diff --git a/include/BNO08x.hpp b/include/BNO08x.hpp
index 230b043..813def6 100644
--- a/include/BNO08x.hpp
+++ b/include/BNO08x.hpp
@@ -575,4 +575,6 @@ class BNO08x
         static const constexpr uint8_t TARE_SET_REORIENTATION = 2U; ///< See SH2 Ref. Manual 6.4.4.3
 
         static const constexpr char* TAG = "BNO08x"; ///< Class tag used for serial print statements
+
+        friend class BNO08xTestHelper; //allow test helper to access private members for unit tests
 };
\ No newline at end of file
diff --git a/include/BNO08xTestHelper.hpp b/include/BNO08xTestHelper.hpp
index 14674ff..f3b90a4 100644
--- a/include/BNO08xTestHelper.hpp
+++ b/include/BNO08xTestHelper.hpp
@@ -9,20 +9,20 @@ class BNO08xTestHelper
         inline static BNO08x* test_imu = nullptr;
         inline static bno08x_config_t imu_cfg;
 
-        static const constexpr char *TAG = "BNO08xTestHelper";
+        static const constexpr char* TAG = "BNO08xTestHelper";
 
     public:
-        static void print_test_start_banner(const char *TEST_TAG)
+        static void print_test_start_banner(const char* TEST_TAG)
         {
             printf("------------------------BEGIN TEST: %s------------------------\n\r", TEST_TAG);
         }
 
-        static void print_test_end_banner(const char *TEST_TAG)
+        static void print_test_end_banner(const char* TEST_TAG)
         {
             printf("------------------------END TEST: %s------------------------\n\r", TEST_TAG);
         }
 
-        static void print_test_msg(const char *TEST_TAG, const char *msg)
+        static void print_test_msg(const char* TEST_TAG, const char* msg)
         {
             printf("%s: %s: %s\n\r", TAG, TEST_TAG, msg);
         }
@@ -34,9 +34,9 @@ class BNO08xTestHelper
 
         static void create_test_imu()
         {
-            if(test_imu != nullptr)
+            if (test_imu != nullptr)
                 destroy_test_imu();
-            
+
             test_imu = new BNO08x();
         }
 
@@ -53,4 +53,44 @@ class BNO08xTestHelper
         {
             return test_imu;
         }
+
+        static esp_err_t call_init_config_args()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_config_args();
+        }
+
+        static esp_err_t call_init_gpio()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_gpio();
+        }
+
+        static esp_err_t call_init_hint_isr()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_hint_isr();
+        }
+
+        static esp_err_t call_init_spi()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_spi();
+        }
+
+        static esp_err_t call_launch_tasks()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->launch_tasks();
+        }
 };
\ No newline at end of file
diff --git a/source/BNO08xTestSuite.cpp b/source/BNO08xTestSuite.cpp
index 989b520..56ad28a 100644
--- a/source/BNO08xTestSuite.cpp
+++ b/source/BNO08xTestSuite.cpp
@@ -2,11 +2,15 @@
 
 void BNO08xTestSuite::run_all_tests()
 {
-    run_init_deinit_tests(); 
+    run_init_deinit_tests();
 }
 
 void BNO08xTestSuite::run_init_deinit_tests()
 {
+    UNITY_BEGIN();
+    unity_run_tests_by_tag("[Init]", false);
+    UNITY_END();
+
     UNITY_BEGIN();
     unity_run_test_by_name("Full Init & Deinit");
     UNITY_END();
diff --git a/test/InitDeinitTests.cpp b/test/InitDeinitTests.cpp
index 106aa32..8a64435 100644
--- a/test/InitDeinitTests.cpp
+++ b/test/InitDeinitTests.cpp
@@ -1,10 +1,103 @@
 #include "unity.h"
 #include "../include/BNO08xTestHelper.hpp"
 
-TEST_CASE("Full Init & Deinit", "[InitDenit]")
+TEST_CASE("Init Config Args", "[Init]")
 {
-    const constexpr char *TEST_TAG ="Full Init & Deinit";
-    BNO08x* imu;
+    const constexpr char* TEST_TAG = "Init Config Args";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating test IMU.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_config_args());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init GPIO", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init GPIO";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_gpio());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init HINT ISR", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init HINT_ISR";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_hint_isr());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init SPI", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init SPI";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_spi());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init Tasks", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Init Tasks";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_launch_tasks());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Finish Init", "[Init]")
+{
+    const constexpr char* TEST_TAG = "Finish Init";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // reset imu
+    TEST_ASSERT_EQUAL(true, imu->hard_reset());
+
+    // check if reason is valid
+    TEST_ASSERT_NOT_EQUAL(IMUResetReason::UNDEFINED, imu->get_reset_reason());
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying test IMU.");
+    BNO08xTestHelper::destroy_test_imu();
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Full Init & Deinit", "[FullInitDenit]")
+{
+    const constexpr char* TEST_TAG = "Full Init & Deinit";
+    BNO08x* imu = nullptr;
 
     BNO08xTestHelper::print_test_start_banner(TEST_TAG);
 
@@ -12,14 +105,14 @@ TEST_CASE("Full Init & Deinit", "[InitDenit]")
     BNO08xTestHelper::create_test_imu();
     imu = BNO08xTestHelper::get_test_imu();
     TEST_ASSERT_EQUAL(true, imu->initialize());
-    BNO08xTestHelper::print_test_msg(TEST_TAG,  "Success, deinitializing IMU.");
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing IMU.");
     BNO08xTestHelper::destroy_test_imu();
 
     BNO08xTestHelper::print_test_msg(TEST_TAG, "Initializing IMU attempt 2.");
     BNO08xTestHelper::create_test_imu();
     imu = BNO08xTestHelper::get_test_imu();
     TEST_ASSERT_EQUAL(true, imu->initialize());
-    BNO08xTestHelper::print_test_msg(TEST_TAG,  "Success, deinitializing IMU.");
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing IMU.");
     BNO08xTestHelper::destroy_test_imu();
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);