDR1);
+	//snprintf(debugBuff, 32, "GPS: bdp: %d, bpp: %d decodestate: %u \r\n", nmeaBufferDataPosition, nmeaBufferParsePosition, decodeState);
+	//serial0_sendString((debugBuff));
+}
+
+
+// Could inline if program space available
+static void setParserState(uint8_t state)
+{
+	decodeState = state;
+
+	
+	// If resetting, clear vars
+	if(state == INITIALIZE)
+	{
+		calculatedChecksum = 0;
+	}
+	
+	// Every time we change state, we have parsed a byte
+	nmeaBufferParsePosition = (nmeaBufferParsePosition + 1) % NMEABUFFER_SIZE;
+}
+
+
 
 //// MKa GPS transmission parser START
 void parse_gps_transmission(void){
 	
 	// Pull byte off of the buffer
-	char byte = 'a';// serial1_readChar();
+	char byte;
 	
-	if(byte == '$') //start of transmission sentence
-	{
-		decodeState = GET_TYPE;
-		numBytes = 0; //prep for next phases
-		skipBytes = 0;
-		calculatedChecksum = 0;
-	}
+	while(nmeaBufferDataPosition != nmeaBufferParsePosition) {
+		
+		byte = nmeaBuffer[nmeaBufferParsePosition];
+		
+		//snprintf(debugBuff, 64, "GPSParse: byte [%c] decodestate: %u bp: %u pp: %u\r\n",  byte, decodeState, nmeaBufferDataPosition, nmeaBufferParsePosition);
+		//serial0_sendString((debugBuff));
+		
+		if(decodeState == INITIALIZE) //start of transmission sentence
+		{
+			if(byte == '$') {
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found $\r\n");
+				#endif
+				
+				setParserState(GET_TYPE);
+				numBytes = 0; //prep for next phases
+				skipBytes = 0;
+				calculatedChecksum = 0;
+			}		
+			
+			else {
+				setParserState(INITIALIZE);
+			}
+		}
 	
