diff --git a/Cargo.toml b/Cargo.toml
index b1e174d..2f3e670 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -12,11 +12,15 @@ categories = ["embedded", "no-std", "parser-implementations"]
 readme = "README.md"
 
 [dependencies]
+defmt = { version = "1", optional = true }
+heapless = { version = "0.9", optional = true }
 
 [features]
 default = ["strict"]
 mtk = []
+txt = ["dep:heapless"]
 strict = []
+defmt = ["dep:defmt"]
 
 [badges]
 codecov = { repository = "nsforth/nmea0183" }
diff --git a/src/coords.rs b/src/coords.rs
index 9dd9dda..b6adb29 100644
--- a/src/coords.rs
+++ b/src/coords.rs
@@ -2,7 +2,8 @@
 use core::convert::TryFrom;
 
 /// Earth hemisphere
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Hemisphere {
     /// North
     North,
@@ -15,7 +16,8 @@ pub enum Hemisphere {
 }
 
 /// Latitude as reported by receiver.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Latitude {
     /// Degrees
     pub degrees: u8,
@@ -121,7 +123,8 @@ impl Latitude {
 }
 
 /// Longitude as reported by receiver.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Longitude {
     /// Degrees
     pub degrees: u8,
@@ -227,7 +230,8 @@ impl Longitude {
 }
 
 /// Altitude reported by receiver typically in GGA sentence.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Altitude {
     /// Altitude in meters over ground.
     pub meters: f32,
@@ -248,7 +252,8 @@ impl Altitude {
 }
 
 /// Speed reported by receiver typically in RMC and VTG sentences.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Speed {
     knots: f32,
 }
@@ -305,7 +310,8 @@ impl Speed {
 }
 
 /// The course over ground.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Course {
     /// Course in degrees from North rotated clockwise.
     pub degrees: f32,
@@ -331,10 +337,11 @@ impl Course {
 }
 
 /// The course over ground calculated from True course and magnetic variation.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct MagneticCourse {
     /// Course in degrees from Magnetic North Pole rotated clockwise.
-    degrees: f32,
+    pub degrees: f32,
 }
 
 impl From<f32> for MagneticCourse {
diff --git a/src/datetime.rs b/src/datetime.rs
index fd1afd0..eacc7f2 100644
--- a/src/datetime.rs
+++ b/src/datetime.rs
@@ -1,6 +1,7 @@
 //! NMEA date and time structures.
 /// NMEA date
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Date {
     /// NMEA day
     pub day: u8,
@@ -47,7 +48,8 @@ impl Date {
 }
 
 /// NMEA time in UTC
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Time {
     /// Hours as reported by receiver
     pub hours: u8,
@@ -100,7 +102,8 @@ impl Time {
 }
 
 /// NMEA date and time in UTC
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct DateTime {
     /// NMEA date
     pub date: Date,
diff --git a/src/gga.rs b/src/gga.rs
index 9e63c98..f304312 100644
--- a/src/gga.rs
+++ b/src/gga.rs
@@ -5,7 +5,8 @@ use crate::Source;
 use core::time::Duration;
 
 /// Geographic coordinates including altitude, GPS solution quality, DGPS usage information.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct GGA {
     /// Navigational system.
     pub source: Source,
@@ -78,7 +79,8 @@ impl GGA {
 }
 
 /// Quality of GPS solution
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum GPSQuality {
     /// No solution
     NoFix,
diff --git a/src/gll.rs b/src/gll.rs
index fd8bfe7..baf13ae 100644
--- a/src/gll.rs
+++ b/src/gll.rs
@@ -4,7 +4,8 @@ use crate::modes::{Mode, Status};
 use crate::Source;
 
 /// Geographic latitude ang longitude sentence with time of fix and receiver state.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct GLL {
     /// Navigational system.
     pub source: Source,
diff --git a/src/gsa.rs b/src/gsa.rs
index 2b4ed4a..05fae99 100644
--- a/src/gsa.rs
+++ b/src/gsa.rs
@@ -4,7 +4,8 @@ use crate::Source;
 const MAX_PRNS_PER_MESSAGE: usize = 12;
 
