diff --git a/.clang-format b/.clang-format
index 51ae599..2eaf0c7 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,4 +1,3 @@
----
 BasedOnStyle: LLVM
 Standard: Cpp11
 
@@ -13,7 +12,7 @@ BreakConstructorInitializersBeforeComma: true
 ConstructorInitializerAllOnOneLineOrOnePerLine: false
 
 AllowShortBlocksOnASingleLine: false
-AllowShortCaseLabelsOnASingleLine: false   
+AllowShortCaseLabelsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
@@ -34,4 +33,6 @@ IndentAccessModifiers: true
 
 IndentPPDirectives: AfterHash
 
-IndentCaseLabels: true  
+IndentCaseLabels: true
+
+NamespaceIndentation: All
diff --git a/include/BNO08x.hpp b/include/BNO08x.hpp
index 768f33b..d913ead 100644
--- a/include/BNO08x.hpp
+++ b/include/BNO08x.hpp
@@ -7,41 +7,22 @@
 
 // etl includes
 #include <etl/vector.h>
+#include <etl/variant.h>
 #include <etl/map.h>
 
 // esp-idf includes
+#include <driver/gpio.h>
+#include <driver/spi_common.h>
+#include <driver/spi_master.h>
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 #include <freertos/event_groups.h>
 #include <freertos/queue.h>
-#include <freertos/semphr.h>
-
 // in-house includes
-#include "BNO08x_global_types.hpp"
+#include "BNO08xGlobalTypes.hpp"
+#include "BNO08xPrivateTypes.hpp"
 #include "BNO08xSH2HAL.hpp"
-#include "BNO08xCbParamRptID.hpp"
-#include "BNO08xCbParamVoid.hpp"
-#include "BNO08xRptAcceleration.hpp"
-#include "BNO08xRptLinearAcceleration.hpp"
-#include "BNO08xRptGravity.hpp"
-#include "BNO08xRptCalMagnetometer.hpp"
-#include "BNO08xRptUncalMagnetometer.hpp"
-#include "BNO08xRptCalGyro.hpp"
-#include "BNO08xRptUncalGyro.hpp"
-#include "BNO08xRptRV.hpp"
-#include "BNO08xRptGameRV.hpp"
-#include "BNO08xRptARVRStabilizedRV.hpp"
-#include "BNO08xRptARVRStabilizedGameRV.hpp"
-#include "BNO08xRptIGyroRV.hpp"
-#include "BNO08xRptRVGeomag.hpp"
-#include "BNO08xRptRawMEMSGyro.hpp"
-#include "BNO08xRptRawMEMSAccelerometer.hpp"
-#include "BNO08xRptRawMEMSMagnetometer.hpp"
-#include "BNO08xRptStepCounter.hpp"
-#include "BNO08xRptActivityClassifier.hpp"
-#include "BNO08xStabilityClassifier.hpp"
-#include "BNO08xShakeDetector.hpp"
-#include "BNO08xTapDetector.hpp"
+#include "BNO08xReports.hpp"
 
 /**
  * @class BNO08x
@@ -51,15 +32,6 @@
 class BNO08x
 {
     public:
-        inline static sh2_SensorConfig default_sensor_cfg = {.changeSensitivityEnabled = false, ///<TODO
-                .changeSensitivityRelative = false,
-                .wakeupEnabled = false,
-                .alwaysOnEnabled = false,
-                .changeSensitivity = 0,
-                .reportInterval_us = 0,
-                .batchInterval_us = 0,
-                .sensorSpecific = 0};
-
         BNO08x(bno08x_config_t imu_config = bno08x_config_t());
         ~BNO08x();
 
@@ -74,8 +46,8 @@ class BNO08x
         bool get_frs(uint16_t frs_ID, uint32_t (&data)[16], uint16_t& rx_data_sz);
 
         bool data_available();
-        void register_cb(std::function<void(void)> cb_fxn);
-        void register_cb(std::function<void(uint8_t report_ID)> cb_fxn);
+        bool register_cb(std::function<void(void)> cb_fxn);
+        bool register_cb(std::function<void(uint8_t report_ID)> cb_fxn);
 
         void print_product_ids();
 
@@ -107,34 +79,6 @@ class BNO08x
         BNO08xTapDetector tap_detector;
 
     private:
-        /// @brief Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).
-        typedef struct bno08x_init_status_t
-        {
-                bool gpio_outputs;         ///< True if GPIO outputs have been initialized.
-                bool gpio_inputs;          ///< True if GPIO inputs have been initialized.
-                bool isr_service;          ///< True if global ISR service has been initialized.
-                bool isr_handler;          ///< True if HINT ISR handler has been initialized.
-                bool spi_bus;              ///< True if spi_bus_initialize() has been called successfully.
-                bool spi_device;           ///< True if spi_bus_add_device() has been called successfully.
-                bool sh2_HAL;              ///< True if sh2_open() has been called successfully.
-                bool data_proc_task;       ///< True if xTaskCreate has been called successfully for data_proc_task.
-                bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
-                bool cb_task;              ///< True if xTaskCreate has been called successfully for cb_task.
-
-                bno08x_init_status_t()
-                    : gpio_outputs(false)
-                    , gpio_inputs(false)
-                    , isr_service(false)
-                    , isr_handler(false)
-                    , spi_bus(false)
-                    , spi_device(false)
-                    , data_proc_task(false)
-                    , sh2_HAL_service_task(false)
-                    , cb_task(false)
-                {
-                }
-        } bno08x_init_status_t;
-
         // data processing task
         static const constexpr configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ =
                 CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ; ///< Size of data_proc_task() stack in bytes
@@ -203,24 +147,19 @@ class BNO08x
 
         QueueHandle_t queue_cb_report_id; ///< Queue to send report ID of most recent report to cb_task()
 
-        etl::vector<BNO08xCbParamVoid, CONFIG_ESP32_BNO08X_CB_MAX>
-                cb_list_void_param; // Vector for storing any call-back functions added with register_cb()
-        etl::vector<BNO08xCbParamRptID, CONFIG_ESP32_BNO08X_CB_MAX>
-                cb_list_rpt_param; // Vector for storing any call-back functions added with register_cb()
-        etl::vector<BNO08xCbGeneric*, CONFIG_ESP32_BNO08X_CB_MAX>
-                cb_ptr_list; // Vector for storing any call-back functions added with register_cb() as pointer to generic type
-
         bno08x_config_t imu_config{};                   ///<IMU configuration settings
         spi_bus_config_t bus_config{};                  ///<SPI bus GPIO configuration settings
         spi_device_interface_config_t imu_spi_config{}; ///<SPI slave device settings
         spi_device_handle_t spi_hdl{};                  ///<SPI device handle
         spi_transaction_t spi_transaction{};            ///<SPI transaction handle
-        bno08x_init_status_t
+        BNO08xPrivateTypes::bno08x_init_status_t
                 init_status; ///<Initialization status of various functionality, used by deconstructor during cleanup, set during initialization.
 
         sh2_ProductIds_t product_IDs; ///< Product ID info returned IMU at initialization, can be viewed with print_product_ids()
 
-        static const constexpr uint8_t TOTAL_RPT_COUNT = 38; ///< Amount of possible reports returned from BNO08x. 
+        BNO08xPrivateTypes::bno08x_cb_list_t cb_list; ///< Vector to contain registered callbacks.
+
+        etl::vector<uint8_t, TOTAL_RPT_COUNT> en_report_ids; ///< Vector to contain IDs of currently enabled reports
 
         // clang-format off
         etl::map<uint8_t, BNO08xRpt*, TOTAL_RPT_COUNT, etl::less<uint8_t>> usr_reports = 
@@ -285,81 +224,10 @@ class BNO08x
 
         static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of.
 
-        // evt_grp_bno08x_task bits
-        static const constexpr EventBits_t EVT_GRP_BNO08x_TASKS_RUNNING =
-                (1UL << 0U); ///<When this bit is set it indicates the BNO08x tasks are running, it is always set to 1 for the duration BNO08x driver object. Cleared in deconstructor for safe task deletion.
-        static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT =
-                (1UL << 1U); ///<When this bit is set it indicates the BNO08x has asserted its host interrupt pin, thus an SPI transaction should commence.
-        static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_RESET_OCCURRED =
-                (1UL << 2U); ///<When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user must be re-enabled.
-        static const constexpr EventBits_t EVT_GRP_BNO08x_TASK_DATA_AVAILABLE =
-                (1UL << 3U); ///<When this bit is set it indicates a report has been received for the user to read, cleared in data_available() set/cleared in handle_sensor_report()
-
-        // evt_grp_report_en bits
-        static const constexpr EventBits_t EVT_GRP_RPT_RV_BIT = (1UL << 0U);        ///< When set, rotation vector reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_RV_GAME_BIT = (1UL << 1U);   ///< When set, game rotation vector reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_RV_ARVR_S_BIT = (1UL << 2U); ///< When set, ARVR stabilized rotation vector reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_RV_ARVR_S_GAME_BIT =
-                (1UL << 3U); ///< When set, ARVR stabilized game rotation vector reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT =
-                (1UL << 4U);                                                        ///< When set, gyro integrator rotation vector reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_GEOMAG_RV_BIT = (1UL << 5U); ///< When set, gyro integrator rotation vector reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_ACCELEROMETER_BIT = (1UL << 6U);        ///< When set, accelerometer reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1UL << 7U); ///< When set, linear accelerometer reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_GRAVITY_BIT = (1UL << 8U);              ///< When set, gravity reports are active.
-
-        static const constexpr EventBits_t EVT_GRP_RPT_CAL_GYRO_BIT = (1UL << 9U);    ///< When set, gyro reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_UNCAL_GYRO_BIT = (1UL << 10U); ///< When set, uncalibrated gyro reports are active.
-
-        static const constexpr EventBits_t EVT_GRP_RPT_CAL_MAGNETOMETER_BIT = (1UL << 11U); ///< When set, calibrated magnetometer reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT =
-                (1UL << 12U); ///< When set, uncalibrated magnetometer reports are active.
-
-        static const constexpr EventBits_t EVT_GRP_RPT_TAP_DETECTOR_BIT = (1UL << 13U); ///< When set, tap detector reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_STEP_COUNTER_BIT = (1UL << 14U); ///< When set, step counter reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT =
-                (1UL << 15U);                                                                  ///< When set, stability classifier reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1UL << 16U); ///< When set, activity classifier reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_SHAKE_DETECTOR_BIT = (1UL << 17U);      ///< When set, shake detector reports are active.
-
-        static const constexpr EventBits_t EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1UL << 18U); ///< When set, raw accelerometer reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_RAW_GYRO_BIT = (1UL << 19U);          ///< When set, raw gyro reports are active.
-        static const constexpr EventBits_t EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1UL << 20U);  ///< When set, raw magnetometer reports are active.
-
-        static const constexpr EventBits_t EVT_GRP_RPT_ALL =
-                EVT_GRP_RPT_RV_BIT | EVT_GRP_RPT_RV_GAME_BIT | EVT_GRP_RPT_RV_ARVR_S_BIT | EVT_GRP_RPT_RV_ARVR_S_GAME_BIT |
-                EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_CAL_GYRO_BIT | EVT_GRP_RPT_UNCAL_GYRO_BIT |
-                EVT_GRP_RPT_CAL_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT |
-                EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT | EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT |
-                EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT | EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT | EVT_GRP_RPT_SHAKE_DETECTOR_BIT |
-                EVT_GRP_RPT_ACCELEROMETER_BIT | EVT_GRP_RPT_GEOMAG_RV_BIT | EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT;
+      
 
