diff --git a/.clangd b/.clangd
index f916abe6..8fefd21c 100644
--- a/.clangd
+++ b/.clangd
@@ -1,5 +1,6 @@
 
 CompileFlags:
+  CompilationDatabase: .
   # clang do not understand this flags
   Remove:
     - -mlongcalls
diff --git a/lib/Espfc/src/Device/Baro/BaroBMP085.cpp b/lib/Espfc/src/Device/Baro/BaroBMP085.cpp
index 41dcb326..6afca468 100644
--- a/lib/Espfc/src/Device/Baro/BaroBMP085.cpp
+++ b/lib/Espfc/src/Device/Baro/BaroBMP085.cpp
@@ -107,7 +107,8 @@ int BaroBMP085::getDelay(BaroDeviceMode mode) const
 {
   switch (mode)
   {
-    case BARO_MODE_TEMP: return 4550; // temp
+    case BARO_MODE_TEMP:
+      return 4550; // temp
     default:
       // return 4550;  // press_0
       // return 7550;  // press_1
@@ -119,8 +120,10 @@ int BaroBMP085::getDelay(BaroDeviceMode mode) const
 bool BaroBMP085::testConnection()
 {
   uint8_t whoami = 0;
-  _bus->readByte(_addr, BMP085_WHOAMI_REG, &whoami);
-  return whoami == BMP085_WHOAMI_ID;
+  if (_bus->readByte(_addr, BMP085_WHOAMI_REG, &whoami) != 1) return false;
+  setChipId(whoami);
+  if (whoami != BMP085_WHOAMI_ID) return false;
+  return true;
 }
 
 } // namespace Espfc::Device::Baro
diff --git a/lib/Espfc/src/Device/Baro/BaroBMP280.cpp b/lib/Espfc/src/Device/Baro/BaroBMP280.cpp
index a8f3e173..15767251 100644
--- a/lib/Espfc/src/Device/Baro/BaroBMP280.cpp
+++ b/lib/Espfc/src/Device/Baro/BaroBMP280.cpp
@@ -118,7 +118,8 @@ int BaroBMP280::getDelay(BaroDeviceMode mode) const
 {
   switch (mode)
   {
-    case BARO_MODE_TEMP: return 0;
+    case BARO_MODE_TEMP:
+      return 0;
     default:
       // return 5500; // if sapling X1
       // return 7500; // if sampling X2
@@ -132,7 +133,9 @@ bool BaroBMP280::testConnection()
 {
   uint8_t whoami = 0;
   if (_bus->read(_addr, BMP280_WHOAMI_REG, 1, &whoami) != 1) return false;
-  return whoami == BMP280_WHOAMI_ID;
+  setChipId(whoami);
+  if (whoami != BMP280_WHOAMI_ID) return false;
+  return true;
 }
 
 void BaroBMP280::readMesurment()
diff --git a/lib/Espfc/src/Device/Baro/BaroSPL06.cpp b/lib/Espfc/src/Device/Baro/BaroSPL06.cpp
index dd9ca7be..47c0fb42 100644
--- a/lib/Espfc/src/Device/Baro/BaroSPL06.cpp
+++ b/lib/Espfc/src/Device/Baro/BaroSPL06.cpp
@@ -164,7 +164,8 @@ int BaroSPL06::getDelay(BaroDeviceMode mode) const
 {
   switch (mode)
   {
-    case BARO_MODE_TEMP: return 0;
+    case BARO_MODE_TEMP:
+      return 0;
     default:
       // return 5500; // if sapling X1
       // return 7500; // if sampling X2
@@ -176,7 +177,9 @@ bool BaroSPL06::testConnection()
 {
   uint8_t whoami = 0;
   if (_bus->read(_addr, SPL06_WHOAMI_REG, 1, &whoami) != 1) return false;
-  return whoami == SPL06_WHOAMI_ID;
+  setChipId(whoami);
+  if (whoami != SPL06_WHOAMI_ID) return false;
+  return true;
 }
 
 void BaroSPL06::readMesurment()
diff --git a/lib/Espfc/src/Device/BusAwareDevice.hpp b/lib/Espfc/src/Device/BusAwareDevice.hpp
index 3f957dfc..7a722e82 100644
--- a/lib/Espfc/src/Device/BusAwareDevice.hpp
+++ b/lib/Espfc/src/Device/BusAwareDevice.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include "Device/BusDevice.hpp"
+#include <optional>
 
 namespace Espfc::Device {
 
@@ -23,9 +24,20 @@ class BusAwareDevice
     return _addr;
   }
 
+  std::optional<uint8_t> getChipId() const
+  {
+    return _chipId;
+  }
+
 protected:
-  BusDevice* _bus;
-  uint8_t _addr;
+  void setChipId(uint8_t chipId)
+  {
+    _chipId = chipId;
+  }
+
+  BusDevice* _bus = nullptr;
+  uint8_t _addr = 0;
+  std::optional<uint8_t> _chipId = {};
 };
 
