return of the test + more documentation

Kconfig.projbuild

@@ -79,6 +79,28 @@ menu "esp32_BNO08x"
                Amount of SPI transactions that can be queued during operation. 
                This argument is loaded directly into the spi_device_interface_config_t struct used for SPI configuration.
                
+        config ESP32_BNO08X_HINT_TIMEOUT_MS
+            int "HINT TIMEOUT (ms)" 
+            range 100 10000
+            default 500
+            help
+                Max wait between HINT being asserted by BNO08x before transaction is considered failed. (in miliseconds).
+                
+        config ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS
+            int "DATA AVAILABLE TIMEOUT (ms)" 
+            range 100 10000
+            default 3000
+            help
+                Max wait between data_available() being called and no new data/report being detected. (in miliseconds).
+
+        config ESP32_BNO08X_HARD_RESET_DELAY_MS
+            int "HARD RESET DELAY (ms)" 
+            range 100 10000
+            default 100
+            help
+                How long RST pin is held low during hard reset (min 10ns according to datasheet, 
+                but should be longer for stable operation). Not recommended to lower below 100ms. 
+
     endmenu #SPI Configuration
 
     menu "Logging"
@@ -97,7 +119,7 @@ menu "esp32_BNO08x"
                 
     endmenu #Logging 
 
-    menu "Callbacks"
+    menu "Callbacks & Tasks"
 
         config ESP32_BNO08X_CB_TASK_SZ
             int "Callback task size, (cb_task())"
@@ -108,6 +130,30 @@ menu "esp32_BNO08x"
                 Note that callbacks should remain as short as possible, pass the data out of
                 the callback with a queue or save it to different variables for longer operations.
 
-    endmenu #Callbacks
+        config ESP32_BNO08X_CB_QUEUE_SZ
+            int "Callback queue size."
+            range 1 200
+            default 16
+            help
+                Amount of callbacks that can be in the air/pending to be executed at any given time. 
+
+        config ESP32_BNO08X_DATA_PROC_TASK_SZ
+            int "Data processing task size, (data_proc_task())"
+            range 1024 20480
+            default 2048
+            help
+                Stack size of task responsible for parsing/handling sensor events sent by SH2 HAL and 
+                updating data that is returned to user.
+
+                
+        config ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ
+            int "Data processing task size, (data_proc_task())"
+            range 1024 20480
+            default 4096
+            help
+                Stack size of task responsible for calling shtp_service() when HINT is asserted,
+                to dispatch any sh2 HAL lib callbacks.
+
+    endmenu #Callbacks & Tasks
 
 endmenu

include/BNO08x.hpp

@@ -2,10 +2,10 @@
  * @file BNO08x.hpp
  * @author Myles Parfeniuk
  */
+
 #pragma once
 
 // standard library includes
-#include <functional>
 #include <variant>
 #include <vector>
 #include <map>
@@ -119,7 +119,6 @@ class BNO08x
                 bool data_proc_task;       ///< True if xTaskCreate has been called successfully for data_proc_task.
                 bool sh2_HAL_service_task; ///< True if xTaskCreate has been called successfully for sh2_HAL_service_task.
                 bool cb_task;              ///< True if xTaskCreate has been called successfully for cb_task.
-                uint8_t task_init_cnt;     ///< Amount of tasks that have been successfully initialized.
 
                 bno08x_init_status_t()
                     : gpio_outputs(false)
@@ -131,7 +130,6 @@ class BNO08x
                     , data_proc_task(false)
                     , sh2_HAL_service_task(false)
                     , cb_task(false)
-                    , task_init_cnt(0)
                 {
                 }
         } bno08x_init_status_t;
@@ -145,13 +143,15 @@ class BNO08x
         } bno08x_cb_data_t;
 
         // data processing task
-        static const constexpr configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ = 2048UL; ///< Size of data_proc_task() stack in bytes
+        static const constexpr configSTACK_DEPTH_TYPE DATA_PROC_TASK_SZ =
+                CONFIG_ESP32_BNO08X_DATA_PROC_TASK_SZ; ///< Size of data_proc_task() stack in bytes
         TaskHandle_t data_proc_task_hdl;               ///<data_proc_task() task handle
         static void data_proc_task_trampoline(void* arg);
         void data_proc_task();
 
         // sh2 service task
-        static const constexpr configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ = 4095UL; ///< Size of sh2_HAL_service_task() stack in bytes
+        static const constexpr configSTACK_DEPTH_TYPE SH2_HAL_SERVICE_TASK_SZ =
+                CONFIG_ESP32_BNO08X_SH2_HAL_SERVICE_TASK_SZ; ///< Size of sh2_HAL_service_task() stack in bytes
         TaskHandle_t sh2_HAL_service_task_hdl;               ///<sh2_HAL_service_task() task handle
         static void sh2_HAL_service_task_trampoline(void* arg);
         void sh2_HAL_service_task();
@@ -172,6 +172,7 @@ class BNO08x
         void unlock_user_data();
 
         void handle_sensor_report(sh2_SensorValue_t* sensor_val);
+        void handle_cb(uint8_t rpt_ID, bno08x_cb_data_t& cb_entry);
 
         esp_err_t init_config_args();
         esp_err_t init_gpio();
@@ -236,14 +237,15 @@ class BNO08x
         static const constexpr uint16_t RX_DATA_LENGTH = 300U; ///<length buffer containing data received over spi
 
         static const constexpr TickType_t HOST_INT_TIMEOUT_DEFAULT_MS =
-                500UL /
+                CONFIG_ESP32_BNO08X_HINT_TIMEOUT_MS /
-                portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds), when no reports are enabled (ie during reset)
+                portTICK_PERIOD_MS; ///<Max wait between HINT being asserted by BNO08x before transaction is considered failed (in miliseconds).
 
         static const constexpr TickType_t DATA_AVAILABLE_TIMEOUT_MS =
-                3000UL / portTICK_PERIOD_MS; ///<Max wait between data_available() being called and no new data/report being detected.
+                CONFIG_ESP32_BNO08X_DATA_AVAILABLE_TIMEOUT_MS /
+                portTICK_PERIOD_MS; ///<Max wait between data_available() being called and no new data/report being detected.
 
         static const constexpr TickType_t HARD_RESET_DELAY_MS =
-                100UL /
+                CONFIG_ESP32_BNO08X_HARD_RESET_DELAY_MS /
                 portTICK_PERIOD_MS; ///<How long RST pin is held low during hard reset (min 10ns according to datasheet, but should be longer for stable operation)
 
         static const constexpr uint32_t SCLK_MAX_SPEED = 3000000UL; ///<Max SPI SCLK speed BNO08x is capable of.
@@ -301,6 +303,7 @@ class BNO08x
 
         // we have a lot of friends
         friend class BNO08xSH2HAL;
+        friend class BNO08xTestHelper;
         friend class BNO08xRpt;
         friend class BNO08xRptRVGeneric;
         friend class BNO08xRptRV;

include/BNO08xRpt.hpp

@@ -1,7 +1,13 @@
+/**
+ * @file BNO08xRpt.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
-#include <stdint.h>
+// standard library includes
 #include <functional>
+// in-house includes
 #include "BNO08x_global_types.hpp"
 
 // forward dec to prevent compile errors

include/BNO08xSH2HAL.hpp

@@ -2,6 +2,7 @@
  * @file BNO08xSH2HAL.hpp
  * @author Myles Parfeniuk
  */
+
 #pragma once
 