         static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
 
-        // we have a lot of friends
         friend class BNO08xSH2HAL;
         friend class BNO08xTestHelper;
-        friend class BNO08xRpt;
-        friend class BNO08xRptRVGeneric;
-        friend class BNO08xRptRV;
-        friend class BNO08xRptGameRV;
-        friend class BNO08xRptARVRStabilizedRV;
-        friend class BNO08xRptARVRStabilizedGameRV;
-        friend class BNO08xRptAcceleration;
-        friend class BNO08xRptLinearAcceleration;
-        friend class BNO08xRptGravity;
-        friend class BNO08xRptCalMagnetometer;
-        friend class BNO08xRptUncalMagnetometer;
-        friend class BNO08xRptCalGyro;
-        friend class BNO08xRptUncalGyro;
-        friend class BNO08xRptIGyroRV;
-        friend class BNO08xRptRVGeomag;
-        friend class BNO08xRptRawMEMSGyro;
-        friend class BNO08xRptRawMEMSAccelerometer;
-        friend class BNO08xRptRawMEMSMagnetometer;
-        friend class BNO08xRptStepCounter;
-        friend class BNO08xRptActivityClassifier;
-        friend class BNO08xStabilityClassifier;
-        friend class BNO08xShakeDetector;
-        friend class BNO08xTapDetector;
 };
\ No newline at end of file
diff --git a/include/BNO08x_global_types.hpp b/include/BNO08xGlobalTypes.hpp
similarity index 99%
rename from include/BNO08x_global_types.hpp
rename to include/BNO08xGlobalTypes.hpp
index d963963..03b14a9 100644
--- a/include/BNO08x_global_types.hpp
+++ b/include/BNO08xGlobalTypes.hpp
@@ -1,10 +1,24 @@
 /**
- * @file BNO08x_global_types.hpp
+ * @file BNO08xGlobalTypes.hpp
  * @author Myles Parfeniuk
  */
 
 #pragma once
 
+// macros for bno08x_tap_detector_t
+#define TAP_DETECTED_X_AXIS(tap) ((tap) & (1U << 0U) ? 1 : 0)
+#define TAP_DETECTED_X_AXIS_POSITIVE(tap) ((tap) & (1U << 1U) ? 1 : 0)
+#define TAP_DETECTED_Y_AXIS(tap) ((tap) & (1U << 2U) ? 1 : 0)
+#define TAP_DETECTED_Y_AXIS_POSITIVE(tap) ((tap) & (1U << 3U) ? 1 : 0)
+#define TAP_DETECTED_Z_AXIS(tap) ((tap) & (1U << 4U) ? 1 : 0)
+#define TAP_DETECTED_Z_AXIS_POSITIVE(tap) ((tap) & (1U << 5U) ? 1 : 0)
+#define TAP_DETECTED_DOUBLE(tap) ((tap) & (1U << 6U) ? 1 : 0)
+
+// macros for bno08x_shake_detector_t
+#define SHAKE_DETECTED_X(tap) ((tap) & (1U << 0U) ? 1 : 0)
+#define SHAKE_DETECTED_Y(tap) ((tap) & (1U << 1U) ? 1 : 0)
+#define SHAKE_DETECTED_Z(tap) ((tap) & (1U << 2U) ? 1 : 0)
+
 // standard library includes
 #include <math.h>
 #include <inttypes.h>
@@ -19,19 +33,52 @@
 // third-party includes
 #include "sh2_SensorValue.h"
 
-// macros for bno08x_tap_detector_t
-#define TAP_DETECTED_X_AXIS(tap) ((tap) & (1U << 0U) ? 1 : 0)
-#define TAP_DETECTED_X_AXIS_POSITIVE(tap) ((tap) & (1U << 1U) ? 1 : 0)
-#define TAP_DETECTED_Y_AXIS(tap) ((tap) & (1U << 2U) ? 1 : 0)
-#define TAP_DETECTED_Y_AXIS_POSITIVE(tap) ((tap) & (1U << 3U) ? 1 : 0)
-#define TAP_DETECTED_Z_AXIS(tap) ((tap) & (1U << 4U) ? 1 : 0)
-#define TAP_DETECTED_Z_AXIS_POSITIVE(tap) ((tap) & (1U << 5U) ? 1 : 0)
-#define TAP_DETECTED_DOUBLE(tap) ((tap) & (1U << 6U) ? 1 : 0)
+/// @brief IMU configuration settings passed into constructor
+typedef struct bno08x_config_t
+{
+        spi_host_device_t spi_peripheral; ///<SPI peripheral to be used
+        gpio_num_t io_mosi;               ///<MOSI GPIO pin (connects to BNO08x DI pin)
+        gpio_num_t io_miso;               ///<MISO GPIO pin (connects to BNO08x SDA pin)
+        gpio_num_t io_sclk;               ///<SCLK pin (connects to BNO08x SCL pin)
+        gpio_num_t io_cs;                 /// Chip select pin (connects to BNO08x CS pin)
+        gpio_num_t io_int;                /// Host interrupt pin (connects to BNO08x INT pin)
+        gpio_num_t io_rst;                /// Reset pin (connects to BNO08x RST pin)
+        uint32_t sclk_speed;              ///<Desired SPI SCLK speed in Hz (max 3MHz)
+        bool install_isr_service; ///<Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio_install_isr_service() is called before initialize() set this to false)
 
-// macros for bno08x_shake_detector_t
-#define SHAKE_DETECTED_X(tap) ((tap) & (1U << 0U) ? 1 : 0)
-#define SHAKE_DETECTED_Y(tap) ((tap) & (1U << 1U) ? 1 : 0)
-#define SHAKE_DETECTED_Z(tap) ((tap) & (1U << 2U) ? 1 : 0)
+        /// @brief Default IMU configuration settings constructor.
+        /// To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x->GPIO Configuration.
+        /// Alternatively, edit the default values in "Kconfig.projbuild"
+        bno08x_config_t(bool install_isr_service = true)
+            : spi_peripheral((spi_host_device_t) CONFIG_ESP32_BNO08x_SPI_HOST)
+            , io_mosi(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_DI))       // default: 23
+            , io_miso(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_SDA))      // default: 19
+            , io_sclk(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_SCL))      // default: 18
+            , io_cs(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_CS))         // default: 33
+            , io_int(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_HINT))      // default: 26
+            , io_rst(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_RST))       // default: 32
+            , sclk_speed(static_cast<uint32_t>(CONFIG_ESP32_BNO08X_SCL_SPEED_HZ)) // default: 2MHz
+            , install_isr_service(install_isr_service)                            // default: true
+
+        {
+        }
+
+        /// @brief Overloaded IMU configuration settings constructor for custom pin settings
+        bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs,
+                gpio_num_t io_int, gpio_num_t io_rst, uint32_t sclk_speed, bool install_isr_service = true)
+            : spi_peripheral(spi_peripheral)
+            , io_mosi(io_mosi)
+            , io_miso(io_miso)
+            , io_sclk(io_sclk)
+            , io_cs(io_cs)
+            , io_int(io_int)
+            , io_rst(io_rst)
+            , sclk_speed(sclk_speed)
+            , install_isr_service(install_isr_service)
+        {
+        }
+} bno08x_config_t;
+typedef bno08x_config_t imu_config_t; // legacy version compatibility
 
 /// @brief Reason for previous IMU reset (returned by get_reset_reason())
 enum class BNO08xResetReason
@@ -95,55 +142,8 @@ enum class BNO08xStability
     MOTION = 4,     // 4 = in motion
     RESERVED = 5,   // 5 = reserved (not used)
     UNDEFINED = 6   // used for unit tests
-
 };
 
-/// @brief IMU configuration settings passed into constructor
-typedef struct bno08x_config_t
-{
-        spi_host_device_t spi_peripheral; ///<SPI peripheral to be used
-        gpio_num_t io_mosi;               ///<MOSI GPIO pin (connects to BNO08x DI pin)
-        gpio_num_t io_miso;               ///<MISO GPIO pin (connects to BNO08x SDA pin)
-        gpio_num_t io_sclk;               ///<SCLK pin (connects to BNO08x SCL pin)
-        gpio_num_t io_cs;                 /// Chip select pin (connects to BNO08x CS pin)
-        gpio_num_t io_int;                /// Host interrupt pin (connects to BNO08x INT pin)
-        gpio_num_t io_rst;                /// Reset pin (connects to BNO08x RST pin)
-        uint32_t sclk_speed;              ///<Desired SPI SCLK speed in Hz (max 3MHz)
-        bool install_isr_service; ///<Indicates whether the ISR service for the HINT should be installed at IMU initialization, (if gpio_install_isr_service() is called before initialize() set this to false)
-
-        /// @brief Default IMU configuration settings constructor.
-        /// To modify default GPIO pins, run "idf.py menuconfig" esp32_BNO08x->GPIO Configuration.
-        /// Alternatively, edit the default values in "Kconfig.projbuild"
-        bno08x_config_t(bool install_isr_service = true)
-            : spi_peripheral((spi_host_device_t) CONFIG_ESP32_BNO08x_SPI_HOST)
-            , io_mosi(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_DI))       // default: 23
-            , io_miso(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_SDA))      // default: 19
-            , io_sclk(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_SCL))      // default: 18
-            , io_cs(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_CS))         // default: 33
-            , io_int(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_HINT))      // default: 26
-            , io_rst(static_cast<gpio_num_t>(CONFIG_ESP32_BNO08X_GPIO_RST))       // default: 32
-            , sclk_speed(static_cast<uint32_t>(CONFIG_ESP32_BNO08X_SCL_SPEED_HZ)) // default: 2MHz
-            , install_isr_service(install_isr_service)                            // default: true
-
-        {
-        }
-
-        /// @brief Overloaded IMU configuration settings constructor for custom pin settings
-        bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk, gpio_num_t io_cs,
-                gpio_num_t io_int, gpio_num_t io_rst, uint32_t sclk_speed, bool install_isr_service = true)
-            : spi_peripheral(spi_peripheral)
-            , io_mosi(io_mosi)
-            , io_miso(io_miso)
-            , io_sclk(io_sclk)
-            , io_cs(io_cs)
-            , io_int(io_int)
-            , io_rst(io_rst)
-            , sclk_speed(sclk_speed)
-            , install_isr_service(install_isr_service)
-        {
-        }
-} bno08x_config_t;
-
 /// @brief Struct to represent unit quaternion.
 typedef struct bno08x_quat_t
 {
@@ -783,4 +783,4 @@ typedef struct bno08x_meta_data_t
         }
 } bno08x_meta_data_t;
 
