diff --git a/include/BNO08x.hpp b/include/BNO08x.hpp
index 72566c8..f8033ea 100644
--- a/include/BNO08x.hpp
+++ b/include/BNO08x.hpp
@@ -1,3 +1,7 @@
+/**
+ * @file BNO08x.hpp
+ * @author Myles Parfeniuk
+ */
 #pragma once
 // standard library includes
 #include <inttypes.h>
@@ -21,6 +25,10 @@
 // in-house includes
 #include "BNO08x_global_types.hpp"
 
+/**
+ * @class BNO08x
+ * @brief BNO08x IMU driver class.
+ * */
 class BNO08x
 {
     public:
@@ -324,7 +332,7 @@ class BNO08x
         uint16_t parse_feature_get_response_report(bno08x_rx_packet_t* packet);
         uint16_t parse_input_report(bno08x_rx_packet_t* packet);
         void parse_input_report_data(bno08x_rx_packet_t* packet, uint16_t* data, uint16_t data_length);
-        uint16_t parse_gyro_report(bno08x_rx_packet_t* packet);
+        uint16_t parse_gyro_integrated_rotation_vector_report(bno08x_rx_packet_t* packet);
         uint16_t parse_command_report(bno08x_rx_packet_t* packet);
 
         // functions to update data returned to user
@@ -365,8 +373,8 @@ class BNO08x
         esp_err_t launch_tasks();
         esp_err_t kill_all_tasks();
 
-        void update_report_period(uint8_t report_ID, uint32_t new_period);
-        static uint8_t report_ID_to_report_period_idx(uint8_t report_ID);
+        void update_report_period_trackers(uint8_t report_ID, uint32_t new_period);
+        static uint8_t report_ID_to_report_period_tracker_idx(uint8_t report_ID);
 
         EventGroupHandle_t
                 evt_grp_spi; ///<Event group for indicating when bno08x hint pin has triggered and when new data has been processed. Used by calls to sending or receiving functions.
diff --git a/include/BNO08xTestHelper.hpp b/include/BNO08xTestHelper.hpp
index 1a53a60..0e8a3de 100644
--- a/include/BNO08xTestHelper.hpp
+++ b/include/BNO08xTestHelper.hpp
@@ -1,8 +1,16 @@
+/**
+ * @file BNO08xTestHelper.hpp
+ * @author Myles Parfeniuk
+ */
 #pragma once
 
 #include "stdio.h"
 #include "BNO08x.hpp"
 
+/**
+ * @class BNO08xTestHelper
+ * @brief BNO08x unit test helper class.
+ * */
 class BNO08xTestHelper
 {
     private:
@@ -12,6 +20,7 @@ class BNO08xTestHelper
         static const constexpr char* TAG = "BNO08xTestHelper";
 
     public:
+        /// @brief IMU configuration settings passed into constructor
         typedef struct imu_report_data_t
         {
                 uint32_t time_stamp;
@@ -68,26 +77,60 @@ class BNO08xTestHelper
 
         } imu_report_data_t;
 
+        /**
+         * @brief Prints test begin banner.
+         *
+         * @param TEST_TAG String containing test name.
+         *
+         * @return void, nothing to return
+         */
         static void print_test_start_banner(const char* TEST_TAG)
         {
             printf("------------------------ BEGIN TEST: %s ------------------------\n\r", TEST_TAG);
         }
 
+        /**
+         * @brief Prints end begin banner.
+         *
+         * @param TEST_TAG String containing test name.
+         *
+         * @return void, nothing to return
+         */
         static void print_test_end_banner(const char* TEST_TAG)
         {
             printf("------------------------ END TEST: %s ------------------------\n\r", TEST_TAG);
         }
 
+        /**
+         * @brief Prints a message during a test.
+         *
+         * @param TEST_TAG String containing test name.
+         * @param msg String containing message to print.
+         *
+         * @return void, nothing to return
+         */
         static void print_test_msg(const char* TEST_TAG, const char* msg)
         {
             printf("%s: %s: %s\n\r", TAG, TEST_TAG, msg);
         }
 
+        /**
+         * @brief Set test imu configuration used with create_test_imu()
+         *
+         * @param cfg String containing test name.
+         *
+         * @return void, nothing to return
+         */
         static void set_test_imu_cfg(bno08x_config_t cfg)
         {
             imu_cfg = cfg;
         }
 
+        /**
+         * @brief Calls BNO08x constructor and creates new test IMU on heap.
+         *
+         * @return void, nothing to return
+         */
         static void create_test_imu()
         {
             if (test_imu != nullptr)
@@ -96,6 +139,11 @@ class BNO08xTestHelper
             test_imu = new BNO08x();
         }
 
+        /**
+         * @brief Deletes test IMU calling deconstructor and releases heap allocated memory.
+         *
+         * @return void, nothing to return
+         */
         static void destroy_test_imu()
         {
             if (test_imu != nullptr)
@@ -105,11 +153,21 @@ class BNO08xTestHelper
             }
         }
 
+        /**
+         * @brief Deletes test IMU calling deconstructor and releases heap allocated memory.
+         *
+         * @return Pointer to BNO08x IMU object to test.
+         */
         static BNO08x* get_test_imu()
         {
             return test_imu;
         }
 
+        /**
+         * @brief Used to call private BNO08x::init_config_args() member for tests.
+         *
+         * @return ESP_OK if init succeeded.
+         */
         static esp_err_t call_init_config_args()
         {
             if (test_imu == nullptr)
@@ -118,6 +176,11 @@ class BNO08xTestHelper
             return test_imu->init_config_args();
         }
 
+        /**
+         * @brief Used to call private BNO08x::init_gpio() member for tests.
+         *
+         * @return ESP_OK if init succeeded.
+         */
         static esp_err_t call_init_gpio()
         {
             if (test_imu == nullptr)
@@ -126,6 +189,11 @@ class BNO08xTestHelper
             return test_imu->init_gpio();
         }
 
+        /**
+         * @brief Used to call private BNO08x::init_hint_isr() member for tests.
+         *
+         * @return ESP_OK if init succeeded.
+         */
         static esp_err_t call_init_hint_isr()
         {
             if (test_imu == nullptr)
@@ -134,6 +202,11 @@ class BNO08xTestHelper
             return test_imu->init_hint_isr();
         }
 
+        /**
+         * @brief Used to call private BNO08x::init_spi() member for tests.
+         *
+         * @return ESP_OK if init succeeded.
+         */
         static esp_err_t call_init_spi()
         {
             if (test_imu == nullptr)
@@ -142,6 +215,11 @@ class BNO08xTestHelper
             return test_imu->init_spi();
         }
 
+        /**
+         * @brief Used to call private BNO08x::launch_tasks() member for tests.
+         *
+         * @return ESP_OK if init succeeded.
+         */
         static esp_err_t call_launch_tasks()
         {
             if (test_imu == nullptr)
@@ -150,294 +228,402 @@ class BNO08xTestHelper
             return test_imu->launch_tasks();
         }
 
-        static bool rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
             // prev report should always contain the default test values as per test structure
-            if (report_data->quat_I != prev_report_data->quat_I)
+            if (report_data->quat_I != default_report_data->quat_I)
                 new_data = true;
 
-            if (report_data->quat_J != prev_report_data->quat_J)
+            if (report_data->quat_J != default_report_data->quat_J)
                 new_data = true;
 
-            if (report_data->quat_K != prev_report_data->quat_K)
+            if (report_data->quat_K != default_report_data->quat_K)
                 new_data = true;
 
-            if (report_data->quat_real != prev_report_data->quat_real)
+            if (report_data->quat_real != default_report_data->quat_real)
                 new_data = true;
 
-            if (report_data->quat_accuracy != prev_report_data->quat_accuracy)
+            if (report_data->quat_accuracy != default_report_data->quat_accuracy)
                 new_data = true;
 
-            if (report_data->quat_radian_accuracy != prev_report_data->quat_radian_accuracy)
+            if (report_data->quat_radian_accuracy != default_report_data->quat_radian_accuracy)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool gyro_integrated_rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool gyro_integrated_rotation_vector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->quat_I != prev_report_data->quat_I)
+            if (report_data->quat_I != default_report_data->quat_I)
                 new_data = true;
 