 } // namespace Espfc::Device
diff --git a/lib/Espfc/src/Device/Gyro/GyroBMI160.cpp b/lib/Espfc/src/Device/Gyro/GyroBMI160.cpp
index e3f631e6..96cc5bce 100644
--- a/lib/Espfc/src/Device/Gyro/GyroBMI160.cpp
+++ b/lib/Espfc/src/Device/Gyro/GyroBMI160.cpp
@@ -229,6 +229,7 @@ bool GyroBMI160::testConnection()
 {
   uint8_t whoami = 0;
   if (_bus->readByte(_addr, BMI160_RA_CHIP_ID, &whoami) != 1) return false;
+  setChipId(whoami);
   return whoami == BMI160_CHIP_ID_DEFAULT_VALUE;
 }
 
diff --git a/lib/Espfc/src/Device/Gyro/GyroICM20602.cpp b/lib/Espfc/src/Device/Gyro/GyroICM20602.cpp
index 613c7bec..ee8236b5 100644
--- a/lib/Espfc/src/Device/Gyro/GyroICM20602.cpp
+++ b/lib/Espfc/src/Device/Gyro/GyroICM20602.cpp
@@ -1,7 +1,7 @@
 #include "GyroICM20602.hpp"
 
-#define MPU6050_RA_WHO_AM_I           0x75
-#define ICM20602_RA_ACCEL2_CONFIG     0x1D
+#define MPU6050_RA_WHO_AM_I 0x75
+#define ICM20602_RA_ACCEL2_CONFIG 0x1D
 #define ICM20602_WHOAMI_DEFAULT_VALUE 0x12
 
 namespace Espfc::Device::Gyro {
@@ -20,7 +20,8 @@ void GyroICM20602::setDLPFMode(uint8_t mode)
 bool GyroICM20602::testConnection()
 {
   uint8_t whoami = 0;
-  _bus->readByte(_addr, MPU6050_RA_WHO_AM_I, &whoami);
+  if (_bus->readByte(_addr, MPU6050_RA_WHO_AM_I, &whoami) != 1) return false;
+  setChipId(whoami);
   return whoami == ICM20602_WHOAMI_DEFAULT_VALUE;
 }
 
diff --git a/lib/Espfc/src/Device/Gyro/GyroICM20602.hpp b/lib/Espfc/src/Device/Gyro/GyroICM20602.hpp
index a169b339..c52ae117 100644
--- a/lib/Espfc/src/Device/Gyro/GyroICM20602.hpp
+++ b/lib/Espfc/src/Device/Gyro/GyroICM20602.hpp
@@ -4,14 +4,14 @@
 
 namespace Espfc::Device::Gyro {
 
-class GyroICM20602: public GyroMPU6050
+class GyroICM20602 : public GyroMPU6050
 {
-  public:
-    GyroDeviceType getType() const override;
+public:
+  GyroDeviceType getType() const override;
 
-    void setDLPFMode(uint8_t mode) override;
+  void setDLPFMode(uint8_t mode) override;
 
-    bool testConnection() override;
+  bool testConnection() override;
 };
 
 } // namespace Espfc::Device::Gyro
diff --git a/lib/Espfc/src/Device/Gyro/GyroICM42688.cpp b/lib/Espfc/src/Device/Gyro/GyroICM42688.cpp
index dbe9fcb7..54b7ce6e 100644
--- a/lib/Espfc/src/Device/Gyro/GyroICM42688.cpp
+++ b/lib/Espfc/src/Device/Gyro/GyroICM42688.cpp
@@ -3,19 +3,19 @@
 #include "Hal/Time.hpp"
 #include "Utils/MemoryHelper.h"
 
-#define ICM42688_REG_WHO_AM_I         0x75
-#define ICM42688_REG_DEVICE_CONFIG    0x11
-#define ICM42688_REG_PWR_MGMT0        0x4E
-#define ICM42688_REG_GYRO_CONFIG0     0x4F
-#define ICM42688_REG_ACCEL_CONFIG0    0x50
-#define ICM42688_REG_ACCEL_DATA_X1    0x1F
-#define ICM42688_REG_GYRO_DATA_X1     0x25
-
-#define ICM42688_WHO_AM_I_VALUE       0x47
-#define ICM42688_SOFT_RESET           0x01
-#define ICM42688_PWR_GYRO_ACCEL_LN    0x0F
-#define ICM42688_GYRO_2000DPS_8KHZ    0x03
-#define ICM42688_ACCEL_16G_8KHZ       0x03
+#define ICM42688_REG_WHO_AM_I 0x75
+#define ICM42688_REG_DEVICE_CONFIG 0x11
+#define ICM42688_REG_PWR_MGMT0 0x4E
+#define ICM42688_REG_GYRO_CONFIG0 0x4F
+#define ICM42688_REG_ACCEL_CONFIG0 0x50
+#define ICM42688_REG_ACCEL_DATA_X1 0x1F
+#define ICM42688_REG_GYRO_DATA_X1 0x25
+
+#define ICM42688_WHO_AM_I_VALUE 0x47
+#define ICM42688_SOFT_RESET 0x01
+#define ICM42688_PWR_GYRO_ACCEL_LN 0x0F
+#define ICM42688_GYRO_2000DPS_8KHZ 0x03
+#define ICM42688_ACCEL_16G_8KHZ 0x03
 