-typedef bno08x_config_t imu_config_t; // legacy version compatibility
\ No newline at end of file
+static const constexpr uint8_t TOTAL_RPT_COUNT = 38; ///< Amount of possible reports returned from BNO08x.
diff --git a/include/BNO08xPrivateTypes.hpp b/include/BNO08xPrivateTypes.hpp
new file mode 100644
index 0000000..76327bc
--- /dev/null
+++ b/include/BNO08xPrivateTypes.hpp
@@ -0,0 +1,137 @@
+/**
+ * @file BNO08xPrivateTypes.hpp
+ * @author Myles Parfeniuk
+ */
+
+#pragma once
+
+// etl includes
+#include <etl/vector.h>
+#include <etl/variant.h>
+// esp-idf includes
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+#include <freertos/event_groups.h>
+// in-house includes
+#include "BNO08xGlobalTypes.hpp"
+#include "BNO08xCbParamRptID.hpp"
+#include "BNO08xCbParamVoid.hpp"
+
+namespace BNO08xPrivateTypes
+{
+    using bno08x_cb_list_t = etl::vector<etl::variant<BNO08xCbParamVoid, BNO08xCbParamRptID>,
+            CONFIG_ESP32_BNO08X_CB_MAX>; ///< Alias for vector type to contain both cb flavors.
+
+    /// @brief Holds info about which functionality has been successfully initialized (used by deconstructor during cleanup).
+    typedef struct bno08x_init_status_t
+    {
+            bool gpio_outputs;         ///< True if GPIO outputs have been initialized.
+            bool gpio_inputs;          ///< True if GPIO inputs have been initialized.
+            bool isr_service;          ///< True if global ISR service has been initialized.
+            bool isr_handler;          ///< True if HINT ISR handler has been initialized.
+            bool spi_bus;              ///< True if spi_bus_initialize() has been called successfully.
+            bool spi_device;           ///< True if spi_bus_add_device() has been called successfully.
+            bool sh2_HAL;              ///< True if sh2_open() has been called successfully.
+            bool data_proc_task;       ///< True if xTaskCreate has been called successfully for data_proc_task.
+            bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
+            bool cb_task;              ///< True if xTaskCreate has been called successfully for cb_task.
+
+            bno08x_init_status_t()
+                : gpio_outputs(false)
+                , gpio_inputs(false)
+                , isr_service(false)
+                , isr_handler(false)
+                , spi_bus(false)
+                , spi_device(false)
+                , data_proc_task(false)
+                , sh2_HAL_service_task(false)
+                , cb_task(false)
+            {
+            }
+    } bno08x_init_status_t;
+
+    /// @brief Holds info used to initialize report modules.
+    typedef struct bno08x_report_info_t
+    {
+            uint8_t ID;
+            EventBits_t rpt_bit;
+            SemaphoreHandle_t* _sh2_HAL_lock;
+            SemaphoreHandle_t* _data_lock;
+            EventGroupHandle_t* _evt_grp_rpt_en;
+            EventGroupHandle_t* _evt_grp_rpt_data_available;
+            EventGroupHandle_t* _evt_grp_bno08x_task;
+            etl::vector<uint8_t, TOTAL_RPT_COUNT>* _en_report_ids;
+            bno08x_cb_list_t* _cb_list;
+
+            bno08x_report_info_t(uint8_t ID, EventBits_t rpt_bit, SemaphoreHandle_t* _sh2_HAL_lock, SemaphoreHandle_t* _data_lock,
+                    EventGroupHandle_t* _evt_grp_rpt_en, EventGroupHandle_t* _evt_grp_rpt_data_available, EventGroupHandle_t* _evt_grp_bno08x_task,
+                    etl::vector<uint8_t, TOTAL_RPT_COUNT>* _en_report_ids, bno08x_cb_list_t* _cb_list)
+                : ID(ID)
+                , rpt_bit(rpt_bit)
+                , _sh2_HAL_lock(_sh2_HAL_lock)
+                , _data_lock(_data_lock)
+                , _evt_grp_rpt_en(_evt_grp_rpt_en)
+                , _evt_grp_rpt_data_available(_evt_grp_rpt_data_available)
+                , _evt_grp_bno08x_task(_evt_grp_bno08x_task)
+                , _en_report_ids(_en_report_ids)
+                , _cb_list(_cb_list)
+            {
+            }
+    } bno08x_report_info_t;
+
+    inline static sh2_SensorConfig default_sensor_cfg = {.changeSensitivityEnabled = false, ///<TODO
+            .changeSensitivityRelative = false,
+            .wakeupEnabled = false,
+            .alwaysOnEnabled = false,
+            .changeSensitivity = 0,
+            .reportInterval_us = 0,
+            .batchInterval_us = 0,
+            .sensorSpecific = 0};
+
+    /// @brief Bits for evt_grp_rpt_en & evt_grp_rpt_data_available
+    enum bno08x_rpt_bit_t : EventBits_t
+    {
+        EVT_GRP_RPT_RV_BIT = (1UL << 0U),                    ///< When set, rotation vector reports are active.
+        EVT_GRP_RPT_RV_GAME_BIT = (1UL << 1U),               ///< When set, game rotation vector reports are active.
+        EVT_GRP_RPT_RV_ARVR_S_BIT = (1UL << 2U),             ///< When set, ARVR stabilized rotation vector reports are active.
+        EVT_GRP_RPT_RV_ARVR_S_GAME_BIT = (1UL << 3U),        ///< When set, ARVR stabilized game rotation vector reports are active.
+        EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT = (1UL << 4U),    ///< When set, gyro integrator rotation vector reports are active.
+        EVT_GRP_RPT_GEOMAG_RV_BIT = (1UL << 5U),             ///< When set, geomagnetic rotation vector reports are active.
+        EVT_GRP_RPT_ACCELEROMETER_BIT = (1UL << 6U),         ///< When set, accelerometer reports are active.
+        EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT = (1UL << 7U),  ///< When set, linear accelerometer reports are active.
+        EVT_GRP_RPT_GRAVITY_BIT = (1UL << 8U),               ///< When set, gravity reports are active.
+        EVT_GRP_RPT_CAL_GYRO_BIT = (1UL << 9U),              ///< When set, calibrated gyro reports are active.
+        EVT_GRP_RPT_UNCAL_GYRO_BIT = (1UL << 10U),           ///< When set, uncalibrated gyro reports are active.
+        EVT_GRP_RPT_CAL_MAGNETOMETER_BIT = (1UL << 11U),     ///< When set, calibrated magnetometer reports are active.
+        EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT = (1UL << 12U),   ///< When set, uncalibrated magnetometer reports are active.
+        EVT_GRP_RPT_TAP_DETECTOR_BIT = (1UL << 13U),         ///< When set, tap detector reports are active.
+        EVT_GRP_RPT_STEP_COUNTER_BIT = (1UL << 14U),         ///< When set, step counter reports are active.
+        EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT = (1UL << 15U), ///< When set, stability classifier reports are active.
+        EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT = (1UL << 16U),  ///< When set, activity classifier reports are active.
+        EVT_GRP_RPT_SHAKE_DETECTOR_BIT = (1UL << 17U),       ///< When set, shake detector reports are active.
+        EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1UL << 18U),    ///< When set, raw accelerometer reports are active.
+        EVT_GRP_RPT_RAW_GYRO_BIT = (1UL << 19U),             ///< When set, raw gyro reports are active.
+        EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1UL << 20U),     ///< When set, raw magnetometer reports are active.
+
+        EVT_GRP_RPT_ALL = EVT_GRP_RPT_RV_BIT | EVT_GRP_RPT_RV_GAME_BIT | EVT_GRP_RPT_RV_ARVR_S_BIT | EVT_GRP_RPT_RV_ARVR_S_GAME_BIT |
+                          EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT | EVT_GRP_RPT_CAL_GYRO_BIT | EVT_GRP_RPT_UNCAL_GYRO_BIT |
+                          EVT_GRP_RPT_CAL_MAGNETOMETER_BIT | EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT |
+                          EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT | EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT |
+                          EVT_GRP_RPT_RAW_GYRO_BIT | EVT_GRP_RPT_RAW_MAGNETOMETER_BIT | EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT |
+                          EVT_GRP_RPT_SHAKE_DETECTOR_BIT | EVT_GRP_RPT_ACCELEROMETER_BIT | EVT_GRP_RPT_GEOMAG_RV_BIT |
+                          EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT
+    };
+
+    /// @brief Bits for evt_grp_bno08x_task
+    enum bno08x_tsk_bit_t : EventBits_t
+    {
+        EVT_GRP_BNO08x_TASKS_RUNNING =
+                (1UL << 0U), ///< When this bit is set it indicates the BNO08x tasks are running, it is always set to 1 for the duration of the BNO08x driver object. Cleared in the destructor for safe task deletion.
+        EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT =
+                (1UL << 1U), ///< When this bit is set it indicates the BNO08x has asserted its host interrupt pin, thus an SPI transaction should commence.
+        EVT_GRP_BNO08x_TASK_RESET_OCCURRED =
+                (1UL << 2U), ///< When this bit is set it indicates the SH2 HAL lib has reset the IMU, any reports enabled by the user must be re-enabled.
+        EVT_GRP_BNO08x_TASK_DATA_AVAILABLE =
+                (1UL << 3U) ///< When this bit is set it indicates a report has been received for the user to read, cleared in data_available() set/cleared in handle_sensor_report().
+    };
+};
\ No newline at end of file
diff --git a/include/BNO08xRpt.hpp b/include/BNO08xRpt.hpp
deleted file mode 100644
index 3258ce9..0000000
--- a/include/BNO08xRpt.hpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/**
- * @file BNO08xRpt.hpp
- * @author Myles Parfeniuk
- */
-
-#pragma once
-
-// standard library includes
-#include <functional>
-
-// in-house includes
-#include "BNO08x_global_types.hpp"
-
-// forward dec to prevent compile errors
-class BNO08x;
-
-/**
- * @class BNO08xRpt
- *
- * @brief Class to represent and manage reports returned from BNO08x.
- */
-class BNO08xRpt
-{
-    public:
-        inline static sh2_SensorConfig default_sensor_cfg = {.changeSensitivityEnabled = false, ///<TODO
-                .changeSensitivityRelative = false,
-                .wakeupEnabled = false,
-                .alwaysOnEnabled = false,
-                .changeSensitivity = 0,
-                .reportInterval_us = 0,
-                .batchInterval_us = 0,
-                .sensorSpecific = 0};
-
-        bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
-        bool disable(sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
-        void register_cb(std::function<void(void)> cb_fxn);
-        bool has_new_data();
-        bool flush();
-        bool get_sample_counts(bno08x_sample_counts_t& sample_counts);
-        bool clear_sample_counts();
-        bool get_meta_data(bno08x_meta_data_t& meta_data);
-
-    protected:
-        BNO08x* imu;        ///< Pointer to BNO08x object for enable ,disable, and update operations.
-        uint8_t ID;         ///< Report ID, ex. SH2_ACCELERATION.
-        uint32_t rpt_bit;   ///< Respective enable and data bit for report in BNO08x::evt_grp_report_en and BNO08x::evt_grp_report_data
-        uint32_t period_us; ///< The period/interval of the report in microseconds.
-
-        virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
-
-        /**
-         * @brief BNO08xRpt report constructor.
-         *
-         * Construct a BNO08xRpt object for managing a BNO08x sensor report.
-         *
-         * @param imu Pointer to BNO08x imu object.
-         * @param report_ID Report ID, ex. SH2_ACCELERATION.
-         *  @param rpt_bit Respective enable bit for report in BNO08x::evt_grp_report_en.
-         *  @param period_us The period/interval of the report in microseconds.
-         *
-         * @return void, nothing to return
-         */
-        BNO08xRpt(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : imu(imu)
-            , ID(report_ID)
-            , rpt_bit(rpt_bit)
-            , period_us(period_us)
-
-        {
-        }
-
-        void signal_data_available();
-
-        static const constexpr float RAD_2_DEG =
-                (180.0f / M_PI); ///< Constant for radian to degree conversions, sed in quaternion to euler function conversions.
-
-        static const constexpr char* TAG = "BNO08xRpt";
-
-        friend class BNO08x;
-};
\ No newline at end of file
diff --git a/include/BNO08xSH2HAL.hpp b/include/BNO08xSH2HAL.hpp
index f4e6c51..88b4e10 100644
--- a/include/BNO08xSH2HAL.hpp
+++ b/include/BNO08xSH2HAL.hpp
@@ -9,10 +9,11 @@
 #include "sh2.h"
 #include "sh2_SensorValue.h"
 #include "sh2_err.h"
-
 // esp-idf includes
 #include <esp_log.h>
 #include <esp_timer.h>
+// in-house includes
+#include "BNO08xPrivateTypes.hpp"
 