 // hill-crest labs includes (apache 2.0 license, compatible with MIT)

include/BNO08xTestHelper.hpp

@@ -0,0 +1,255 @@
+/**
+ * @file BNO08xTestHelper.hpp
+ * @author Myles Parfeniuk
+ */
+
+#pragma once
+
+// standard library includes
+#include <stdio.h>
+// in-house includes
+#include "BNO08x.hpp"
+
+/**
+ * @class BNO08xTestHelper
+ *
+ * @brief BNO08x unit test helper class.
+ * */
+class BNO08xTestHelper
+{
+    private:
+        inline static BNO08x* test_imu = nullptr;
+        inline static bno08x_config_t imu_cfg;
+
+        static const constexpr char* TAG = "BNO08xTestHelper";
+
+    public:
+        /**
+         * @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)
+                destroy_test_imu();
+
+            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)
+            {
+                delete test_imu;
+                test_imu = nullptr;
+            }
+        }
+
+        /**
+         * @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)
+                return ESP_FAIL;
+
+            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)
+                return ESP_FAIL;
+
+            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)
+                return ESP_FAIL;
+
+            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)
+                return ESP_FAIL;
+
+            return test_imu->init_spi();
+        }
+
+        /**
+         * @brief Used to call private BNO08x::init_tasks() member for tests.
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static esp_err_t call_init_tasks()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_tasks();
+        }
+
+        /**
+         * @brief Used to call private BNO08x::init_tasks() member for tests.
+         *
+         * @return ESP_OK if init succeeded.
+         */
+        static esp_err_t call_init_sh2_HAL()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->init_sh2_HAL();
+        }
+
+        /**
+         * @brief Used to call private BNO08x::deinit_gpio() member for tests.
+         *
+         * @return ESP_OK if deinit succeeded.
+         */
+        static esp_err_t call_deinit_gpio()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->deinit_gpio();
+        }
+
+        /**
+         * @brief Used to call private BNO08x::deinit_hint_isr() member for tests.
+         *
+         * @return ESP_OK if deinit succeeded.
+         */
+        static esp_err_t call_deinit_hint_isr()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->deinit_hint_isr();
+        }
+
+        /**
+         * @brief Used to call private BNO08x::deinit_spi() member for tests.
+         *
+         * @return ESP_OK if deinit succeeded.
+         */
+        static esp_err_t call_deinit_spi()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->deinit_spi();
+        }
+
+        /**
+         * @brief Used to call private BNO08x::deinit_tasks() member for tests.
+         *
+         * @return ESP_OK if deinit succeeded.
+         */
+        static esp_err_t call_deinit_tasks()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->deinit_tasks();
+        }
+
+        /**
+         * @brief Used to call private BNO08x::deinit_tasks() member for tests.
+         *
+         * @return ESP_OK if deinit succeeded.
+         */
+        static esp_err_t call_deinit_sh2_HAL()
+        {
+            if (test_imu == nullptr)
+                return ESP_FAIL;
+
+            return test_imu->deinit_sh2_HAL();
+        }
+};

include/BNO08xTestSuite.hpp

@@ -0,0 +1,125 @@
+/**
+ * @file BNO08xTestSuite.hpp
+ * @author Myles Parfeniuk
+ */
+
+#pragma once
+
+// standard library includes
+#include <stdio.h>
+#include <string.h>
+// esp-idf includes
+#include "unity.h"
+// in-house includes
+#include "BNO08xTestHelper.hpp"
+
+/**
+ * @class BNO08xTestSuite
+ *
+ * @brief BNO08x unit test launch point class.
+ * */
+class BNO08xTestSuite
+{
+
+    private:
+        static void print_begin_tests_banner(const char* test_set_name)
+        {
+            printf("####################### BEGIN TESTS: %s #######################\n\r", test_set_name);
+        }
+
+        static void print_end_tests_banner(const char* test_set_name)
+        {
+            printf("####################### END TESTS: %s #######################\n\r", test_set_name);
+        }
+
+    public:
+        static void run_all_tests()
+        {
+            UNITY_BEGIN();
+            run_init_deinit_tests(false);
+            run_single_report_tests(false);
+            run_multi_report_tests(false);
+            run_callback_tests(false);
+            run_feature_tests(false);
+            UNITY_END();
+        }
+
+        static void run_init_deinit_tests(bool call_unity_end_begin = true)
+        {
+            print_begin_tests_banner("init_denit_tests");
+
+            if (call_unity_end_begin)
+                UNITY_BEGIN();
+
+            unity_run_tests_by_tag("[InitComprehensive]", false);
+            unity_run_tests_by_tag("[DeinitComprehensive]", false);
+            unity_run_tests_by_tag("[InitDenit]", false);
+
+            if (call_unity_end_begin)
+                UNITY_END();
+
+            print_end_tests_banner("init_denit_tests");
+        }
+
+        static void run_single_report_tests(bool call_unity_end_begin = true)
+        {
+            print_begin_tests_banner("single_report_enable_disable_tests");
+
+            if (call_unity_end_begin)
+                UNITY_BEGIN();
+
+            unity_run_tests_by_tag("[SingleReportEnableDisable]", false);
+
+            if (call_unity_end_begin)
+                UNITY_END();
+
+            print_end_tests_banner("single_report_enable_disable_tests");
+        }
+
+        static void run_multi_report_tests(bool call_unity_end_begin = true)
+        {
+            print_begin_tests_banner("multi_report_enable_disable_tests");
+
+            if (call_unity_end_begin)
+                UNITY_BEGIN();
+
+            unity_run_tests_by_tag("[MultiReportEnableDisable]", false);
+
+            if (call_unity_end_begin)
+                UNITY_END();
+
+            print_end_tests_banner("multi_report_enable_disable_tests");
+        }
+
+        static void run_callback_tests(bool call_unity_end_begin = true)
+        {
+            print_begin_tests_banner("callback_tests");
+
+            if (call_unity_end_begin)
+                UNITY_BEGIN();
+
+            unity_run_tests_by_tag("[CallbackAllReportVoidInputParam]", false);
+            unity_run_tests_by_tag("[CallbackAllReportIDInputParam]", false);
+            unity_run_tests_by_tag("[CallbackSingleReportVoidInputParam]", false);
+
+            if (call_unity_end_begin)
+                UNITY_END();
+
+            print_end_tests_banner("callback_tests");
+        }
+
+        static void run_feature_tests(bool call_unity_end_begin = true)
+        {
+            print_begin_tests_banner("feature_tests");
+
+            if (call_unity_end_begin)
+                UNITY_BEGIN();
+
+            unity_run_tests_by_tag("[FeatureTests]", false);
+
+            if (call_unity_end_begin)
+                UNITY_END();
+
+            print_end_tests_banner("feature_tests");
+        }
+};

include/BNO08x_global_types.hpp

@@ -2,6 +2,7 @@
  * @file BNO08x_global_types.hpp
  * @author Myles Parfeniuk
  */
+
 #pragma once
 
 // standard library includes

include/report/BNO08xRptARVRStabilizedGameRV.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptARVRStabilizedGameRV.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRptRVGeneric.hpp"

include/report/BNO08xRptARVRStabilizedRV.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptARVRStabilizedRV.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRptRVGeneric.hpp"

include/report/BNO08xRptAcceleration.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptAcceleration.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptActivityClassifier.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptActivityClassifier.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptCalGyro.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptCalGyro.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptCalMagnetometer.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptCalMagnetometer.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptGameRV.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptGameRV.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRptRVGeneric.hpp"

include/report/BNO08xRptGravity.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptGravity.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptIGyroRV.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptIGyroRV.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRptRVGeneric.hpp"

include/report/BNO08xRptLinearAcceleration.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptLinearAcceleration.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptRV.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRV.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRptRVGeneric.hpp"

include/report/BNO08xRptRVGeneric.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRVGeneric.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptRVGeomag.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRVGeomag.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRptRVGeneric.hpp"

include/report/BNO08xRptRawMEMSAccelerometer.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRawMEMSAccelerometer.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptRawMEMSGyro.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRawMEMSGyro.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptRawMEMSMagnetometer.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRawMEMSMagnetometer.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptStepCounter.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptStepCounter.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptUncalGyro.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptUncalGyro.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xRptUncalMagnetometer.hpp

@@ -1,3 +1,9 @@
+
+/**
+ * @file BNO08xRptUncalMagnetometer.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xShakeDetector.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xShakeDetector.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xStabilityClassifier.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xStabilityClassifier.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

include/report/BNO08xTapDetector.hpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xTapDetector.hpp
+ * @author Myles Parfeniuk
+ */
+
 #pragma once
 
 #include "BNO08xRpt.hpp"

source/BNO08x.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08x.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08x.hpp"
 