 /// GPS DOP and active satellites
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct GSA {
     /// Navigational system.
     pub source: Source,
@@ -65,7 +66,8 @@ impl GSA {
 }
 
 /// Receiver mode of positioning.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum FixType {
     /// No valid position is available.
     NoFix,
diff --git a/src/gsv.rs b/src/gsv.rs
index 5466a5f..c1f8c5d 100644
--- a/src/gsv.rs
+++ b/src/gsv.rs
@@ -3,7 +3,8 @@ use crate::satellite::Satellite;
 use crate::Source;
 const MAX_SATELLITES_PER_MESSAGE: usize = 4;
 /// Satellites in views including the number of SVs in view, the PRN numbers, elevations, azimuths, and SNR values.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct GSV {
     /// Navigational system.
     pub source: Source,
diff --git a/src/lib.rs b/src/lib.rs
index 130a079..d87b332 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -96,6 +96,8 @@ pub(crate) mod mtk;
 pub(crate) mod rmc;
 pub(crate) mod vtg;
 pub(crate) mod zda;
+#[cfg(feature = "txt")]
+pub(crate) mod txt;
 
 pub use gga::GPSQuality;
 pub use gga::GGA;
@@ -113,9 +115,12 @@ pub use mtk::PMTKSPF;
 pub use rmc::RMC;
 pub use vtg::VTG;
 pub use zda::ZDA;
+#[cfg(feature = "txt")]
+pub use txt::{TXT, MessageType};
 
 /// Source of NMEA sentence like GPS, GLONASS or other.
-#[derive(Debug, Copy, Clone, PartialEq)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Source {
     /// USA Global Positioning System
     GPS = 0b1,
@@ -127,12 +132,16 @@ pub enum Source {
     Beidou = 0b1000,
     /// Global Navigation Sattelite System. Some combination of other systems. Depends on receiver model, receiver settings, etc..
     GNSS = 0b10000,
+    /// Quasi-Zenith Satellite System
+    QZSS = 0b100000,
     #[cfg(feature = "mtk")]
     /// MediaTek NMEA packet protocol
-    MTK = 0b100000,
+    MTK = 0b1000000,
 }
 
 /// Mask for Source filter in Parser.
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct SourceMask {
     mask: u32,
 }
@@ -179,15 +188,21 @@ impl TryFrom<&str> for Source {
             "GA" => Ok(Source::Gallileo),
             "BD" => Ok(Source::Beidou),
             "GN" => Ok(Source::GNSS),
+            "GQ" => Ok(Source::QZSS),
             #[cfg(feature = "mtk")]
             "PM" => Ok(Source::MTK),
-            _ => Err("Source is not supported!"),
+            source => {
+                #[cfg(feature = "defmt")]
+                defmt::error!("Source is not supported: {}", source);
+                Err("Source is not supported!")
+            }
         }
     }
 }
 
 /// Various kinds of NMEA sentence like RMC, VTG or other. Used for filter by sentence type in Parser.
-#[derive(Debug, Copy, Clone)]
+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Sentence {
     /// Recommended minimum sentence.
     RMC = 0b1,
@@ -206,6 +221,9 @@ pub enum Sentence {
     GSA = 0b1000000,
     /// Current Date and Time.
     ZDA = 0b10000000,
+    #[cfg(feature = "txt")]
+    /// Text message from receiver.
+    TXT = 0b100000000,
 }
 
 impl TryFrom<&str> for Sentence {
@@ -222,13 +240,21 @@ impl TryFrom<&str> for Sentence {
             "PMTK" => Ok(Sentence::PMTK),
             "GSA" => Ok(Sentence::GSA),
             "ZDA" => Ok(Sentence::ZDA),
+            #[cfg(feature = "txt")]
+            "TXT" => Ok(Sentence::TXT),
 
-            _ => Err("Unsupported sentence type."),
+            sentence => {
+                #[cfg(feature = "defmt")]
+                defmt::error!("Unsupported NMEA sentence type: {}", sentence);
+                Err("Unsupported sentence type.")
+            }
         }
     }
 }
 
