diff --git a/Core/Inc/msb.h b/Core/Inc/msb.h
index 2da6e3c..5b920ea 100644
--- a/Core/Inc/msb.h
+++ b/Core/Inc/msb.h
@@ -1,4 +1,3 @@
-
 #ifndef MSB_CENTRAL_H
 #define MSB_CENTRAL_H
 
@@ -21,7 +20,10 @@ typedef enum {
 int8_t msb_init();
 
 #ifdef SENSOR_TEMP
-int8_t central_temp_measure(uint16_t *temp, uint16_t *humidity);
+/// @brief Measure the temperature and humidity of central MSB SHT30
+/// @param out
+/// @return error code
+int8_t central_temp_measure(float *temp, float *humidity);
 #endif
 
 #ifdef SENSOR_TOF
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
index 7898238..a84f333 100644
--- a/Core/Src/monitor.c
+++ b/Core/Src/monitor.c
@@ -4,6 +4,7 @@
 #include "cmsis_os.h"
 #include "msb.h"
 #include "msb_conf.h"
+#include "sht30.h"
 
 #include "stm32f405xx.h"
 #include <stdio.h>
@@ -46,12 +47,12 @@ void vTempMonitor(void *pv_params)
 				      .data = { 0 } };
 
 	struct __attribute__((__packed__)) {
-		uint16_t temp;
-		uint16_t humidity;
+		float temp;
+		float humidity;
 	} temp_sensor_data;
 
-	uint16_t temp_dat = 0;
-	uint16_t humidity_dat = 0;
+	float temp_dat = 0;
+	float humidity_dat = 0;
 
 	for (;;) {
 		if (central_temp_measure(&temp_dat, &humidity_dat)) {
@@ -62,10 +63,13 @@ void vTempMonitor(void *pv_params)
 		temp_sensor_data.humidity = humidity_dat;
 
 #ifdef LOG_VERBOSE
-		printf("Board Temperature:\t%d\r\n", temp_sensor_data.temp);
-		printf("Board Humidity:\t%d\r\n", temp_sensor_data.humidity);
+		printf("Board Temperature: %f\n", temp_sensor_data.temp);
+		printf("Board Humidity:%f\n", temp_sensor_data.humidity);
 #endif
 
+		printf("Board Temperature: %f\n", temp_sensor_data.temp);
+		printf("Board Humidity:%f\n", temp_sensor_data.humidity);
+
 		endian_swap(&temp_sensor_data.temp,
 			    sizeof(temp_sensor_data.temp));
 		endian_swap(&temp_sensor_data.humidity,
diff --git a/Core/Src/msb.c b/Core/Src/msb.c
index bb39a07..beda0e5 100644
--- a/Core/Src/msb.c
+++ b/Core/Src/msb.c
@@ -3,6 +3,7 @@
 #include "lsm6dso_reg.h"
 #include "main.h"
 #include "motion_fx.h"
+#include "sht30.h"
 #include <assert.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -49,14 +50,42 @@ VL6180xDev_t tof;
 uint32_t adc1_buf[3];
 #endif
 
+static inline uint8_t sht30_i2c_write(uint8_t *data, uint8_t dev_address,
+				      uint8_t length)
+{
+	return HAL_I2C_Master_Transmit(&hi2c3, dev_address, data, length,
+				       HAL_MAX_DELAY);
+}
+
+static inline uint8_t sht30_i2c_read(uint8_t *data, uint16_t command,
+				     uint8_t dev_address, uint8_t length)
+{
+	return HAL_I2C_Mem_Read(&hi2c3, dev_address, command, sizeof(command),
+				data, length, HAL_MAX_DELAY);
+}
+
+// blocking read uses master transmit (in blocking mode)
+static inline uint8_t sht30_i2c_blocking_read(uint8_t *data, uint16_t command,
+					      uint8_t dev_address,
+					      uint8_t length)
+{
+	uint8_t command_buffer[2] = { (command & 0xff00u) >> 8u,
+				      command & 0xffu };
+	// write command to sht30 before reading
+	sht30_i2c_write(command_buffer, dev_address, sizeof(command_buffer));
+	HAL_Delay(1); // 1 ms delay to ensure sht30 returns to idle state
+	return HAL_I2C_Master_Receive(&hi2c3, dev_address, data, length,
+				      HAL_MAX_DELAY);
+}
+
 int8_t msb_init()
 {
 #ifdef SENSOR_TEMP
 	/* Initialize the Onboard Temperature Sensor */
-	temp_sensor = (sht30_t){
-		.i2c_handle = &hi2c3,
-	};
-	assert(!sht30_init(&temp_sensor)); /* This is always connected */
+	assert(!sht30_init(&temp_sensor, (Write_ptr)sht30_i2c_write,
+			   (Read_ptr)sht30_i2c_read,
+			   (Read_ptr)sht30_i2c_blocking_read,
+			   (SHT30_I2C_ADDR))); /* This is always connected */
 #endif
 
 #ifdef SENSOR_IMU
@@ -109,18 +138,15 @@ int8_t msb_init()
 }
 
 #ifdef SENSOR_TEMP
-/// @brief Measure the temperature and humidity of central MSB SHT30
-/// @param out
-/// @return error code
-int8_t central_temp_measure(uint16_t *temp, uint16_t *humidity)
+int8_t central_temp_measure(float *temp, float *humidity)
 {
 	osStatus_t mut_stat = osMutexAcquire(i2c_mutex, osWaitForever);
 	if (mut_stat)
 		return mut_stat;
 
-	HAL_StatusTypeDef hal_stat = sht30_get_temp_humid(&temp_sensor);
-	if (hal_stat)
-		return hal_stat;
+	uint8_t status = sht30_get_temp_humid(&temp_sensor);
+	if (status)
+		return status;
 
 	*temp = temp_sensor.temp;
 	*humidity = temp_sensor.humidity;
diff --git a/Drivers/Embedded-Base b/Drivers/Embedded-Base
index 7ccd7ef..6e8d052 160000
--- a/Drivers/Embedded-Base
+++ b/Drivers/Embedded-Base
@@ -1 +1 @@
-Subproject commit 7ccd7efa4ef4614fd58a25c3fc455b99c1d5219d
+Subproject commit 6e8d05283e858487eb9ba0fd35f9809d48dd9f4b