 /**
@@ -39,8 +44,8 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
     , evt_grp_bno08x_task(xEventGroupCreate())
     , evt_grp_report_en(xEventGroupCreate())
     , evt_grp_report_data_available(xEventGroupCreate())
-    , queue_rx_sensor_event(xQueueCreate(5, sizeof(sh2_SensorEvent_t)))
+    , queue_rx_sensor_event(xQueueCreate(10, sizeof(sh2_SensorEvent_t)))
-    , queue_cb_report_id(xQueueCreate(5, sizeof(uint8_t)))
+    , queue_cb_report_id(xQueueCreate(20, sizeof(uint8_t)))
     , imu_config(imu_config)
 {
 }
@@ -54,24 +59,21 @@ BNO08x::BNO08x(bno08x_config_t imu_config)
  */
 BNO08x::~BNO08x()
 {
-    // disable interrupts before beginning so we can ensure SPI transaction doesn't attempt to run
+    // deinitialize tasks if they have been initialized
-    gpio_intr_disable(imu_config.io_int);
+    ESP_ERROR_CHECK(deinit_tasks());
 
     // deinitialize sh2 HAL if it has been initialized
     ESP_ERROR_CHECK(deinit_sh2_HAL());
 
-    // deinitialize spi if has been initialized
-    ESP_ERROR_CHECK(deinit_spi());
-
     // deinitialize hint ISR if it has been initialized
     ESP_ERROR_CHECK(deinit_hint_isr());
 
+    // deinitialize spi if has been initialized
+    ESP_ERROR_CHECK(deinit_spi());
+
     // deinitialize GPIO if they have been initialized
     ESP_ERROR_CHECK(deinit_gpio());
 
-    // deinitialize tasks if they have been initialized
-    ESP_ERROR_CHECK(deinit_tasks());
-
     // delete all semaphores
     vSemaphoreDelete(sh2_HAL_lock);
     vSemaphoreDelete(data_lock);
@@ -157,29 +159,26 @@ void BNO08x::data_proc_task_trampoline(void* arg)
 void BNO08x::data_proc_task()
 {
     EventBits_t evt_grp_bno08x_task_bits = 0U;
+    BaseType_t queue_rx_success = pdFALSE;
     sh2_SensorEvent_t sensor_evt;
     sh2_SensorValue_t sensor_val;
 
-    while (1)
+    do
-    {
-        if (xQueueReceive(queue_rx_sensor_event, &sensor_evt, portMAX_DELAY) == pdTRUE)
-        {
-            evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
-
-            if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
     {
 
+        if (queue_rx_success == pdTRUE)
+        {
             if (sh2_decodeSensorEvent(&sensor_val, &sensor_evt) != SH2_ERR)
                 handle_sensor_report(&sensor_val);
         }
-            else
+
-            {
+        queue_rx_success = xQueueReceive(queue_rx_sensor_event, &sensor_evt, portMAX_DELAY);
-                break; // exit loop, deconstructor requested task to commit self-deletion
+        evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
-            }
+
-        }
+    } while (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING);
-    }
 
     xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
+    init_status.data_proc_task = false;
     vTaskDelete(NULL);
 }
 
@@ -206,16 +205,11 @@ void BNO08x::sh2_HAL_service_task()
 {
     EventBits_t evt_grp_bno08x_task_bits = 0U;
 
-    while (1)
+    do
     {
-        xEventGroupWaitBits(
-                evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT | EVT_GRP_BNO08x_TASK_RESET_OCCURRED, pdFALSE, pdFALSE, portMAX_DELAY);
 
-        evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
-
-        if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
-        {
         if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASK_RESET_OCCURRED)
+        {
             if (!re_enable_reports())
             {
                 // clang-format off
@@ -224,18 +218,22 @@ void BNO08x::sh2_HAL_service_task()
                 #endif
                 // clang-format on
             }
+        }
 
+        if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT)
+        {
             lock_sh2_HAL();
             sh2_service();
             unlock_sh2_HAL();
         }
-        else
+
-        {
+        evt_grp_bno08x_task_bits = xEventGroupWaitBits(
-            break; // exit loop, deconstructor requested task to commit self-deletion
+                evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT | EVT_GRP_BNO08x_TASK_RESET_OCCURRED, pdFALSE, pdFALSE, portMAX_DELAY);
-        }
+
-    }
+    } while (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING);
 
     xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
+    init_status.sh2_HAL_service_task = false;
     vTaskDelete(NULL);
 }
 
@@ -261,47 +259,22 @@ void BNO08x::cb_task_trampoline(void* arg)
 void BNO08x::cb_task()
 {
     EventBits_t evt_grp_bno08x_task_bits = 0U;
-    uint8_t rpt_ID;
+    uint8_t rpt_ID = 0;
 
-    while (1)
+    do
     {
+        // execute callbacks
+        for (auto& cb_entry : cb_list)
+            handle_cb(rpt_ID, cb_entry);
+
         xQueueReceive(queue_cb_report_id, &rpt_ID, portMAX_DELAY);
 
         evt_grp_bno08x_task_bits = xEventGroupGetBits(evt_grp_bno08x_task);
 
-        if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING)
+    } while (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING);
-        {
-            // execute callbacks
-            for (auto& cb_entry : cb_list)
-            {
-                // only execute callback if it is registered to this report or all reports
-                if ((cb_entry.report_ID == 0) || (cb_entry.report_ID == rpt_ID))
-                {
-                    std::visit(
-                            [rpt_ID](auto&& cb_fxn)
-                            {
-                                if constexpr (std::is_invocable_v<decltype(cb_fxn)>)
-                                {
-                                    // Handles std::function<void()> (i.e., no parameters)
-                                    cb_fxn();
-                                }
-                                else
-                                {
-                                    // Handles std::function<void(uint8_t)> (i.e., with a report ID)
-                                    cb_fxn(rpt_ID);
-                                }
-                            },
-                            cb_entry.cb);
-                }
-            }
-        }
-        else
-        {
-            break; // exit loop, deconstructor requested task to commit self-deletion
-        }
-    }
 
     xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
+    init_status.cb_task = false;
     vTaskDelete(NULL);
 }
 
@@ -355,15 +328,16 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
     uint8_t rpt_ID = sensor_val->sensorId;
 
     // check if report exists within map
-    auto it = usr_reports.find(rpt_ID);
+    if ((rpt_ID > 0) && (rpt_ID < SH2_MAX_SENSOR_ID))
-    if (it != usr_reports.end())
     {
-        // update respective report with new data
+        auto& rpt = usr_reports.at(rpt_ID);
-        it->second->update_data(sensor_val);
 
         // send report ids to cb_task for callback execution (only if this report is enabled)
-        if (usr_reports.at(rpt_ID)->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
+        if (rpt->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
         {
+            // update respective report with new data
+            rpt->update_data(sensor_val);
+
             if (cb_list.size() != 0)
                 if (xQueueSend(queue_cb_report_id, &rpt_ID, 0) != pdTRUE)
                 {
@@ -377,6 +351,30 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
     }
 }
 
+/**
+ * @brief Determines the flavor of a passed callback and executes it appropriately.
+ *
+ * @return void, nothing to return
+ */
+void BNO08x::handle_cb(uint8_t rpt_ID, bno08x_cb_data_t& cb_entry)
+{
+    // only execute callback if it is registered to this report or all reports
+    if ((cb_entry.report_ID == 0) || (cb_entry.report_ID == rpt_ID))
+    {
+        // check the type of the callback stored in the variant
+        if (std::holds_alternative<std::function<void()>>(cb_entry.cb))
+        {
+            // handles std::function<void()> (i.e., no parameters)
+            std::get<std::function<void()>>(cb_entry.cb)();
+        }
+        else
+        {
+            // handles std::function<void(uint8_t)> (i.e., with a report ID)
+            std::get<std::function<void(uint8_t)>>(cb_entry.cb)(rpt_ID);
+        }
+    }
+}
+
 /**
  * @brief Initializes required esp-idf SPI data structures with values from user passed bno08x_config_t struct.
  *
@@ -647,30 +645,9 @@ esp_err_t BNO08x::init_tasks()
     }
     else
     {
-        init_status.task_init_cnt++;
         init_status.data_proc_task = true;
     }
 
-    // launch data processing 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);
-
-    if (task_created != pdTRUE)
-    {
-        // clang-format off
-        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
-        ESP_LOGE(TAG, "Initialization failed, sh2_HAL_service_task failed to launch.");
-        #endif
-        // clang-format on
-
-        return ESP_FAIL;
-    }
-    else
-    {
-        init_status.task_init_cnt++;
-        init_status.sh2_HAL_service_task = true;
-    }
-
     // launch cb task
     task_created = xTaskCreate(&cb_task_trampoline, "bno08x_cb_task", CB_TASK_SZ, this, 5, &cb_task_hdl);
 