-            if (report_data->quat_J != prev_report_data->quat_J)
+            if (report_data->quat_J != default_report_data->quat_J)
                 new_data = true;
 
-            if (report_data->quat_K != prev_report_data->quat_K)
+            if (report_data->quat_K != default_report_data->quat_K)
                 new_data = true;
 
-            if (report_data->quat_real != prev_report_data->quat_real)
+            if (report_data->quat_real != default_report_data->quat_real)
                 new_data = true;
 
-            if (report_data->integrated_gyro_vel_x != prev_report_data->integrated_gyro_vel_x)
+            if (report_data->integrated_gyro_vel_x != default_report_data->integrated_gyro_vel_x)
                 new_data = true;
 
-            if (report_data->integrated_gyro_vel_y != prev_report_data->integrated_gyro_vel_y)
+            if (report_data->integrated_gyro_vel_y != default_report_data->integrated_gyro_vel_y)
                 new_data = true;
 
-            if (report_data->integrated_gyro_vel_z != prev_report_data->integrated_gyro_vel_z)
+            if (report_data->integrated_gyro_vel_z != default_report_data->integrated_gyro_vel_z)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool uncalibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool uncalibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->uncalib_gyro_vel_x != prev_report_data->uncalib_gyro_vel_x)
+            if (report_data->uncalib_gyro_vel_x != default_report_data->uncalib_gyro_vel_x)
                 new_data = true;
 
-            if (report_data->uncalib_gyro_vel_y != prev_report_data->uncalib_gyro_vel_y)
+            if (report_data->uncalib_gyro_vel_y != default_report_data->uncalib_gyro_vel_y)
                 new_data = true;
 
-            if (report_data->uncalib_gyro_vel_z != prev_report_data->uncalib_gyro_vel_z)
+            if (report_data->uncalib_gyro_vel_z != default_report_data->uncalib_gyro_vel_z)
                 new_data = true;
 
-            if (report_data->uncalib_gyro_drift_x != prev_report_data->uncalib_gyro_drift_x)
+            if (report_data->uncalib_gyro_drift_x != default_report_data->uncalib_gyro_drift_x)
                 new_data = true;
 
-            if (report_data->uncalib_gyro_drift_y != prev_report_data->uncalib_gyro_drift_y)
+            if (report_data->uncalib_gyro_drift_y != default_report_data->uncalib_gyro_drift_y)
                 new_data = true;
 
-            if (report_data->uncalib_gyro_drift_z != prev_report_data->uncalib_gyro_drift_z)
+            if (report_data->uncalib_gyro_drift_z != default_report_data->uncalib_gyro_drift_z)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool calibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool calibrated_gyro_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->calib_gyro_vel_x != prev_report_data->calib_gyro_vel_x)
+            if (report_data->calib_gyro_vel_x != default_report_data->calib_gyro_vel_x)
                 new_data = true;
 
-            if (report_data->calib_gyro_vel_y != prev_report_data->calib_gyro_vel_y)
+            if (report_data->calib_gyro_vel_y != default_report_data->calib_gyro_vel_y)
                 new_data = true;
 
-            if (report_data->calib_gyro_vel_z != prev_report_data->calib_gyro_vel_z)
+            if (report_data->calib_gyro_vel_z != default_report_data->calib_gyro_vel_z)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->accel_x != prev_report_data->accel_x)
+            if (report_data->accel_x != default_report_data->accel_x)
                 new_data = true;
 
-            if (report_data->accel_y != prev_report_data->accel_y)
+            if (report_data->accel_y != default_report_data->accel_y)
                 new_data = true;
 
-            if (report_data->accel_z != prev_report_data->accel_z)
+            if (report_data->accel_z != default_report_data->accel_z)
                 new_data = true;
 
-            if (report_data->accel_accuracy != prev_report_data->accel_accuracy)
+            if (report_data->accel_accuracy != default_report_data->accel_accuracy)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool linear_accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool linear_accelerometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->lin_accel_x != prev_report_data->lin_accel_x)
+            if (report_data->lin_accel_x != default_report_data->lin_accel_x)
                 new_data = true;
 
-            if (report_data->lin_accel_y != prev_report_data->lin_accel_y)
+            if (report_data->lin_accel_y != default_report_data->lin_accel_y)
                 new_data = true;
 
-            if (report_data->lin_accel_z != prev_report_data->lin_accel_z)
+            if (report_data->lin_accel_z != default_report_data->lin_accel_z)
                 new_data = true;
 
-            if (report_data->lin_accel_accuracy != prev_report_data->lin_accel_accuracy)
+            if (report_data->lin_accel_accuracy != default_report_data->lin_accel_accuracy)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool gravity_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool gravity_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->grav_x != prev_report_data->grav_x)
+            if (report_data->grav_x != default_report_data->grav_x)
                 new_data = true;
 
-            if (report_data->grav_y != prev_report_data->grav_y)
+            if (report_data->grav_y != default_report_data->grav_y)
                 new_data = true;
 
-            if (report_data->grav_z != prev_report_data->grav_z)
+            if (report_data->grav_z != default_report_data->grav_z)
                 new_data = true;
 
-            if (report_data->grav_accuracy != prev_report_data->grav_accuracy)
+            if (report_data->grav_accuracy != default_report_data->grav_accuracy)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool magnetometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool magnetometer_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->magf_x != prev_report_data->magf_x)
+            if (report_data->magf_x != default_report_data->magf_x)
                 new_data = true;
 
-            if (report_data->magf_y != prev_report_data->magf_y)
+            if (report_data->magf_y != default_report_data->magf_y)
                 new_data = true;
 
-            if (report_data->magf_z != prev_report_data->magf_z)
+            if (report_data->magf_z != default_report_data->magf_z)
                 new_data = true;
 
-            if (report_data->magf_accuracy != prev_report_data->magf_accuracy)
+            if (report_data->magf_accuracy != default_report_data->magf_accuracy)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool step_detector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool step_detector_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->step_count != prev_report_data->step_count)
+            if (report_data->step_count != default_report_data->step_count)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool stability_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool stability_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->stability_classifier != prev_report_data->stability_classifier)
+            if (report_data->stability_classifier != default_report_data->stability_classifier)
                 new_data = true;
 
             return new_data;
         }
 
-        static bool activity_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* prev_report_data)
+        /**
+         * @brief Checks if report_data matches the default states stored within prev_report_data data for respective report.
+         *
+         * @param report_data Current report data.
+         * @param default_report_data Default report data to compare (should always contain default values)
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static bool activity_classifier_data_is_default(imu_report_data_t* report_data, imu_report_data_t* default_report_data)
         {
             bool new_data = false;
 
-            if (report_data->activity_classifier != prev_report_data->activity_classifier)
+            if (report_data->activity_classifier != default_report_data->activity_classifier)
                 new_data = true;
 
             return new_data;
         }
 
-        static void update_report_data(imu_report_data_t* report_data, BNO08x* imu)
+        /**
+         * @brief Updates report data with calls relevant test_imu methods.
+         *
+         * @param report_data Pointer to imu_report_data_t struct to save report data.
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static void update_report_data(imu_report_data_t* report_data)
         {
 
