re_enable_reports() bugfix, circle detector rpts

include/BNO08x.hpp

@@ -38,6 +38,7 @@ class BNO08x
         bool initialize();
         bool hard_reset();
         bool soft_reset();
+        bool disable_all_reports();
         BNO08xResetReason get_reset_reason();
 
         bool on();
@@ -91,6 +92,7 @@ class BNO08x
                 BNO08xRptStabilityClassifier stability_classifier;
                 BNO08xRptShakeDetector shake_detector;
                 BNO08xRptTapDetector tap_detector;
+                BNO08xRptCircleDetector circle_detector;
 
                 bno08x_reports_t(BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx)
                     : accelerometer(SH2_ACCELEROMETER, BNO08xPrivateTypes::EVT_GRP_RPT_ACCELEROMETER_BIT, sync_ctx)
@@ -120,6 +122,7 @@ class BNO08x
                               SH2_STABILITY_CLASSIFIER, BNO08xPrivateTypes::EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT, sync_ctx)
                     , shake_detector(SH2_SHAKE_DETECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_SHAKE_DETECTOR_BIT, sync_ctx)
                     , tap_detector(SH2_TAP_DETECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_TAP_DETECTOR_BIT, sync_ctx)
+                    , circle_detector(SH2_CIRCLE_DETECTOR, BNO08xPrivateTypes::EVT_GRP_RPT_CIRCLE_DETECTOR_BIT, sync_ctx)
                 {
                 }
         } bno08x_reports_t;
@@ -223,6 +226,7 @@ class BNO08x
                 {SH2_STABILITY_CLASSIFIER, &rpt.stability_classifier},
                 {SH2_SHAKE_DETECTOR, &rpt.shake_detector}, 
                 {SH2_TAP_DETECTOR, &rpt.tap_detector},
+                {SH2_CIRCLE_DETECTOR, &rpt.circle_detector},
                 
                 // not implemented, see include/report for existing implementations to add your own
                 {SH2_PRESSURE, nullptr}, // requires auxilary i2c sensor
@@ -239,7 +243,6 @@ class BNO08x
                 {SH2_SLEEP_DETECTOR, nullptr},
                 {SH2_TILT_DETECTOR, nullptr},
                 {SH2_POCKET_DETECTOR, nullptr},
-                {SH2_CIRCLE_DETECTOR, nullptr},
                 {SH2_IZRO_MOTION_REQUEST, nullptr}
         };
         // clang-format on

include/BNO08xPrivateTypes.hpp

@@ -99,6 +99,7 @@ namespace BNO08xPrivateTypes
         EVT_GRP_RPT_RAW_ACCELEROMETER_BIT = (1UL << 18U),    ///< When set, raw accelerometer reports are active.
         EVT_GRP_RPT_RAW_GYRO_BIT = (1UL << 19U),             ///< When set, raw gyro reports are active.
         EVT_GRP_RPT_RAW_MAGNETOMETER_BIT = (1UL << 20U),     ///< When set, raw magnetometer reports are active.
+        EVT_GRP_RPT_CIRCLE_DETECTOR_BIT = (1UL << 21U),      ///< When set, circle detector reports are active.
 
         EVT_GRP_RPT_ALL = EVT_GRP_RPT_RV_BIT | EVT_GRP_RPT_RV_GAME_BIT | EVT_GRP_RPT_RV_ARVR_S_BIT |
                           EVT_GRP_RPT_RV_ARVR_S_GAME_BIT | EVT_GRP_RPT_LINEAR_ACCELEROMETER_BIT | EVT_GRP_RPT_GRAVITY_BIT |
@@ -106,7 +107,8 @@ namespace BNO08xPrivateTypes
                           EVT_GRP_RPT_TAP_DETECTOR_BIT | EVT_GRP_RPT_STEP_COUNTER_BIT | EVT_GRP_RPT_STABILITY_CLASSIFIER_BIT |
                           EVT_GRP_RPT_ACTIVITY_CLASSIFIER_BIT | EVT_GRP_RPT_RAW_ACCELEROMETER_BIT | EVT_GRP_RPT_RAW_GYRO_BIT |
                           EVT_GRP_RPT_RAW_MAGNETOMETER_BIT | EVT_GRP_RPT_UNCAL_MAGNETOMETER_BIT | EVT_GRP_RPT_SHAKE_DETECTOR_BIT |
-                          EVT_GRP_RPT_ACCELEROMETER_BIT | EVT_GRP_RPT_GEOMAG_RV_BIT | EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT
+                          EVT_GRP_RPT_ACCELEROMETER_BIT | EVT_GRP_RPT_GEOMAG_RV_BIT | EVT_GRP_RPT_GYRO_INTEGRATED_RV_BIT |
+                          EVT_GRP_RPT_CIRCLE_DETECTOR_BIT
     };
 