@@ -686,10 +663,28 @@ esp_err_t BNO08x::init_tasks()
     }
     else
     {
-        init_status.task_init_cnt++;
         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);
+
+    if (task_created != pdTRUE)
+    {
+        // clang-format off
+        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+        ESP_LOGE(TAG, "Initialization failed, sh2_HAL_service_task failed to launch.");
+        #endif
+        // clang-format on
+
+        return ESP_FAIL;
+    }
+    else
+    {
+        init_status.sh2_HAL_service_task = true;
+    }
+
     return ESP_OK;
 }
 
@@ -810,6 +805,8 @@ esp_err_t BNO08x::deinit_gpio()
         ret = deinit_gpio_inputs();
         if (ret != ESP_OK)
             return ret;
+
+        init_status.gpio_inputs = false;
     }
 
     if (init_status.gpio_outputs)
@@ -817,6 +814,8 @@ esp_err_t BNO08x::deinit_gpio()
         ret = deinit_gpio_outputs();
         if (ret != ESP_OK)
             return ret;
+
+        init_status.gpio_outputs = false;
     }
 
     return ret;
@@ -917,6 +916,8 @@ esp_err_t BNO08x::deinit_hint_isr()
 
             return ret;
         }
+
+        init_status.isr_handler = false;
     }
 
     if (init_status.isr_service)
@@ -953,6 +954,8 @@ esp_err_t BNO08x::deinit_spi()
 
             return ret;
         }
+
+        init_status.spi_device = false;
     }
 
     if (init_status.spi_bus)
@@ -968,6 +971,8 @@ esp_err_t BNO08x::deinit_spi()
 
             return ret;
         }
+
+        init_status.spi_bus = false;
     }
 
     return ret;
@@ -980,15 +985,25 @@ esp_err_t BNO08x::deinit_spi()
  */
 esp_err_t BNO08x::deinit_tasks()
 {
-    static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = 100UL;
+    static const constexpr uint8_t TASK_DELETE_TIMEOUT_MS = HOST_INT_TIMEOUT_DEFAULT_MS;
     uint8_t kill_count = 0;
+    uint8_t init_count = 0;
     sh2_SensorEvent_t empty_event;
     uint8_t empty_ID = 0;
 
-    sem_kill_tasks = xSemaphoreCreateCounting(init_status.task_init_cnt, 0);
+    // disable interrupts before beginning so we can ensure SPI transaction doesn't attempt to run
+    gpio_intr_disable(imu_config.io_int);
 
-    // signal tasks to commit self-deletion
+    init_count += (static_cast<uint8_t>(init_status.cb_task) + static_cast<uint8_t>(init_status.data_proc_task) +
-    xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASKS_RUNNING);
+                   static_cast<uint8_t>(init_status.sh2_HAL_service_task));
+
+    if (init_count != 0)
+    {
+        sem_kill_tasks = xSemaphoreCreateCounting(init_count, 0);
+        xEventGroupClearBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASKS_RUNNING); // clear task running bit request deletion of tasks
+
+        if (init_status.cb_task)
+            xQueueSend(queue_cb_report_id, &empty_ID, 0);
 
         if (init_status.data_proc_task)
             xQueueSend(queue_rx_sensor_event, &empty_event, 0);
@@ -996,23 +1011,21 @@ esp_err_t BNO08x::deinit_tasks()
         if (init_status.sh2_HAL_service_task)
             xEventGroupSetBits(evt_grp_bno08x_task, EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT);
 
-    if (init_status.cb_task)
+        for (uint8_t i = 0; i < init_count; i++)
-        xQueueSend(queue_cb_report_id, &empty_ID, 0);
+            if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS) == pdTRUE)
-
-    for (uint8_t i = 0; i < init_status.task_init_cnt; i++)
-        if (xSemaphoreTake(sem_kill_tasks, TASK_DELETE_TIMEOUT_MS / portTICK_PERIOD_MS) == pdTRUE)
                 kill_count++;
 
-    if (kill_count != init_status.task_init_cnt)
+        if (kill_count != init_count)
         {
             // clang-format off
-        #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+            #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
             ESP_LOGE(TAG, "Task deletion timed out in deconstructor call.");
             #endif
             // clang-format on
 
             return ESP_FAIL;
         }
+    }
 
     return ESP_OK;
 }
@@ -1025,7 +1038,10 @@ esp_err_t BNO08x::deinit_tasks()
 esp_err_t BNO08x::deinit_sh2_HAL()
 {
     if (init_status.sh2_HAL)
+    {
+        init_status.sh2_HAL = false;
         sh2_close();
+    }
 
     return ESP_OK;
 }

source/BNO08xRpt.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRpt.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRpt.hpp"
 #include "BNO08x.hpp"
 
@@ -29,7 +34,7 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
     {
         period_us = time_between_reports;                    // Update the period
         xEventGroupSetBits(imu->evt_grp_report_en, rpt_bit); // Set the event group bit
-        vTaskDelay(20UL / portTICK_PERIOD_MS);               // delay a bit to allow command to execute
+        vTaskDelay(30UL / portTICK_PERIOD_MS);               // delay a bit to allow command to execute
         return true;
     }
 }

source/BNO08xSH2HAL.cpp

@@ -1,13 +1,30 @@
+/**
+ * @file BNO08xSH2HAL.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xSH2HAL.hpp"
 #include "BNO08x.hpp"
 
 BNO08x* BNO08xSH2HAL::imu;
 
+/**
+ * @brief Sets the BNO08x driver object to be used with sh2 HAL lib callbacks.
+ *
+ * @param hal_imu Pointer to BNO08x driver object to be used with sh2 HAL lib callbacks.
+ *
+ * @return void, nothing to return
+ */
 void BNO08xSH2HAL::set_hal_imu(BNO08x* hal_imu)
 {
     imu = hal_imu;
 }
 
+/**
+ * @brief Opens SPI instance by waiting for interrupt.
+ *
+ * @return Always returns 0.
+ */
 int BNO08xSH2HAL::spi_open(sh2_Hal_t* self)
 {
     spi_wait_for_int();
@@ -15,11 +32,26 @@ int BNO08xSH2HAL::spi_open(sh2_Hal_t* self)
     return 0;
 }
 
+/**
+ * @brief Closes SPI instance (nothing to do here, but required by sh2 HAL lib for cases where other communication protocols are used.)
+ *
+ * @return void, nothing to return
+ */
 void BNO08xSH2HAL::spi_close(sh2_Hal_t* self)
 {
     // do nothing
 }
 
+/**
+ * @brief SPI rx callback for sh2 HAL lib.
+ *
+ * @param self sh2 HAL lib object being used with BNO08x driver instance.
+ * @param pBuffer Buffer to store received packet.
+ * @param len Length of bytes to read.
+ * @param t_us Time in microseconds (unused, forced sh2 HAL lib required function type)
+ *
+ * @return Size of received packet in bytes, 0 on failure.
+ */
 int BNO08xSH2HAL::spi_read(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len, uint32_t* t_us)
 {
     uint16_t packet_sz = 0;
@@ -47,6 +79,15 @@ int BNO08xSH2HAL::spi_read(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len, uint
     return packet_sz;
 }
 
+/**
+ * @brief SPI tx callback for sh2 HAL lib.
+ *
+ * @param self sh2 HAL lib object being used with BNO08x driver instance.
+ * @param pBuffer Buffer containing data to write.
+ * @param len Length in bytes to write.
+ *
+ * @return Size of sent data (len param), 0 on failure.
+ */
 int BNO08xSH2HAL::spi_write(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len)
 {
     // hint never asserted, fail transaction
@@ -67,6 +108,13 @@ int BNO08xSH2HAL::spi_write(sh2_Hal_t* self, uint8_t* pBuffer, unsigned len)
     return len;
 }
 
+/**
+ * @brief Get time in microseconds callback for sh2 HAL lib.
+ *
+ * @param self sh2 HAL lib object being used with BNO08x driver instance.
+ *
+ * @return Time in microseconds.
+ */
 uint32_t BNO08xSH2HAL::get_time_us(sh2_Hal_t* self)
 {
     uint64_t time_us = esp_timer_get_time();
@@ -77,22 +125,48 @@ uint32_t BNO08xSH2HAL::get_time_us(sh2_Hal_t* self)
     return static_cast<uint32_t>(time_us & 0xFFFFFFFFU);
 }
 