-            imu->get_quat(report_data->quat_I, report_data->quat_J, report_data->quat_K, report_data->quat_real, report_data->quat_radian_accuracy,
-                    report_data->quat_accuracy);
-            imu->get_integrated_gyro_velocity(
+            test_imu->get_quat(report_data->quat_I, report_data->quat_J, report_data->quat_K, report_data->quat_real,
+                    report_data->quat_radian_accuracy, report_data->quat_accuracy);
+            test_imu->get_integrated_gyro_velocity(
                     report_data->integrated_gyro_vel_x, report_data->integrated_gyro_vel_y, report_data->integrated_gyro_vel_z);
-            imu->get_accel(report_data->accel_x, report_data->accel_y, report_data->accel_z, report_data->accel_accuracy);
-            imu->get_linear_accel(report_data->lin_accel_x, report_data->lin_accel_y, report_data->lin_accel_z, report_data->lin_accel_accuracy);
-            imu->get_gravity(report_data->grav_x, report_data->grav_y, report_data->grav_z, report_data->grav_accuracy);
-            imu->get_calibrated_gyro_velocity(report_data->calib_gyro_vel_x, report_data->calib_gyro_vel_y, report_data->calib_gyro_vel_z);
-            imu->get_uncalibrated_gyro_velocity(report_data->uncalib_gyro_vel_x, report_data->uncalib_gyro_vel_y, report_data->uncalib_gyro_vel_z,
-                    report_data->uncalib_gyro_drift_x, report_data->uncalib_gyro_drift_y, report_data->uncalib_gyro_drift_z);
-            imu->get_magf(report_data->magf_x, report_data->magf_y, report_data->magf_z, report_data->magf_accuracy);
-            imu->get_raw_mems_gyro(report_data->raw_mems_gyro_x, report_data->raw_mems_gyro_y, report_data->raw_mems_gyro_z);
-            report_data->step_count = imu->get_step_count();
-            report_data->stability_classifier = imu->get_stability_classifier();
-            report_data->activity_classifier = imu->get_activity_classifier(); 
+            test_imu->get_accel(report_data->accel_x, report_data->accel_y, report_data->accel_z, report_data->accel_accuracy);
+            test_imu->get_linear_accel(report_data->lin_accel_x, report_data->lin_accel_y, report_data->lin_accel_z, report_data->lin_accel_accuracy);
+            test_imu->get_gravity(report_data->grav_x, report_data->grav_y, report_data->grav_z, report_data->grav_accuracy);
+            test_imu->get_calibrated_gyro_velocity(report_data->calib_gyro_vel_x, report_data->calib_gyro_vel_y, report_data->calib_gyro_vel_z);
+            test_imu->get_uncalibrated_gyro_velocity(report_data->uncalib_gyro_vel_x, report_data->uncalib_gyro_vel_y,
+                    report_data->uncalib_gyro_vel_z, report_data->uncalib_gyro_drift_x, report_data->uncalib_gyro_drift_y,
+                    report_data->uncalib_gyro_drift_z);
+            test_imu->get_magf(report_data->magf_x, report_data->magf_y, report_data->magf_z, report_data->magf_accuracy);
+            test_imu->get_raw_mems_gyro(report_data->raw_mems_gyro_x, report_data->raw_mems_gyro_y, report_data->raw_mems_gyro_z);
+            report_data->step_count = test_imu->get_step_count();
+            report_data->stability_classifier = test_imu->get_stability_classifier();
+            report_data->activity_classifier = test_imu->get_activity_classifier();
         }
 
-        static void reset_all_imu_data_to_test_defaults(BNO08x* imu)
+        /**
+         * @brief Resets internal test imu data with test defaults.
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static void reset_all_imu_data_to_test_defaults()
         {
             static const constexpr uint16_t TEST_VAL_UINT16 = 65535U;
             static const constexpr uint16_t TEST_VAL_UINT8 = 255;
-            imu->time_stamp = 0UL;
+            test_imu->time_stamp = 0UL;
 
-            imu->raw_accel_X = TEST_VAL_UINT16;
-            imu->raw_accel_Y = TEST_VAL_UINT16;
-            imu->raw_accel_Z = TEST_VAL_UINT16;
-            imu->accel_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
+            test_imu->raw_accel_X = TEST_VAL_UINT16;
+            test_imu->raw_accel_Y = TEST_VAL_UINT16;
+            test_imu->raw_accel_Z = TEST_VAL_UINT16;
+            test_imu->accel_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
 
-            imu->raw_lin_accel_X = TEST_VAL_UINT16;
-            imu->raw_lin_accel_Y = TEST_VAL_UINT16;
-            imu->raw_lin_accel_Z = TEST_VAL_UINT16;
-            imu->accel_lin_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
+            test_imu->raw_lin_accel_X = TEST_VAL_UINT16;
+            test_imu->raw_lin_accel_Y = TEST_VAL_UINT16;
+            test_imu->raw_lin_accel_Z = TEST_VAL_UINT16;
+            test_imu->accel_lin_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
 
-            imu->raw_calib_gyro_X = TEST_VAL_UINT16;
-            imu->raw_calib_gyro_Y = TEST_VAL_UINT16;
-            imu->raw_calib_gyro_Z = TEST_VAL_UINT16;
+            test_imu->raw_calib_gyro_X = TEST_VAL_UINT16;
+            test_imu->raw_calib_gyro_Y = TEST_VAL_UINT16;
+            test_imu->raw_calib_gyro_Z = TEST_VAL_UINT16;
 
             // reset quaternion to nan
-            imu->raw_quat_I = TEST_VAL_UINT16;
-            imu->raw_quat_J = TEST_VAL_UINT16;
-            imu->raw_quat_K = TEST_VAL_UINT16;
-            imu->raw_quat_real = TEST_VAL_UINT16;
-            imu->raw_quat_radian_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
-            imu->quat_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
+            test_imu->raw_quat_I = TEST_VAL_UINT16;
+            test_imu->raw_quat_J = TEST_VAL_UINT16;
+            test_imu->raw_quat_K = TEST_VAL_UINT16;
+            test_imu->raw_quat_real = TEST_VAL_UINT16;
+            test_imu->raw_quat_radian_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
+            test_imu->quat_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
 
-            imu->integrated_gyro_velocity_X = TEST_VAL_UINT16;
-            imu->integrated_gyro_velocity_Y = TEST_VAL_UINT16;
-            imu->integrated_gyro_velocity_Z = TEST_VAL_UINT16;
+            test_imu->integrated_gyro_velocity_X = TEST_VAL_UINT16;
+            test_imu->integrated_gyro_velocity_Y = TEST_VAL_UINT16;
+            test_imu->integrated_gyro_velocity_Z = TEST_VAL_UINT16;
 
-            imu->gravity_X = TEST_VAL_UINT16;
-            imu->gravity_Y = TEST_VAL_UINT16;
-            imu->gravity_Z = TEST_VAL_UINT16;
-            imu->gravity_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
+            test_imu->gravity_X = TEST_VAL_UINT16;
+            test_imu->gravity_Y = TEST_VAL_UINT16;
+            test_imu->gravity_Z = TEST_VAL_UINT16;
+            test_imu->gravity_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
 
-            imu->raw_uncalib_gyro_X = TEST_VAL_UINT16;
-            imu->raw_uncalib_gyro_Y = TEST_VAL_UINT16;
-            imu->raw_uncalib_gyro_Z = TEST_VAL_UINT16;
-            imu->raw_bias_X = TEST_VAL_UINT16;
-            imu->raw_bias_Y = TEST_VAL_UINT16;
-            imu->raw_bias_Z = TEST_VAL_UINT16;
+            test_imu->raw_uncalib_gyro_X = TEST_VAL_UINT16;
+            test_imu->raw_uncalib_gyro_Y = TEST_VAL_UINT16;
+            test_imu->raw_uncalib_gyro_Z = TEST_VAL_UINT16;
+            test_imu->raw_bias_X = TEST_VAL_UINT16;
+            test_imu->raw_bias_Y = TEST_VAL_UINT16;
+            test_imu->raw_bias_Z = TEST_VAL_UINT16;
 
-            imu->raw_magf_X = TEST_VAL_UINT16;
-            imu->raw_magf_Y = TEST_VAL_UINT16;
-            imu->raw_magf_Z = TEST_VAL_UINT16;
-            imu->magf_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
+            test_imu->raw_magf_X = TEST_VAL_UINT16;
+            test_imu->raw_magf_Y = TEST_VAL_UINT16;
+            test_imu->raw_magf_Z = TEST_VAL_UINT16;
+            test_imu->magf_accuracy = static_cast<uint16_t>(BNO08xAccuracy::UNDEFINED);
 