     /// @brief Bits for evt_grp_bno08x_task

include/report/BNO08xReports.hpp

@@ -21,3 +21,4 @@
 #include "BNO08xRptStabilityClassifier.hpp"
 #include "BNO08xRptShakeDetector.hpp"
 #include "BNO08xRptTapDetector.hpp"
+#include "BNO08xRptCircleDetector.hpp"

include/report/BNO08xRpt.hpp

@@ -7,6 +7,8 @@
 
 // standard library includes
 #include <functional>
+//esp-idf includes
+#include "esp_log.h"
 // in-house includes
 #include "BNO08xGlobalTypes.hpp"
 #include "BNO08xPrivateTypes.hpp"
@@ -23,7 +25,6 @@
 class BNO08xRpt
 {
     public:
-        bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
         bool disable(sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
         bool register_cb(std::function<void(void)> cb_fxn);
         bool has_new_data();
@@ -31,6 +32,8 @@ class BNO08xRpt
         bool get_sample_counts(bno08x_sample_counts_t& sample_counts);
         bool clear_sample_counts();
         bool get_meta_data(bno08x_meta_data_t& meta_data);
+        virtual bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) = 0;
 
     protected:
         uint8_t ID;          ///< Report ID, ex. SH2_ACCELERATION.
@@ -38,6 +41,7 @@ class BNO08xRpt
         uint32_t period_us;  ///< The period/interval of the report in microseconds.
         BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx;
 
+        bool rpt_enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
         virtual void update_data(sh2_SensorValue_t* sensor_val) = 0;
 
         /**

include/report/BNO08xRptAcceleration.hpp

@@ -20,6 +20,8 @@ class BNO08xRptAcceleration : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_accel_t get();
 
     private:

include/report/BNO08xRptActivityClassifier.hpp

@@ -20,13 +20,16 @@ class BNO08xRptActivityClassifier : public BNO08xRpt
         {
         }
 
-        bool enable(uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable,
+        bool enable(
-                sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg) override;
         bno08x_activity_classifier_t get();
         BNO08xActivity get_most_likely_activity();
+        void set_activities_to_enable(BNO08xActivityEnable activities_to_enable);
 
     private:
         void update_data(sh2_SensorValue_t* sensor_val) override;
         bno08x_activity_classifier_t data; ///< Most recent report data, doesn't account for step rollover.
+        BNO08xActivityEnable activities_to_enable =
+                BNO08xActivityEnable::ALL; ///< Activities to be monitored, call enable after setting.
         static const constexpr char* TAG = "BNO08xRptActivityClassifier";
 };

include/report/BNO08xRptCalGyro.hpp

@@ -20,6 +20,8 @@ class BNO08xRptCalGyro : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_gyro_t get();
 
     private:

include/report/BNO08xRptCalMagnetometer.hpp

@@ -20,6 +20,8 @@ class BNO08xRptCalMagnetometer : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_magf_t get();
 
     private:

include/report/BNO08xRptCircleDetector.hpp

@@ -0,0 +1,31 @@
+/**
+ * @file BNO08xRptCircleDetector.hpp
+ * @author Myles Parfeniuk
+ */
+
+#pragma once
+
+#include "BNO08xRpt.hpp"
+
+/**
+ * @class BNO08xRptCircleDetector
+ *
+ * @brief Class to represent circle detector reports. (See Ref. Manual 6.40.2)
+ */
+class BNO08xRptCircleDetector : public BNO08xRpt
+{
+    public:
+        BNO08xRptCircleDetector(uint8_t ID, EventBits_t rpt_bit, BNO08xPrivateTypes::bno08x_sync_ctx_t* sync_ctx)
+            : BNO08xRpt(ID, rpt_bit, sync_ctx)
+        {
+        }
+
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
+        uint16_t get();
+
+    private:
+        void update_data(sh2_SensorValue_t* sensor_val) override;
+        uint16_t data; ///< Total amount of circles detected.
+        static const constexpr char* TAG = "BNO08xRptCircleDetector";
+};