 namespace Espfc::Device::Gyro {
 
@@ -85,6 +85,7 @@ bool GyroICM42688::testConnection()
 {
   uint8_t whoami = 0;
   if (_bus->readByte(_addr, ICM42688_REG_WHO_AM_I, &whoami) != 1) return false;
+  setChipId(whoami);
   return whoami == ICM42688_WHO_AM_I_VALUE;
 }
 
diff --git a/lib/Espfc/src/Device/Gyro/GyroLSM6DSO.cpp b/lib/Espfc/src/Device/Gyro/GyroLSM6DSO.cpp
index 3043efca..c749f3a6 100644
--- a/lib/Espfc/src/Device/Gyro/GyroLSM6DSO.cpp
+++ b/lib/Espfc/src/Device/Gyro/GyroLSM6DSO.cpp
@@ -4,93 +4,101 @@
 #include "Utils/MemoryHelper.h"
 
 // https://github.com/arduino-libraries/Arduino_LSM6DSOX/blob/master/src/LSM6DSOX.cpp
-#define LSM6DSOX_ADDRESS_FIRST     0x6A
-#define LSM6DSOX_ADDRESS_SECOND    0x6b
+#define LSM6DSOX_ADDRESS_FIRST 0x6A
+#define LSM6DSOX_ADDRESS_SECOND 0x6b
 
 // registers
-#define LSM6DSO_REG_WHO_AM_I       0x0F
-#define LSM6DSO_REG_CTRL1_XL       0x10
-#define LSM6DSO_REG_CTRL2_G        0x11
-#define LSM6DSO_REG_CTRL3_C        0x12
-#define LSM6DSO_REG_CTRL4_C        0x13
-#define LSM6DSO_REG_CTRL5_C        0x14
-#define LSM6DSO_REG_CTRL6_C        0x15
-#define LSM6DSO_REG_CTRL7_G        0x16
-#define LSM6DSO_REG_CTRL8_XL       0x17
-#define LSM6DSO_REG_CTRL9_XL       0x18
-#define LSM6DSO_REG_CTRL10_C       0x19
-#define LSM6DSO_REG_STATUS         0x1E
-#define LSM6DSO_REG_OUTX_L_G       0x22
-#define LSM6DSO_REG_OUTX_L_XL      0x28
+#define LSM6DSO_REG_WHO_AM_I 0x0F
+#define LSM6DSO_REG_CTRL1_XL 0x10
+#define LSM6DSO_REG_CTRL2_G 0x11
+#define LSM6DSO_REG_CTRL3_C 0x12
+#define LSM6DSO_REG_CTRL4_C 0x13
+#define LSM6DSO_REG_CTRL5_C 0x14
+#define LSM6DSO_REG_CTRL6_C 0x15
+#define LSM6DSO_REG_CTRL7_G 0x16
+#define LSM6DSO_REG_CTRL8_XL 0x17
+#define LSM6DSO_REG_CTRL9_XL 0x18
+#define LSM6DSO_REG_CTRL10_C 0x19
+#define LSM6DSO_REG_STATUS 0x1E
+#define LSM6DSO_REG_OUTX_L_G 0x22
+#define LSM6DSO_REG_OUTX_L_XL 0x28
 