-            imu->tap_detector = TEST_VAL_UINT8;
-            imu->step_count = TEST_VAL_UINT16;
-            imu->stability_classifier = TEST_VAL_UINT8;
-            imu->activity_classifier = TEST_VAL_UINT8;
+            test_imu->tap_detector = TEST_VAL_UINT8;
+            test_imu->step_count = TEST_VAL_UINT16;
+            test_imu->stability_classifier = TEST_VAL_UINT8;
+            test_imu->activity_classifier = TEST_VAL_UINT8;
 
-            imu->mems_raw_accel_X = TEST_VAL_UINT16;
-            imu->mems_raw_accel_Y = TEST_VAL_UINT16;
-            imu->mems_raw_accel_Z = TEST_VAL_UINT16;
+            test_imu->mems_raw_accel_X = TEST_VAL_UINT16;
+            test_imu->mems_raw_accel_Y = TEST_VAL_UINT16;
+            test_imu->mems_raw_accel_Z = TEST_VAL_UINT16;
 
-            imu->mems_raw_gyro_X = TEST_VAL_UINT16;
-            imu->mems_raw_gyro_Y = TEST_VAL_UINT16;
-            imu->mems_raw_gyro_Z = TEST_VAL_UINT16;
+            test_imu->mems_raw_gyro_X = TEST_VAL_UINT16;
+            test_imu->mems_raw_gyro_Y = TEST_VAL_UINT16;
+            test_imu->mems_raw_gyro_Z = TEST_VAL_UINT16;
 
-            imu->mems_raw_magf_X = TEST_VAL_UINT16;
-            imu->mems_raw_magf_Y = TEST_VAL_UINT16;
-            imu->mems_raw_magf_Z = TEST_VAL_UINT16;
+            test_imu->mems_raw_magf_X = TEST_VAL_UINT16;
+            test_imu->mems_raw_magf_Y = TEST_VAL_UINT16;
+            test_imu->mems_raw_magf_Z = TEST_VAL_UINT16;
         }
 
+        /**
+         * @brief Converts BNO08xAccuracy enum class object to string.
+         *
+         * @param report_data BNO08xAccuracy object to convert to string.
+         *
+         * @return The resulting string conversion.
+         */
         static const char* BNO08xAccuracy_to_str(BNO08xAccuracy accuracy)
         {
             switch (accuracy)
diff --git a/include/BNO08xTestSuite.hpp b/include/BNO08xTestSuite.hpp
index d320cb2..467d961 100644
--- a/include/BNO08xTestSuite.hpp
+++ b/include/BNO08xTestSuite.hpp
@@ -1,15 +1,22 @@
+/**
+ * @file BNO08xTestSuite.hpp
+ * @author Myles Parfeniuk
+ *
+ *
+ * @warning YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS TEST SUITE TO BE BUILT WITH PROJECT:
+ *          set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components to test.")
+ */
 #pragma once
 
-/*
-YOU MUST ADD THE FOLLOWING LINE TO YOUR MAIN PROJECTS CMakeLists.txt IN ORDER FOR THIS TEST SUITE TO BE FUNCTIONAL:
-set(TEST_COMPONENTS "esp32_BNO08x" CACHE STRING "Components to test.")
-*/
-
 #include <stdio.h>
 #include <string.h>
 #include "unity.h"
 #include "BNO08xTestHelper.hpp"
 
+/**
+ * @class BNO08xTestSuite
+ * @brief BNO08x unit test launch point class.
+ * */
 class BNO08xTestSuite
 {
     private:
diff --git a/include/BNO08x_global_types.hpp b/include/BNO08x_global_types.hpp
index 389dc20..e84f34b 100644
--- a/include/BNO08x_global_types.hpp
+++ b/include/BNO08x_global_types.hpp
@@ -1,3 +1,7 @@
+/**
+ * @file BNO08x_global_types.hpp
+ * @author Myles Parfeniuk
+ */
 #pragma once
 
 #include <driver/gpio.h>
diff --git a/include/BNO08x_macros.hpp b/include/BNO08x_macros.hpp
index 301aaf8..1cfa7a7 100644
--- a/include/BNO08x_macros.hpp
+++ b/include/BNO08x_macros.hpp
@@ -1,3 +1,7 @@
+/**
+ * @file BNO08xTestHelper.hpp
+ * @author Myles Parfeniuk
+ */
 #pragma once
 
 // standard library includes
@@ -7,92 +11,313 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/event_groups.h>
 
+/**
+ * @brief Clears the most significant byte of a 16-bit value.
+ *
+ * @param evt_grp_task_flow Task flow event group handle.
+ * @param running_bit EVT_GRP_TSK_FLW_RUNNING_BIT
+ *
+ * @return The value with the MSB cleared.
+ */
 #define CHECK_TASKS_RUNNING(evt_grp_task_flow, running_bit) ((xEventGroupGetBits(evt_grp_task_flow) & (running_bit)) != 0)
 
 // packet parsing macros
+
+/**
+ * @brief Clears the most significant byte of a 16-bit value.
+ *
+ * @param val_16bit The 16-bit value to modify.
+ * @return The value with the MSB cleared.
+ */
 #define UINT16_CLR_MSB(val_16bit) ((val_16bit) & 0x00FFU)
+
+/**
+ * @brief Clears the least significant byte of a 16-bit value.
+ *
+ * @param val_16bit The 16-bit value to modify.
+ * @return The value with the MSB cleared.
+ */
 #define UINT16_CLR_LSB(val_16bit) ((val_16bit) & 0xFF00U)
+
+/**
+ * @brief Clears a specified byte in a 32-bit value.
+ *
+ * @param val_32bit The 32-bit value to modify.
+ * @param byte2clear The byte index to clear (0 = LSB, 3 = MSB).
+ * @return The value with the specified byte cleared.
+ */
 #define UINT32_CLR_BYTE(val_32bit, byte2clear) ((val_32bit) & ~(0xFFUL << (byte2clear * 8UL)))
+
+/**
+ * @brief Masks a specified byte in a 32-bit value.
+ *
+ * @param val_32bit The 32-bit value to modify.
+ * @param byte2mask The byte index to mask (0 = LSB, 3 = MSB).
+ * @return The value with the specified byte masked.
+ */
 #define UINT32_MSK_BYTE(val_32bit, byte2mask) ((val_32bit) & (0xFFUL << (byte2mask * 8UL)))
 
 // parsing universal to any packet
-#define PARSE_PACKET_LENGTH(packet)                                                                                                                  \
-    (UINT16_CLR_LSB(static_cast<uint16_t>(packet->header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->header[0])))
 
-#define PARSE_PACKET_DATA_LENGTH(packet_ptr)                                                                                                         \
-    (UINT16_CLR_LSB(static_cast<uint16_t>(packet->header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->header[0])))
+/**
+ * @brief Parse length from SHTP packet header.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Length of SHTP packet.
+ */
+#define PARSE_PACKET_LENGTH(packet_ptr)                                                                                                              \
+    (UINT16_CLR_LSB(static_cast<uint16_t>(packet_ptr->header[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet_ptr->header[0])))
 
+/**
+ * @brief Parse timestamp from SHTP packet.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Packet timestamp.
+ */
 #define PARSE_PACKET_TIMESTAMP(packet_ptr)                                                                                                           \
     (UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[4]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[3]) << 16UL, 2UL) |   \
             UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[2]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[1]), 0UL))
 
 // product id report parsing
+
+/**
+ * @brief Parse reset reason from SHTP packet containing product ID report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Reset reason.
+ */
 #define PARSE_PRODUCT_ID_REPORT_RESET_REASON(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[1]), 0UL)
 
+/**
+ * @brief Parse sw part number from SHTP packet containing product ID report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return sw part number.
+ */
 #define PARSE_PRODUCT_ID_REPORT_SW_PART_NO(packet_ptr)                                                                                               \
     (UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[7]) << 24UL, 3UL) |                                                                      \
             UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[6]) << 16UL, 2UL) |                                                               \
             UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[5]) << 8UL, 1UL) |                                                                \
             UINT32_MSK_BYTE(static_cast<uint32_t>(packet_ptr->body[4]), 0UL))
 
+/**
+ * @brief Parse sw build number from SHTP packet containing product ID report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return sw build number.
+ */
 #define PARSE_PRODUCT_ID_REPORT_SW_BUILD_NO(packet_ptr)                                                                                              \
     UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[11]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[10]) << 16UL, 2UL) |  \
             UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[9]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[8]), 0UL)
 