 /**
  * @brief Clears the most significant byte of a 16-bit value.
@@ -58,8 +59,8 @@
  */
 #define PARSE_PACKET_LENGTH(header) (UINT16_CLR_LSB(static_cast<uint16_t>(header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(header[0])))
 
-// forward dec to prevent compile errors
-class BNO08x;
+        // forward dec to prevent compile errors
+        class BNO08x;
 
 /**
  * @class BNO08xSH2HAL
diff --git a/include/callback/BNO08xCbParamRptID.hpp b/include/callback/BNO08xCbParamRptID.hpp
index b1fe75e..edac13d 100644
--- a/include/callback/BNO08xCbParamRptID.hpp
+++ b/include/callback/BNO08xCbParamRptID.hpp
@@ -35,5 +35,5 @@ class BNO08xCbParamRptID : public BNO08xCbGeneric
         }
 
     private:
-        std::function<void(uint8_t)> cb_fxn;
+        std::function<void(uint8_t)> cb_fxn; ///< Wrapped callback function passed at register_cb(). 
 };
diff --git a/include/callback/BNO08xCbParamVoid.hpp b/include/callback/BNO08xCbParamVoid.hpp
index f83abbd..95ed526 100644
--- a/include/callback/BNO08xCbParamVoid.hpp
+++ b/include/callback/BNO08xCbParamVoid.hpp
@@ -34,5 +34,5 @@ class BNO08xCbParamVoid : public BNO08xCbGeneric
         }
 
     private:
-        std::function<void(void)> cb_fxn;
+        std::function<void(void)> cb_fxn; ///< Wrapped callback function passed at register_cb(). 
 };
diff --git a/include/report/BNO08xReports.hpp b/include/report/BNO08xReports.hpp
new file mode 100644
index 0000000..107282f
--- /dev/null
+++ b/include/report/BNO08xReports.hpp
@@ -0,0 +1,23 @@
+#pragma once
+
+#include "BNO08xRptAcceleration.hpp"
+#include "BNO08xRptLinearAcceleration.hpp"
+#include "BNO08xRptGravity.hpp"
+#include "BNO08xRptCalMagnetometer.hpp"
+#include "BNO08xRptUncalMagnetometer.hpp"
+#include "BNO08xRptCalGyro.hpp"
+#include "BNO08xRptUncalGyro.hpp"
+#include "BNO08xRptRV.hpp"
+#include "BNO08xRptGameRV.hpp"
+#include "BNO08xRptARVRStabilizedRV.hpp"
+#include "BNO08xRptARVRStabilizedGameRV.hpp"
+#include "BNO08xRptIGyroRV.hpp"
+#include "BNO08xRptRVGeomag.hpp"
+#include "BNO08xRptRawMEMSGyro.hpp"
+#include "BNO08xRptRawMEMSAccelerometer.hpp"
+#include "BNO08xRptRawMEMSMagnetometer.hpp"
+#include "BNO08xRptStepCounter.hpp"
+#include "BNO08xRptActivityClassifier.hpp"
+#include "BNO08xStabilityClassifier.hpp"
+#include "BNO08xShakeDetector.hpp"
+#include "BNO08xTapDetector.hpp"
\ No newline at end of file
diff --git a/include/report/BNO08xRpt.hpp b/include/report/BNO08xRpt.hpp
new file mode 100644
index 0000000..b8162a5
--- /dev/null
+++ b/include/report/BNO08xRpt.hpp
@@ -0,0 +1,90 @@
+/**
+ * @file BNO08xRpt.hpp
+ * @author Myles Parfeniuk
+ */
+
+#pragma once
+
+// standard library includes
+#include <functional>
+// in-house includes
+#include "BNO08xGlobalTypes.hpp"
+#include "BNO08xPrivateTypes.hpp"
+// hill-crest labs includes (apache 2.0 license, compatible with MIT)
+#include "sh2.h"
+#include "sh2_SensorValue.h"
+#include "sh2_err.h"
+
+/**
+ * @class BNO08xRpt
+ *
+ * @brief Class to represent and manage reports returned from BNO08x.
+ */
+class BNO08xRpt
+{
+    public:
+        bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
+        bool disable(sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
+        bool register_cb(std::function<void(void)> cb_fxn);
+        bool has_new_data();
+        bool flush();
+        bool get_sample_counts(bno08x_sample_counts_t& sample_counts);
+        bool clear_sample_counts();
+        bool get_meta_data(bno08x_meta_data_t& meta_data);
+
+        uint8_t ID;          ///< Report ID, ex. SH2_ACCELERATION.
+        EventBits_t rpt_bit; ///< Respective enable and data bit for report in BNO08x::evt_grp_report_en and BNO08x::evt_grp_report_data
+        uint32_t period_us;  ///< The period/interval of the report in microseconds.
+
+    protected:
+        SemaphoreHandle_t* _sh2_HAL_lock;    ///<Mutex to prevent sh2 HAL lib functions from being accessed at same time.
+        SemaphoreHandle_t* _data_lock;       ///<Mutex to prevent user from reading data while data_proc_task() updates it, and vice versa.
+        EventGroupHandle_t* _evt_grp_rpt_en; ///<Event group for indicating which reports are currently enabled.
+        EventGroupHandle_t*
+                _evt_grp_rpt_data_available; ///< Event group for indicating to BNO08xRpt::has_new_data() that a module received a new report since the last time it was called (note this group is unaffected by data read through callbacks).
+        EventGroupHandle_t* _evt_grp_bno08x_task;              ///<Event group for indicating various BNO08x related events between tasks.
+        etl::vector<uint8_t, TOTAL_RPT_COUNT>* _en_report_ids; ///< Vector to contain IDs of currently enabled reports
+        BNO08xPrivateTypes::bno08x_cb_list_t* _cb_list;        ///< Vector to contain registered callbacks.
+
+        virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
+
+        /**
+         * @brief BNO08xRpt report constructor.
+         *
+         * Construct a BNO08xRpt object for managing a BNO08x sensor report.
+         *
+         * @param imu Pointer to BNO08x imu object.
+         * @param report_ID Report ID, ex. SH2_ACCELERATION.
+         *  @param rpt_bit Respective enable bit for report in BNO08x::evt_grp_report_en.
+         *  @param period_us The period/interval of the report in microseconds.
+         *
+         * @return void, nothing to return
+         */
+        BNO08xRpt(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : ID(info.ID)
+            , rpt_bit(info.rpt_bit)
+            , period_us(0UL)
+            , _sh2_HAL_lock(info._sh2_HAL_lock)
+            , _data_lock(info._data_lock)
+            , _evt_grp_rpt_en(info._evt_grp_rpt_en)
+            , _evt_grp_rpt_data_available(info._evt_grp_rpt_data_available)
+            , _evt_grp_bno08x_task(info._evt_grp_bno08x_task)
+            , _en_report_ids(info._en_report_ids)
+            , _cb_list(info._cb_list)
+
+        {
+        }
+
+        void unlock_sh2_HAL();
+        void lock_sh2_HAL();
+        void unlock_user_data();
+        void lock_user_data();
+        void signal_data_available();
+
+        static const constexpr float RAD_2_DEG =
+                (180.0f / M_PI); ///< Constant for radian to degree conversions, sed in quaternion to euler function conversions.
+
+        static const constexpr char* TAG = "BNO08xRpt";
+
+        friend class BNO08x;
+};
\ No newline at end of file
diff --git a/include/report/BNO08xRptARVRStabilizedGameRV.hpp b/include/report/BNO08xRptARVRStabilizedGameRV.hpp
index bb03d62..b9965b1 100644
--- a/include/report/BNO08xRptARVRStabilizedGameRV.hpp
+++ b/include/report/BNO08xRptARVRStabilizedGameRV.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptARVRStabilizedGameRV : public BNO08xRptRVGeneric
 {
     public:
-        BNO08xRptARVRStabilizedGameRV(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRptRVGeneric(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptARVRStabilizedGameRV(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRptRVGeneric(info)
         {
         }
 
diff --git a/include/report/BNO08xRptARVRStabilizedRV.hpp b/include/report/BNO08xRptARVRStabilizedRV.hpp
index 6df5bf8..865cfd9 100644
--- a/include/report/BNO08xRptARVRStabilizedRV.hpp
+++ b/include/report/BNO08xRptARVRStabilizedRV.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptARVRStabilizedRV : public BNO08xRptRVGeneric
 {
     public:
-        BNO08xRptARVRStabilizedRV(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRptRVGeneric(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptARVRStabilizedRV(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRptRVGeneric(info)
         {
         }
 
diff --git a/include/report/BNO08xRptAcceleration.hpp b/include/report/BNO08xRptAcceleration.hpp
index ab33c50..0c7b874 100644
--- a/include/report/BNO08xRptAcceleration.hpp
+++ b/include/report/BNO08xRptAcceleration.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptAcceleration : public BNO08xRpt
 {
     public:
-        BNO08xRptAcceleration(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptAcceleration(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptActivityClassifier.hpp b/include/report/BNO08xRptActivityClassifier.hpp
index dfa0532..7fd61e7 100644
--- a/include/report/BNO08xRptActivityClassifier.hpp
+++ b/include/report/BNO08xRptActivityClassifier.hpp
@@ -15,12 +15,13 @@
 class BNO08xRptActivityClassifier : public BNO08xRpt
 {
     public:
-        BNO08xRptActivityClassifier(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptActivityClassifier(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
-        bool enable(uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
+        bool enable(uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable,
+                sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
         bno08x_activity_classifier_t get();
         BNO08xActivity get_most_likely_activity();
 
diff --git a/include/report/BNO08xRptCalGyro.hpp b/include/report/BNO08xRptCalGyro.hpp
index 95b0b18..e81d0b7 100644
--- a/include/report/BNO08xRptCalGyro.hpp
+++ b/include/report/BNO08xRptCalGyro.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptCalGyro : public BNO08xRpt
 {
     public:
-        BNO08xRptCalGyro(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptCalGyro(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptCalMagnetometer.hpp b/include/report/BNO08xRptCalMagnetometer.hpp
index 833f8ae..b378119 100644
--- a/include/report/BNO08xRptCalMagnetometer.hpp
+++ b/include/report/BNO08xRptCalMagnetometer.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptCalMagnetometer : public BNO08xRpt
 {
     public:
-        BNO08xRptCalMagnetometer(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptCalMagnetometer(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptGameRV.hpp b/include/report/BNO08xRptGameRV.hpp
index 2a8193d..6b7691d 100644
--- a/include/report/BNO08xRptGameRV.hpp
+++ b/include/report/BNO08xRptGameRV.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptGameRV : public BNO08xRptRVGeneric
 {
     public:
-        BNO08xRptGameRV(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRptRVGeneric(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptGameRV(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRptRVGeneric(info)
         {
         }
 