 // values
-#define LSM6DSO_VAL_INT1_CTRL              0x02  // enable gyro data ready interrupt pin 1
-#define LSM6DSO_VAL_INT2_CTRL              0x02  // enable gyro data ready interrupt pin 2
-#define LSM6DSO_VAL_CTRL1_XL_ODR833        0x07  // accelerometer 833hz output data rate (gyro/8)
-#define LSM6DSO_VAL_CTRL1_XL_ODR1667       0x08  // accelerometer 1666hz output data rate (gyro/4)
-#define LSM6DSO_VAL_CTRL1_XL_ODR3332       0x09  // accelerometer 3332hz output data rate (gyro/2)
-#define LSM6DSO_VAL_CTRL1_XL_ODR3333       0x0A  // accelerometer 6664hz output data rate (gyro/1)
-#define LSM6DSO_VAL_CTRL1_XL_8G            0x03  // accelerometer 8G scale
-#define LSM6DSO_VAL_CTRL1_XL_16G           0x01  // accelerometer 16G scale
-#define LSM6DSO_VAL_CTRL1_XL_LPF1          0x00  // accelerometer output from LPF1
-#define LSM6DSO_VAL_CTRL1_XL_LPF2          0x01  // accelerometer output from LPF2
-#define LSM6DSO_VAL_CTRL2_G_ODR6664        0x0A  // gyro 6664hz output data rate
-#define LSM6DSO_VAL_CTRL2_G_ODR3332        0x09  // gyro 3332hz output data rate
-#define LSM6DSO_VAL_CTRL2_G_2000DPS        0x03  // gyro 2000dps scale
-#define LSM6DSO_VAL_CTRL3_C_BDU            0x40  // (bit 6) output registers are not updated until MSB and LSB have been read (prevents MSB from being updated while burst reading LSB/MSB)
-#define LSM6DSO_VAL_CTRL3_C_H_LACTIVE      0x00  // (bit 5) interrupt pins active high
-#define LSM6DSO_VAL_CTRL3_C_PP_OD          0x00  // (bit 4) interrupt pins push/pull
-#define LSM6DSO_VAL_CTRL3_C_SIM            0x00  // (bit 3) SPI 4-wire interface mode
-#define LSM6DSO_VAL_CTRL3_C_IF_INC         0x04  // (bit 2) auto-increment address for burst reads
-#define LSM6DSO_VAL_CTRL4_C_I2C_DISABLE    0x04  // (bit 2) disable I2C interface
-#define LSM6DSO_VAL_CTRL4_C_LPF1_SEL_G     0x02  // (bit 1) enable gyro LPF1
-#define LSM6DSO_VAL_CTRL6_C_XL_HM_MODE     0x00  // (bit 4) enable accelerometer high performance mode
-#define LSM6DSO_VAL_CTRL6_C_FTYPE_335HZ    0x00  // (bits 2:0) gyro LPF1 cutoff 335.5hz
-#define LSM6DSO_VAL_CTRL6_C_FTYPE_232HZ    0x01  // (bits 2:0) gyro LPF1 cutoff 232.0hz
-#define LSM6DSO_VAL_CTRL6_C_FTYPE_171HZ    0x02  // (bits 2:0) gyro LPF1 cutoff 171.1hz
-#define LSM6DSO_VAL_CTRL6_C_FTYPE_609HZ    0x03  // (bits 2:0) gyro LPF1 cutoff 609.0hz
-#define LSM6DSO_VAL_CTRL9_XL_I3C_DISABLE   0x02  // (bit 1) disable I3C interface
+#define LSM6DSO_VAL_INT1_CTRL 0x02        // enable gyro data ready interrupt pin 1
+#define LSM6DSO_VAL_INT2_CTRL 0x02        // enable gyro data ready interrupt pin 2
+#define LSM6DSO_VAL_CTRL1_XL_ODR833 0x07  // accelerometer 833hz output data rate (gyro/8)
+#define LSM6DSO_VAL_CTRL1_XL_ODR1667 0x08 // accelerometer 1666hz output data rate (gyro/4)
+#define LSM6DSO_VAL_CTRL1_XL_ODR3332 0x09 // accelerometer 3332hz output data rate (gyro/2)
+#define LSM6DSO_VAL_CTRL1_XL_ODR3333 0x0A // accelerometer 6664hz output data rate (gyro/1)
+#define LSM6DSO_VAL_CTRL1_XL_8G 0x03      // accelerometer 8G scale
+#define LSM6DSO_VAL_CTRL1_XL_16G 0x01     // accelerometer 16G scale
+#define LSM6DSO_VAL_CTRL1_XL_LPF1 0x00    // accelerometer output from LPF1
+#define LSM6DSO_VAL_CTRL1_XL_LPF2 0x01    // accelerometer output from LPF2
+#define LSM6DSO_VAL_CTRL2_G_ODR6664 0x0A  // gyro 6664hz output data rate
+#define LSM6DSO_VAL_CTRL2_G_ODR3332 0x09  // gyro 3332hz output data rate
+#define LSM6DSO_VAL_CTRL2_G_2000DPS 0x03  // gyro 2000dps scale
+#define LSM6DSO_VAL_CTRL3_C_BDU                                                                                        \
+  0x40 // (bit 6) output registers are not updated until MSB and LSB have been read (prevents MSB from being updated
+       // while burst reading LSB/MSB)
+#define LSM6DSO_VAL_CTRL3_C_H_LACTIVE 0x00    // (bit 5) interrupt pins active high
+#define LSM6DSO_VAL_CTRL3_C_PP_OD 0x00        // (bit 4) interrupt pins push/pull
+#define LSM6DSO_VAL_CTRL3_C_SIM 0x00          // (bit 3) SPI 4-wire interface mode
+#define LSM6DSO_VAL_CTRL3_C_IF_INC 0x04       // (bit 2) auto-increment address for burst reads
+#define LSM6DSO_VAL_CTRL4_C_I2C_DISABLE 0x04  // (bit 2) disable I2C interface
+#define LSM6DSO_VAL_CTRL4_C_LPF1_SEL_G 0x02   // (bit 1) enable gyro LPF1
+#define LSM6DSO_VAL_CTRL6_C_XL_HM_MODE 0x00   // (bit 4) enable accelerometer high performance mode
+#define LSM6DSO_VAL_CTRL6_C_FTYPE_335HZ 0x00  // (bits 2:0) gyro LPF1 cutoff 335.5hz
+#define LSM6DSO_VAL_CTRL6_C_FTYPE_232HZ 0x01  // (bits 2:0) gyro LPF1 cutoff 232.0hz
+#define LSM6DSO_VAL_CTRL6_C_FTYPE_171HZ 0x02  // (bits 2:0) gyro LPF1 cutoff 171.1hz
+#define LSM6DSO_VAL_CTRL6_C_FTYPE_609HZ 0x03  // (bits 2:0) gyro LPF1 cutoff 609.0hz
+#define LSM6DSO_VAL_CTRL9_XL_I3C_DISABLE 0x02 // (bit 1) disable I3C interface
 