+/**
+ * @brief Parse sw version patch from SHTP packet containing product ID report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return sw version patch.
+ */
 #define PARSE_PRODUCT_ID_REPORT_SW_VERSION_PATCH(packet_ptr)                                                                                         \
     (UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[13]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[12]), 0UL))
 
+/**
+ * @brief Parse product ID SHTP packet containing product ID report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Product ID.
+ */
 #define PARSE_PRODUCT_ID_REPORT_PRODUCT_ID(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[0]), 0UL)
 
+/**
+ * @brief Parse product sw version major containing product ID report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return sw version major.
+ */
 #define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MAJOR(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[2]), 0UL)
 
+/**
+ * @brief Parse product sw version minor containing product ID report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return sw version minor.
+ */
 #define PARSE_PRODUCT_ID_REPORT_SW_VERSION_MINOR(packet_ptr) UINT32_MSK_BYTE(static_cast<uint32_t>(packet->body[3]), 0UL)
 
 // gyro report parsing
+
+/**
+ * @brief Parse quat I data from integrated gyro rotation vector report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Quat I data.
+ */
 #define PARSE_GYRO_REPORT_RAW_QUAT_I(packet)                                                                                                         \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[1]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[0])))
+
+/**
+ * @brief Parse quat J data from integrated gyro rotation vector report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Quat J data.
+ */
 #define PARSE_GYRO_REPORT_RAW_QUAT_J(packet)                                                                                                         \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[3]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[2])))
+
+/**
+ * @brief Parse quat K data from integrated gyro rotation vector report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Quat K data.
+ */
 #define PARSE_GYRO_REPORT_RAW_QUAT_K(packet)                                                                                                         \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[4])))
+
+/**
+ * @brief Parse quat real data from integrated gyro rotation vector report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Quat real data.
+ */
 #define PARSE_GYRO_REPORT_RAW_QUAT_REAL(packet)                                                                                                      \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[7]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[6])))
 
+/**
+ * @brief Parse x axis velocity data from integrated gyro rotation vector report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return x velocity data.
+ */
 #define PARSE_GYRO_REPORT_RAW_GYRO_VEL_X(packet)                                                                                                     \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[9]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[8])))
+
+/**
+ * @brief Parse y axis velocity data from integrated gyro rotation vector report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return y velocity data.
+ */
 #define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Y(packet)                                                                                                     \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[11]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[10])))
+
+/**
+ * @brief Parse z axis velocity data from integrated gyro rotation vector report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return z velocity data.
+ */
 #define PARSE_GYRO_REPORT_RAW_GYRO_VEL_Z(packet)                                                                                                     \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[12])))
 
 // input report parsing
+
+/**
+ * @brief Parse status bits from input report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Input report status bits.
+ */
 #define PARSE_INPUT_REPORT_STATUS_BITS(packet) (packet->body[5 + 2] & 0x03U)
 
+/**
+ * @brief Parse report ID from input report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Report ID.
+ */
 #define PARSE_INPUT_REPORT_REPORT_ID(packet) UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5]))
+
+/**
+ * @brief Parse first data block from input report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return First data block of input report.
+ */
 #define PARSE_INPUT_REPORT_DATA_1(packet)                                                                                                            \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 5]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 4])))
+
+/**
+ * @brief Parse second data block from input report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return Second data block of input report.
+ */
 #define PARSE_INPUT_REPORT_DATA_2(packet)                                                                                                            \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 7]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 6])))
+
+/**
+ * @brief Parse third data block from input report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return third data block of input report.
+ */
 #define PARSE_INPUT_REPORT_DATA_3(packet)                                                                                                            \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 9]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 8])))
+
+/**
+ * @brief Parse fourth data block from input report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return fourth data block of input report.
+ */
 #define PARSE_INPUT_REPORT_DATA_4(packet)                                                                                                            \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 11]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 10])))
+
+/**
+ * @brief Parse fifth data block from input report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return fifth data block of input report.
+ */
 #define PARSE_INPUT_REPORT_DATA_5(packet)                                                                                                            \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 12])))
+
+/**
+ * @brief Parse sixth data block from input report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return sixth data block of input report.
+ */
 #define PARSE_INPUT_REPORT_DATA_6(packet)                                                                                                            \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet->body[5 + 15]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet->body[5 + 14])))
 
+/**
+ * @brief Checks if packet containing input report is a rotation vector report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return True if contained input report is rotation vector report.
+ */
 #define IS_ROTATION_VECTOR_REPORT(packet)                                                                                                            \
     ((packet)->body[5] == SENSOR_REPORT_ID_ROTATION_VECTOR || (packet)->body[5] == SENSOR_REPORT_ID_GAME_ROTATION_VECTOR ||                          \
             (packet)->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_ROTATION_VECTOR ||                                                                 \
             (packet)->body[5] == SENSOR_REPORT_ID_ARVR_STABILIZED_GAME_ROTATION_VECTOR)
 
 // frs read response report parsing
+
+/**
+ * @brief Parse FRS record ID from FRS read response report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return FRS record ID.
+ */
 #define PARSE_FRS_READ_RESPONSE_REPORT_RECORD_ID(packet_body)                                                                                        \
     (UINT16_CLR_LSB(static_cast<uint16_t>(packet_body[13]) << 8U) | UINT16_CLR_MSB(static_cast<uint16_t>(packet_body[12])))
+
+/**
+ * @brief Parse data block 1 from FRS read response report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return FRS read response data block 1.
+ */
 #define PARSE_FRS_READ_RESPONSE_REPORT_DATA_1(packet_body)                                                                                           \
     (UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[7]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[6]) << 16UL, 2UL) |     \
             UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[5]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[4]), 0UL))
+
+/**
+ * @brief Parse data block 2 from FRS read response report.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t containing data.
+ * @return FRS read response data block 2.
+ */
 #define PARSE_FRS_READ_RESPONSE_REPORT_DATA_2(packet_body)                                                                                           \
     (UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[11]) << 24UL, 3UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[10]) << 16UL, 2UL) |   \
             UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[9]) << 8UL, 1UL) | UINT32_MSK_BYTE(static_cast<uint32_t>(packet_body[8]), 0UL))
diff --git a/source/BNO08x.cpp b/source/BNO08x.cpp
index 0afebf6..b1bea04 100644
--- a/source/BNO08x.cpp
+++ b/source/BNO08x.cpp
@@ -5,7 +5,6 @@
  * @brief BNO08x imu constructor.
  *
  * Construct a BNO08x object for managing a BNO08x sensor.
- * Initializes required GPIO pins, interrupts, SPI peripheral.
  *
  * @param imu_config Configuration settings (optional), default settings can be seen in bno08x_config_t
  * @return void, nothing to return
@@ -25,6 +24,13 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
 {
 }
 
+/**
+ * @brief BNO08x imu deconstructor.
+ *
+ * Deconstructs a BNO08x object and releases any utilized resources.
+ *
+ * @return void, nothing to return
+ */
 BNO08x::~BNO08x()
 {
     // disable interrupts before beginning so we can ensure SPI task doesn't attempt to run
@@ -60,10 +66,10 @@ BNO08x::~BNO08x()
 /**
  * @brief Initializes BNO08x sensor
  *
- * Resets sensor and goes through initializing process outlined in BNO08x datasheet.
- * Launches two tasks, one to manage SPI transactions, another to process any received data.
+ * Resets sensor and goes through initialization process.
+ * Configures GPIO, required ISRs, and launches two tasks, one to manage SPI transactions, another to process any received data.
  *
- * @return void, nothing to return
+ * @return true if initialization was success, false if otherwise
  */
 bool BNO08x::initialize()
 {
@@ -101,6 +107,11 @@ bool BNO08x::initialize()
     return true;
 }
 
+/**
+ * @brief Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.
+ *
+ * @return ESP_OK if initialization was success.
+ */
 esp_err_t BNO08x::init_config_args()
 {
     if ((imu_config.io_cs == GPIO_NUM_NC))
@@ -162,6 +173,11 @@ esp_err_t BNO08x::init_config_args()
     return ESP_OK;
 }
 