include/report/BNO08xRptGravity.hpp

@@ -20,6 +20,8 @@ class BNO08xRptGravity : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_accel_t get();
 
     private:

include/report/BNO08xRptLinearAcceleration.hpp

@@ -20,6 +20,8 @@ class BNO08xRptLinearAcceleration : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_accel_t get();
 
     private:

include/report/BNO08xRptRVGeneric.hpp

@@ -15,6 +15,8 @@
 class BNO08xRptRVGeneric : public BNO08xRpt
 {
     public:
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_quat_t get_quat();
         bno08x_euler_angle_t get_euler(bool in_degrees = true);
 

include/report/BNO08xRptRawMEMSAccelerometer.hpp

@@ -20,6 +20,8 @@ class BNO08xRptRawMEMSAccelerometer : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_raw_accel_t get();
 
     private:

include/report/BNO08xRptRawMEMSGyro.hpp

@@ -20,6 +20,8 @@ class BNO08xRptRawMEMSGyro : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_raw_gyro_t get();
 
     private:

include/report/BNO08xRptRawMEMSMagnetometer.hpp

@@ -20,6 +20,8 @@ class BNO08xRptRawMEMSMagnetometer : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_raw_magf_t get();
 
     private:

include/report/BNO08xRptShakeDetector.hpp

@@ -20,6 +20,8 @@ class BNO08xRptShakeDetector : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_shake_detector_t get();
 
     private:

include/report/BNO08xRptStabilityClassifier.hpp

@@ -20,6 +20,8 @@ class BNO08xRptStabilityClassifier : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_stability_classifier_t get();
         BNO08xStability get_stability();
 

include/report/BNO08xRptStepCounter.hpp

@@ -20,6 +20,8 @@ class BNO08xRptStepCounter : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_step_counter_t get();
         uint32_t get_total_steps();
 

include/report/BNO08xRptTapDetector.hpp

@@ -20,7 +20,8 @@ class BNO08xRptTapDetector : public BNO08xRpt
         {
         }
 
-        bool enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg);
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         bno08x_tap_detector_t get();
 
     private:

include/report/BNO08xRptUncalGyro.hpp

@@ -20,6 +20,8 @@ class BNO08xRptUncalGyro : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         void get(bno08x_gyro_t& vel, bno08x_gyro_bias_t& bias);
         bno08x_gyro_t get_vel();
         bno08x_gyro_bias_t get_bias();

include/report/BNO08xRptUncalMagnetometer.hpp

@@ -21,6 +21,8 @@ class BNO08xRptUncalMagnetometer : public BNO08xRpt
         {
         }
 
+        bool enable(
+                uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg = BNO08xPrivateTypes::default_sensor_cfg) override;
         void get(bno08x_magf_t& magf, bno08x_magf_bias_t& bias);
         bno08x_magf_t get_magf();
         bno08x_magf_bias_t get_bias();

source/BNO08x.cpp

@@ -185,16 +185,22 @@ void BNO08x::sh2_HAL_service_task_trampoline(void* arg)
 void BNO08x::sh2_HAL_service_task()
 {
     EventBits_t evt_grp_bno08x_task_bits = 0U;
+    // clang-format off
+    #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
+    int64_t last_hint_time = esp_timer_get_time();
+    int64_t current_hint_time; 
+    #endif
+    // clang-format on
 
     do
     {
 
         if (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASK_RESET_OCCURRED)
         {
-            if (!re_enable_reports())
+            if (re_enable_reports() != ESP_OK)
             {
                 // clang-format off
-                #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
+                #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
                 ESP_LOGE(TAG, "Failed to re-enable enabled reports after IMU reset.");
                 #endif
                 // clang-format on
@@ -211,6 +217,14 @@ void BNO08x::sh2_HAL_service_task()
         evt_grp_bno08x_task_bits = xEventGroupWaitBits(sync_ctx.evt_grp_task,
                 EVT_GRP_BNO08x_TASK_HINT_ASSRT_BIT | EVT_GRP_BNO08x_TASK_RESET_OCCURRED, pdFALSE, pdFALSE, portMAX_DELAY);
 