-	//parse transmission type
-	else if (decodeState == GET_TYPE)
-	{
-		tramsmissionType[numBytes] = byte;
-		numBytes++;
-		
-		if(byte == ',') //end of this data type
+		//parse transmission type
+		else if (decodeState == GET_TYPE)
+		{
+			tramsmissionType[numBytes] = byte;
+			numBytes++;
+			
+			#ifdef DEBUG_NMEA
+			serial0_sendString("stored a type byte\r\n");
+			#endif
+			
+			if(byte == ',') //end of this data type
+			{
+				tramsmissionType[5] = 0x00;
+				
+				if (tramsmissionType[2] == 'G' &&
+				tramsmissionType[3] == 'G' &&
+				tramsmissionType[4] == 'A')
+				{
+					setParserState(GGA_TIME);
+					numBytes = 0;
+				}
+				else if (tramsmissionType[2] == 'R' &&
+				tramsmissionType[3] == 'M' &&
+				tramsmissionType[4] == 'C')
+				{
+					setParserState(RMC_TIME);
+					numBytes = 0;
+				}
+				else //this is an invalid transmission type
+				{
+					setParserState(INITIALIZE);
+				}
+			}
+			else {
+				// continue
+				setParserState(GET_TYPE);
+			}
+			
+		}
+	
+		///parses GGA transmissions START
+		/// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*xx
+		//timestamp
+		else if (decodeState == GGA_TIME)
 		{
-			if (tramsmissionType[2] == 'G' &&
-			tramsmissionType[3] == 'G' &&
-			tramsmissionType[4] == 'A')
+			if (byte == ',') //end of this data type
+			{
+				timestamp[6] = 0x00; // Cut off at 6 for APRS
+				serial0_sendString("time byte DONE\r\n");
+				setParserState(GGA_LATITUDE);
+				skipBytes = 0; //prep for next phase of parse
+				numBytes = 0;
+			}
+			else //store data
+			{
+				//#ifdef DEBUG_NMEA
+				serial0_sendString("found GGA time byte\r\n");
+				//#endif
+				
+				setParserState(GGA_TIME);
+				timestamp[numBytes] = byte; //byte; //adjust number of bytes to fit array
+				numBytes++;
+			}
+		}
+	
+		//latitude
+		else if (decodeState == GGA_LATITUDE)
+		{
+			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found lat skip byte\r\n");
+				#endif
+				
+				skipBytes = 1;
+				setParserState(GGA_LATITUDE);
+			}
+			else if (byte == ',') //end of this data type
+			{
+				
+				latitude[numBytes] = 0x00; // null terminate
+				
+				
+				// First 2 bytes
+				//convertBuf1[0] = latitude[0];
+				//convertBuf1[1] = latitude[1];
+				//convertBuf1[2] = '\0';
+				//strncpy(convertBuf2, latitude, 7);
+				//convertBuf2[7] = '\0';
+				
+				
+				setParserState(GGA_LONGITUDE);
+				skipBytes = 0; //prep for next phase of parse
+				numBytes = 0;
+			}
+			else //store data
 			{
-				decodeState = GGA_TIME;
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found lat byte\r\n");
+				#endif
+				
+				latitude[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(GGA_LATITUDE);
+			}
+		}
+	
+		//longitude
+		else if (decodeState == GGA_LONGITUDE)
+		{
+			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found long skip byte\r\n");
+				#endif
+				
+				skipBytes = 1;
+				setParserState(GGA_LONGITUDE);
 			}
-			else if (tramsmissionType[2] == 'R' &&
-			tramsmissionType[3] == 'M' &&
-			tramsmissionType[4] == 'C')
+			else if (byte == ',') //end of this data type
+			{
+				longitude[numBytes] = 0x00;
+				setParserState(GGA_QUALITY);
+				numBytes = 0; //prep for next phase of parse
+				skipBytes = 0;
+			}
+			else //store data
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found long byte\r\n");
+				#endif
+				
+				longitude[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(GGA_LONGITUDE);
+			}
+		}
+	
+		//GGA quality
+		else if (decodeState == GGA_QUALITY)
+		{
+			if (byte == ',') //end of this data type
+			{
+				setParserState(GGA_SATELLITES);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data
 			{
-				decodeState = RMC_TIME;
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found quality byte\r\n");
+				#endif
+				
+				quality = byte; //maybe reset if invalid data ??
+				setParserState(GGA_QUALITY);
+			}
+		}
+	
+		//number of satellites
+		else if (decodeState == GGA_SATELLITES)
+		{
+			if (byte == ',') //end of this data type
+			{
+				numSatellites[numBytes] = 0x00;
+				setParserState(GGA_HDOP);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data
+			{
+				numSatellites[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(GGA_SATELLITES);
 			}
-			else //this is an invalid transmission type
+		}
+	
+		//HDOP
+		else if (decodeState == GGA_HDOP)
+		{
+			if (byte == ',' ) //end of this data type
+			{
+				hdop[numBytes] = 0x00;
+				setParserState(GGA_ALTITUDE);
+				numBytes = 0; //prep for next phase of parse
+				skipBytes = 0;
+			}
+			else //store data
 			{
-				decodeState = INITIALIZE;
+				hdop[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(GGA_HDOP);
+			}
+		}
+	
+		//altitude
+		else if (decodeState == GGA_ALTITUDE)
+		{
+			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
+				skipBytes = 1;
+				setParserState(GGA_ALTITUDE);
+			}
+			else if(byte == ',') //end of this data type
+			{
+				altitude[numBytes] = 0x00;
+				setParserState(GGA_WGS84);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data
+			{
+				altitude[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(GGA_ALTITUDE);
 			}
 		}
-	}
-	
-	///parses GGA transmissions START
-	/// $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*xx
-	//timestamp
-	else if (decodeState == GGA_TIME)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = GGA_LATITUDE;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
-		}
-		else //store data
-		{
-			timestamp[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
-		}
-	}
-	
-	//latitude
-	else if (decodeState == GGA_LATITUDE)
-	{
-		if (byte == ',' && skipBytes == 0) //discard this byte
-		{
-			skipBytes = 1;
-		}
-		else if (byte == ',') //end of this data type
-		{
-			decodeState = GGA_LONGITUDE;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
-		}
-		else //store data
-		{
-			latitude[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
-		}
-	}
-	
-	//longitude
-	else if (decodeState == GGA_LONGITUDE)
-	{
-		if (byte == ',' && skipBytes == 0) //discard this byte
-		{
-			skipBytes = 1;
-		}
-		else if (byte == ',') //end of this data type
-		{
-			decodeState = GGA_QUALITY;
-			numBytes = 0; //prep for next phase of parse
-			skipBytes = 0;
-		}
-		else //store data
-		{
-			longitude[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
-		}
-	}
-	
-	//GGA quality
-	else if (decodeState == GGA_QUALITY)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = GGA_SATELLITES;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data
-		{
-			quality = byte; //maybe reset if invalid data ??
-		}
-	}
 	