+/**
+ * @brief Initializes required gpio inputs.
+ *
+ * @return ESP_OK if initialization was success.
+ */
 esp_err_t BNO08x::init_gpio_inputs()
 {
     esp_err_t ret = ESP_OK;
@@ -184,6 +200,11 @@ esp_err_t BNO08x::init_gpio_inputs()
     return ret;
 }
 
+/**
+ * @brief Initializes required gpio outputs.
+ *
+ * @return ESP_OK if initialization was success.
+ */
 esp_err_t BNO08x::init_gpio_outputs()
 {
     esp_err_t ret = ESP_OK;
@@ -209,6 +230,11 @@ esp_err_t BNO08x::init_gpio_outputs()
     return ret;
 }
 
+/**
+ * @brief Initializes required gpio.
+ *
+ * @return ESP_OK if initialization was success.
+ */
 esp_err_t BNO08x::init_gpio()
 {
     esp_err_t ret = ESP_OK;
@@ -232,6 +258,11 @@ esp_err_t BNO08x::init_gpio()
     return ret;
 }
 
+/**
+ * @brief Initializes host interrupt ISR.
+ *
+ * @return ESP_OK if initialization was success.
+ */
 esp_err_t BNO08x::init_hint_isr()
 {
     esp_err_t ret = ESP_OK;
@@ -267,6 +298,11 @@ esp_err_t BNO08x::init_hint_isr()
     return ret;
 }
 
+/**
+ * @brief Initializes SPI.
+ *
+ * @return ESP_OK if initialization was success.
+ */
 esp_err_t BNO08x::init_spi()
 {
     esp_err_t ret = ESP_OK;
@@ -307,6 +343,11 @@ esp_err_t BNO08x::init_spi()
     return ret;
 }
 
+/**
+ * @brief Deinitializes GPIO, called from deconstructor.
+ *
+ * @return ESP_OK if deinitialization was success.
+ */
 esp_err_t BNO08x::deinit_gpio()
 {
     esp_err_t ret = ESP_OK;
@@ -328,6 +369,11 @@ esp_err_t BNO08x::deinit_gpio()
     return ret;
 }
 
+/**
+ * @brief Deinitializes GPIO inputs, called from deconstructor.
+ *
+ * @return ESP_OK if deinitialization was success.
+ */
 esp_err_t BNO08x::deinit_gpio_inputs()
 {
     esp_err_t ret = ESP_OK;
@@ -339,6 +385,11 @@ esp_err_t BNO08x::deinit_gpio_inputs()
     return ret;
 }
 
+/**
+ * @brief Deinitializes GPIO outputs, called from deconstructor.
+ *
+ * @return ESP_OK if deinitialization was success.
+ */
 esp_err_t BNO08x::deinit_gpio_outputs()
 {
     esp_err_t ret = ESP_OK;
@@ -370,6 +421,11 @@ esp_err_t BNO08x::deinit_gpio_outputs()
     return ret;
 }
 
+/**
+ * @brief Deinitializes host interrupt ISR, called from deconstructor.
+ *
+ * @return ESP_OK if deinitialization was success.
+ */
 esp_err_t BNO08x::deinit_hint_isr()
 {
     esp_err_t ret = ESP_OK;
@@ -396,6 +452,11 @@ esp_err_t BNO08x::deinit_hint_isr()
     return ret;
 }
 
+/**
+ * @brief Deinitializes SPI.
+ *
+ * @return ESP_OK if deinitialization was success.
+ */
 esp_err_t BNO08x::deinit_spi()
 {
     esp_err_t ret = ESP_OK;
@@ -722,6 +783,13 @@ esp_err_t BNO08x::receive_packet()
     return ret;
 }
 
+/**
+ * @brief Receives a SHTP packet header via SPI.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t to save header to.
+ *
+ * @return ESP_OK if receive was success.
+ */
 esp_err_t BNO08x::receive_packet_header(bno08x_rx_packet_t* packet)
 {
 
@@ -747,6 +815,13 @@ esp_err_t BNO08x::receive_packet_header(bno08x_rx_packet_t* packet)
     return ret;
 }
 
+/**
+ * @brief Receives a SHTP packet body via SPI.
+ *
+ * @param packet Pointer to bno08x_rx_packet_t to save body to.
+ *
+ * @return ESP_OK if receive was success.
+ */
 esp_err_t BNO08x::receive_packet_body(bno08x_rx_packet_t* packet)
 {
     esp_err_t ret = ESP_OK;
@@ -782,7 +857,7 @@ void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, con
     if ((xEventGroupGetBits(evt_grp_report_en) & ~report_evt_grp_bit) == 0)
         hard_reset();
 
-    update_report_period(report_ID, time_between_reports);
+    update_report_period_trackers(report_ID, time_between_reports);
 
     queue_feature_command(report_ID, time_between_reports, special_config);
     if (wait_for_tx_done()) // wait for transmit operation to complete
@@ -812,7 +887,7 @@ void BNO08x::enable_report(uint8_t report_ID, uint32_t time_between_reports, con
  */
 void BNO08x::disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_bit)
 {
-    update_report_period(report_ID, 0);
+    update_report_period_trackers(report_ID, 0);
     queue_feature_command(report_ID, 0);
     if (wait_for_tx_done()) // wait for transmit operation to complete
     {
@@ -836,9 +911,8 @@ void BNO08x::disable_report(uint8_t report_ID, const EventBits_t report_evt_grp_
                                 0x00  0x00  0x00  0x00  0x00
 
         The 0xFC indicates it is a get feature response, the 0x05 indicates it is for the rotation vector, the rest of the body will be 0.
-
-        Lets flush this response as it's currently detected as an invalid packet, we don't care about it.
-        It might be wise to  detect the response for the respective report being disabled, but is probably not necessary.
+        It might be wise to  detect the response for the respective report being disabled, but is probably not necessary. For now, all get feature
+        responses are detected as valid packets.
         */
 
         // no reports enabled, disable hint to avoid wasting processing time
@@ -1008,6 +1082,7 @@ void BNO08x::calibrate_planar_accelerometer()
  * @brief Queues a packet containing a command to calibrate the specified sensor.
  *
  * @param sensor_to_calibrate The sensor to calibrate.
+ *
  * @return void, nothing to return
  */
 void BNO08x::queue_calibrate_command(uint8_t sensor_to_calibrate)
@@ -1072,7 +1147,7 @@ void BNO08x::request_calibration_status()
 /**
  * @brief Returns true if calibration has completed.
  *
- * @return void, nothing to return
+ * @return True if calibration complete, false if otherwise.
  */
 bool BNO08x::calibration_complete()
 {
@@ -1116,7 +1191,7 @@ void BNO08x::save_calibration()
  * Waits for accuracy of returned quaternions and magnetic field vectors to be high, then saves calibration data and
  * returns.
  *
- * @return void, nothing to return
+ * @return True if calibration succeeded, false if otherwise.
  */
 bool BNO08x::run_full_calibration_routine()
 {
@@ -1211,7 +1286,8 @@ bool BNO08x::run_full_calibration_routine()
  * @brief Checks if BNO08x has asserted interrupt and sent data.
  *
  * @param ignore_no_reports_enabled Forces a wait for data even if no reports are enabled (default is false), used for unit tests.
- * @return true if new data has been parsed and saved
+ *
+ * @return True if new data has been parsed and saved, false if otherwise.
  */
 bool BNO08x::data_available(bool ignore_no_reports_enabled)
 {
@@ -1229,6 +1305,7 @@ bool BNO08x::data_available(bool ignore_no_reports_enabled)
  * @brief Registers a callback to execute when new data from a report is received.
  *
  * @param cb_fxn Pointer to the call-back function should be of void return type and void input parameters.
+ *
  * @return void, nothing to return
  */
 void BNO08x::register_cb(std::function<void()> cb_fxn)
@@ -1242,7 +1319,8 @@ void BNO08x::register_cb(std::function<void()> cb_fxn)
  * @param packet The packet to be parsed.
  * @param notify_users Bool reference that is set to true if users should be notified of new data through callbacks/polling, false if packet is valid
  *                     but users don't need to be notified.
- * @return 0 if invalid packet.
+ *
+ * @return 0 if invalid packet, non-zero if otherwise.
  */
 uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
 {
@@ -1310,7 +1388,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
             // clang-format on
 
