diff --git a/Kconfig.projbuild b/Kconfig.projbuild
index 85608ef..bd8bac4 100644
--- a/Kconfig.projbuild
+++ b/Kconfig.projbuild
@@ -101,6 +101,62 @@ menu "esp32_BNO08x"
                 Stack size of task responsible for calling shtp_service() when HINT is asserted,
                 to dispatch any sh2 HAL lib callbacks.
 
+        config ESP32_BNO08X_CB_TASK_AFFINITY
+            int "Callback task core affinity"
+            range -1 1
+            default -1
+            help
+            Core to which the callback task is pinned.
+            -1 = No specific core (tskNO_AFFINITY)
+            0 = Core 0
+            1 = Core 1
+
+        config ESP32_BNO08X_CB_TASK_PRIORITY
+            int "Callback task priority"
+            range 0 25
+            default 5
+            help
+            Priority of the callback task.
+            0 is lowest priority, 25 is highest priority.
+
+        config ESP32_BNO08X_DATA_PROC_TASK_AFFINITY
+            int "Data processing task core affinity"
+            range -1 1
+            default -1
+            help
+            Core to which the data processing task is pinned.
+            -1 = No specific core (tskNO_AFFINITY)
+            0 = Core 0
+            1 = Core 1
+
+        config ESP32_BNO08X_DATA_PROC_TASK_PRIORITY
+            int "Data processing task priority"
+            range 0 25
+            default 6
+            help
+            Priority of the data processing task.
+            0 is lowest priority, 25 is highest priority.
+
+        config ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY
+            int "SH2 HAL service task core affinity"
+            range -1 1
+            default -1
+            help
+            Core to which the SH2 HAL service task is pinned.
+            -1 = No specific core (tskNO_AFFINITY)
+            0 = Core 0
+            1 = Core 1
+
+        config ESP32_BNO08X_SH2_HAL_SERVICE_TASK_PRIORITY
+            int "SH2 HAL service task priority"
+            range 0 25
+            default 7
+            help
+            Priority of the SH2 HAL service task.
+            0 is lowest priority, 25 is highest priority.
+
+
+
     endmenu #Tasks
 
     menu "Callbacks"
diff --git a/include/BNO08x.hpp b/include/BNO08x.hpp
index 9d0d29f..9608a75 100644
--- a/include/BNO08x.hpp
+++ b/include/BNO08x.hpp
@@ -150,6 +150,22 @@ class BNO08x
         static void cb_task_trampoline(void* arg);
         void cb_task();
 
+
+        //------------ addition flyinggorilla -----------
+        static const constexpr BaseType_t CB_TASK_AFFINITY = 
+                CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_CB_TASK_AFFINITY ;  /// tskNO_AFFINITY if not pinned to a core, 0 or 1
+        static const constexpr UBaseType_t CB_TASK_PRIORITY = CONFIG_ESP32_BNO08X_CB_TASK_PRIORITY; /// 5 per default, Priority of the callback task, 0-25, 0 is lowest priority, 25 is highest priority
+
+        static const constexpr BaseType_t DATA_PROC_TASK_AFFINITY = 
+                CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_DATA_PROC_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1
+        static const constexpr UBaseType_t DATA_PROC_TASK_PRIORITY = CONFIG_ESP32_BNO08X_DATA_PROC_TASK_PRIORITY; /// 6 per default, Priority of the data processing task, 0-25, 0 is lowest priority, 25 is highest priority
+        
+        static const constexpr BaseType_t SH2_HAL_SERVICE_TASK_AFFINITY = 
+                CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY < 1 ? tskNO_AFFINITY : CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_AFFINITY; /// tskNO_AFFINITY if not pinned to a core, 0 or 1
+        static const constexpr UBaseType_t SH2_HAL_SERVICE_TASK_PRIORITY = CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_PRIORITY; /// 7 per default, Priority of the sh2 HAL service task, 0-25, 0 is lowest priority, 25 is highest priority
+        //-----------------------------------------------
+
+
         SemaphoreHandle_t sem_kill_tasks; ///<Counting Semaphore to count amount of killed tasks.
 
         void lock_sh2_HAL();
diff --git a/source/BNO08x.cpp b/source/BNO08x.cpp
index cf786f6..f3dc5a5 100644
--- a/source/BNO08x.cpp
+++ b/source/BNO08x.cpp
@@ -636,9 +636,14 @@ esp_err_t BNO08x::init_tasks()
 
     xEventGroupSetBits(sync_ctx.evt_grp_task, EVT_GRP_BNO08x_TASKS_RUNNING);
 
-    // launch data processing task
-    task_created = xTaskCreate(
-            &data_proc_task_trampoline, "bno08x_data_processing_task", DATA_PROC_TASK_SZ, this, 6, &data_proc_task_hdl);
+    // launch data processing task 6
+    task_created = xTaskCreatePinnedToCore(
+            &data_proc_task_trampoline, "bno08x_data_processing_task", 
+            DATA_PROC_TASK_SZ, 
+            this, 
+            DATA_PROC_TASK_PRIORITY, 
+            &data_proc_task_hdl, 
+            DATA_PROC_TASK_AFFINITY);
 
     if (task_created != pdTRUE)
     {
@@ -655,8 +660,15 @@ esp_err_t BNO08x::init_tasks()
         init_status.data_proc_task = true;
     }
 
-    // launch cb task
-    task_created = xTaskCreate(&cb_task_trampoline, "bno08x_cb_task", CB_TASK_SZ, this, 5, &cb_task_hdl);
+    // launch cb task 5
+    task_created = xTaskCreatePinnedToCore(&cb_task_trampoline, "bno08x_cb_task", 
+        CB_TASK_SZ, 
+        this, 
+        CB_TASK_PRIORITY, 
+        &cb_task_hdl, 
+        CB_TASK_AFFINITY);
+
+    ESP_LOGW(TAG, "cb_task affinity: %d", CB_TASK_AFFINITY);
 
     if (task_created != pdTRUE)
     {
@@ -673,9 +685,13 @@ esp_err_t BNO08x::init_tasks()
         init_status.cb_task = true;
     }
 
-    // launch sh2 hal service task
-    task_created = xTaskCreate(&sh2_HAL_service_task_trampoline, "bno08x_sh2_HAL_service_task", SH2_HAL_SERVICE_TASK_SZ, this, 7,
-            &sh2_HAL_service_task_hdl);
+    // launch sh2 hal service task 7
+    task_created = xTaskCreatePinnedToCore(&sh2_HAL_service_task_trampoline, "bno08x_sh2_HAL_service_task", 
+        SH2_HAL_SERVICE_TASK_SZ, 
+        this, 
+        SH2_HAL_SERVICE_TASK_PRIORITY,
+        &sh2_HAL_service_task_hdl,
+        SH2_HAL_SERVICE_TASK_AFFINITY);
 
     if (task_created != pdTRUE)
     {