diff --git a/src/modules/cmd/cmd.h b/src/modules/cmd/cmd.h
index 1825e75..e341e78 100644
--- a/src/modules/cmd/cmd.h
+++ b/src/modules/cmd/cmd.h
@@ -1,9 +1,12 @@
 #pragma once
 #include "custom_types.h"
 #include "modules/logger/system_logger.h"
+#include "base/task.h"
+#include "base/ring_buffer.h"
+#include "base/module_base.h"
 #include <avr/wdt.h>
 
-class cmd {
+class cmd: public module_base{
 private:
   HardwareSerial *_data_stream;
   unsigned long _baud_rate = 115200;
@@ -12,8 +15,9 @@ private:
   unsigned int _idx = 0;
   bool _buf_open = false;
   int try_parse();
-
+  ring_buffer<Task, 16> _queue;
 public:
+    int push(const Task& task) override;
   cmd(HardwareSerial *data_stream);
   cmd(HardwareSerial *data_stream, system_logger *logger);
   ~cmd();
@@ -41,6 +45,10 @@ int cmd::try_parse() {
   return 0;
 }
 
+int cmd::push(const Task& task) {
+  return _queue.push(task);
+}
+
 cmd::cmd(HardwareSerial *data_stream)
     : _data_stream(data_stream), _logger(nullptr) {}
 
diff --git a/src/modules/config/config.h b/src/modules/config/config.h
index 56cf68e..cb2e863 100644
--- a/src/modules/config/config.h
+++ b/src/modules/config/config.h
@@ -2,28 +2,50 @@
 #include "custom_types.h"
 #include "flags.h"
 #include "modules/logger/system_logger.h"
+#include "base/task.h"
+#include "base/ring_buffer.h"
+#include "base/module_base.h"
 #include <EEPROM.h>
 
-class config {
+class config : public module_base{
 private:
   vehicle_config _config;
   system_logger *_logger;
     bool _valid_config;
     track_data _loaded_track;
+  ring_buffer<Task, 16> _queue;
+    int read_cfg();
+    int write_cfg();
+    int write_cfg(const vehicle_config& new_config);
 public:
+    int push(const Task& task) override;
   config();
   config(system_logger *logger);
   ~config();
   int auto_init();
 };
 
+int config::push(const Task& task) {
+    return _queue.push(task);
+}
+
 config::config() : _logger(nullptr), _valid_config(true) {}
 config::config(system_logger *logger) : _logger(logger), _valid_config(true) {}
 
 config::~config() {}
 
-int config::auto_init() {
+int config::read_cfg() {
     EEPROM.get(0, _config); 
+    return 0;
+}
+
+int config::write_cfg(const vehicle_config& new_config) {
+    EEPROM.put(0, new_config);
+    return 0;
+}
+
+int config::auto_init() {
+    this->read_cfg();
     if (_config.magic != CONFIG_MAGIC) {
         #ifdef WARN
         if (_logger != nullptr) {
@@ -31,8 +53,8 @@ int config::auto_init() {
         }
         #endif
         vehicle_config clean_config;
-        EEPROM.put(0, clean_config);
-        EEPROM.get(0, _config);
+        this->write_cfg(clean_config);
+        this->read_cfg();
         if (_config.magic != CONFIG_MAGIC) {
             #ifdef ERROR
             if (_logger != nullptr) {
diff --git a/src/modules/gps/gps.h b/src/modules/gps/gps.h
index 5c22656..0aa4861 100644
--- a/src/modules/gps/gps.h
+++ b/src/modules/gps/gps.h
@@ -3,25 +3,33 @@
 #include "TinyGPSPlus.h"
 #include "flags.h"
 #include "modules/logger/system_logger.h"
-
+#include "base/task.h"
+#include "base/ring_buffer.h"
+#include "base/module_base.h"
+#include "data/gps_store.h"
 #define MOD "modules/gps/gps.h"
 