             // this will update the rawAccelX, etc variables depending on which feature report is found
-            return parse_gyro_report(packet);
+            return parse_gyro_integrated_rotation_vector_report(packet);
 
             break;
 
@@ -1350,6 +1428,7 @@ uint16_t BNO08x::parse_packet(bno08x_rx_packet_t* packet, bool& notify_users)
  * @brief Parses product id report and prints device info.
  *
  * @param packet The packet containing product id report.
+ *
  * @return 1, always valid.
  */
 uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
@@ -1389,6 +1468,7 @@ uint16_t BNO08x::parse_product_id_report(bno08x_rx_packet_t* packet)
  * @brief Sends packet to be parsed to meta data function call (FRS_read_data()) through queue.
  *
  * @param packet The packet containing the frs read report.
+ *
  * @return 1, always valid, parsing for this happens in frs_read_word()
  */
 uint16_t BNO08x::parse_frs_read_response_report(bno08x_rx_packet_t* packet)
@@ -1401,6 +1481,7 @@ uint16_t BNO08x::parse_feature_get_response_report(bno08x_rx_packet_t* packet)
 {
     uint16_t report_ID = 0;
 
+    // TODO: add get feature requests and handle this properly, this is just to handle the unsolcited get feature responses due to report rate changes
     switch (packet->body[1])
     {
         case SENSOR_REPORT_ID_ACCELEROMETER:
@@ -1505,12 +1586,12 @@ uint16_t BNO08x::parse_feature_get_response_report(bno08x_rx_packet_t* packet)
  *
  * @param packet bno8x_rx_packet_t containing the input report to parse
  *
- * @return The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0 if invalid.
+ * @return The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_ACCELEROMETER, 0 if invalid.
  */
 uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
 {
     uint8_t status = PARSE_INPUT_REPORT_STATUS_BITS(packet);
-    uint16_t data_length = PARSE_PACKET_DATA_LENGTH(packet);
+    uint16_t data_length = PARSE_PACKET_LENGTH(packet);
     uint16_t report_ID = PARSE_INPUT_REPORT_REPORT_ID(packet);
     uint16_t data[6] = {0};
 
@@ -1602,7 +1683,7 @@ uint16_t BNO08x::parse_input_report(bno08x_rx_packet_t* packet)
  * @param data uint16_t array to store parsed data in
  * @param data_length length of data in bytes parsed from packet header
  *
- * @return The report ID of the respective sensor, for ex. SENSOR_REPORT_ID_GYRO_INTEGRATED_ROTATION_VECTOR, 0 if invalid.
+ * @return void, nothing to return
  */
 void BNO08x::parse_input_report_data(bno08x_rx_packet_t* packet, uint16_t* data, uint16_t data_length)
 {
@@ -1626,7 +1707,7 @@ void BNO08x::parse_input_report_data(bno08x_rx_packet_t* packet, uint16_t* data,
 }
 
 /**
- * @brief Parses received gyro report sent by BNO08x.
+ * @brief Parses received gyro integrated rotation vector report sent by BNO08x.
  *
  * Unit responds with packet that contains the following:
  *
@@ -1639,15 +1720,12 @@ void BNO08x::parse_input_report_data(bno08x_rx_packet_t* packet, uint16_t* data,
  * packet->body[10:11]: Raw gyroscope angular velocity in Y axis
  * packet->body[12:13]: Raw gyroscope angular velocity in Z axis
  *
+ * @param packet bno8x_rx_packet_t containing the gyro integrated rotation vector report report to parse
+ *
  * @return Integrated rotation vector report ID (always valid)
  */
-uint16_t BNO08x::parse_gyro_report(bno08x_rx_packet_t* packet)
+uint16_t BNO08x::parse_gyro_integrated_rotation_vector_report(bno08x_rx_packet_t* packet)
 {
-
-    // calculate the number of data bytes in this packet
-    uint16_t data_length = PARSE_PACKET_DATA_LENGTH(packet);
-    data_length &= ~(1U << 15U); // Clear the MSbit. This bit indicates if this package is a continuation of the last.
-
     // the gyro-integrated input reports are sent via the special gyro channel and do not include the usual ID, sequence, and status fields
     update_integrated_gyro_rotation_vector_data(packet);
 
@@ -2022,7 +2100,7 @@ void BNO08x::enable_gravity(uint32_t time_between_reports)
 }
 
 /**
- * @brief Sends command to enable gyro reports (See Ref. Manual 6.5.13)
+ * @brief Sends command to enable calibrated gyro reports (See Ref. Manual 6.5.13)
  *
  * @param time_between_reports Desired time between reports in microseconds.
  * @return void, nothing to return
@@ -2102,7 +2180,7 @@ void BNO08x::enable_activity_classifier(uint32_t time_between_reports, uint32_t
 }
 
 /**
- * @brief Sends command to enable raw accelerometer reports (See Ref. Manual 6.5.8)
+ * @brief Sends command to enable raw MEMs accelerometer reports (See Ref. Manual 6.5.8)
  *
  * @param time_between_reports Desired time between reports in microseconds.
  * @return void, nothing to return
@@ -2124,7 +2202,7 @@ void BNO08x::enable_raw_mems_gyro(uint32_t time_between_reports)
 }
 
 /**
- * @brief Sends command to enable raw magnetometer reports (See Ref. Manual 6.5.15)
+ * @brief Sends command to enable raw MEMs magnetometer reports (See Ref. Manual 6.5.15)
  *
  * @param time_between_reports Desired time between reports in microseconds.
  * @return void, nothing to return
@@ -2215,7 +2293,7 @@ void BNO08x::disable_gravity()
 }
 
 /**
- * @brief Sends command to disable gyro reports by setting report interval to 0.
+ * @brief Sends command to disable calibrated gyro reports by setting report interval to 0.
  *
  * @return void, nothing to return
  */
@@ -2886,7 +2964,7 @@ BNO08xAccuracy BNO08x::get_linear_accel_accuracy()
 }
 
 /**
- * @brief Get full raw mems acceleration.
+ * @brief Get full raw acceleration from physical accelerometer MEMs sensor (See Ref. Manual 6.5.8).
  *
  * @param x Reference variable to save raw X axis acceleration.
  * @param y Reference variable to save raw Y axis acceleration.
@@ -2932,7 +3010,7 @@ uint16_t BNO08x::get_raw_mems_accel_Z()
 }
 
 /**
- * @brief Get full raw mems gyro data.
+ * @brief Get raw gyroscope full reading from physical gyroscope MEMs sensor (See Ref. Manual 6.5.12)
  *
  * @param x Reference variable to save raw X axis data.
  * @param y Reference variable to save raw Y axis data.
@@ -2978,7 +3056,7 @@ uint16_t BNO08x::get_raw_mems_gyro_Z()
 }
 
 /**
- * @brief Get full raw mems magnetometer data.
+ * @brief Get raw magnetometer full reading from physical magnetometer sensor (See Ref. Manual 6.5.15)
  *
  * @param x Reference variable to save raw X axis data.
  * @param y Reference variable to save raw Y axis data.
@@ -3713,6 +3791,11 @@ void BNO08x::data_proc_task()
     vTaskDelete(NULL);
 }
 
+/**
+ * @brief Launches spi_task and data_proc_task on constructor call. 
+ *
+ * @return ESP_OK if tasks successfully created. 
+ */
 esp_err_t BNO08x::launch_tasks()
 {
     BaseType_t task_created = pdFALSE;
@@ -3750,6 +3833,11 @@ esp_err_t BNO08x::launch_tasks()
     return ESP_OK;
 }
 