+/**
+ * @brief General event callback for sh2 HAL lib, used to notify tasks of reset.
+ *
+ * @param cookie User set input parameter as void pointer (unused), see sh2_Open().
+ * @param pEvent Pointer to asynchronous event.
+ *
+ * @return void, nothing to return
+ */
 void BNO08xSH2HAL::hal_cb(void* cookie, sh2_AsyncEvent_t* pEvent)
 {
     if (pEvent->eventId == SH2_RESET)
         xEventGroupSetBits(imu->evt_grp_bno08x_task, BNO08x::EVT_GRP_BNO08x_TASK_RESET_OCCURRED);
 }
 
+/**
+ * @brief Sensor event callback for sh2 HAL lib, sends received reports to data_proc_task().
+ *
+ * @param cookie User set input parameter as void pointer (unused), see sh2_Open().
+ * @param event Pointer to sensor event.
+ *
+ * @return void, nothing to return
+ */
 void BNO08xSH2HAL::sensor_event_cb(void* cookie, sh2_SensorEvent_t* event)
 {
     xQueueSend(imu->queue_rx_sensor_event, event, 0);
 }
 
+/**
+ * @brief Hardware reset callback for sh2 HAL lib, toggle RST gpio.
+ *
+ * @return void, nothing to return
+ */
 void BNO08xSH2HAL::hardware_reset()
 {
     imu->toggle_reset();
 }
 
+/**
+ * @brief SPI wait for HINT sh2 HAL lib callback.
+ *
+ * @return True if interrupt was detected before timeout.
+ */
 bool BNO08xSH2HAL::spi_wait_for_int()
 {
     if (imu->wait_for_hint() != ESP_OK)
@@ -104,6 +178,13 @@ bool BNO08xSH2HAL::spi_wait_for_int()
     return true;
 }
 
+/**
+ * @brief SPI rx packet header (invoked from SPI rx callback.)
+ *
+ * @param pBuffer Buffer to store received header.
+ *
+ * @return Packet size (should always be 4), 0 on failure.
+ */
 uint16_t BNO08xSH2HAL::spi_read_sh2_packet_header(uint8_t* pBuffer)
 {
     uint8_t dummy_header_tx[4] = {0};
@@ -127,6 +208,13 @@ uint16_t BNO08xSH2HAL::spi_read_sh2_packet_header(uint8_t* pBuffer)
     return packet_sz;
 }
 
+/**
+ * @brief SPI rx packet body (invoked from SPI rx callback.)
+ *
+ * @param pBuffer Buffer to store received packet body.
+ *
+ * @return Packet size, 0 on failure.
+ */
 int BNO08xSH2HAL::spi_read_sh2_packet_body(uint8_t* pBuffer, uint16_t packet_sz)
 {
     imu->spi_transaction.rx_buffer = pBuffer + 4;

source/report/BNO08xRptARVRStabilizedGameRV.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptARVRStabilizedGameRV.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptARVRStabilizedGameRV.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptARVRStabilizedRV.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptARVRStabilizedRV.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptARVRStabilizedRV.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptAcceleration.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptAcceleration.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptAcceleration.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptActivityClassifier.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptActivityClassifier.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptActivityClassifier.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptCalGyro.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptCalGyro.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptCalGyro.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptCalMagnetometer.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptCalMagnetometer.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptCalMagnetometer.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptGameRV.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptGameRV.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptGameRV.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptGravity.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptGravity.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptGravity.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptIGyroRV.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptIGyroRV.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptIGyroRV.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptLinearAcceleration.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptLinearAcceleration.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptLinearAcceleration.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptRV.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRV.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptRV.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptRVGeneric.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRVGeneric.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptRVGeneric.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptRVGeomag.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRVGeomag.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptRVGeomag.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptRawMEMSAccelerometer.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRawMEMSAccelerometer.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptRawMEMSAccelerometer.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptRawMEMSGyro.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRawMEMSGyro.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptRawMEMSGyro.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptRawMEMSMagnetometer.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptRawMEMSMagnetometer.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptRawMEMSMagnetometer.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptStepCounter.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptStepCounter.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptStepCounter.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptUncalGyro.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptUncalGyro.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptUncalGyro.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xRptUncalMagnetometer.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xRptUncalMagnetometer.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xRptUncalMagnetometer.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xShakeDetector.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xShakeDetector.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xShakeDetector.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xStabilityClassifier.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xStabilityClassifier.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xStabilityClassifier.hpp"
 #include "BNO08x.hpp"
 

source/report/BNO08xTapDetector.cpp

@@ -1,3 +1,8 @@
+/**
+ * @file BNO08xTapDetector.cpp
+ * @author Myles Parfeniuk
+ */
+
 #include "BNO08xTapDetector.hpp"
 #include "BNO08x.hpp"
 

test/CMakeLists.txt

@@ -1,5 +1,5 @@
-idf_component_register(SRC_DIRS "source" "SH2"
+idf_component_register(SRC_DIRS "."
-                    INCLUDE_DIRS "include" "include/report" "SH2"
+                    INCLUDE_DIRS "."
                     REQUIRES cmock esp32_BNO08x)
 