+        // clang-format off
+        #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
+        current_hint_time = esp_timer_get_time();
+        ESP_LOGW(TAG, "HINT Asserted, time since last assertion: %lldus", current_hint_time - last_hint_time);
+        last_hint_time = current_hint_time;
+        #endif
+        // clang-format on
+
     } while (evt_grp_bno08x_task_bits & EVT_GRP_BNO08x_TASKS_RUNNING);
 
     xSemaphoreGive(sem_kill_tasks); // signal to deconstructor deletion is completed
@@ -320,6 +334,12 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
 {
     uint8_t rpt_ID = sensor_val->sensorId;
 
+    // clang-format off
+    #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
+    ESP_LOGE(TAG, "Report RX'd, ID: %d", sensor_val->sensorId);
+    #endif
+    // clang-format on
+
     // check if report implementation exists within map
     if (rpt_ID == SH2_RESERVED)
         return;
@@ -990,7 +1010,7 @@ esp_err_t BNO08x::deinit_tasks()
         if (kill_count != init_count)
         {
             // clang-format off
-            #ifdef CONFIG_ESP32_BNO08x_DEBUG_STATEMENTS
+            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
             ESP_LOGE(TAG, "Task deletion timed out in deconstructor call.");
             #endif
             // clang-format on
@@ -1120,6 +1140,47 @@ bool BNO08x::soft_reset()
     return false;
 }
 
+/**
+ * @brief Disables all currently enabled reports.
+ *
+ * @return True if all currently enabled reports were disabled successfully.
+ */
+bool BNO08x::disable_all_reports()
+{
+    int attempts = 0;
+
+    xEventGroupClearBits(sync_ctx.evt_grp_rpt_en, EVT_GRP_RPT_ALL);
+
+    while (sync_ctx.en_report_ids.size() != 0 && (attempts < TOTAL_RPT_COUNT))
+    {
+        uint8_t rpt_ID = sync_ctx.en_report_ids.back();
+        BNO08xRpt* rpt = usr_reports.at(rpt_ID);
+        if (rpt == nullptr)
+        {
+            // clang-format off
+            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+            ESP_LOGE(TAG, "NULL pointer detected in usr_reports map for enabled report.");
+            #endif
+            // clang-format on
+            return false;
+        }
+
+        if (!rpt->disable())
+        {
+            // clang-format off
+            #ifdef CONFIG_ESP32_BNO08x_LOG_STATEMENTS
+            ESP_LOGE(TAG, "Failed to disable: %d", rpt->ID);
+            #endif
+            // clang-format on
+            return false;
+        }
+
+        attempts++;
+    }
+
+    return true;
+}
+
 /**
  * @brief Returns reason for previous reset via product ID report.
  *
@@ -1491,6 +1552,8 @@ esp_err_t BNO08x::re_enable_reports()
             continue;
         }
 
+        ESP_LOGI(TAG, "Re-enabling. %d", rpt->ID);
+
         if (rpt->rpt_bit & report_en_bits)
         {
             if (!rpt->enable(rpt->period_us))

source/BNO08xRpt.cpp

@@ -14,11 +14,10 @@
  *
  * @return True if report was successfully enabled.
  */
-bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+bool BNO08xRpt::rpt_enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
 {
     int sh2_res = SH2_OK;
-
+    int16_t idx = -1;
-    EventBits_t report_en_bits = xEventGroupGetBits(sync_ctx->evt_grp_rpt_en);
 
     sensor_cfg.reportInterval_us = time_between_reports;
 
@@ -32,15 +31,28 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
     }
     else
     {
+        xEventGroupSetBits(sync_ctx->evt_grp_rpt_en, rpt_bit); // set the event group bit
+
         vTaskDelay(30UL / portTICK_PERIOD_MS); // delay a bit to allow command to execute
         period_us = time_between_reports;      // update the period
 