+/**
+ * @brief Deletes spi_task and data_proc_task safely on deconstructor call. 
+ *
+ * @return ESP_OK if tasks successfully deleted. 
+ */
 esp_err_t BNO08x::kill_all_tasks()
 {
     static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = 10;
@@ -3791,9 +3879,9 @@ esp_err_t BNO08x::kill_all_tasks()
  * @param report_ID report ID to update period of.
  * @return void, nothing to return
  */
-void BNO08x::update_report_period(uint8_t report_ID, uint32_t new_period)
+void BNO08x::update_report_period_trackers(uint8_t report_ID, uint32_t new_period)
 {
-    uint8_t idx = report_ID_to_report_period_idx(report_ID);
+    uint8_t idx = report_ID_to_report_period_tracker_idx(report_ID);
 
     if (idx != REPORT_CNT)
     {
@@ -3845,7 +3933,7 @@ void BNO08x::update_report_period(uint8_t report_ID, uint32_t new_period)
  * @param report_ID report ID to return index for.
  * @return Index in report_period_trackers corresponding to passed report ID.
  */
-uint8_t BNO08x::report_ID_to_report_period_idx(uint8_t report_ID)
+uint8_t BNO08x::report_ID_to_report_period_tracker_idx(uint8_t report_ID)
 {
     switch (report_ID)
     {
diff --git a/test/SingleReportTests.cpp b/test/SingleReportTests.cpp
index 81d9849..a2c9fa9 100644
--- a/test/SingleReportTests.cpp
+++ b/test/SingleReportTests.cpp
@@ -22,8 +22,8 @@ TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
     TEST_ASSERT_EQUAL(true, imu->initialize());
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable linear accelerometer report but check for angular accelerometer data (should remain as default test values) */
@@ -36,7 +36,7 @@ TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::accelerometer_data_is_default(&report_data, &prev_report_data);
@@ -54,8 +54,8 @@ TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     imu->disable_linear_accelerometer();
@@ -76,8 +76,8 @@ TEST_CASE("Enable/Disable Rotation Vector", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -90,7 +90,7 @@ TEST_CASE("Enable/Disable Rotation Vector", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -105,8 +105,8 @@ TEST_CASE("Enable/Disable Rotation Vector", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -121,7 +121,7 @@ TEST_CASE("Enable/Disable Rotation Vector", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -137,8 +137,8 @@ TEST_CASE("Enable/Disable Rotation Vector", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -160,8 +160,8 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -174,7 +174,7 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -189,8 +189,8 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -205,7 +205,7 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -221,8 +221,8 @@ TEST_CASE("Enable/Disable Game Rotation Vector", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -244,8 +244,8 @@ TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[SingleReportEnable
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -258,7 +258,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[SingleReportEnable
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -273,8 +273,8 @@ TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[SingleReportEnable
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -289,7 +289,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[SingleReportEnable
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -305,8 +305,8 @@ TEST_CASE("Enable/Disable ARVR Stabilized Rotation Vector", "[SingleReportEnable
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -328,8 +328,8 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[SingleReportE
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -342,7 +342,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[SingleReportE
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -357,8 +357,8 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[SingleReportE
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -373,7 +373,7 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[SingleReportE
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -389,8 +389,8 @@ TEST_CASE("Enable/Disable ARVR Stabilized Game Rotation Vector", "[SingleReportE
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -412,8 +412,8 @@ TEST_CASE("Enable/Disable Gyro Integrated Rotation Vector", "[SingleReportEnable
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -426,7 +426,7 @@ TEST_CASE("Enable/Disable Gyro Integrated Rotation Vector", "[SingleReportEnable
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::gyro_integrated_rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -446,8 +446,8 @@ TEST_CASE("Enable/Disable Gyro Integrated Rotation Vector", "[SingleReportEnable
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -462,7 +462,7 @@ TEST_CASE("Enable/Disable Gyro Integrated Rotation Vector", "[SingleReportEnable
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::gyro_integrated_rotation_vector_data_is_default(&report_data, &prev_report_data);
@@ -482,8 +482,8 @@ TEST_CASE("Enable/Disable Gyro Integrated Rotation Vector", "[SingleReportEnable
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -505,8 +505,8 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -519,7 +519,7 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::uncalibrated_gyro_data_is_default(&report_data, &prev_report_data);
@@ -537,8 +537,8 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -553,7 +553,7 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::uncalibrated_gyro_data_is_default(&report_data, &prev_report_data);
@@ -571,8 +571,8 @@ TEST_CASE("Enable/Disable Uncalibrated Gyro", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -594,8 +594,8 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -608,7 +608,7 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::calibrated_gyro_data_is_default(&report_data, &prev_report_data);
@@ -625,8 +625,8 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -641,7 +641,7 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::calibrated_gyro_data_is_default(&report_data, &prev_report_data);
@@ -658,8 +658,8 @@ TEST_CASE("Enable/Disable Calibrated Gyro", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -681,8 +681,8 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -695,7 +695,7 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::accelerometer_data_is_default(&report_data, &prev_report_data);
@@ -713,8 +713,8 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -729,7 +729,7 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::accelerometer_data_is_default(&report_data, &prev_report_data);
@@ -747,8 +747,8 @@ TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -770,8 +770,8 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -784,7 +784,7 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::linear_accelerometer_data_is_default(&report_data, &prev_report_data);
@@ -802,8 +802,8 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -818,7 +818,7 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::linear_accelerometer_data_is_default(&report_data, &prev_report_data);
@@ -836,8 +836,8 @@ TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -859,8 +859,8 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -873,7 +873,7 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::gravity_data_is_default(&report_data, &prev_report_data);
@@ -891,8 +891,8 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -907,7 +907,7 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::gravity_data_is_default(&report_data, &prev_report_data);
@@ -925,8 +925,8 @@ TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -948,8 +948,8 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -962,7 +962,7 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::magnetometer_data_is_default(&report_data, &prev_report_data);
@@ -980,8 +980,8 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -996,7 +996,7 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::magnetometer_data_is_default(&report_data, &prev_report_data);
@@ -1014,8 +1014,8 @@ TEST_CASE("Enable/Disable Magnetometer", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -1037,8 +1037,8 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -1051,7 +1051,7 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::step_detector_data_is_default(&report_data, &prev_report_data);
@@ -1065,8 +1065,8 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -1081,7 +1081,7 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::step_detector_data_is_default(&report_data, &prev_report_data);
@@ -1095,8 +1095,8 @@ TEST_CASE("Enable/Disable Step Counter", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -1118,8 +1118,8 @@ TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -1132,7 +1132,7 @@ TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::stability_classifier_data_is_default(&report_data, &prev_report_data);
@@ -1146,8 +1146,8 @@ TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -1162,7 +1162,7 @@ TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::stability_classifier_data_is_default(&report_data, &prev_report_data);
@@ -1176,8 +1176,8 @@ TEST_CASE("Enable/Disable Stability Classifier", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");
@@ -1200,8 +1200,8 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
     imu = BNO08xTestHelper::get_test_imu();
 
     // reset all data used in report test
-    BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-    BNO08xTestHelper::update_report_data(&report_data, imu);
+    BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+    BNO08xTestHelper::update_report_data(&report_data);
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase started.");
     /*enable respective report to test and ensure it reports new data */
@@ -1218,7 +1218,7 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::activity_classifier_data_is_default(&report_data, &prev_report_data);
@@ -1232,8 +1232,8 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report enabled testing phase completed.");
@@ -1248,7 +1248,7 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
         if (imu->data_available())
         {
             prev_report_data = report_data;
-            BNO08xTestHelper::update_report_data(&report_data, imu);
+            BNO08xTestHelper::update_report_data(&report_data);
 
             // check if any default values have been overwritten, implying new data from respective report
             new_data = BNO08xTestHelper::activity_classifier_data_is_default(&report_data, &prev_report_data);
@@ -1262,8 +1262,8 @@ TEST_CASE("Enable/Disable Activity Classifier", "[SingleReportEnableDisable]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
 
         // reset all data used in report test
-        BNO08xTestHelper::reset_all_imu_data_to_test_defaults(imu);
-        BNO08xTestHelper::update_report_data(&report_data, imu);
+        BNO08xTestHelper::reset_all_imu_data_to_test_defaults();
+        BNO08xTestHelper::update_report_data(&report_data);
     }
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Report disabled testing phase completed.");