 # supress unused var warnings from test_imu

test/CallbackTests.cpp

@@ -0,0 +1,436 @@
+/**
+ * @file CallbackTests.cpp
+ * @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.")
+ */
+
+#include "unity.h"
+#include "../include/BNO08xTestHelper.hpp"
+
+TEST_CASE("BNO08x Driver Creation for [CallbackAllReportVoidInputParam] Tests", "[CallbackAllReportVoidInputParam]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Creation for [CallbackAllReportVoidInputParam] Tests";
+
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // ensure IMU initialized successfully
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
+{
+    const constexpr char* TEST_TAG = "Void Input Param Flavor Cb";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available_accel = false;
+    bool data_available_lin_accel = false;
+    bool data_available_grav = false;
+    bool data_available_cal_gyro = false;
+    bool data_available_cal_magnetometer = false;
+    bool data_available_rv = false;
+    bool data_available_rv_game = false;
+    bool data_available_rv_geomagnetic = false;
+
+    bool test_running = true;
+
+    bno08x_accel_t data_accel;
+    bno08x_gyro_t data_vel;
+    bno08x_magf_t data_magf;
+    bno08x_quat_t data_quat;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    imu = BNO08xTestHelper::get_test_imu();
+
+    imu->register_cb(
+            [&imu, &data_available_accel, &data_available_lin_accel, &data_available_grav, &data_available_cal_gyro, &data_available_cal_magnetometer,
+                    &data_accel, &data_available_rv, &data_available_rv_game, &data_available_rv_geomagnetic, &data_quat, &data_vel, &data_magf,
+                    &msg_buff, &test_running]()
+            {
+                static int i = 0;
+
+                if (i < RX_REPORT_TRIAL_CNT)
+                {
+                    if (imu->accelerometer.has_new_data())
+                    {
+                        data_available_accel = true;
+                        data_accel = imu->accelerometer.get();
+                        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
+                                data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+                        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                    }
+                    else if (imu->linear_accelerometer.has_new_data())
+                    {
+                        data_available_lin_accel = true;
+                        data_accel = imu->linear_accelerometer.get();
+                        sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
+                                data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+                        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                    }
+                    else if (imu->gravity.has_new_data())
+                    {
+                        data_available_grav = true;
+                        data_accel = imu->gravity.get();
+                        sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
+                                data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+                        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                    }
+                    else if (imu->cal_gyro.has_new_data())
+                    {
+                        data_available_cal_gyro = true;
+                        data_vel = imu->cal_gyro.get();
+                        sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_vel.x,
+                                data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy));
+                        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                    }
+                    else if (imu->cal_magnetometer.has_new_data())
+                    {
+                        data_available_cal_magnetometer = true;
+                        data_magf = imu->cal_magnetometer.get();
+                        sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1),
+                                data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy));
+                        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                    }
+                    else if (imu->rv.has_new_data())
+                    {
+                        data_available_rv = true;
+                        data_quat = imu->rv.get_quat();
+                        sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
+                                data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+                        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                    }
+                    else if (imu->rv_game.has_new_data())
+                    {
+                        data_available_rv_game = true;
+                        data_quat = imu->rv_game.get_quat();
+                        sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
+                                data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+                        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                    }
+                    else if (imu->rv_geomagnetic.has_new_data())
+                    {
+                        data_available_rv_geomagnetic = true;
+                        data_quat = imu->rv_geomagnetic.get_quat();
+                        sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
+                                data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+                        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                    }
+
+                    i++;
+                }
+                else if (test_running)
+                {
+                    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->gravity.disable());
+                    TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
+                    TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->rv.disable());
+                    TEST_ASSERT_EQUAL(true, imu->rv_game.disable());
+                    TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.disable());
+                    test_running = false;
+                }
+            });
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv_game.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.enable(REPORT_PERIOD));
+
+    while (test_running)
+    {
+    }
+
+    TEST_ASSERT_EQUAL(true, data_available_accel);
+    TEST_ASSERT_EQUAL(true, data_available_lin_accel);
+    TEST_ASSERT_EQUAL(true, data_available_grav);
+    TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
+    TEST_ASSERT_EQUAL(true, data_available_cal_magnetometer);
+    TEST_ASSERT_EQUAL(true, data_available_rv);
+    TEST_ASSERT_EQUAL(true, data_available_rv_game);
+    TEST_ASSERT_EQUAL(true, data_available_rv_geomagnetic);
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("BNO08x Driver Cleanup for [CallbackAllReportVoidInputParam] Tests", "[CallbackAllReportVoidInputParam]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [CallbackAllReportVoidInputParam] Tests";
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
+
+    BNO08xTestHelper::destroy_test_imu();
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("BNO08x Driver Creation for [CallbackAllReportIDInputParam] Tests", "[CallbackAllReportIDInputParam]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Creation for [CallbackAllReportIDInputParam] Tests";
+
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // ensure IMU initialized successfully
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
+{
+    const constexpr char* TEST_TAG = "Report ID Input Param Flavor Cb";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available_accel = false;
+    bool data_available_lin_accel = false;
+    bool data_available_grav = false;
+    bool data_available_cal_gyro = false;
+    bool data_available_cal_magnetometer = false;
+    bool data_available_rv = false;
+    bool data_available_rv_game = false;
+    bool data_available_rv_geomagnetic = false;
+    bool test_running = true;
+
+    bno08x_accel_t data_accel;
+    bno08x_gyro_t data_vel;
+    bno08x_magf_t data_magf;
+    bno08x_quat_t data_quat;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    imu = BNO08xTestHelper::get_test_imu();
+
+    imu->register_cb(
+            [&imu, &data_available_accel, &data_available_lin_accel, &data_available_grav, &data_available_cal_gyro, &data_available_cal_magnetometer,
+                    &data_accel, &data_available_rv, &data_available_rv_game, &data_available_rv_geomagnetic, &data_quat, &data_vel, &data_magf,
+                    &msg_buff, &test_running](uint8_t report_ID)
+            {
+                static int i = 0;
+                if (i < RX_REPORT_TRIAL_CNT)
+                {
+                    switch (report_ID)
+                    {
+                        case SH2_ACCELEROMETER:
+
+                            data_available_accel = true;
+                            data_accel = imu->accelerometer.get();
+                            sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
+                                    data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+                            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                            break;
+
+                        case SH2_LINEAR_ACCELERATION:
+                            data_available_lin_accel = true;
+                            data_accel = imu->linear_accelerometer.get();
+                            sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1),
+                                    data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+                            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                            break;
+
+                        case SH2_GRAVITY:
+                            data_available_grav = true;
+                            data_accel = imu->gravity.get();
+                            sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1),
+                                    data_accel.x, data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+                            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                            break;
+
+                        case SH2_GYROSCOPE_CALIBRATED:
+                            data_available_cal_gyro = true;
+                            data_vel = imu->cal_gyro.get();
+                            sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_vel.x,
+                                    data_vel.y, data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy));
+                            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                            break;
+
+                        case SH2_MAGNETIC_FIELD_CALIBRATED:
+                            data_available_cal_magnetometer = true;
+                            data_magf = imu->cal_magnetometer.get();
+                            sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1),
+                                    data_magf.x, data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy));
+                            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                            break;
+
+                        case SH2_ROTATION_VECTOR:
+                            data_available_rv = true;
+                            data_quat = imu->rv.get_quat();
+                            sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
+                                    data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+                            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                            break;
+
+                        case SH2_GAME_ROTATION_VECTOR:
+                            data_available_rv_game = true;
+                            data_quat = imu->rv_game.get_quat();
+                            sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
+                                    data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+                            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                            break;
+
+                        case SH2_GEOMAGNETIC_ROTATION_VECTOR:
+                            data_available_rv_geomagnetic = true;
+                            data_quat = imu->rv_geomagnetic.get_quat();
+                            sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ",
+                                    (i + 1), data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+                            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+                            break;
+
+                        default:
+
+                            break;
+                    }
+
+                    i++;
+                }
+                else if (test_running)
+                {
+                    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->gravity.disable());
+                    TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
+                    TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->rv.disable());
+                    TEST_ASSERT_EQUAL(true, imu->rv_game.disable());
+                    TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.disable());
+                    test_running = false;
+                }
+            });
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv_game.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.enable(REPORT_PERIOD));
+
+    while (test_running)
+    {
+    }
+
+    TEST_ASSERT_EQUAL(true, data_available_accel);
+    TEST_ASSERT_EQUAL(true, data_available_lin_accel);
+    TEST_ASSERT_EQUAL(true, data_available_grav);
+    TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
+    TEST_ASSERT_EQUAL(true, data_available_cal_magnetometer);
+    TEST_ASSERT_EQUAL(true, data_available_rv);
+    TEST_ASSERT_EQUAL(true, data_available_rv_game);
+    TEST_ASSERT_EQUAL(true, data_available_rv_geomagnetic);
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("BNO08x Driver Cleanup for [CallbackAllReportIDInputParam] Tests", "[CallbackAllReportIDInputParam]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [CallbackAllReportIDInputParam] Tests";
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
+
+    BNO08xTestHelper::destroy_test_imu();
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("BNO08x Driver Creation for [CallbackSingleReportVoidInputParam] Tests", "[CallbackSingleReportVoidInputParam]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Creation for [CallbackSingleReportVoidInputParam] Tests";
+
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // ensure IMU initialized successfully
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Single Report Void Input Param Flavor Cb", "[CallbackSingleReportVoidInputParam]")
+{
+    const constexpr char* TEST_TAG = "Single Report Void Input Param Flavor Cb";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available_accel = false;
+    bool test_running = true;
+
+    bno08x_accel_t data_accel;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    imu = BNO08xTestHelper::get_test_imu();
+
+    imu->accelerometer.register_cb(
+            [&imu, &data_available_accel, &data_accel, &msg_buff, &test_running]()
+            {
+                static int i = 0;
+
+                if (i < RX_REPORT_TRIAL_CNT)
+                {
+                    data_available_accel = true;
+                    data_accel = imu->accelerometer.get();
+                    sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
+                            data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+                    BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+
+                    i++;
+                }
+                else if (test_running)
+                {
+                    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+                    test_running = false;
+                }
+            });
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+
+    while (test_running)
+    {
+    }
+
+    TEST_ASSERT_EQUAL(true, data_available_accel);
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("BNO08x Driver Cleanup for [CallbackSingleReportVoidInputParam] Tests", "[CallbackSingleReportVoidInputParam]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [CallbackSingleReportVoidInputParam] Tests";
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
+
+    BNO08xTestHelper::destroy_test_imu();
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}