 // masks
-#define LSM6DSO_MASK_CTRL3_C       0x7C // 0b01111100
+#define LSM6DSO_MASK_CTRL3_C 0x7C       // 0b01111100
 #define LSM6DSO_MASK_CTRL3_C_RESET 0x01 // 0b00000001
-#define LSM6DSO_MASK_CTRL4_C       0x06 // 0b00000110
-#define LSM6DSO_MASK_CTRL6_C       0x17 // 0b00010111
-#define LSM6DSO_MASK_CTRL9_XL      0x02 // 0b00000010
+#define LSM6DSO_MASK_CTRL4_C 0x06       // 0b00000110
+#define LSM6DSO_MASK_CTRL6_C 0x17       // 0b00010111
+#define LSM6DSO_MASK_CTRL9_XL 0x02      // 0b00000010
 
 namespace Espfc::Device::Gyro {
 
-int GyroLSM6DSO::begin(BusDevice * bus)
+int GyroLSM6DSO::begin(BusDevice* bus)
 {
   return begin(bus, LSM6DSOX_ADDRESS_FIRST) ? 1 : begin(bus, LSM6DSOX_ADDRESS_SECOND) ? 1 : 0;
 }
 
-int GyroLSM6DSO::begin(BusDevice * bus, uint8_t addr)
+int GyroLSM6DSO::begin(BusDevice* bus, uint8_t addr)
 {
   setBus(bus, addr);
 
-  if(!testConnection()) return 0;
+  if (!testConnection()) return 0;
 
   // reset device
   _bus->writeMask(_addr, LSM6DSO_REG_CTRL3_C, LSM6DSO_MASK_CTRL3_C_RESET, 1);
   delay(100);
 
   // Accel, 833hz ODR, 16G scale, use LPF1 output
-  _bus->writeByte(_addr, LSM6DSO_REG_CTRL1_XL, (LSM6DSO_VAL_CTRL1_XL_ODR833 << 4) | (LSM6DSO_VAL_CTRL1_XL_16G << 2) | (LSM6DSO_VAL_CTRL1_XL_LPF1 << 1));
+  _bus->writeByte(_addr, LSM6DSO_REG_CTRL1_XL,
+                  (LSM6DSO_VAL_CTRL1_XL_ODR833 << 4) | (LSM6DSO_VAL_CTRL1_XL_16G << 2) |
+                      (LSM6DSO_VAL_CTRL1_XL_LPF1 << 1));
   delay(1);
 
   // Gyro, 6664hz ODR, 2000dps scale
   _bus->writeByte(_addr, LSM6DSO_REG_CTRL2_G, (LSM6DSO_VAL_CTRL2_G_ODR6664 << 4) | (LSM6DSO_VAL_CTRL2_G_2000DPS << 2));
   delay(1);
 
-  // latch LSB/MSB during reads; set interrupt pins active high; set interrupt pins push/pull; set 4-wire SPI; enable auto-increment burst reads
-  _bus->writeMask(_addr, LSM6DSO_REG_CTRL3_C, LSM6DSO_MASK_CTRL3_C, (LSM6DSO_VAL_CTRL3_C_BDU | LSM6DSO_VAL_CTRL3_C_H_LACTIVE | LSM6DSO_VAL_CTRL3_C_PP_OD | LSM6DSO_VAL_CTRL3_C_SIM | LSM6DSO_VAL_CTRL3_C_IF_INC));
+  // latch LSB/MSB during reads; set interrupt pins active high; set interrupt pins push/pull; set 4-wire SPI; enable
+  // auto-increment burst reads
+  _bus->writeMask(_addr, LSM6DSO_REG_CTRL3_C, LSM6DSO_MASK_CTRL3_C,
+                  (LSM6DSO_VAL_CTRL3_C_BDU | LSM6DSO_VAL_CTRL3_C_H_LACTIVE | LSM6DSO_VAL_CTRL3_C_PP_OD |
+                   LSM6DSO_VAL_CTRL3_C_SIM | LSM6DSO_VAL_CTRL3_C_IF_INC));
 
   // enable accelerometer high performane mode; set gyro LPF1 cutoff to 335.5hz
   _bus->writeMask(_addr, LSM6DSO_REG_CTRL4_C, LSM6DSO_MASK_CTRL4_C, (LSM6DSO_VAL_CTRL4_C_LPF1_SEL_G));
 
   // enable gyro LPF1
-  _bus->writeMask(_addr, LSM6DSO_REG_CTRL6_C, LSM6DSO_MASK_CTRL6_C, (LSM6DSO_VAL_CTRL6_C_XL_HM_MODE | LSM6DSO_VAL_CTRL6_C_FTYPE_335HZ));
+  _bus->writeMask(_addr, LSM6DSO_REG_CTRL6_C, LSM6DSO_MASK_CTRL6_C,
+                  (LSM6DSO_VAL_CTRL6_C_XL_HM_MODE | LSM6DSO_VAL_CTRL6_C_FTYPE_335HZ));
 
   // disable I3C interface
   _bus->writeMask(_addr, LSM6DSO_REG_CTRL9_XL, LSM6DSO_MASK_CTRL9_XL, LSM6DSO_VAL_CTRL9_XL_I3C_DISABLE);
@@ -129,23 +137,20 @@ int GyroLSM6DSO::readAccel(VectorInt16& v)
   return 1;
 }
 