-        // if not already enabled (ie user called this, not re_enable_reports())
+        lock_user_data();
-        if (!(report_en_bits & rpt_bit))
+        for (int i = 0; i < sync_ctx->en_report_ids.size(); i++)
         {
-            sync_ctx->en_report_ids.push_back(ID);                 // add report ID to enabled report IDs
+            if (sync_ctx->en_report_ids[i] == ID)
-            xEventGroupSetBits(sync_ctx->evt_grp_rpt_en, rpt_bit); // set the event group bit
+            {
+                idx = i;
+                break;
             }
+        }
+
+        // if not already enabled (ie user called this, not re_enable_reports())
+        if (idx == -1)
+        {
+            ESP_LOGI(TAG, "ADDED: %d", ID);
+            sync_ctx->en_report_ids.push_back(ID); // add report ID to enabled report IDs
+        }
+        unlock_user_data();
 
         return true;
     }
@@ -57,14 +69,26 @@ bool BNO08xRpt::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_
  */
 bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
 {
+    int sh2_res = SH2_OK;
     int16_t idx = -1;
 
-    if (!enable(0UL, sensor_cfg))
+    sensor_cfg.reportInterval_us = 0UL;
+
+    lock_sh2_HAL();
+    sh2_res = sh2_setSensorConfig(ID, &sensor_cfg);
+    unlock_sh2_HAL();
+
+    if (sh2_res != SH2_OK)
     {
         return false;
     }
     else
     {
+        // clear the event group bit (this is redundant if called from BNO08x::disable_all_reports())
+        xEventGroupClearBits(sync_ctx->evt_grp_rpt_en, rpt_bit);
+
+        // remove report ID from enabled report IDs
+        lock_user_data();
         for (int i = 0; i < sync_ctx->en_report_ids.size(); i++)
         {
             if (sync_ctx->en_report_ids[i] == ID)
@@ -78,9 +102,11 @@ bool BNO08xRpt::disable(sh2_SensorConfig_t sensor_cfg)
         period_us = 0UL;                       // update the period
 
         if (idx != -1)
+        {
+            ESP_LOGW(TAG, "ERASED: %d", ID);
             sync_ctx->en_report_ids.erase(sync_ctx->en_report_ids.begin() + idx);
-
+        }
-        xEventGroupClearBits(sync_ctx->evt_grp_rpt_en, rpt_bit); // Set the event group bit
+        unlock_user_data();
     }
 
     return true;

source/report/BNO08xRptAcceleration.cpp

@@ -23,6 +23,21 @@ void BNO08xRptAcceleration::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables acceleration reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptAcceleration::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent acceleration data (including gravity), units are in m/s^2.
  *

source/report/BNO08xRptActivityClassifier.cpp

@@ -5,25 +5,6 @@
 
 #include "BNO08xRptActivityClassifier.hpp"
 
-/**
- * @brief Enables activity classifier reports such that the BNO08x begins sending them.
- *
- * @param time_between_reports The period/interval of the report in microseconds.
- * @param activities_to_enable Which activities to enable.
- * @param sensor_cfg Sensor special configuration (optional, see
- * BNO08xPrivateTypes::default_sensor_cfg for defaults).
- *
- * @return True if report was successfully enabled.
- */
-bool BNO08xRptActivityClassifier::enable(
-        uint32_t time_between_reports, BNO08xActivityEnable activities_to_enable, sh2_SensorConfig_t sensor_cfg)
-{
-    sensor_cfg.sensorSpecific = static_cast<uint8_t>(activities_to_enable); // this must be set regardless of user cfg
-                                                                            // or no reports will be received
-
-    return BNO08xRpt::enable(time_between_reports, sensor_cfg);
-}
-
 /**
  * @brief Updates activity classifier data from decoded sensor event.
  *
@@ -42,6 +23,23 @@ void BNO08xRptActivityClassifier::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables activity classifier reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptActivityClassifier::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    sensor_cfg.sensorSpecific = static_cast<uint8_t>(activities_to_enable); // this must be set regardless of user cfg
+                                                                            // or no reports will be received
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent activity classifier data.
  *
@@ -67,3 +65,15 @@ BNO08xActivity BNO08xRptActivityClassifier::get_most_likely_activity()
     unlock_user_data();
     return rqdata;
 }
+
+/**
+ * @brief Sets the activities to be monitored for with ActivityClassifier reports, all enable after setting.
+ *
+ * @param activities_to_enable The activities to be monitored with sent reports.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRptActivityClassifier::set_activities_to_enable(BNO08xActivityEnable activities_to_enable)
+{
+    this->activities_to_enable = activities_to_enable;
+}