-	//number of satellites
-	else if (decodeState == GGA_SATELLITES)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = GGA_HDOP;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data
-		{
-			numSatellites[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
-		}
-	}
-	
-	//HDOP
-	else if (decodeState == GGA_HDOP)
-	{
-		if (byte == ',' ) //end of this data type
-		{
-			decodeState = GGA_ALTITUDE;
-			numBytes = 0; //prep for next phase of parse
-			skipBytes = 0;
-		}
-		else //store data
-		{
-			hdop[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
-		}
-	}
-	
-	//altitude
-	else if (decodeState == GGA_ALTITUDE)
-	{
-		if (byte == ',' && skipBytes == 0) //discard this byte
-		{
-			skipBytes = 1;
-		}
-		else if(byte == ',') //end of this data type
+		//WGS84 Height
+		else if (decodeState == GGA_WGS84)
 		{
-			decodeState = GGA_WGS84;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data
-		{
-			altitude[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
+			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
+				skipBytes = 1;
+				setParserState(GGA_WGS84);
+			}
+			else if(byte == ',') //end of this data type
+			{
+				wgs84Height[numBytes] = 0x00;
+				setParserState(GGA_LAST_UPDATE);
+				skipBytes = 0; //prep for next phase of parse
+				numBytes = 0;
+			}
+			else //store data
+			{
+				wgs84Height[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(GGA_WGS84);
+			}
 		}
-	}
 	
-	//WGS84 Height
-	else if (decodeState == GGA_WGS84)
-	{
-		if (byte == ',' && skipBytes == 0) //discard this byte
-		{
-			skipBytes = 1;
-		}
-		else if(byte == ',') //end of this data type
+		//last GGA DGPS update
+		else if (decodeState == GGA_LAST_UPDATE)
 		{
-			decodeState = GGA_LAST_UPDATE;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
-		}
-		else //store data
-		{
-			wgs84Height[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
+			if (byte == ',') //end of this data type
+			{
+				lastUpdated[numBytes] = 0x00;
+				setParserState(GGA_STATION_ID);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data - this should be blank
+			{
+				lastUpdated[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(GGA_LAST_UPDATE);
+			}
 		}
-	}
 	
-	//last GGA DGPS update
-	else if (decodeState == GGA_LAST_UPDATE)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = GGA_STATION_ID;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data - this should be blank
+		//GGA DGPS station ID
+		else if (decodeState == GGA_STATION_ID)
 		{
-			lastUpdated[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
-		}
-	}
-	
-	//GGA DGPS station ID
-	else if (decodeState == GGA_STATION_ID)
-	{
-		if (byte == ',' || byte == '*') //end of this data type
-		{
-			decodeState = GPS_CHECKSUM;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data - this should be blank
-		{
-			stationID[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
+			if (byte == ',' || byte == '*') //end of this data type
+			{
+				stationID[numBytes] = 0x00;
+				setParserState(GPS_CHECKSUM);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data - this should be blank
+			{
+				stationID[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(GGA_STATION_ID);
+			}
 		}
-	}
-	///parses GGA transmissions END
+		///parses GGA transmissions END
 	
-	/// $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
-	///parses RMC transmissions
-	//time
-	else if(decodeState == RMC_TIME)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = RMC_VALIDITY;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data
-		{
-			timestamp[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
+		/// $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
+		///parses RMC transmissions
+		//time
+		// emz: commented setter, GMC time better?
+		else if(decodeState == RMC_TIME)
+		{
+			if (byte == ',') //end of this data type
+			{
+				//timestamp[numBytes] = 0x00;
+				setParserState(RMC_VALIDITY);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found time byte\r\n");
+				#endif
+				
+				//timestamp[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(RMC_TIME);
+			}
 		}
-	}
 	