 /// Mask for Sentence filter in Parser.
+#[derive(Debug, Eq, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct SentenceMask {
     mask: u32,
 }
@@ -269,6 +295,7 @@ impl BitOr<Sentence> for SentenceMask {
 /// Sentences with many null fields or sentences without valid data is also parsed and returned as None.
 /// None ParseResult may be interpreted as working receiver but without valid data.
 #[derive(Debug, PartialEq, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum ParseResult {
     /// The Recommended Minimum Sentence for any GNSS. Typically most used.
     RMC(Option<RMC>),
@@ -287,6 +314,9 @@ pub enum ParseResult {
     GSA(Option<GSA>),
     /// Current Date and Time.
     ZDA(Option<ZDA>),
+    #[cfg(feature = "txt")]
+    /// Text message from receiver.
+    TXT(Option<TXT>),
 }
 
 #[cfg(feature = "strict")]
@@ -299,6 +329,8 @@ pub const MAX_SENTENCE_LENGTH: usize = 120usize;
 
 /// Parses NMEA sentences and stores intermediate parsing state.
 /// Parser is tolerant for errors so you should not reinitialize it after errors.
+#[derive(Debug, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Parser {
     buffer: [u8; MAX_SENTENCE_LENGTH],
     buflen: usize,
@@ -309,7 +341,8 @@ pub struct Parser {
     sentence_mask: SentenceMask,
 }
 
-#[derive(Debug)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 enum ParserState {
     WaitStart,
     ReadUntilChkSum,
@@ -319,6 +352,8 @@ enum ParserState {
     WaitLF,
 }
 
+#[derive(Debug)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 struct ParserIterator<'a> {
     parser: &'a mut Parser,
     input: Iter<'a, u8>,
@@ -472,6 +507,8 @@ impl Parser {
             Sentence::GSV => Ok(Some(ParseResult::GSV(GSV::parse(source, &mut iter)?))),
             Sentence::GSA => Ok(Some(ParseResult::GSA(GSA::parse(source, &mut iter)?))),
             Sentence::ZDA => Ok(Some(ParseResult::ZDA(ZDA::parse(source, &mut iter)?))),
+            #[cfg(feature = "txt")]
+            Sentence::TXT => Ok(Some(ParseResult::TXT(TXT::parse(source, &mut iter)?))),
 
             #[cfg(feature = "mtk")]
             Sentence::PMTK => {
diff --git a/src/modes.rs b/src/modes.rs
index ad19bf1..d7f4532 100644
--- a/src/modes.rs
+++ b/src/modes.rs
@@ -1,4 +1,5 @@
-#[derive(Debug, PartialEq)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub(crate) enum Status {
     Valid,
     NotValid,
@@ -15,7 +16,8 @@ impl Status {
 }
 
 /// Receiver mode of operation.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum Mode {
     /// Autonomous mode without any external correction.
     Autonomous,
diff --git a/src/mtk.rs b/src/mtk.rs
index acb41a5..179ef2a 100644
--- a/src/mtk.rs
+++ b/src/mtk.rs
@@ -2,7 +2,8 @@ use crate::Source;
 use core::convert::TryFrom;
 
 /// MTK NMEA packet type
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum MTKPacketType {
     /// Related to Spoofing and Jamming detection
     SPF,
@@ -20,7 +21,8 @@ impl TryFrom<&str> for MTKPacketType {
 }
 
 /// Related to Spoofing and Jamming detection .
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct PMTKSPF {
     /// Navigational system.
     pub source: Source,
@@ -46,7 +48,8 @@ impl PMTKSPF {
 }
 
 /// Status of gps Jamming
-#[derive(Debug, PartialEq, Clone,Copy)]
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum JammingStatus {
     /// No Jamming
     Healthy,
diff --git a/src/rmc.rs b/src/rmc.rs
index 760ed47..f141752 100644
--- a/src/rmc.rs
+++ b/src/rmc.rs
@@ -4,7 +4,8 @@ use crate::modes::{Mode, Status};
 use crate::Source;
 