source/report/BNO08xRptCalGyro.cpp

@@ -23,6 +23,21 @@ void BNO08xRptCalGyro::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables calibrated gyro reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptCalGyro::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent gyroscope data (velocity), units are in rad/s.
  *

source/report/BNO08xRptCalMagnetometer.cpp

@@ -23,6 +23,21 @@ void BNO08xRptCalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables calibrated magnetometer reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptCalMagnetometer::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent calibrated magnetometer data, units are in uTesla.
  *

source/report/BNO08xRptCircleDetector.cpp

@@ -0,0 +1,94 @@
+/**
+ * @file BNO08xRptCircleDetector.cpp
+ * @author Myles Parfeniuk
+ */
+
+#define SCALE_Q(n) (1.0f / (1 << n))
+
+#include "BNO08xRptCircleDetector.hpp"
+#include "esp_log.h"
+#include "math.h"
+
+/**
+ * @brief Enables circle detector reports such that the BNO08x begins sending them (only sends reports
+ * when a circle gesture is detected).
+ *
+ * @param time_between_reports The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptCircleDetector::enable(uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    static bool configured = false;
+
+    sensor_cfg.changeSensitivity = 0U;
+    sensor_cfg.changeSensitivityRelative = true;
+    sensor_cfg.changeSensitivityEnabled = true;
+    int op_success = SH2_ERR;
+
+    uint32_t settings[3] = {static_cast<uint32_t>(4.0f / SCALE_Q(24)), static_cast<uint32_t>(0.1f / SCALE_Q(30)),
+            static_cast<uint32_t>((3.0f * M_PI) / SCALE_Q(25))};
+
+    if (!configured)
+    {
+        lock_sh2_HAL();
+        op_success = sh2_setFrs(CIRCLE_DETECTOR_CONFIG, settings, 0U);
+        unlock_sh2_HAL();
+
+        if (op_success != SH2_OK)
+        {
+            ESP_LOGE(TAG, "%d", op_success);
+            return false;
+        }
+        else
+        {
+            ESP_LOGE(TAG, "erased");
+        }
+
+        lock_sh2_HAL();
+        op_success = sh2_setFrs(CIRCLE_DETECTOR_CONFIG, settings, 3U);
+        unlock_sh2_HAL();
+
+        if (op_success != SH2_OK)
+        {
+            ESP_LOGE(TAG, "%d", op_success);
+            return false;
+        }
+
+        configured = true;
+    }
+
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
+/**
+ * @brief Updates circle detector data from decoded sensor event.
+ *
+ * @param sensor_val The sh2_SensorValue_t struct used in sh2_decodeSensorEvent() call.
+ *
+ * @return void, nothing to return
+ */
+void BNO08xRptCircleDetector::update_data(sh2_SensorValue_t* sensor_val)
+{
+    lock_user_data();
+    data += sensor_val->un.circleDetector.circle;
+    unlock_user_data();
+
+    if (rpt_bit & xEventGroupGetBits(sync_ctx->evt_grp_rpt_en))
+        signal_data_available();
+}
+
+/**
+ * @brief Grabs most recent circle detector detector data.
+ *
+ * @return Struct containing requested data;
+ */
+uint16_t BNO08xRptCircleDetector::get()
+{
+    lock_user_data();
+    uint16_t rqdata = data;
+    unlock_user_data();
+    return rqdata;
+}

source/report/BNO08xRptGravity.cpp

@@ -23,6 +23,21 @@ void BNO08xRptGravity::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables gravity reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptGravity::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent gravity data, units are in m/s^2.
  *

source/report/BNO08xRptLinearAcceleration.cpp

@@ -23,6 +23,21 @@ void BNO08xRptLinearAcceleration::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables linear acceleration reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptLinearAcceleration::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent acceleration data (including gravity), units are in m/s^2.
  *

source/report/BNO08xRptRVGeneric.cpp

@@ -5,6 +5,21 @@
 
 #include "BNO08xRptRVGeneric.hpp"
 
+/**
+ * @brief Enables a rotation vector report such that the BNO08x begins it.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptRVGeneric::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent rotation vector data in form of unit quaternion, rad accuracy units in
  * radians (if available, else constant 0.0f).