-	//validity
-	else if(decodeState == RMC_VALIDITY)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = RMC_LATITUDE;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
-		}
-		else //store data
-		{
-			quality = byte;
-			numBytes++;
+		//validity
+		// not needed? dupe gga
+		else if(decodeState == RMC_VALIDITY)
+		{
+			if (byte == ',') //end of this data type
+			{
+				setParserState(RMC_LATITUDE);
+				skipBytes = 0; //prep for next phase of parse
+				numBytes = 0;
+			}
+			else //store data
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found valid byte\r\n");
+				#endif
+				
+				//quality = byte;
+				numBytes++;
+				setParserState(RMC_VALIDITY);
+			}
 		}
-	}
 	
-	//latitude
-	else if(decodeState == RMC_LATITUDE)
-	{
-		if (byte == ',' && skipBytes == 1) //discard this byte
-		{
-			skipBytes = 1; 
-		}
-		else if (byte == ',') //end of this data type
-		{
-			decodeState = RMC_LONGITUDE;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
-		}
-		else //store data
-		{
-			latitude[numBytes]= byte; //adjust number of bytes to fit array
-			numBytes++;
+		//latitude RMC (we don't need this, commented out setter)
+		else if(decodeState == RMC_LATITUDE)
+		{
+			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found lat skip byte\r\n");
+				#endif
+				
+				skipBytes = 1; 
+				setParserState(RMC_LATITUDE);
+			}
+			else if (byte == ',') //end of this data type
+			{
+				setParserState(RMC_LONGITUDE);
+				skipBytes = 0; //prep for next phase of parse
+				numBytes = 0;
+			}
+			else //store data
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found lat byte\r\n");
+				#endif
+				
+				//latitude[numBytes]= byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(RMC_LATITUDE);
+			}
 		}
-	}
 	
-	//longitude
-	else if(decodeState == RMC_LONGITUDE)
-	{
-		if (byte == ',' && skipBytes == 1) //discard this byte
-		{
-			skipBytes = 1; 
-		}
-		else if (byte == ',') //end of this data type
-		{
-			decodeState = RMC_KNOTS;
-			skipBytes = 0;
-			numBytes = 0;
-		}
-		else //store data
-		{
-			longitude[numBytes]= byte; //adjust number of bytes to fit array
-			numBytes++;
+		//longitude RMC (we don't need this, commented out setter)
+		else if(decodeState == RMC_LONGITUDE)
+		{
+			if (byte == ',' && skipBytes == 0) //discard this byte
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found long byte\r\n");
+				#endif
+				
+				skipBytes = 1; 
+				setParserState(RMC_LONGITUDE);
+			}
+			else if (byte == ',') //end of this data type
+			{
+				setParserState(RMC_KNOTS);
+				skipBytes = 0;
+				numBytes = 0;
+			}
+			else //store data
+			{
+				#ifdef DEBUG_NMEA
+				serial0_sendString("found long byte\r\n");
+				#endif
+				
+				//longitude[numBytes]= byte; //adjust number of bytes to fit array
+				numBytes++;
+				setParserState(RMC_LONGITUDE);
+			}
 		}
-	}
 	
-	//knots
-	else if(decodeState == RMC_KNOTS)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = RMC_COURSE;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data
-		{
-			knots[numBytes]= byte; //adjust number of bytes to fit array
-			numBytes++;
+		//knots
+		else if(decodeState == RMC_KNOTS)
+		{
+			if (byte == ',') //end of this data type
+			{
+				knots[numBytes] = 0x00;
+				setParserState(RMC_COURSE);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data
+			{
+				setParserState(RMC_KNOTS);
+				knots[numBytes]= byte; //adjust number of bytes to fit array
+				numBytes++;
+			}
 		}
-	}
 	
-	//course
-	else if(decodeState == RMC_COURSE)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = RMC_DATE;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data
-		{
-			course[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
+		//course
+		else if(decodeState == RMC_COURSE)
+		{
+			if (byte == ',') //end of this data type
+			{
+				course[numBytes] = 0x00;
+				setParserState(RMC_DATE);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data
+			{
+				setParserState(RMC_COURSE);
+				course[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+			}
 		}
-	}
 	