diff --git a/include/report/BNO08xRptGravity.hpp b/include/report/BNO08xRptGravity.hpp
index 042031c..ac3b5d9 100644
--- a/include/report/BNO08xRptGravity.hpp
+++ b/include/report/BNO08xRptGravity.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptGravity : public BNO08xRpt
 {
     public:
-        BNO08xRptGravity(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptGravity(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptIGyroRV.hpp b/include/report/BNO08xRptIGyroRV.hpp
index 2e8cc35..3b2cde8 100644
--- a/include/report/BNO08xRptIGyroRV.hpp
+++ b/include/report/BNO08xRptIGyroRV.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptIGyroRV : public BNO08xRptRVGeneric
 {
     public:
-        BNO08xRptIGyroRV(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRptRVGeneric(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptIGyroRV(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRptRVGeneric(info)
         {
         }
 
diff --git a/include/report/BNO08xRptLinearAcceleration.hpp b/include/report/BNO08xRptLinearAcceleration.hpp
index 2f511d6..0e645c2 100644
--- a/include/report/BNO08xRptLinearAcceleration.hpp
+++ b/include/report/BNO08xRptLinearAcceleration.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptLinearAcceleration : public BNO08xRpt
 {
     public:
-        BNO08xRptLinearAcceleration(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptLinearAcceleration(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptRV.hpp b/include/report/BNO08xRptRV.hpp
index 4f53f9d..2316110 100644
--- a/include/report/BNO08xRptRV.hpp
+++ b/include/report/BNO08xRptRV.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptRV : public BNO08xRptRVGeneric
 {
     public:
-        BNO08xRptRV(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRptRVGeneric(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptRV(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRptRVGeneric(info)
         {
         }
 
diff --git a/include/report/BNO08xRptRVGeneric.hpp b/include/report/BNO08xRptRVGeneric.hpp
index 6f6cdd2..78c7b9d 100644
--- a/include/report/BNO08xRptRVGeneric.hpp
+++ b/include/report/BNO08xRptRVGeneric.hpp
@@ -19,8 +19,8 @@ class BNO08xRptRVGeneric : public BNO08xRpt
         bno08x_euler_angle_t get_euler(bool in_degrees = true);
 
     protected:
-        BNO08xRptRVGeneric(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptRVGeneric(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
         bool tare(bool x, bool y, bool z, sh2_TareBasis_t basis);
diff --git a/include/report/BNO08xRptRVGeomag.hpp b/include/report/BNO08xRptRVGeomag.hpp
index ad81041..f16c08b 100644
--- a/include/report/BNO08xRptRVGeomag.hpp
+++ b/include/report/BNO08xRptRVGeomag.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptRVGeomag : public BNO08xRptRVGeneric
 {
     public:
-        BNO08xRptRVGeomag(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRptRVGeneric(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptRVGeomag(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRptRVGeneric(info)
         {
         }
 
diff --git a/include/report/BNO08xRptRawMEMSAccelerometer.hpp b/include/report/BNO08xRptRawMEMSAccelerometer.hpp
index b071e85..1392a9d 100644
--- a/include/report/BNO08xRptRawMEMSAccelerometer.hpp
+++ b/include/report/BNO08xRptRawMEMSAccelerometer.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptRawMEMSAccelerometer : public BNO08xRpt
 {
     public:
-        BNO08xRptRawMEMSAccelerometer(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptRawMEMSAccelerometer(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptRawMEMSGyro.hpp b/include/report/BNO08xRptRawMEMSGyro.hpp
index 43c05c3..97393a9 100644
--- a/include/report/BNO08xRptRawMEMSGyro.hpp
+++ b/include/report/BNO08xRptRawMEMSGyro.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptRawMEMSGyro : public BNO08xRpt
 {
     public:
-        BNO08xRptRawMEMSGyro(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptRawMEMSGyro(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptRawMEMSMagnetometer.hpp b/include/report/BNO08xRptRawMEMSMagnetometer.hpp
index 879c0c6..5551131 100644
--- a/include/report/BNO08xRptRawMEMSMagnetometer.hpp
+++ b/include/report/BNO08xRptRawMEMSMagnetometer.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptRawMEMSMagnetometer : public BNO08xRpt
 {
     public:
-        BNO08xRptRawMEMSMagnetometer(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptRawMEMSMagnetometer(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptStepCounter.hpp b/include/report/BNO08xRptStepCounter.hpp
index 03d238a..1fa22c8 100644
--- a/include/report/BNO08xRptStepCounter.hpp
+++ b/include/report/BNO08xRptStepCounter.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptStepCounter : public BNO08xRpt
 {
     public:
-        BNO08xRptStepCounter(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptStepCounter(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptUncalGyro.hpp b/include/report/BNO08xRptUncalGyro.hpp
index 39ae019..15a928b 100644
--- a/include/report/BNO08xRptUncalGyro.hpp
+++ b/include/report/BNO08xRptUncalGyro.hpp
@@ -15,8 +15,8 @@
 class BNO08xRptUncalGyro : public BNO08xRpt
 {
     public:
-        BNO08xRptUncalGyro(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptUncalGyro(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xRptUncalMagnetometer.hpp b/include/report/BNO08xRptUncalMagnetometer.hpp
index b34ed6d..97c0692 100644
--- a/include/report/BNO08xRptUncalMagnetometer.hpp
+++ b/include/report/BNO08xRptUncalMagnetometer.hpp
@@ -16,8 +16,8 @@
 class BNO08xRptUncalMagnetometer : public BNO08xRpt
 {
     public:
-        BNO08xRptUncalMagnetometer(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xRptUncalMagnetometer(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xShakeDetector.hpp b/include/report/BNO08xShakeDetector.hpp
index b4472ba..527bab3 100644
--- a/include/report/BNO08xShakeDetector.hpp
+++ b/include/report/BNO08xShakeDetector.hpp
@@ -15,8 +15,8 @@
 class BNO08xShakeDetector : public BNO08xRpt
 {
     public:
-        BNO08xShakeDetector(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xShakeDetector(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xStabilityClassifier.hpp b/include/report/BNO08xStabilityClassifier.hpp
index ec844ed..1984448 100644
--- a/include/report/BNO08xStabilityClassifier.hpp
+++ b/include/report/BNO08xStabilityClassifier.hpp
@@ -15,8 +15,8 @@
 class BNO08xStabilityClassifier : public BNO08xRpt
 {
     public:
-        BNO08xStabilityClassifier(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xStabilityClassifier(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
diff --git a/include/report/BNO08xTapDetector.hpp b/include/report/BNO08xTapDetector.hpp
index 8df43e3..e8d2ba4 100644
--- a/include/report/BNO08xTapDetector.hpp
+++ b/include/report/BNO08xTapDetector.hpp
@@ -15,12 +15,12 @@
 class BNO08xTapDetector : public BNO08xRpt
 {
     public:
-        BNO08xTapDetector(BNO08x* imu, uint8_t report_ID, uint32_t period_us, uint32_t rpt_bit)
-            : BNO08xRpt(imu, report_ID, period_us, rpt_bit)
+        BNO08xTapDetector(BNO08xPrivateTypes::bno08x_report_info_t info)
+            : BNO08xRpt(info)
         {
         }
 
-        bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = default_sensor_cfg);
+        bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
         bno08x_tap_detector_t get();
 
     private:
diff --git a/source/BNO08x.cpp b/source/BNO08x.cpp
index 6fc6578..cd01899 100644
--- a/source/BNO08x.cpp
+++ b/source/BNO08x.cpp
@@ -4,6 +4,9 @@
  */
 
 #include "BNO08x.hpp"
+#include "BNO08xPrivateTypes.hpp"
+
+using namespace BNO08xPrivateTypes;
 