-class gps {
+class gps : public module_base{
 private:
   TinyGPSPlus *_gps;
   HardwareSerial *_data_stream;
   system_logger *_logger;
-
+  ring_buffer<Task, 16> _queue;
 public:
+  int push(const Task& task) override;
   gps(HardwareSerial *data_stream);
   gps(HardwareSerial *data_stream, system_logger *logger);
   ~gps();
-  int parse_task(unsigned long timeout_ms = 500);
+  int loop(unsigned long timeout_ms = 500);
   int init();
   gps_data get_data();
   
 };
 
+int gps::push(const Task& task) {
+  return _queue.push(task);
+}
+
 gps::gps(HardwareSerial *data_stream)
     : _data_stream(data_stream), _logger(nullptr) {
   _data_stream = data_stream;
@@ -43,27 +51,14 @@ int gps::init() {
   return 0;
 }
 
-int gps::parse_task(unsigned long timeout_ms) {
+int gps::loop(unsigned long timeout_ms) {
 
-#ifdef DEEP_DEBUG
-  if (_logger != nullptr) {
-    _logger->deep_debug(String(MOD) + ": parse_task: Begin");
-  }
-#endif
   unsigned long timeout = millis() + timeout_ms;
-#ifdef DEEP_DEBUG
-  if (_logger != nullptr) {
-    _logger->deep_debug(String(MOD) + ": parse_task: Entering Parse Loop");
-  }
-#endif
   while (_data_stream->available() > 0) {
-    _gps->encode(_data_stream->read());
+    if (_gps->encode(_data_stream->read())) {
+      gps_global_write(this->get_data());
+    }
     if (millis() > timeout) {
-#ifdef DEEP_DEBUG
-      if (_logger != nullptr) {
-        _logger->deep_debug(String(MOD) + ": parse_task: Parse Loop Timed Out");
-      }
-#endif
       return 1;
     }
   }
diff --git a/src/modules/lcd/lcd.h b/src/modules/lcd/lcd.h
index 30a4fd5..558dafa 100644
--- a/src/modules/lcd/lcd.h
+++ b/src/modules/lcd/lcd.h
@@ -3,6 +3,9 @@
 #include "modules/logger/system_logger.h"
 #include "modules/gps/gps.h"
 #include <LiquidCrystal_I2C.h>
+#include "base/task.h"
+#include "base/ring_buffer.h"
+#include "base/module_base.h"
 #define MOD "modules/lcd/lcd.h"
 
 namespace screen
@@ -14,7 +17,7 @@ typedef enum lcd_screen {
 };
 } // namespace screen
 
-class lcd {
+class lcd : public module_base{
 private:
   LiquidCrystal_I2C *_display;
   bool _dispaly_cleared;
@@ -22,7 +25,7 @@ private:
   screen::lcd_screen _screen;
   unsigned long _last_render;
   unsigned long _frame_duration;
-  gps *_gps;
+  ring_buffer<Task, 16> _queue;
   void clear();
   void print(const String& msg);
   void print(char);
@@ -32,15 +35,16 @@ private:
   void print(long val, int base);
   void print(unsigned int val, int base);
   void print(int val, int base);
+  
+  int render_gps_debug();
 public:
+  int push(const Task& task) override;
   lcd();
   lcd(system_logger *logger);
   ~lcd();
   int init();
-  int set_gps(gps *gps);
   int print_message(String message);
-  int switch_screen(screen::lcd_screen new_screen);
-  int render_task();
+  int loop(unsigned long timeout_ms=500);
 };
 
 void lcd::clear() {
@@ -90,6 +94,49 @@ void lcd::print(int i, int base=10) {
     _dispaly_cleared = false;
 }
 