-	//date
-	else if(decodeState == RMC_DATE)
-	{
-		if (byte == ',') //end of this data type
-		{
-			decodeState = RMC_MAG_VARIATION;
-			skipBytes = 0; //prep for next phase of parse
-			numBytes = 0;
-		}
-		else //store data
-		{
-			datestamp[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
+		//date
+		else if(decodeState == RMC_DATE)
+		{
+			if (byte == ',') //end of this data type
+			{
+				datestamp[numBytes] = 0x00;
+				setParserState(RMC_MAG_VARIATION);
+				skipBytes = 0; //prep for next phase of parse
+				numBytes = 0;
+			}
+			else //store data
+			{
+				setParserState(RMC_DATE);
+				datestamp[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+			}
 		}
-	}
 	
-	//magnetic variation
-	else if(decodeState == RMC_MAG_VARIATION)
-	{
-		if (byte == '*') //end of this data type
-		{
-			decodeState = GPS_CHECKSUM;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data
-		{
-			variation[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
+		//magnetic variation
+		else if(decodeState == RMC_MAG_VARIATION)
+		{
+			if (byte == '*') //end of this data type
+			{
+				variation[numBytes] = 0x00;
+				setParserState(GPS_CHECKSUM);
+				numBytes = 0; //prep for next phase of parse
+			}
+			else //store data
+			{
+				setParserState(RMC_MAG_VARIATION);
+				variation[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+			}
 		}
-	}
-	///parses RMC transmissions END
+		///parses RMC transmissions END
 	
 	
-	//checksum
-	else if (decodeState == GPS_CHECKSUM)
-	{
-		if (numBytes == 2) //end of data - terminating character ??
+		//checksum
+		else if (decodeState == GPS_CHECKSUM)
 		{
-			//checksum calculator for testing http://www.hhhh.org/wiml/proj/nmeaxor.html
-			//TODO: must determine what to do with correct and incorrect messages
-			receivedChecksum = checksum[0] + (checksum[1]*16);	//convert bytes to int
-			if(calculatedChecksum==receivedChecksum)
+			if (numBytes == 2) //end of data - terminating character ??
 			{
+				//checksum calculator for testing http://www.hhhh.org/wiml/proj/nmeaxor.html
+				//TODO: must determine what to do with correct and incorrect messages
+				receivedChecksum = checksum[0] + (checksum[1]*16);	//convert bytes to int
+				if(calculatedChecksum==receivedChecksum)
+				{
 				
-			}
-			else
-			{
+				}
+				else
+				{
 				
+				}
+				#ifdef DEBUG_NMEA
+				serial0_sendString("OMG GOT TO CHECKSUM!\r\n");
+				#endif
+				
+				snprintf(debugBuff, 128, "\r\n\r\ntype: %s tstamp: %s lat: %s lon: %s speed: %s hdop: %s course: %s \r\n\r\n",
+				tramsmissionType,timestamp,latitude,longitude,knots,hdop, course);
+				serial0_sendString((debugBuff));
+				setParserState(INITIALIZE);
+				numBytes = 0; //prep for next phase of parse
 			}
-			
-			decodeState = INITIALIZE;
-			numBytes = 0; //prep for next phase of parse
-		}
-		else //store data
+			else //store data
+			{
+				setParserState(GPS_CHECKSUM);
+				checksum[numBytes] = byte; //adjust number of bytes to fit array
+				numBytes++;
+			}
+		}
+		else {
+			setParserState(INITIALIZE);
+		}
+	
+		if (decodeState!=GPS_CHECKSUM && decodeState!=INITIALIZE)	//want bytes between '$' and '*'
 		{
-			checksum[numBytes] = byte; //adjust number of bytes to fit array
-			numBytes++;
+			//input byte into running checksum
+			XORbyteWithChecksum(byte);
 		}
-	}
-	
-	if (decodeState!=GPS_CHECKSUM && decodeState!=INITIALIZE)	//want bytes between '$' and '*'
-	{
-		//input byte into running checksum
-		XORbyteWithChecksum(byte);
-	}
-	
+	}	
 