 /**
  * @brief BNO08x imu constructor.
@@ -14,27 +17,48 @@
  * @return void, nothing to return
  */
 BNO08x::BNO08x(bno08x_config_t imu_config)
-    : accelerometer(this, SH2_ACCELEROMETER, 0UL, EVT_GRP_RPT_ACCELEROMETER_BIT)
-    , linear_accelerometer(this, SH2_LINEAR_ACCELERATION, 0UL, EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT)
-    , gravity(this, SH2_GRAVITY, 0UL, EVT_GRP_RPT_GRAVITY_BIT)
-    , cal_magnetometer(this, SH2_MAGNETIC_FIELD_CALIBRATED, 0UL, EVT_GRP_RPT_CAL_MAGNETOMETER_BIT)
-    , uncal_magnetometer(this, SH2_MAGNETIC_FIELD_UNCALIBRATED, 0UL, EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT)
-    , cal_gyro(this, SH2_GYROSCOPE_CALIBRATED, 0UL, EVT_GRP_RPT_CAL_GYRO_BIT)
-    , uncal_gyro(this, SH2_GYROSCOPE_UNCALIBRATED, 0UL, EVT_GRP_RPT_UNCAL_GYRO_BIT)
-    , rv(this, SH2_ROTATION_VECTOR, 0UL, EVT_GRP_RPT_RV_BIT)
-    , rv_game(this, SH2_GAME_ROTATION_VECTOR, 0UL, EVT_GRP_RPT_RV_GAME_BIT)
-    , rv_ARVR_stabilized(this, SH2_ARVR_STABILIZED_RV, 0UL, EVT_GRP_RPT_RV_ARVR_S_BIT)
-    , rv_ARVR_stabilized_game(this, SH2_ARVR_STABILIZED_GRV, 0UL, EVT_GRP_RPT_RV_ARVR_S_GAME_BIT)
-    , rv_gyro_integrated(this, SH2_GYRO_INTEGRATED_RV, 0UL, EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT)
-    , rv_geomagnetic(this, SH2_GEOMAGNETIC_ROTATION_VECTOR, 0UL, EVT_GRP_RPT_GEOMAG_RV_BIT)
-    , raw_gyro(this, SH2_RAW_GYROSCOPE, 0UL, EVT_GRP_RPT_RAW_GYRO_BIT)
-    , raw_accelerometer(this, SH2_RAW_ACCELEROMETER, 0UL, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT)
-    , raw_magnetometer(this, SH2_RAW_MAGNETOMETER, 0UL, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT)
-    , step_counter(this, SH2_STEP_COUNTER, 0UL, EVT_GRP_RPT_STEP_COUNTER_BIT)
-    , activity_classifier(this, SH2_PERSONAL_ACTIVITY_CLASSIFIER, 0UL, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT)
-    , stability_classifier(this, SH2_STABILITY_CLASSIFIER, 0UL, EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT)
-    , shake_detector(this, SH2_SHAKE_DETECTOR, 0UL, EVT_GRP_RPT_SHAKE_DETECTOR_BIT)
-    , tap_detector(this, SH2_TAP_DETECTOR, 0UL, EVT_GRP_RPT_TAP_DETECTOR_BIT)
+    : accelerometer(bno08x_report_info_t(SH2_ACCELEROMETER, EVT_GRP_RPT_ACCELEROMETER_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , linear_accelerometer(bno08x_report_info_t(SH2_LINEAR_ACCELERATION, EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT, &sh2_HAL_lock, &data_lock,
+              &evt_grp_report_en, &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , gravity(bno08x_report_info_t(SH2_GRAVITY, EVT_GRP_RPT_GRAVITY_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , cal_magnetometer(bno08x_report_info_t(SH2_MAGNETIC_FIELD_CALIBRATED, EVT_GRP_RPT_CAL_MAGNETOMETER_BIT, &sh2_HAL_lock, &data_lock,
+              &evt_grp_report_en, &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , uncal_magnetometer(bno08x_report_info_t(SH2_MAGNETIC_FIELD_UNCALIBRATED, EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT, &sh2_HAL_lock, &data_lock,
+              &evt_grp_report_en, &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , cal_gyro(bno08x_report_info_t(SH2_GYROSCOPE_CALIBRATED, EVT_GRP_RPT_CAL_GYRO_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , uncal_gyro(bno08x_report_info_t(SH2_GYROSCOPE_UNCALIBRATED, EVT_GRP_RPT_UNCAL_GYRO_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , rv(bno08x_report_info_t(SH2_ROTATION_VECTOR, EVT_GRP_RPT_RV_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en, &evt_grp_report_data_available,
+              &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , rv_game(bno08x_report_info_t(SH2_GAME_ROTATION_VECTOR, EVT_GRP_RPT_RV_GAME_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , rv_ARVR_stabilized(bno08x_report_info_t(SH2_ARVR_STABILIZED_RV, EVT_GRP_RPT_RV_ARVR_S_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , rv_ARVR_stabilized_game(bno08x_report_info_t(SH2_ARVR_STABILIZED_GRV, EVT_GRP_RPT_RV_ARVR_S_GAME_BIT, &sh2_HAL_lock, &data_lock,
+              &evt_grp_report_en, &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , rv_gyro_integrated(bno08x_report_info_t(SH2_GYRO_INTEGRATED_RV, EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT, &sh2_HAL_lock, &data_lock,
+              &evt_grp_report_en, &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , rv_geomagnetic(bno08x_report_info_t(SH2_GEOMAGNETIC_ROTATION_VECTOR, EVT_GRP_RPT_GEOMAG_RV_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , raw_gyro(bno08x_report_info_t(SH2_RAW_GYROSCOPE, EVT_GRP_RPT_RAW_GYRO_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , raw_accelerometer(bno08x_report_info_t(SH2_RAW_ACCELEROMETER, EVT_GRP_RPT_RAW_ACCELEROMETER_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , raw_magnetometer(bno08x_report_info_t(SH2_RAW_MAGNETOMETER, EVT_GRP_RPT_RAW_MAGNETOMETER_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , step_counter(bno08x_report_info_t(SH2_STEP_COUNTER, EVT_GRP_RPT_STEP_COUNTER_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , activity_classifier(bno08x_report_info_t(SH2_PERSONAL_ACTIVITY_CLASSIFIER, EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT, &sh2_HAL_lock, &data_lock,
+              &evt_grp_report_en, &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , stability_classifier(bno08x_report_info_t(SH2_STABILITY_CLASSIFIER, EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT, &sh2_HAL_lock, &data_lock,
+              &evt_grp_report_en, &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , shake_detector(bno08x_report_info_t(SH2_SHAKE_DETECTOR, EVT_GRP_RPT_SHAKE_DETECTOR_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
+    , tap_detector(bno08x_report_info_t(SH2_TAP_DETECTOR, EVT_GRP_RPT_TAP_DETECTOR_BIT, &sh2_HAL_lock, &data_lock, &evt_grp_report_en,
+              &evt_grp_report_data_available, &evt_grp_bno08x_task, &en_report_ids, &cb_list))
     , data_proc_task_hdl(NULL)
     , sh2_HAL_service_task_hdl(NULL)
     , cb_task_hdl(NULL)
@@ -261,8 +285,19 @@ void BNO08x::cb_task()
     do
     {
         // execute callbacks
-        for (auto& cb_entry : cb_ptr_list)
-            handle_cb(rpt_ID, cb_entry);
+        for (auto& cb_entry : cb_list)
+        {
+            BNO08xCbGeneric* cb_ptr = nullptr;
+
+            if (auto* ptr = etl::get_if<BNO08xCbParamVoid>(&cb_entry))
+                cb_ptr = ptr;
+
+            else if (auto* ptr = etl::get_if<BNO08xCbParamRptID>(&cb_entry))
+                cb_ptr = ptr;
+
+            if (cb_ptr != nullptr)
+                handle_cb(rpt_ID, cb_ptr);
+        }
 
         xQueueReceive(queue_cb_report_id, &rpt_ID, portMAX_DELAY);
 
@@ -324,13 +359,13 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
 {
     uint8_t rpt_ID = sensor_val->sensorId;
 
-     // check if report implementation exists within map
-     if(rpt_ID == SH2_RESERVED)
+    // check if report implementation exists within map
+    if (rpt_ID == SH2_RESERVED)
         return;
 
     auto& rpt = usr_reports.at(rpt_ID);
 
-    if(rpt == nullptr)
+    if (rpt == nullptr)
         return;
 
     // send report ids to cb_task for callback execution (only if this report is enabled)
@@ -339,7 +374,7 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
         // update respective report with new data
         rpt->update_data(sensor_val);
 
-        if (cb_ptr_list.size() != 0)
+        if (cb_list.size() != 0)
             if (xQueueSend(queue_cb_report_id, &rpt_ID, 0) != pdTRUE)
             {
                 // clang-format off
@@ -1264,14 +1299,18 @@ esp_err_t BNO08x::re_enable_reports()
 {
     EventBits_t report_en_bits = xEventGroupGetBits(evt_grp_report_en);
 
-    // loop through all entries of map and check if they are enabled
-    for (auto entry = usr_reports.begin(); entry != usr_reports.end(); ++entry)
+    for (const auto& rpt_ID : en_report_ids)
     {
-        BNO08xRpt* rpt = entry->second;
-
-        //all reports in map passed this point should be null
-        if(rpt == nullptr)
-            break; 
+        BNO08xRpt* rpt = usr_reports.at(rpt_ID);
+        if (rpt == nullptr)
+        {
+            // clang-format off
+            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+            ESP_LOGE(TAG, "NULL pointer detected in usr_reports map for enabled report.");
+            #endif
+            // clang-format on
+            continue;
+        }
 
         if (rpt->rpt_bit & report_en_bits)
         {
@@ -1314,10 +1353,15 @@ bool BNO08x::data_available()
  *
  * @return void, nothing to return
  */
-void BNO08x::register_cb(std::function<void(void)> cb_fxn)
+bool BNO08x::register_cb(std::function<void(void)> cb_fxn)
 {
-    cb_list_void_param.push_back(BNO08xCbParamVoid(cb_fxn, 0U));
-    cb_ptr_list.push_back(static_cast<BNO08xCbGeneric*>(&cb_list_void_param.back()));
+
+    if (cb_list.size() < CONFIG_ESP32_BNO08X_CB_MAX)
+    {
+        cb_list.push_back(BNO08xCbParamVoid(cb_fxn, 0U));
+        return true;
+    }
+    return false;
 }
 
 /**
@@ -1327,10 +1371,14 @@ void BNO08x::register_cb(std::function<void(void)> cb_fxn)
  *
  * @return void, nothing to return
  */
-void BNO08x::register_cb(std::function<void(uint8_t report_ID)> cb_fxn)
+bool BNO08x::register_cb(std::function<void(uint8_t report_ID)> cb_fxn)
 {
-    cb_list_rpt_param.push_back(BNO08xCbParamRptID(cb_fxn, 0U));
-    cb_ptr_list.push_back(static_cast<BNO08xCbGeneric*>(&cb_list_rpt_param.back()));
+    if (cb_list.size() < CONFIG_ESP32_BNO08X_CB_MAX)
+    {
+        cb_list.push_back(BNO08xCbParamRptID(cb_fxn, 0U));
+        return true;
+    }
+    return false;
 }
 
 /**
diff --git a/source/BNO08xRpt.cpp b/source/BNO08xRpt.cpp
index d1febe8..4205562 100644
--- a/source/BNO08xRpt.cpp
+++ b/source/BNO08xRpt.cpp
@@ -4,13 +4,12 @@
  */
 
 #include "BNO08xRpt.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Enables a sensor report such that the BNO08x begins sending it.
  *
  * @param report_period_us The period/interval of the report in microseconds.
- * @param sensor_cfg Sensor special configuration (optional, see BNO08xRpt::default_sensor_cfg for defaults).
+ * @param sensor_cfg Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).
  *
  * @return True if report was successfully enabled.
  */
@@ -18,13 +17,13 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
 {
     int sh2_res = SH2_OK;
 
-    xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
+    EventBits_t report_en_bits = xEventGroupGetBits(*_evt_grp_rpt_en);
 
     sensor_cfg.reportInterval_us = time_between_reports;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     sh2_res = sh2_setSensorConfig(ID, &sensor_cfg);
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     if (sh2_res != SH2_OK)
     {
@@ -32,9 +31,16 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
     }
     else
     {
-        period_us = time_between_reports;                    // Update the period
-        xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
-        vTaskDelay(30UL / portTICK_PERIOD_MS);               // delay a bit to allow command to execute
+        vTaskDelay(30UL / portTICK_PERIOD_MS); // delay a bit to allow command to execute
+        period_us = time_between_reports;      // update the period
+
+        // if not already enabled (ie user called this, not re_enable_reports())
+        if (!(report_en_bits & rpt_bit))
+        {
+            _en_report_ids->push_back(ID);                 // add report ID to enabled report IDs
+            xEventGroupSetBits(*_evt_grp_rpt_en, rpt_bit); // set the event group bit
+        }
+
         return true;
     }
 }
@@ -49,14 +55,30 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
  */
 bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
 {
-    EventBits_t evt_grp_report_en_bits = xEventGroupGetBits(imu->evt_grp_report_en);
+    int16_t idx = -1;
 
-    if (evt_grp_report_en_bits & rpt_bit)
+    if (!enable(0UL, sensor_cfg))
     {
-        if (!enable(0UL, sensor_cfg))
-            return false;
-        else
-            xEventGroupClearBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
+        return false;
+    }
+    else
+    {
+        for (int i = 0; i < _en_report_ids->size(); i++)
+        {
+            if (_en_report_ids->at(i) == ID)
+            {
+                idx = i;
+                break;
+            }
+        }
+
+        vTaskDelay(30UL / portTICK_PERIOD_MS); // delay a bit to allow command to execute
+        period_us = 0UL;                       // update the period
+
+        if (idx != -1)
+            _en_report_ids->erase(_en_report_ids->begin() + idx);
+
+        xEventGroupClearBits(*_evt_grp_rpt_en, rpt_bit); // Set the event group bit
     }
 
     return true;
@@ -69,10 +91,14 @@ bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
  *
  * @return void, nothing to return
  */
-void BNO08xRpt::register_cb(std::function<void(void)> cb_fxn)
+bool BNO08xRpt::register_cb(std::function<void(void)> cb_fxn)
 {
-    imu->cb_list_void_param.push_back(BNO08xCbParamVoid(cb_fxn, ID));
-    imu->cb_ptr_list.push_back(static_cast<BNO08xCbGeneric*>(&imu->cb_list_void_param.back()));
+    if (_cb_list->size() < CONFIG_ESP32_BNO08X_CB_MAX)
+    {
+        _cb_list->push_back(BNO08xCbParamVoid(cb_fxn, ID));
+        return true;
+    }
+    return false;
 }
 