-void GyroLSM6DSO::setDLPFMode(uint8_t mode)
-{
-}
+void GyroLSM6DSO::setDLPFMode(uint8_t mode) {}
 
 int GyroLSM6DSO::getRate() const
 {
   return 6664;
 }
 
-void GyroLSM6DSO::setRate(int rate)
-{
-}
+void GyroLSM6DSO::setRate(int rate) {}
 
 bool GyroLSM6DSO::testConnection()
 {
   uint8_t whoami = 0;
   if (_bus->readByte(_addr, LSM6DSO_REG_WHO_AM_I, &whoami) != 1) return false;
+  setChipId(whoami);
   return whoami == 0x6C || whoami == 0x69;
 }
 
diff --git a/lib/Espfc/src/Device/Gyro/GyroLSM6DSO.hpp b/lib/Espfc/src/Device/Gyro/GyroLSM6DSO.hpp
index 7cfead00..329ae557 100644
--- a/lib/Espfc/src/Device/Gyro/GyroLSM6DSO.hpp
+++ b/lib/Espfc/src/Device/Gyro/GyroLSM6DSO.hpp
@@ -5,24 +5,24 @@
 
 namespace Espfc::Device::Gyro {
 
-class GyroLSM6DSO: public GyroDevice
+class GyroLSM6DSO : public GyroDevice
 {
-  public:
-    int begin(BusDevice * bus) override;
-    int begin(BusDevice * bus, uint8_t addr) override;
+public:
+  int begin(BusDevice* bus) override;
+  int begin(BusDevice* bus, uint8_t addr) override;
 
-    GyroDeviceType getType() const override;
+  GyroDeviceType getType() const override;
 
-    int readGyro(VectorInt16& v) override;
-    int readAccel(VectorInt16& v) override;
+  int readGyro(VectorInt16& v) override;
+  int readAccel(VectorInt16& v) override;
 
-    void setDLPFMode(uint8_t mode) override;
+  void setDLPFMode(uint8_t mode) override;
 
-    int getRate() const override;
+  int getRate() const override;
 
-    void setRate(int rate) override;
+  void setRate(int rate) override;
 
-    bool testConnection() override;
+  bool testConnection() override;
 };
 
 } // namespace Espfc::Device::Gyro
diff --git a/lib/Espfc/src/Device/Gyro/GyroMPU6050.cpp b/lib/Espfc/src/Device/Gyro/GyroMPU6050.cpp
index ca9e5e71..c5ed3855 100644
--- a/lib/Espfc/src/Device/Gyro/GyroMPU6050.cpp
+++ b/lib/Espfc/src/Device/Gyro/GyroMPU6050.cpp
@@ -210,7 +210,8 @@ int GyroMPU6050::getRate() const
   switch (_dlpf)
   {
     case GYRO_DLPF_256:
-    case GYRO_DLPF_EX: return 8000;
+    case GYRO_DLPF_EX:
+      return 8000;
   }
   return 1000;
 }
@@ -231,6 +232,7 @@ bool GyroMPU6050::testConnection()
 {
   uint8_t whoami = 0;
   if (_bus->readByte(_addr, MPU6050_RA_WHO_AM_I, &whoami) != 1) return false;
+  setChipId(whoami);
   return whoami == 0x68 || whoami == 0x72;
 }
 
diff --git a/lib/Espfc/src/Device/Gyro/GyroMPU6500.cpp b/lib/Espfc/src/Device/Gyro/GyroMPU6500.cpp
index 7d8a5665..2f3be86a 100644
--- a/lib/Espfc/src/Device/Gyro/GyroMPU6500.cpp
+++ b/lib/Espfc/src/Device/Gyro/GyroMPU6500.cpp
@@ -1,9 +1,9 @@
 #include "GyroMPU6500.hpp"
 
-#define MPU6050_RA_WHO_AM_I          0x75
-#define MPU6500_ACCEL_CONF2          0x1D
+#define MPU6050_RA_WHO_AM_I 0x75
+#define MPU6500_ACCEL_CONF2 0x1D
 #define MPU6500_WHOAMI_DEFAULT_VALUE 0x70
-#define MPU6500_WHOAMI_ALT_VALUE     0x75
+#define MPU6500_WHOAMI_ALT_VALUE 0x75
 
 namespace Espfc::Device::Gyro {
 
@@ -21,8 +21,9 @@ void GyroMPU6500::setDLPFMode(uint8_t mode)
 bool GyroMPU6500::testConnection()
 {
   uint8_t whoami = 0;
-  uint8_t len = _bus->readByte(_addr, MPU6050_RA_WHO_AM_I, &whoami);
-  return len == 1 && (whoami == MPU6500_WHOAMI_DEFAULT_VALUE || whoami == MPU6500_WHOAMI_ALT_VALUE);
+  if (_bus->readByte(_addr, MPU6050_RA_WHO_AM_I, &whoami) != 1) return false;
+  setChipId(whoami);
+  return whoami == MPU6500_WHOAMI_DEFAULT_VALUE || whoami == MPU6500_WHOAMI_ALT_VALUE;
 }
 