source/report/BNO08xRptRawMEMSAccelerometer.cpp

@@ -23,6 +23,21 @@ void BNO08xRptRawMEMSAccelerometer::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables raw accelerometer reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptRawMEMSAccelerometer::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent raw accelerometer data, units are ADC counts, time_stamp in
  * microseconds.

source/report/BNO08xRptRawMEMSGyro.cpp

@@ -23,6 +23,21 @@ void BNO08xRptRawMEMSGyro::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables raw gyro reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptRawMEMSGyro::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent raw mems gyro report (units in ADC counts, time_stamp in microseconds)
  *

source/report/BNO08xRptRawMEMSMagnetometer.cpp

@@ -23,6 +23,21 @@ void BNO08xRptRawMEMSMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables raw magnetometer such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptRawMEMSMagnetometer::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent raw magnetometer data, units are ADC counts, time_stamp in microseconds.
  *

source/report/BNO08xRptShakeDetector.cpp

@@ -23,6 +23,21 @@ void BNO08xRptShakeDetector::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables shake detector reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptShakeDetector::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent shake detector detector data.
  *

source/report/BNO08xRptStabilityClassifier.cpp

@@ -23,6 +23,21 @@ void BNO08xRptStabilityClassifier::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables stability classifier reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptStabilityClassifier::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent stability classifier data.
  *

source/report/BNO08xRptStepCounter.cpp

@@ -35,16 +35,18 @@ void BNO08xRptStepCounter::update_data(sh2_SensorValue_t* sensor_val)
 }
 
 /**
- * @brief Grabs the total step count since boot, accounts for rollover in report data.
+ * @brief Enables step counter reports such that the BNO08x begins sending them.
  *
- * @return Total steps since boot.
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
  */
-uint32_t BNO08xRptStepCounter::get_total_steps()
+bool BNO08xRptStepCounter::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
 {
-    lock_user_data();
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
-    uint32_t total_steps = step_accumulator + data.steps;
-    unlock_user_data();
-    return total_steps;
 }
 
 /**
@@ -60,3 +62,16 @@ bno08x_step_counter_t BNO08xRptStepCounter::get()
     unlock_user_data();
     return rqdata;
 }
+
+/**
+ * @brief Grabs the total step count since boot, accounts for rollover in report data.
+ *
+ * @return Total steps since boot.
+ */
+uint32_t BNO08xRptStepCounter::get_total_steps()
+{
+    lock_user_data();
+    uint32_t total_steps = step_accumulator + data.steps;
+    unlock_user_data();
+    return total_steps;
+}

source/report/BNO08xRptTapDetector.cpp

@@ -20,7 +20,7 @@ bool BNO08xRptTapDetector::enable(uint32_t time_between_reports, sh2_SensorConfi
     sensor_cfg.changeSensitivityEnabled = true; // this must be set regardless of user cfg or no reports will be received
     sensor_cfg.changeSensitivity = 0U;          // this must be set regardless of user cfg or no reports will be received
 
-    return BNO08xRpt::enable(time_between_reports, sensor_cfg);
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
 }
 
 /**

source/report/BNO08xRptUncalGyro.cpp

@@ -24,6 +24,21 @@ void BNO08xRptUncalGyro::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables uncalibrated gyro reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptUncalGyro::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent uncalibrated gyroscope data, units are in rad/s.
  *

source/report/BNO08xRptUncalMagnetometer.cpp

@@ -24,6 +24,21 @@ void BNO08xRptUncalMagnetometer::update_data(sh2_SensorValue_t* sensor_val)
         signal_data_available();
 }
 