 /**
@@ -85,10 +111,10 @@ bool BNO08xRpt::has_new_data()
 {
     bool new_data = false;
 
-    if (xEventGroupGetBits(imu->evt_grp_report_data_available) & rpt_bit)
+    if (xEventGroupGetBits(*_evt_grp_rpt_data_available) & rpt_bit)
     {
         new_data = true;
-        xEventGroupClearBits(imu->evt_grp_report_data_available, rpt_bit);
+        xEventGroupClearBits(*_evt_grp_rpt_data_available, rpt_bit);
     }
 
     return new_data;
@@ -103,9 +129,9 @@ bool BNO08xRpt::flush()
 {
     int success = SH2_OK;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     success = sh2_flush(ID);
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     return (success != SH2_OK) ? false : true;
 }
@@ -122,9 +148,9 @@ bool BNO08xRpt::get_sample_counts(bno08x_sample_counts_t& sample_counts)
     int success = SH2_OK;
     sh2_Counts_t pCounts;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     success = sh2_getCounts(ID, &pCounts);
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     if (success != SH2_OK)
     {
@@ -146,9 +172,9 @@ bool BNO08xRpt::clear_sample_counts()
 {
     int success = SH2_OK;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     success = sh2_clearCounts(ID);
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     return (success == SH2_OK);
 }
@@ -166,9 +192,9 @@ bool BNO08xRpt::get_meta_data(bno08x_meta_data_t& meta_data)
 
     sh2_SensorMetadata_t sensor_meta_data;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     success = sh2_getMetadata(ID, &sensor_meta_data);
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     if (success == SH2_OK)
         meta_data = sensor_meta_data;
@@ -176,6 +202,46 @@ bool BNO08xRpt::get_meta_data(bno08x_meta_data_t& meta_data)
     return (success == SH2_OK);
 }
 
+/**
+ * @brief Locks sh2 HAL lib to only allow the calling task to call its APIs.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRpt::lock_sh2_HAL()
+{
+    xSemaphoreTake(*_sh2_HAL_lock, portMAX_DELAY);
+}
+
+/**
+ * @brief Unlocks sh2 HAL lib to allow other tasks to call its APIs.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRpt::unlock_sh2_HAL()
+{
+    xSemaphoreGive(*_sh2_HAL_lock);
+}
+
+/**
+ * @brief Locks locks user data to only allow the calling task to read/modify it.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRpt::lock_user_data()
+{
+    xSemaphoreTake(*_data_lock, portMAX_DELAY);
+}
+
+/**
+ * @brief Unlocks user data to allow other tasks to read/modify it.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRpt::unlock_user_data()
+{
+    xSemaphoreGive(*_data_lock);
+}
+
 /**
  * @brief Signals to BNO08x::data_available() that a new report has arrived.
  *
@@ -183,6 +249,6 @@ bool BNO08xRpt::get_meta_data(bno08x_meta_data_t& meta_data)
  */
 void BNO08xRpt::signal_data_available()
 {
-    xEventGroupSetBits(imu->evt_grp_report_data_available, rpt_bit);
-    xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
+    xEventGroupSetBits(*_evt_grp_rpt_data_available, rpt_bit);
+    xEventGroupSetBits(*_evt_grp_bno08x_task, BNO08xPrivateTypes::EVT_GRP_BNO08x_TASK_DATA_AVAILABLE);
 }
diff --git a/source/BNO08xSH2HAL.cpp b/source/BNO08xSH2HAL.cpp
index 3d8de4d..bea3954 100644
--- a/source/BNO08xSH2HAL.cpp
+++ b/source/BNO08xSH2HAL.cpp
@@ -136,7 +136,7 @@ uint32_t BNO08xSH2HAL::get_time_us(sh2_Hal_t* self)
 void BNO08xSH2HAL::hal_cb(void* cookie, sh2_AsyncEvent_t* pEvent)
 {
     if (pEvent->eventId == SH2_RESET)
-        xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_RESET_OCCURRED);
+        xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08xPrivateTypes::EVT_GRP_BNO08x_TASK_RESET_OCCURRED);
 }
 
 /**
diff --git a/source/report/BNO08xRptARVRStabilizedGameRV.cpp b/source/report/BNO08xRptARVRStabilizedGameRV.cpp
index c269ded..8724ad1 100644
--- a/source/report/BNO08xRptARVRStabilizedGameRV.cpp
+++ b/source/report/BNO08xRptARVRStabilizedGameRV.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptARVRStabilizedGameRV.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates ARVR stabilized game rotation vector data from decoded sensor event.
@@ -15,11 +14,11 @@
  */
 void BNO08xRptARVRStabilizedGameRV::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.arvrStabilizedGRV;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptARVRStabilizedRV.cpp b/source/report/BNO08xRptARVRStabilizedRV.cpp
index cab1fe7..1474bd4 100644
--- a/source/report/BNO08xRptARVRStabilizedRV.cpp
+++ b/source/report/BNO08xRptARVRStabilizedRV.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptARVRStabilizedRV.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates ARVR stabilized rotation vector data from decoded sensor event.
@@ -15,11 +14,11 @@
  */
 void BNO08xRptARVRStabilizedRV::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.arvrStabilizedRV;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptAcceleration.cpp b/source/report/BNO08xRptAcceleration.cpp
index 29a079b..3077931 100644
--- a/source/report/BNO08xRptAcceleration.cpp
+++ b/source/report/BNO08xRptAcceleration.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptAcceleration.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates accelerometer data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptAcceleration::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.accelerometer;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +30,8 @@ void BNO08xRptAcceleration::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_accel_t BNO08xRptAcceleration::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_accel_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptActivityClassifier.cpp b/source/report/BNO08xRptActivityClassifier.cpp
index 3821fb6..b3c54cd 100644
--- a/source/report/BNO08xRptActivityClassifier.cpp
+++ b/source/report/BNO08xRptActivityClassifier.cpp
@@ -4,14 +4,13 @@
  */
 
 #include "BNO08xRptActivityClassifier.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Enables activity classifier reports such that the BNO08x begins sending them.
  *
  * @param time_between_reports The period/interval of the report in microseconds.
  * @param activities_to_enable Which activities to enable.
- * @param sensor_cfg Sensor special configuration (optional, see BNO08xRpt::default_sensor_cfg for defaults).
+ * @param sensor_cfg Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).
  *
  * @return True if report was successfully enabled.
  */
@@ -31,12 +30,12 @@ bool BNO08xRptActivityClassifier::enable(uint32_t time_between_reports, BNO08xAc
  */
 void BNO08xRptActivityClassifier::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.personalActivityClassifier;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -47,9 +46,9 @@ void BNO08xRptActivityClassifier::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_activity_classifier_t BNO08xRptActivityClassifier::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_activity_classifier_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
 
@@ -60,8 +59,8 @@ bno08x_activity_classifier_t BNO08xRptActivityClassifier::get()
  */
 BNO08xActivity BNO08xRptActivityClassifier::get_most_likely_activity()
 {
-    imu->lock_user_data();
+    lock_user_data();
     BNO08xActivity rqdata = static_cast<BNO08xActivity>(data.mostLikelyState);
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptCalGyro.cpp b/source/report/BNO08xRptCalGyro.cpp
index 0107800..98be682 100644
--- a/source/report/BNO08xRptCalGyro.cpp
+++ b/source/report/BNO08xRptCalGyro.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptCalGyro.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates calibrated gyro data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptCalGyro::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.gyroscope;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +30,8 @@ void BNO08xRptCalGyro::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_gyro_t BNO08xRptCalGyro::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_gyro_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptCalMagnetometer.cpp b/source/report/BNO08xRptCalMagnetometer.cpp
index bfed8a2..78ad0ba 100644
--- a/source/report/BNO08xRptCalMagnetometer.cpp
+++ b/source/report/BNO08xRptCalMagnetometer.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptCalMagnetometer.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates calibrated magnetometer data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptCalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.magneticField;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +30,8 @@ void BNO08xRptCalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_magf_t BNO08xRptCalMagnetometer::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_magf_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptGameRV.cpp b/source/report/BNO08xRptGameRV.cpp
index 43a8284..11a0b9f 100644
--- a/source/report/BNO08xRptGameRV.cpp
+++ b/source/report/BNO08xRptGameRV.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptGameRV.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates game rotation vector data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptGameRV::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.gameRotationVector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -48,9 +47,9 @@ bool BNO08xRptGameRV::tare_persist()
 {
     int success = SH2_ERR;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     success = sh2_persistTare();
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     if (success != SH2_OK)
         return false;
@@ -65,7 +64,7 @@ bool BNO08xRptGameRV::tare_persist()
  */
 void BNO08xRptGameRV::tare_clear()
 {
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     sh2_clearTare();
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptGravity.cpp b/source/report/BNO08xRptGravity.cpp
index 6219b4e..7a012af 100644
--- a/source/report/BNO08xRptGravity.cpp
+++ b/source/report/BNO08xRptGravity.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptGravity.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates gravity data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptGravity::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.gravity;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +30,8 @@ void BNO08xRptGravity::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_accel_t BNO08xRptGravity::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_accel_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptIGyroRV.cpp b/source/report/BNO08xRptIGyroRV.cpp
index 9199399..2890df8 100644
--- a/source/report/BNO08xRptIGyroRV.cpp
+++ b/source/report/BNO08xRptIGyroRV.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptIGyroRV.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates gyro integrated rotation vector data from decoded sensor event.
@@ -15,13 +14,13 @@
  */
 void BNO08xRptIGyroRV::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.gyroIntegratedRV;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     data_vel = sensor_val->un.gyroIntegratedRV;
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -35,10 +34,10 @@ void BNO08xRptIGyroRV::update_data(sh2_SensorValue_t* sensor_val)
  */
 void BNO08xRptIGyroRV::get(bno08x_quat_t& quat, bno08x_ang_vel_t& vel)
 {
-    imu->lock_user_data();
+    lock_user_data();
     quat = data;
     vel = data_vel;
-    imu->unlock_user_data();
+    unlock_user_data();
 }
 
 /**
@@ -48,8 +47,8 @@ void BNO08xRptIGyroRV::get(bno08x_quat_t& quat, bno08x_ang_vel_t& vel)
  */
 bno08x_ang_vel_t BNO08xRptIGyroRV::get_vel()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_ang_vel_t rqdata = data_vel;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptLinearAcceleration.cpp b/source/report/BNO08xRptLinearAcceleration.cpp
index c02bdb7..a81b666 100644
--- a/source/report/BNO08xRptLinearAcceleration.cpp
+++ b/source/report/BNO08xRptLinearAcceleration.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptLinearAcceleration.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates accelerometer data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptLinearAcceleration::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.linearAcceleration;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +30,8 @@ void BNO08xRptLinearAcceleration::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_accel_t BNO08xRptLinearAcceleration::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_accel_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptRV.cpp b/source/report/BNO08xRptRV.cpp
index e78b60e..a3db475 100644
--- a/source/report/BNO08xRptRV.cpp
+++ b/source/report/BNO08xRptRV.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptRV.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates rotation vector data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptRV::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.rotationVector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -48,9 +47,9 @@ bool BNO08xRptRV::tare_persist()
 {
     int success = SH2_ERR;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     success = sh2_persistTare();
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     if (success != SH2_OK)
         return false;
@@ -65,7 +64,7 @@ bool BNO08xRptRV::tare_persist()
  */
 void BNO08xRptRV::tare_clear()
 {
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     sh2_clearTare();
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptRVGeneric.cpp b/source/report/BNO08xRptRVGeneric.cpp
index d4e7433..379557f 100644
--- a/source/report/BNO08xRptRVGeneric.cpp
+++ b/source/report/BNO08xRptRVGeneric.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptRVGeneric.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in radians (if available, else constant 0.0f).
@@ -19,9 +18,9 @@
  */
 bno08x_quat_t BNO08xRptRVGeneric::get_quat()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_quat_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
 