test/FeatureTests.cpp

@@ -0,0 +1,282 @@
+/**
+ * @file FeatureTets.cpp
+ * @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.")
+ */
+
+#include "unity.h"
+#include "../include/BNO08xTestHelper.hpp"
+
+TEST_CASE("BNO08x Driver Creation for [FeatureTests] Tests", "[FeatureTests]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Creation for [FeatureTests] Tests";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // ensure IMU initialized successfully
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Hard Reset", "[FeatureTests]")
+{
+    const constexpr char* TEST_TAG = "Hard Reset";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bno08x_accel_t data_accel;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Hard reseting...");
+    TEST_ASSERT_EQUAL(true, imu->hard_reset());
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Soft Reset", "[FeatureTests]")
+{
+    const constexpr char* TEST_TAG = "Soft Reset";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bno08x_accel_t data_accel;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Soft reseting...");
+    TEST_ASSERT_EQUAL(true, imu->soft_reset());
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Sleep", "[FeatureTests]")
+{
+    const constexpr char* TEST_TAG = "Sleep";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bno08x_accel_t data_accel;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->sleep());
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        sprintf(msg_buff, "Sleeping... %ds", RX_REPORT_TRIAL_CNT - i);
+        vTaskDelay(1000UL / portTICK_PERIOD_MS);
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->on());
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Woke.");
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Get Metadata", "[FeatureTests]")
+{
+    const constexpr char* TEST_TAG = "Get Metadata";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bno08x_accel_t data_accel;
+    bno08x_meta_data_t meta_data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Getting meta data...");
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.get_meta_data(meta_data));
+
+    sprintf(msg_buff, "Re-enabling report with fastest possible period of %ldus from accelerometer meta data.", meta_data.min_period_us);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(meta_data.min_period_us));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Get Sample Counts", "[FeatureTests]")
+{
+    const constexpr char* TEST_TAG = "Get Sample Counts";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 1;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bno08x_accel_t data_accel;
+    bno08x_sample_counts_t sample_counts;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Getting sample counts...");
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.get_sample_counts(sample_counts));
+    sprintf(msg_buff, "offered: %ld on: %ld accepted: %ld attempted: %ld", sample_counts.offered, sample_counts.on, sample_counts.accepted,
+            sample_counts.attempted);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        TEST_ASSERT_EQUAL(true, imu->data_available());
+        TEST_ASSERT_EQUAL(true, imu->accelerometer.has_new_data());
+        data_accel = imu->accelerometer.get();
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("BNO08x Driver Cleanup for [FeatureTests] Tests", "[FeatureTests]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [FeatureTests] Tests";
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
+
+    BNO08xTestHelper::destroy_test_imu();
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}

test/InitDenitTests.cpp

@@ -0,0 +1,191 @@
+/**
+ * @file InitDenitTests.cpp
+ * @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.")
+ */
+
+#include "unity.h"
+#include "../include/BNO08xTestHelper.hpp"
+
+TEST_CASE("InitComprehensive Config Args", "[InitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "InitComprehensive Config Args";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating test IMU for [InitComprehensive] and [DeinitComprehensive].");
+    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("InitComprehensive GPIO", "[InitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "InitComprehensive 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("InitComprehensive HINT ISR", "[InitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "InitComprehensive 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("InitComprehensive SPI", "[InitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "InitComprehensive 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("InitComprehensive sh2 HAL", "[InitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "InitComprehensive sh2 HAL";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_sh2_HAL());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("InitComprehensive Tasks", "[InitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "InitComprehensive Tasks";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_init_tasks());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("DeinitComprehensive Tasks", "[DeinitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "DeinitComprehensive Tasks";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_tasks());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("DeinitComprehensive sh2 HAL", "[DeinitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "DeinitComprehensive sh2 HAL";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_sh2_HAL());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("DeinitComprehensive HINT ISR", "[DeinitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "DeinitComprehensive HINT ISR";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_hint_isr());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("DeinitComprehensive SPI", "[DeinitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "DeinitComprehensive SPI";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_spi());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("DeinitComprehensive GPIO", "[DeinitComprehensive]")
+{
+    const constexpr char* TEST_TAG = "DeinitComprehensive GPIO";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(ESP_OK, BNO08xTestHelper::call_deinit_gpio());
+    BNO08xTestHelper::destroy_test_imu();
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Init and Deinit", "[InitDenit]")
+{
+    const constexpr char* TEST_TAG = "Init and Deinit";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Initializing BNO08x Driver Object attempt 1.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Success, deinitializing BNO08x Driver Object.");
+    BNO08xTestHelper::destroy_test_imu();
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Initializing BNO08x Driver Object 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 BNO08x Driver Object.");
+    BNO08xTestHelper::destroy_test_imu();
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}

test/MultiReportTests.cpp

@@ -0,0 +1,311 @@
+/**
+ * @file MultiReportTests.cpp
+ * @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.")
+ */
+
+#include "unity.h"
+#include "../include/BNO08xTestHelper.hpp"
+
+TEST_CASE("BNO08x Driver Creation for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Creation for [MultiReportEnableDisable] Tests";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // ensure IMU initialized successfully
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Dual Report", "[MultiReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Dual Report";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 2;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool data_available_accel = false;
+    bool data_available_lin_accel = false;
+
+    bno08x_accel_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        if (imu->accelerometer.has_new_data())
+        {
+            data_available_accel = true;
+            data = imu->accelerometer.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y, data.z,
+                    BNO08x::accuracy_to_str(data.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->linear_accelerometer.has_new_data())
+        {
+            data_available_lin_accel = true;
+            data = imu->linear_accelerometer.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y, data.z,
+                    BNO08x::accuracy_to_str(data.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
+
+    TEST_ASSERT_EQUAL(true, data_available_accel);
+    TEST_ASSERT_EQUAL(true, data_available_lin_accel);
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Quad Report";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 4;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool data_available_accel = false;
+    bool data_available_lin_accel = false;
+    bool data_available_gravity = false;
+    bool data_available_cal_gyro = false;
+
+    bno08x_accel_t data_accel;
+    bno08x_gyro_t data_vel;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        if (imu->accelerometer.has_new_data())
+        {
+            data_available_accel = true;
+            data_accel = imu->accelerometer.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                    data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->linear_accelerometer.has_new_data())
+        {
+            data_available_lin_accel = true;
+            data_accel = imu->linear_accelerometer.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
+                    data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->gravity.has_new_data())
+        {
+            data_available_gravity = true;
+            data_accel = imu->gravity.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                    data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->cal_gyro.has_new_data())
+        {
+            data_available_cal_gyro = true;
+            data_vel = imu->cal_gyro.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_vel.x, data_vel.y,
+                    data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->gravity.disable());
+    TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
+
+    TEST_ASSERT_EQUAL(true, data_available_accel);
+    TEST_ASSERT_EQUAL(true, data_available_lin_accel);
+    TEST_ASSERT_EQUAL(true, data_available_gravity);
+    TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Octo Report";
+    static const constexpr uint8_t ENABLED_REPORT_COUNT = 8;
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = ENABLED_REPORT_COUNT * 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool data_available_accel = false;
+    bool data_available_lin_accel = false;
+    bool data_available_gravity = false;
+    bool data_available_cal_gyro = false;
+    bool data_available_cal_magnetometer = false;
+    bool data_available_rv = false;
+    bool data_available_rv_game = false;
+    bool data_available_rv_geomagnetic = false;
+
+    bno08x_accel_t data_accel;
+    bno08x_gyro_t data_vel;
+    bno08x_magf_t data_magf;
+    bno08x_quat_t data_quat;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv_game.enable(REPORT_PERIOD));
+    TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        if (imu->accelerometer.has_new_data())
+        {
+            data_available_accel = true;
+            data_accel = imu->accelerometer.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                    data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->linear_accelerometer.has_new_data())
+        {
+            data_available_lin_accel = true;
+            data_accel = imu->linear_accelerometer.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: LinAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x,
+                    data_accel.y, data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->gravity.has_new_data())
+        {
+            data_available_gravity = true;
+            data_accel = imu->gravity.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_accel.x, data_accel.y,
+                    data_accel.z, BNO08x::accuracy_to_str(data_accel.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->cal_gyro.has_new_data())
+        {
+            data_available_cal_gyro = true;
+            data_vel = imu->cal_gyro.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_vel.x, data_vel.y,
+                    data_vel.z, BNO08x::accuracy_to_str(data_vel.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->cal_magnetometer.has_new_data())
+        {
+            data_available_cal_magnetometer = true;
+            data_magf = imu->cal_magnetometer.get();
+            sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data_magf.x,
+                    data_magf.y, data_magf.z, BNO08x::accuracy_to_str(data_magf.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->rv.has_new_data())
+        {
+            data_available_rv = true;
+            data_quat = imu->rv.get_quat();
+            sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real,
+                    data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->rv_game.has_new_data())
+        {
+            data_available_rv_game = true;
+            data_quat = imu->rv_game.get_quat();
+            sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data_quat.real,
+                    data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+
+        if (imu->rv_geomagnetic.has_new_data())
+        {
+            data_available_rv_geomagnetic = true;
+            data_quat = imu->rv_geomagnetic.get_quat();
+            sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
+                    data_quat.real, data_quat.i, data_quat.j, data_quat.k, BNO08x::accuracy_to_str(data_quat.accuracy));
+            BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+        }
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->gravity.disable());
+    TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
+    TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->rv.disable());
+    TEST_ASSERT_EQUAL(true, imu->rv_game.disable());
+    TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.disable());
+
+    TEST_ASSERT_EQUAL(true, data_available_accel);
+    TEST_ASSERT_EQUAL(true, data_available_lin_accel);
+    TEST_ASSERT_EQUAL(true, data_available_gravity);
+    TEST_ASSERT_EQUAL(true, data_available_cal_gyro);
+    TEST_ASSERT_EQUAL(true, data_available_cal_magnetometer);
+    TEST_ASSERT_EQUAL(true, data_available_rv);
+    TEST_ASSERT_EQUAL(true, data_available_rv_game);
+    TEST_ASSERT_EQUAL(true, data_available_rv_geomagnetic);
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests", "[MultiReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [MultiReportEnableDisable] Tests";
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
+
+    BNO08xTestHelper::destroy_test_imu();
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}