 /// Recommended Minimum Sentence for any GNSS source.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct RMC {
     /// Navigational system.
     pub source: Source,
diff --git a/src/satellite.rs b/src/satellite.rs
index a13e490..40ddfc0 100644
--- a/src/satellite.rs
+++ b/src/satellite.rs
@@ -3,7 +3,8 @@
 use crate::common;
 
 ///Information about satellite in view.
-#[derive(Debug, PartialEq, Clone, Default)]
+#[derive(Debug, PartialEq, Eq, Clone, Copy, Default)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct Satellite {
     /// Satellite pseudo-random noise number.
     pub prn: u16,
diff --git a/src/txt.rs b/src/txt.rs
new file mode 100644
index 0000000..7b974df
--- /dev/null
+++ b/src/txt.rs
@@ -0,0 +1,75 @@
+use heapless::String;
+
+use crate::{common, Source};
+
+/// Geographic latitude ang longitude sentence with time of fix and receiver state.
+#[derive(Debug, PartialEq, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct TXT {
+    /// Navigational system.
+    pub source: Source,
+    /// Total number of sentences
+    pub sentences: u8,
+    /// Sentence number
+    pub number: u8,
+    /// Message type
+    pub type_: MessageType,
+    /// The message content
+    pub text: String<69>,
+}
+
+impl TXT {
+    pub(crate) fn parse<'a>(
+        source: Source,
+        fields: &mut core::str::Split<'a, char>,
+    ) -> Result<Option<Self>, &'static str> {
+        let mut fields = fields.peekable();
+        let sentences = common::parse_u8(fields.next())?;
+        let number = common::parse_u8(fields.next())?;
+        let type_ = MessageType::parse(fields.next())?;
+        let mut text = String::<69>::new();
+
+        while let Some(part) = fields.next() {
+            text.push_str(part).map_err(|_| "exceeded string size")?;
+
+            if fields.peek().is_some() {
+                text.push_str(",").map_err(|_| "exceeded string size")?;
+            }
+        }
+
+        if let (Some(sentences), Some(number), Some(type_)) = (sentences, number, type_) {
+            Ok(Some(TXT { source, sentences, number, type_, text }))
+        }
+        else {
+            Ok(None)
+        }
+    }
+}
+
+/// The type of message
+#[derive(Debug, PartialEq, Eq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub enum MessageType {
+    /// An error message
+    Error,
+    /// A warning message
+    Warning,
+    /// An informational message or notice
+    Notice,
+    /// An application specific message
+    User,
+}
+
+impl MessageType {
+    pub(crate) fn parse(input: Option<&str>) -> Result<Option<MessageType>, &'static str> {
+        match input {
+            Some("00") => Ok(Some(MessageType::Error)),
+            Some("01") => Ok(Some(MessageType::Warning)),
+            Some("02") => Ok(Some(MessageType::Notice)),
+            Some("07") => Ok(Some(MessageType::User)),
+            Some("") => Ok(None),
+            None => Ok(None),
+            _ => Err("Unsupported message kind!"),
+        }
+    }
+}
diff --git a/src/vtg.rs b/src/vtg.rs
index 2ee09ef..7675963 100644
--- a/src/vtg.rs
+++ b/src/vtg.rs
@@ -3,7 +3,8 @@ use crate::modes::Mode;
 use crate::Source;
 
 /// The actual course and speed relative to the ground.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct VTG {
     /// Navigational system.
     pub source: Source,
diff --git a/src/zda.rs b/src/zda.rs
index bac0ea0..514b825 100644
--- a/src/zda.rs
+++ b/src/zda.rs
@@ -2,7 +2,8 @@ use crate::datetime::{Date, DateTime, Time};
 use crate::{common, Source};
 
 /// Geographic latitude ang longitude sentence with time of fix and receiver state.
-#[derive(Debug, PartialEq, Clone)]
+#[derive(Debug, PartialEq, Copy, Clone)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct ZDA {
     /// Navigational system.
     pub source: Source,