@@ -71,9 +70,9 @@ bool BNO08xRptRVGeneric::tare(bool x, bool y, bool z, sh2_TareBasis_t basis)
     if (z)
         axis_flag |= SH2_TARE_Z;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     success = sh2_setTareNow(axis_flag, basis);
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     if (success != SH2_OK)
         return false;
diff --git a/source/report/BNO08xRptRVGeomag.cpp b/source/report/BNO08xRptRVGeomag.cpp
index 552cdba..490ba13 100644
--- a/source/report/BNO08xRptRVGeomag.cpp
+++ b/source/report/BNO08xRptRVGeomag.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptRVGeomag.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates geomagnetic rotation vector data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptRVGeomag::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.geoMagRotationVector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -47,9 +46,9 @@ bool BNO08xRptRVGeomag::tare_persist()
 {
     int success = SH2_ERR;
 
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     success = sh2_persistTare();
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 
     if (success != SH2_OK)
         return false;
@@ -64,7 +63,7 @@ bool BNO08xRptRVGeomag::tare_persist()
  */
 void BNO08xRptRVGeomag::tare_clear()
 {
-    imu->lock_sh2_HAL();
+    lock_sh2_HAL();
     sh2_clearTare();
-    imu->unlock_sh2_HAL();
+    unlock_sh2_HAL();
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptRawMEMSAccelerometer.cpp b/source/report/BNO08xRptRawMEMSAccelerometer.cpp
index 2c11443..c525df6 100644
--- a/source/report/BNO08xRptRawMEMSAccelerometer.cpp
+++ b/source/report/BNO08xRptRawMEMSAccelerometer.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptRawMEMSAccelerometer.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates raw accelerometer data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptRawMEMSAccelerometer::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.rawAccelerometer;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +30,8 @@ void BNO08xRptRawMEMSAccelerometer::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_raw_accel_t BNO08xRptRawMEMSAccelerometer::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_raw_accel_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptRawMEMSGyro.cpp b/source/report/BNO08xRptRawMEMSGyro.cpp
index 6c5bd7a..9431c53 100644
--- a/source/report/BNO08xRptRawMEMSGyro.cpp
+++ b/source/report/BNO08xRptRawMEMSGyro.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptRawMEMSGyro.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates raw mems gyro data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.rawGyroscope;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +30,8 @@ void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_raw_gyro_t BNO08xRptRawMEMSGyro::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_raw_gyro_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptRawMEMSMagnetometer.cpp b/source/report/BNO08xRptRawMEMSMagnetometer.cpp
index 45c0801..012b43b 100644
--- a/source/report/BNO08xRptRawMEMSMagnetometer.cpp
+++ b/source/report/BNO08xRptRawMEMSMagnetometer.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptRawMEMSMagnetometer.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates raw magnetometer data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xRptRawMEMSMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.rawMagnetometer;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +30,8 @@ void BNO08xRptRawMEMSMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_raw_magf_t BNO08xRptRawMEMSMagnetometer::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_raw_magf_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptStepCounter.cpp b/source/report/BNO08xRptStepCounter.cpp
index 2872682..2439ef9 100644
--- a/source/report/BNO08xRptStepCounter.cpp
+++ b/source/report/BNO08xRptStepCounter.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptStepCounter.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates step counter data from decoded sensor event.
@@ -17,7 +16,7 @@ void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
 {
     static uint16_t prev_steps = 0;
 
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.stepCounter;
 
     if (prev_steps > data.steps)
@@ -29,9 +28,9 @@ void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
 
     prev_steps = data.steps;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -42,9 +41,9 @@ void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
  */
 uint32_t BNO08xRptStepCounter::get_total_steps()
 {
-    imu->lock_user_data();
+    lock_user_data();
     uint32_t total_steps = step_accumulator + data.steps;
-    imu->unlock_user_data();
+    unlock_user_data();
     return total_steps;
 }
 
@@ -55,8 +54,8 @@ uint32_t BNO08xRptStepCounter::get_total_steps()
  */
 bno08x_step_counter_t BNO08xRptStepCounter::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_step_counter_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptUncalGyro.cpp b/source/report/BNO08xRptUncalGyro.cpp
index 7af340c..b1d2fa7 100644
--- a/source/report/BNO08xRptUncalGyro.cpp
+++ b/source/report/BNO08xRptUncalGyro.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptUncalGyro.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates uncalibrated gyro data from decoded sensor event.
@@ -15,13 +14,13 @@
  */
 void BNO08xRptUncalGyro::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.gyroscopeUncal;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     bias_data = sensor_val->un.gyroscopeUncal;
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -35,10 +34,10 @@ void BNO08xRptUncalGyro::update_data(sh2_SensorValue_t* sensor_val)
  */
 void BNO08xRptUncalGyro::get(bno08x_gyro_t& vel, bno08x_gyro_bias_t& bias)
 {
-    imu->lock_user_data();
+    lock_user_data();
     vel = data;
     bias = bias_data;
-    imu->unlock_user_data();
+    unlock_user_data();
 }
 
 /**
@@ -48,9 +47,9 @@ void BNO08xRptUncalGyro::get(bno08x_gyro_t& vel, bno08x_gyro_bias_t& bias)
  */
 bno08x_gyro_t BNO08xRptUncalGyro::get_vel()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_gyro_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
 
@@ -61,8 +60,8 @@ bno08x_gyro_t BNO08xRptUncalGyro::get_vel()
  */
 bno08x_gyro_bias_t BNO08xRptUncalGyro::get_bias()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_gyro_bias_t rqdata = bias_data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xRptUncalMagnetometer.cpp b/source/report/BNO08xRptUncalMagnetometer.cpp
index 2619821..eb5d35b 100644
--- a/source/report/BNO08xRptUncalMagnetometer.cpp
+++ b/source/report/BNO08xRptUncalMagnetometer.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xRptUncalMagnetometer.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates uncalibrated magf data from decoded sensor event.
@@ -15,13 +14,13 @@
  */
 void BNO08xRptUncalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.magneticFieldUncal;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
     bias_data = sensor_val->un.magneticFieldUncal;
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -35,10 +34,10 @@ void BNO08xRptUncalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
  */
 void BNO08xRptUncalMagnetometer::get(bno08x_magf_t& magf, bno08x_magf_bias_t& bias)
 {
-    imu->lock_user_data();
+    lock_user_data();
     magf = data;
     bias = bias_data;
-    imu->unlock_user_data();
+    unlock_user_data();
 }
 
 /**
@@ -48,9 +47,9 @@ void BNO08xRptUncalMagnetometer::get(bno08x_magf_t& magf, bno08x_magf_bias_t& bi
  */
 bno08x_magf_t BNO08xRptUncalMagnetometer::get_magf()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_magf_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
 
@@ -61,8 +60,8 @@ bno08x_magf_t BNO08xRptUncalMagnetometer::get_magf()
  */
 bno08x_magf_bias_t BNO08xRptUncalMagnetometer::get_bias()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_magf_bias_t rqdata = bias_data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xShakeDetector.cpp b/source/report/BNO08xShakeDetector.cpp
index 0d24437..58be6b1 100644
--- a/source/report/BNO08xShakeDetector.cpp
+++ b/source/report/BNO08xShakeDetector.cpp
@@ -4,8 +4,6 @@
  */
 
 #include "BNO08xShakeDetector.hpp"
-#include "BNO08x.hpp"
-
 /**
  * @brief Updates shake detector data from decoded sensor event.
  *
@@ -15,12 +13,12 @@
  */
 void BNO08xShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.shakeDetector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,8 +29,8 @@ void BNO08xShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_shake_detector_t BNO08xShakeDetector::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_shake_detector_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file
diff --git a/source/report/BNO08xStabilityClassifier.cpp b/source/report/BNO08xStabilityClassifier.cpp
index 2ff7def..4c2bd70 100644
--- a/source/report/BNO08xStabilityClassifier.cpp
+++ b/source/report/BNO08xStabilityClassifier.cpp
@@ -4,7 +4,6 @@
  */
 
 #include "BNO08xStabilityClassifier.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Updates stability classifier data from decoded sensor event.
@@ -15,12 +14,12 @@
  */
 void BNO08xStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.stabilityClassifier;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -31,9 +30,9 @@ void BNO08xStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_stability_classifier_t BNO08xStabilityClassifier::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_stability_classifier_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
 
@@ -44,8 +43,8 @@ bno08x_stability_classifier_t BNO08xStabilityClassifier::get()
  */
 BNO08xStability BNO08xStabilityClassifier::get_stability()
 {
-    imu->lock_user_data();
+    lock_user_data();
     BNO08xStability rqdata = data.stability;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
diff --git a/source/report/BNO08xTapDetector.cpp b/source/report/BNO08xTapDetector.cpp
index ca41453..459a702 100644
--- a/source/report/BNO08xTapDetector.cpp
+++ b/source/report/BNO08xTapDetector.cpp
@@ -4,13 +4,12 @@
  */
 
 #include "BNO08xTapDetector.hpp"
-#include "BNO08x.hpp"
 
 /**
  * @brief Enables tap detector reports such that the BNO08x begins sending them (only sends reports when a tap is detected).
  *
  * @param time_between_reports The period/interval of the report in microseconds.
- * @param sensor_cfg Sensor special configuration (optional, see BNO08xRpt::default_sensor_cfg for defaults).
+ * @param sensor_cfg Sensor special configuration (optional, see BNO08xPrivateTypes::default_sensor_cfg for defaults).
  *
  * @return True if report was successfully enabled.
  */
@@ -31,12 +30,12 @@ bool BNO08xTapDetector::enable(uint32_t time_between_reports, sh2_SensorConfig_t
  */
 void BNO08xTapDetector::update_data(sh2_SensorValue_t* sensor_val)
 {
-    imu->lock_user_data();
+    lock_user_data();
     data = sensor_val->un.tapDetector;
     data.accuracy = static_cast<BNO08xAccuracy>(sensor_val->status);
-    imu->unlock_user_data();
+    unlock_user_data();
 
-    if (rpt_bit & xEventGroupGetBits(imu->evt_grp_report_en))
+    if (rpt_bit & xEventGroupGetBits(*_evt_grp_rpt_en))
         signal_data_available();
 }
 
@@ -47,8 +46,8 @@ void BNO08xTapDetector::update_data(sh2_SensorValue_t* sensor_val)
  */
 bno08x_tap_detector_t BNO08xTapDetector::get()
 {
-    imu->lock_user_data();
+    lock_user_data();
     bno08x_tap_detector_t rqdata = data;
-    imu->unlock_user_data();
+    unlock_user_data();
     return rqdata;
 }
\ No newline at end of file