 }
 /// MKa GPS transmission parser END
diff --git a/master/master/lib/trackuinoGPS/gpsMKa.h b/master/master/lib/trackuinoGPS/gpsMKa.h
--- a/master/master/lib/trackuinoGPS/gpsMKa.h
+++ b/master/master/lib/trackuinoGPS/gpsMKa.h
@@ -12,4 +12,9 @@
 #define RMC_MESSAGE
 #define UKN_MESSAGE
 
+char* get_longitude();
+char* get_latitude();
+char* get_timestamp();
+char* get_speedKnots();
+
 #endif /* GPSMKA_H_ */
\ No newline at end of file
diff --git a/master/master/master.c b/master/master/master.c
--- a/master/master/master.c
+++ b/master/master/master.c
@@ -24,10 +24,14 @@
 #include "lib/aprs.h"
 #include "lib/afsk.h"
 #include "lib/led.h"
-//#include "lib/logger.h"
+#include "lib/logger.h"
 #include "lib/watchdog.h"
-//!
-#include "lib/sd/sd_raw_config.h"
+
+#include "lib/trackuinoGPS/gpsMKa.h"
+
+#include "lib/i2c.h"
+#include "lib/boardtemp.h"
+
 #include "lib/looptime.h"
 #include "lib/slavesensors.h"
 #include "lib/serparser.h"
@@ -55,23 +59,25 @@ int main(void)
 	
 	serial1_setup();
 	
+	i2c_init(); // for board temp
+
 	sensordata_setup(); // must happen before sensors/logger/afsk
 	slavesensors_setup();
 	logger_setup();
 	
 	afsk_setup();
-
+	
 	serial0_sendString("\r\n\r\n---------------------------------\r\n");
 	serial0_sendString("HAB Controller 1.0 - Initialized!\r\n");
 	serial0_sendString("---------------------------------\r\n\r\n");
-	serial0_sendString("\f\r\n\r\Hello.\r\n\r\n");
+	serial0_sendString("\f\r\n\rHello.\r\n\r\n");
 	
 	led_on(LED_POWER);
 	led_off(LED_SIDEBOARD);
 
 	
 	// Buffer for string operations
-	char logbuf[16];
+	char logbuf[32];
 	
 	// Software timers	
 	uint32_t lastAprsBroadcast = 0;
@@ -125,8 +131,10 @@ int main(void)
 		// Periodic: Logging
 		if(time_millis() - lastLog > LOGGER_RATE) 
 		{
+			
 			led_on(LED_STATUS);
-			snprintf(logbuf, 16, "%lu,%d,\r\n", time_millis(), sensordata_get(HUMIDITY));
+			sensors_readBoardTemp(); // i2c read, 400k
+			snprintf(logbuf, 32, "%lu,%d,%uF\r\n", time_millis(), sensordata_get(HUMIDITY), sensors_getBoardTemp());
 			logger_log(logbuf);
 			//serial0_sendString("Logging: ");
 			//serial0_sendString(logbuf);
@@ -139,6 +147,8 @@ int main(void)
 		// Periodic: APRS transmission
 		if(time_millis() - lastAprsBroadcast > APRS_TRANSMIT_PERIOD) 
 		{
+			
+			
 			serial0_sendString(":: APRS Periodic\r\n");
 			
 			while(afsk_busy());
@@ -161,10 +171,8 @@ int main(void)
 		
 
 		parseResult = serparser_parse();
-		
-
 		slavesensors_process(parseResult);
-
+		parse_gps_transmission();
 		wdt_reset();
     }
 }
\ No newline at end of file
diff --git a/master/master/master.cproj b/master/master/master.cproj
--- a/master/master/master.cproj
+++ b/master/master/master.cproj
@@ -132,6 +132,18 @@
     <Compile Include="lib\ax25.h">
       <SubType>compile</SubType>
     </Compile>
+    <Compile Include="lib\boardtemp.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="lib\boardtemp.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="lib\i2c.c">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="lib\i2c.h">
+      <SubType>compile</SubType>
+    </Compile>
     <Compile Include="lib\led.c">
       <SubType>compile</SubType>
     </Compile>