test/SingleReportTests.cpp

@@ -0,0 +1,574 @@
+/**
+ * @file SingleReportTests.cpp
+ * @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.")
+ */
+
+#include "unity.h"
+#include "../include/BNO08xTestHelper.hpp"
+
+TEST_CASE("BNO08x Driver Creation for [SingleReportEnableDisable] Tests", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Creation for [SingleReportEnableDisable] Tests";
+    BNO08x* imu = nullptr;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Creating & initializing BNO08x driver.");
+    BNO08xTestHelper::create_test_imu();
+    imu = BNO08xTestHelper::get_test_imu();
+
+    // ensure IMU initialized successfully
+    TEST_ASSERT_EQUAL(true, imu->initialize());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable Incorrect Report", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable Incorrect Report";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool wrong_report_data_available = true;
+    bno08x_accel_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        wrong_report_data_available = imu->linear_accelerometer.has_new_data();
+        TEST_ASSERT_EQUAL(false, wrong_report_data_available);
+
+        data = imu->linear_accelerometer.get();
+
+        sprintf(msg_buff, "No Rx Data Trial %d Success: LinAccelDefaults: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y,
+                data.z, BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Accelerometer", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Accelerometer";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_accel_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->accelerometer.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->accelerometer.get();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: Accel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y, data.z,
+                BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->accelerometer.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Linear Accelerometer", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Linear Accelerometer";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_accel_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->linear_accelerometer.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->linear_accelerometer.get();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: LinearAccel: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y, data.z,
+                BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->linear_accelerometer.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Gravity", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Gravity";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_accel_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->gravity.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->gravity.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->gravity.get();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: Gravity: [m/s^2] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y, data.z,
+                BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->gravity.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Cal Magnetometer", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Cal Magnetometer";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_magf_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->cal_magnetometer.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->cal_magnetometer.get();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: CalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y,
+                data.z, BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->cal_magnetometer.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Uncal Magnetometer", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Uncal Magnetometer";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_magf_t data_magf;
+    bno08x_magf_bias_t data_bias;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->uncal_magnetometer.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->uncal_magnetometer.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        imu->uncal_magnetometer.get(data_magf, data_bias);
+
+        sprintf(msg_buff,
+                "Rx Data Trial %d Success: UncalMagnetometer: [uTesla] x: %.2f y: %.2f z: %.2f x_bias: %.2f y_bias: %.2f z_bias: %.2f accuracy: %s ",
+                (i + 1), data_magf.x, data_magf.y, data_magf.z, data_bias.x, data_bias.y, data_bias.z, BNO08x::accuracy_to_str(data_magf.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->uncal_magnetometer.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Cal Gyro", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Cal Gyro";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_gyro_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->cal_gyro.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->cal_gyro.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->cal_gyro.get();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: CalGyro: [rad/s] x: %.2f y: %.2f z: %.2f accuracy: %s ", (i + 1), data.x, data.y, data.z,
+                BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->cal_gyro.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Uncal Gyro", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Uncal Gyro";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_gyro_t data_vel;
+    bno08x_gyro_bias_t data_bias;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->uncal_gyro.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->uncal_gyro.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        imu->uncal_gyro.get(data_vel, data_bias);
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: UncalGyro: [rad/s] x: %.2f y: %.2f z: %.2f x_bias: %.2f y_bias: %.2f z_bias: %.2f accuracy: %s ",
+                (i + 1), data_vel.x, data_vel.y, data_vel.z, data_bias.x, data_bias.y, data_bias.z, BNO08x::accuracy_to_str(data_vel.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->uncal_gyro.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable RV", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable RV";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_quat_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->rv.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->rv.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->rv.get_quat();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: RV: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real, data.i, data.j,
+                data.k, BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->rv.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Game RV", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Game RV";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_quat_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->rv_game.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->rv_game.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->rv_game.get_quat();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: RV Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real, data.i,
+                data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->rv_game.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable ARVR Stabilized RV", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized RV";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_quat_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->rv_ARVR_stabilized.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->rv_ARVR_stabilized.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->rv_ARVR_stabilized.get_quat();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: RV ARVR Stabilized: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real,
+                data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->rv_ARVR_stabilized.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable ARVR Stabilized Game RV", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable ARVR Stabilized Game RV";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_quat_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->rv_ARVR_stabilized_game.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->rv_ARVR_stabilized_game.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->rv_ARVR_stabilized_game.get_quat();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: RV ARVR Stabilized Game: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1),
+                data.real, data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->rv_ARVR_stabilized_game.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Gyro Integrated RV", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Gyro Integrated RV";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_quat_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->rv_gyro_integrated.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->rv_gyro_integrated.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->rv_gyro_integrated.get_quat();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: RV Gyro Integrated: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real,
+                data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->rv_gyro_integrated.disable());
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("Enable/Disable Geomagnetic RV", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "Enable/Disable Geomagnetic RV";
+    static const constexpr uint8_t RX_REPORT_TRIAL_CNT = 5;
+    static const constexpr uint32_t REPORT_PERIOD = 100000UL; // 100ms
+
+    BNO08x* imu = nullptr;
+    char msg_buff[200] = {};
+    bool data_available = false;
+    bool report_data_available = true;
+    bno08x_quat_t data;
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+
+    imu = BNO08xTestHelper::get_test_imu();
+
+    TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.enable(REPORT_PERIOD));
+
+    for (int i = 0; i < RX_REPORT_TRIAL_CNT; i++)
+    {
+        data_available = imu->data_available();
+        TEST_ASSERT_EQUAL(true, data_available);
+
+        report_data_available = imu->rv_geomagnetic.has_new_data();
+        TEST_ASSERT_EQUAL(true, report_data_available);
+
+        data = imu->rv_geomagnetic.get_quat();
+
+        sprintf(msg_buff, "Rx Data Trial %d Success: RV Geomagnetic: [n/a] real: %.2f i: %.2f j: %.2f k: %.2f accuracy: %s ", (i + 1), data.real,
+                data.i, data.j, data.k, BNO08x::accuracy_to_str(data.accuracy));
+
+        BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
+    }
+
+    TEST_ASSERT_EQUAL(true, imu->rv_geomagnetic.disable());
+
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}
+
+TEST_CASE("BNO08x Driver Cleanup for [SingleReportEnableDisable] Tests", "[SingleReportEnableDisable]")
+{
+    const constexpr char* TEST_TAG = "BNO08x Driver Cleanup for [SingleReportEnableDisable] Tests";
+
+    BNO08xTestHelper::print_test_start_banner(TEST_TAG);
+    BNO08xTestHelper::print_test_msg(TEST_TAG, "Destroying BNO08x Driver.");
+
+    BNO08xTestHelper::destroy_test_imu();
+    BNO08xTestHelper::print_test_end_banner(TEST_TAG);
+}