+/**
+ * @brief Enables uncalibrated magnetometer reports such that the BNO08x begins sending them.
+ *
+ * @param report_period_us The period/interval of the report in microseconds.
+ * @param sensor_cfg Sensor special configuration (optional, see
+ * BNO08xPrivateTypes::default_sensor_cfg for defaults).
+ *
+ * @return True if report was successfully enabled.
+ */
+bool BNO08xRptUncalMagnetometer::enable(
+        uint32_t time_between_reports, sh2_SensorConfig_t sensor_cfg)
+{
+    return BNO08xRpt::rpt_enable(time_between_reports, sensor_cfg);
+}
+
 /**
  * @brief Grabs most recent uncalibrated magnetometer data, units are in uTesla.
  *

test/CallbackTests.cpp

@@ -153,14 +153,7 @@ TEST_CASE("Void Input Param Flavor Cb", "[CallbackAllReportVoidInputParam]")
                 }
                 else if (test_running)
                 {
-                    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.gravity.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.cal_gyro.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.cal_magnetometer.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.rv.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.rv_geomagnetic.disable());
                     test_running = false;
                 }
             });
@@ -352,14 +345,7 @@ TEST_CASE("Report ID Input Param Flavor Cb", "[CallbackAllReportIDInputParam]")
                 }
                 else if (test_running)
                 {
-                    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.gravity.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.cal_gyro.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.cal_magnetometer.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.rv.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.disable());
-                    TEST_ASSERT_EQUAL(true, imu->rpt.rv_geomagnetic.disable());
                     test_running = false;
                 }
             });
@@ -453,7 +439,7 @@ TEST_CASE("Single Report Void Input Param Flavor Cb", "[CallbackSingleReportVoid
                 }
                 else if (test_running)
                 {
-                    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+                    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
                     test_running = false;
                 }
             });

test/FeatureTests.cpp

@@ -67,7 +67,7 @@ TEST_CASE("Hard Reset", "[FeatureTests]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);
 }
@@ -112,7 +112,7 @@ TEST_CASE("Soft Reset", "[FeatureTests]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);
 }
@@ -166,7 +166,7 @@ TEST_CASE("Sleep", "[FeatureTests]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);
 }
@@ -219,7 +219,7 @@ TEST_CASE("Get Metadata", "[FeatureTests]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);
 }
@@ -269,7 +269,7 @@ TEST_CASE("Get Sample Counts", "[FeatureTests]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
 
     BNO08xTestHelper::print_test_end_banner(TEST_TAG);
 }
@@ -421,7 +421,7 @@ TEST_CASE("Clear Dynamic Calibration", "[FeatureTests]")
         BNO08xTestHelper::print_test_msg(TEST_TAG, msg_buff);
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
 }
 
 TEST_CASE("BNO08x Driver Cleanup for [FeatureTests] Tests", "[FeatureTests]")

test/MultiReportTests.cpp

@@ -77,8 +77,7 @@ TEST_CASE("Enable/Disable Dual Report", "[MultiReportEnableDisable]")
         }
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
-    TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.disable());
 
     TEST_ASSERT_EQUAL(true, data_available_accel);
     TEST_ASSERT_EQUAL(true, data_available_lin_accel);
@@ -163,10 +162,7 @@ TEST_CASE("Enable/Disable Quad Report", "[MultiReportEnableDisable]")
         }
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
-    TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.disable());
-    TEST_ASSERT_EQUAL(true, imu->rpt.gravity.disable());
-    TEST_ASSERT_EQUAL(true, imu->rpt.cal_gyro.disable());
 
     TEST_ASSERT_EQUAL(true, data_available_accel);
     TEST_ASSERT_EQUAL(true, data_available_lin_accel);
@@ -307,14 +303,7 @@ TEST_CASE("Enable/Disable Octo Report", "[MultiReportEnableDisable]")
         }
     }
 
-    TEST_ASSERT_EQUAL(true, imu->rpt.accelerometer.disable());
+    TEST_ASSERT_EQUAL(true, imu->disable_all_reports());
-    TEST_ASSERT_EQUAL(true, imu->rpt.linear_accelerometer.disable());
-    TEST_ASSERT_EQUAL(true, imu->rpt.gravity.disable());
-    TEST_ASSERT_EQUAL(true, imu->rpt.cal_gyro.disable());
-    TEST_ASSERT_EQUAL(true, imu->rpt.cal_magnetometer.disable());
-    TEST_ASSERT_EQUAL(true, imu->rpt.rv.disable());
-    TEST_ASSERT_EQUAL(true, imu->rpt.rv_game.disable());
-    TEST_ASSERT_EQUAL(true, imu->rpt.rv_geomagnetic.disable());
 
     TEST_ASSERT_EQUAL(true, data_available_accel);
     TEST_ASSERT_EQUAL(true, data_available_lin_accel);