 } // namespace Espfc::Device::Gyro
diff --git a/lib/Espfc/src/Device/Gyro/GyroMPU6500.hpp b/lib/Espfc/src/Device/Gyro/GyroMPU6500.hpp
index 1bf2258e..ee1d335c 100644
--- a/lib/Espfc/src/Device/Gyro/GyroMPU6500.hpp
+++ b/lib/Espfc/src/Device/Gyro/GyroMPU6500.hpp
@@ -4,14 +4,14 @@
 
 namespace Espfc::Device::Gyro {
 
-class GyroMPU6500: public GyroMPU6050
+class GyroMPU6500 : public GyroMPU6050
 {
-  public:
-    GyroDeviceType getType() const override;
+public:
+  GyroDeviceType getType() const override;
 
-    void setDLPFMode(uint8_t mode) override;
+  void setDLPFMode(uint8_t mode) override;
 
-    bool testConnection() override;
+  bool testConnection() override;
 };
 
 } // namespace Espfc::Device::Gyro
diff --git a/lib/Espfc/src/Device/Gyro/GyroMPU9250.cpp b/lib/Espfc/src/Device/Gyro/GyroMPU9250.cpp
index c0eb3b07..fb25be28 100644
--- a/lib/Espfc/src/Device/Gyro/GyroMPU9250.cpp
+++ b/lib/Espfc/src/Device/Gyro/GyroMPU9250.cpp
@@ -1,9 +1,9 @@
 #include "GyroMPU9250.hpp"
 
-#define MPU6050_RA_WHO_AM_I          0x75
-#define MPU9250_ACCEL_CONF2          0x1D
+#define MPU6050_RA_WHO_AM_I 0x75
+#define MPU9250_ACCEL_CONF2 0x1D
 #define MPU9250_WHOAMI_DEFAULT_VALUE 0x71
-#define MPU9250_WHOAMI_ALT_VALUE     0x73
+#define MPU9250_WHOAMI_ALT_VALUE 0x73
 
 namespace Espfc::Device::Gyro {
 
@@ -21,8 +21,9 @@ void GyroMPU9250::setDLPFMode(uint8_t mode)
 bool GyroMPU9250::testConnection()
 {
   uint8_t whoami = 0;
-  uint8_t len = _bus->readByte(_addr, MPU6050_RA_WHO_AM_I, &whoami);
-  return len == 1 && (whoami == MPU9250_WHOAMI_DEFAULT_VALUE || whoami == MPU9250_WHOAMI_ALT_VALUE);
+  if (_bus->readByte(_addr, MPU6050_RA_WHO_AM_I, &whoami) != 1) return false;
+  setChipId(whoami);
+  return whoami == MPU9250_WHOAMI_DEFAULT_VALUE || whoami == MPU9250_WHOAMI_ALT_VALUE;
 }
 
 } // namespace Espfc::Device::Gyro
diff --git a/lib/Espfc/src/Device/Gyro/GyroMPU9250.hpp b/lib/Espfc/src/Device/Gyro/GyroMPU9250.hpp
index 74224786..865d5905 100644
--- a/lib/Espfc/src/Device/Gyro/GyroMPU9250.hpp
+++ b/lib/Espfc/src/Device/Gyro/GyroMPU9250.hpp
@@ -4,14 +4,14 @@
 
 namespace Espfc::Device::Gyro {
 
-class GyroMPU9250: public GyroMPU6050
+class GyroMPU9250 : public GyroMPU6050
 {
-  public:
-    GyroDeviceType getType() const override;
+public:
+  GyroDeviceType getType() const override;
 
-    void setDLPFMode(uint8_t mode) override;
+  void setDLPFMode(uint8_t mode) override;
 
-    bool testConnection() override;
+  bool testConnection() override;
 };
 
 } // namespace Espfc::Device::Gyro
diff --git a/lib/Espfc/src/Device/Mag/MagAK8963.cpp b/lib/Espfc/src/Device/Mag/MagAK8963.cpp
index 502ec772..40ab4ff8 100644
--- a/lib/Espfc/src/Device/Mag/MagAK8963.cpp
+++ b/lib/Espfc/src/Device/Mag/MagAK8963.cpp
@@ -92,6 +92,7 @@ MagDeviceType MagAK8963::getType() const
 bool MagAK8963::testConnection()
 {
   if (_bus->read(_addr, AK8963_WHO_AM_I, 1, _buffer) != 1) return false;
+  setChipId(_buffer[0]);
   return _buffer[0] == 0x48;
 }
 
diff --git a/lib/Espfc/src/Device/Mag/MagHMC5883L.cpp b/lib/Espfc/src/Device/Mag/MagHMC5883L.cpp
index 6232b20f..793e2863 100644
--- a/lib/Espfc/src/Device/Mag/MagHMC5883L.cpp
+++ b/lib/Espfc/src/Device/Mag/MagHMC5883L.cpp
@@ -158,6 +158,7 @@ bool MagHMC5883L::testConnection()
 {
   uint8_t buffer[3] = {};
   if (_bus->read(_addr, HMC5883L_RA_ID_A, 3, buffer) != 3) return false;
+  setChipId(buffer[0]);
   return buffer[0] == 'H' && buffer[1] == '4' && buffer[2] == '3';
 }
 
