diff --git a/BNO08x.cpp b/BNO08x.cpp
index 4ca0c25..f5147ef 100644
--- a/BNO08x.cpp
+++ b/BNO08x.cpp
@@ -51,17 +51,24 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
     // SPI non-driver-controlled GPIO config
     // configure outputs
     gpio_config_t outputs_config;
-    outputs_config.pin_bit_mask = (1ULL << imu_config.io_cs) | (1ULL << imu_config.io_rst) |
-                                  (1ULL << imu_config.io_wake);  // configure CS, RST, and wake gpio pins
+
+    if (imu_config.io_wake != GPIO_NUM_NC)
+        outputs_config.pin_bit_mask = (1ULL << imu_config.io_cs) | (1ULL << imu_config.io_rst) |
+                                      (1ULL << imu_config.io_wake);  // configure CS, RST, and wake gpio pins
+    else
+        outputs_config.pin_bit_mask = (1ULL << imu_config.io_cs) | (1ULL << imu_config.io_rst);
+
     outputs_config.mode = GPIO_MODE_OUTPUT;
     outputs_config.pull_down_en = GPIO_PULLDOWN_DISABLE;
     outputs_config.pull_up_en = GPIO_PULLUP_DISABLE;
     outputs_config.intr_type = GPIO_INTR_DISABLE;
     gpio_config(&outputs_config);
     gpio_set_level(imu_config.io_cs, 1);
-    gpio_set_level(imu_config.io_wake, 1);
     gpio_set_level(imu_config.io_rst, 1);
 
+    if (imu_config.io_wake != GPIO_NUM_NC)
+        gpio_set_level(imu_config.io_wake, 1);
+
     // configure input (HINT pin)
     gpio_config_t inputs_config;
     inputs_config.pin_bit_mask = (1ULL << imu_config.io_int);
@@ -208,7 +215,10 @@ bool BNO08x::wait_for_device_int() {
  */
 bool BNO08x::hard_reset() {
     gpio_set_level(imu_config.io_cs, 1);
-    gpio_set_level(imu_config.io_wake, 1);
+
+    if (imu_config.io_wake != GPIO_NUM_NC)
+        gpio_set_level(imu_config.io_wake, 1);
+
     gpio_set_level(imu_config.io_rst, 0);  // set reset pin low
     vTaskDelay(50 / portTICK_PERIOD_MS);   // 10ns min, set to 50ms to let things stabilize(Anton)
     gpio_set_level(imu_config.io_rst, 1);  // bring out of reset
diff --git a/BNO08x.hpp b/BNO08x.hpp
index 8f12da0..662c600 100644
--- a/BNO08x.hpp
+++ b/BNO08x.hpp
@@ -41,9 +41,9 @@ typedef struct bno08x_config_t {
     uint64_t sclk_speed;               ///<Desired SPI SCLK speed in Hz (max 3MHz)
     bool debug_en;                     ///<Whether or not debugging print statements are enabled
 
-    /// @brief Default IMU configuration settings
-    #ifdef ESP32C3_IMU_CONFIG
-    /// @brief Default IMU configuration settings for ESP32-C3
+#ifdef ESP32C3_IMU_CONFIG
+    /// @brief Default IMU configuration settings constructor for ESP32-C3, add
+    /// add_compile_definitions("ESP32C3_IMU_CONFIG") to CMakeList to use
     bno08x_config_t()
             : spi_peripheral(SPI2_HOST)
             , io_mosi(GPIO_NUM_4)
@@ -52,11 +52,11 @@ typedef struct bno08x_config_t {
             , io_cs(GPIO_NUM_5)
             , io_int(GPIO_NUM_6)
             , io_rst(GPIO_NUM_7)
-            , io_wake(GPIO_NUM_8)
-            , sclk_speed(2000000UL) // 1MHz SCLK speed
-            , debug_en(false)
-    {}
-    #else
+            , io_wake(GPIO_NUM_NC)
+            , sclk_speed(2000000UL)  // 2MHz SCLK speed
+            , debug_en(false) {}
+#else
+    /// @brief Default IMU configuration settings constructor for ESP32
     bno08x_config_t()
             : spi_peripheral(SPI3_HOST)
             , io_mosi(GPIO_NUM_23)
@@ -65,15 +65,28 @@ typedef struct bno08x_config_t {
             , io_cs(GPIO_NUM_33)
             , io_int(GPIO_NUM_26)
             , io_rst(GPIO_NUM_32)
-            , io_wake(GPIO_NUM_4)
-            ,
-            // sclk_speed(10000U), //clock slowed to see on AD2
-            sclk_speed(2000000UL) // 1MHz SCLK speed
-            ,  
-            debug_en(false)
+            , io_wake(GPIO_NUM_NC)
+            , sclk_speed(2000000UL)  // 2MHz SCLK speed
+            // , sclk_speed(10000U), //clock slowed to see on AD2
+            , debug_en(false)
+
+    {}
+#endif
+    /// @brief Overloaded IMU configuration settings constructor for custom pin settings
+    bno08x_config_t(spi_host_device_t spi_peripheral, gpio_num_t io_mosi, gpio_num_t io_miso, gpio_num_t io_sclk,
+            gpio_num_t io_cs, gpio_num_t io_int, gpio_num_t io_rst, gpio_num_t io_wake, uint64_t sclk_speed, bool debug)
+            : spi_peripheral(spi_peripheral)
+            , io_mosi(io_mosi)
+            , io_miso(io_miso)
+            , io_sclk(io_sclk)
+            , io_cs(io_cs)
+            , io_int(io_int)
+            , io_rst(io_rst)
+            , io_wake(io_wake)
+            , sclk_speed(sclk_speed)
+            , debug_en(false)
 
     {}
-    #endif
 } bno08x_config_t;
 
 class BNO08x {