+int lcd::render_gps_debug() {
+  
+    this->clear();
+    gps_data data;
+    gps_global_read(data);
+
+    _display->setCursor(0,0);
+    this->print("Alt: ");
+    if (data.altitude.valid) {
+      this->print(data.altitude.value, 5);
+    } else {
+      this->print("not valid");
+    }
+
+    _display->setCursor(0,1);
+    this->print("Lat: ");
+    if (data.lat.valid) {
+      this->print(data.lat.value, 5);
+    } else {
+      this->print("not valid");
+    }
+
+    _display->setCursor(0,2);
+    this->print("Lng: ");
+    if (data.lng.valid) {
+      this->print(data.lng.value, 5);
+    } else {
+      this->print("not valid");
+    }
+
+    _display->setCursor(0,3);
+    this->print("Spd: ");
+    if (data.speed.valid) {
+      this->print(data.speed.value, 5);
+    } else {
+      this->print("not valid");
+    }
+}
+
+int lcd::push(const Task& task) {
+  return _queue.push(task);
+}
+
 lcd::lcd(): _logger(nullptr), _screen(screen::blank), _last_render(0), _frame_duration(500), _dispaly_cleared(false), _gps(nullptr) { _display = new LiquidCrystal_I2C(0x27, 20, 4); }
 
 lcd::lcd(system_logger *logger): _logger(logger), _screen(screen::blank), _last_render(0), _frame_duration(500), _dispaly_cleared(false), _gps(nullptr)  {
@@ -196,13 +243,32 @@ int lcd::print_message(String message) {
   return 0;
 }
 
-int lcd::switch_screen(screen::lcd_screen new_screen) {
-  _screen = new_screen; 
-  return 0;
-}
-
-int lcd::render_task() {
+int lcd::loop(unsigned long timeout_ms) {
   unsigned long now = millis();
+  unsigned long task_timeout = now + timeout_ms;
+  while (_queue.size() > 0) {
+    Task next_task;
+    int res = _queue.pop(next_task);
+    if (res != 0 ) {
+      if (millis() > task_timeout) {
+        break;
+      }
+      continue;
+    }
+    switch (next_task.type)
+    {
+    case TASK_DISPLAY_GPS_DEBUG:
+      _screen = screen::gps_debug;
+      break;
+    
+    default:
+      break;
+    }
+    if (millis() > task_timeout) {
+      break;
+    }
+
+  }
   if (now < _last_render + _frame_duration) {
     return 1;
   }
@@ -213,44 +279,7 @@ int lcd::render_task() {
     break;
     
   case screen::gps_debug:
-    this->clear();
-    if (_gps == nullptr) {
-      this->print_message("No GPS Found");
-      break;
-    }
-    gps_data data = _gps->get_data();
-
-    _display->setCursor(0,0);
-    this->print("Alt: ");
-    if (data.altitude.valid) {
-      this->print(data.altitude.value, 5);
-    } else {
-      this->print("not valid");
-    }
-
-    _display->setCursor(0,1);
-    this->print("Lat: ");
-    if (data.lat.valid) {
-      this->print(data.lat.value, 5);
-    } else {
-      this->print("not valid");
-    }
-
-    _display->setCursor(0,2);
-    this->print("Lng: ");
-    if (data.lng.valid) {
-      this->print(data.lng.value, 5);
-    } else {
-      this->print("not valid");
-    }
-
-    _display->setCursor(0,3);
-    this->print("Spd: ");
-    if (data.speed.valid) {
-      this->print(data.speed.value, 5);
-    } else {
-      this->print("not valid");
-    }
+    this->render_gps_debug();
     break;
   
   default:
diff --git a/src/modules/logger/system_logger.h b/src/modules/logger/system_logger.h
index 2e1b2fd..c5e941c 100644
--- a/src/modules/logger/system_logger.h
+++ b/src/modules/logger/system_logger.h
@@ -1,8 +1,11 @@
 #pragma once
 #include <Arduino.h>
 #include "flags.h"
+#include "base/ring_buffer.h"
+#include "base/task.h"
+#include "base/module_base.h"
 
-class system_logger 
+class system_logger
 {
 private:
     HardwareSerial *_output;