diff --git a/lib/Espfc/src/Device/Mag/MagQMC5883L.cpp b/lib/Espfc/src/Device/Mag/MagQMC5883L.cpp
index e8f433fc..4f2718a6 100644
--- a/lib/Espfc/src/Device/Mag/MagQMC5883L.cpp
+++ b/lib/Espfc/src/Device/Mag/MagQMC5883L.cpp
@@ -103,7 +103,7 @@ bool MagQMC5883L::testConnection()
 {
   uint8_t buffer[1] = {};
   if (_bus->read(_addr, QMC5883L_RA_CHIPID, 1, buffer) != 1) return false;
-
+  setChipId(buffer[0]);
   return buffer[0] == 0xFF;
 }
 
diff --git a/lib/Espfc/src/Device/Mag/MagQMC5883P.cpp b/lib/Espfc/src/Device/Mag/MagQMC5883P.cpp
index cef07b11..e7311edc 100644
--- a/lib/Espfc/src/Device/Mag/MagQMC5883P.cpp
+++ b/lib/Espfc/src/Device/Mag/MagQMC5883P.cpp
@@ -98,10 +98,18 @@ const VectorFloat MagQMC5883P::convert(const VectorInt16& v) const
   float lsbPerGauss = 3750.0f;
   switch (_currentRange)
   {
-    case QMC5883P_RANGE_30G: lsbPerGauss = 1000.0f; break;
-    case QMC5883P_RANGE_12G: lsbPerGauss = 2500.0f; break;
-    case QMC5883P_RANGE_8G: lsbPerGauss = 3750.0f; break;
-    case QMC5883P_RANGE_2G: lsbPerGauss = 15000.0f; break;
+    case QMC5883P_RANGE_30G:
+      lsbPerGauss = 1000.0f;
+      break;
+    case QMC5883P_RANGE_12G:
+      lsbPerGauss = 2500.0f;
+      break;
+    case QMC5883P_RANGE_8G:
+      lsbPerGauss = 3750.0f;
+      break;
+    case QMC5883P_RANGE_2G:
+      lsbPerGauss = 15000.0f;
+      break;
   }
 
   return static_cast<VectorFloat>(v) * (1.0f / lsbPerGauss);
@@ -111,11 +119,15 @@ int MagQMC5883P::getRate() const
 {
   switch (_currentOdr)
   {
-    case QMC5883P_ODR_10HZ: return 10;
-    case QMC5883P_ODR_50HZ: return 50;
-    case QMC5883P_ODR_200HZ: return 200;
+    case QMC5883P_ODR_10HZ:
+      return 10;
+    case QMC5883P_ODR_50HZ:
+      return 50;
+    case QMC5883P_ODR_200HZ:
+      return 200;
     case QMC5883P_ODR_100HZ:
-    default: return 100;
+    default:
+      return 100;
   }
 }
 
@@ -136,10 +148,13 @@ bool MagQMC5883P::testConnection()
   uint8_t chipId = 0;
   for (uint8_t attempt = 0; attempt < 3; attempt++)
   {
-    if (_bus->read(_addr, QMC5883P_REG_CHIPID, 1, &chipId) == 1 && chipId == QMC5883P_CHIP_ID)
+    if (_bus->read(_addr, QMC5883P_REG_CHIPID, 1, &chipId) != 1)
     {
-      return true;
+      delay(2);
+      continue;
     }
+    setChipId(chipId);
+    if (chipId == QMC5883P_CHIP_ID) return true;
     delay(2);
   }
 
diff --git a/lib/Espfc/src/Hardware.h b/lib/Espfc/src/Hardware.h
index 184f8b40..a08c2b06 100644
--- a/lib/Espfc/src/Hardware.h
+++ b/lib/Espfc/src/Hardware.h
@@ -29,7 +29,8 @@ class Hardware
   {
     typename Dev::DeviceType type = dev.getType();
     bool status = dev.begin(&bus, cs);
-    _model.logger.info().log("SPI").log(Dev::getName(type)).logln(status ? "Y" : "");
+    auto& logger = _model.logger.info();
+    logger.log("SPI").log(Dev::getName(type)).loghex(dev.getChipId().value_or(0xff)).logln(status ? "Y" : "");
     return status;
   }
 #endif
@@ -40,7 +41,8 @@ class Hardware
   {
     typename Dev::DeviceType type = dev.getType();
     bool status = dev.begin(&bus);
-    _model.logger.info().log("I2C").log(Dev::getName(type)).logln(status ? "Y" : "");
+    auto& logger = _model.logger.info();
+    logger.log("I2C").log(Dev::getName(type)).loghex(dev.getChipId().value_or(0xff)).logln(status ? "Y" : "");
     return status;
   }
 #endif
@@ -50,7 +52,8 @@ class Hardware
   {
     typename Dev::DeviceType type = dev.getType();
     bool status = dev.begin(&bus);
-    _model.logger.info().log("SLV").log(Dev::getName(type)).logln(status ? "Y" : "");
+    auto& logger = _model.logger.info();
+    logger.log("SLV").log(Dev::getName(type)).loghex(dev.getChipId().value_or(0xff)).logln(status ? "Y" : "");
     return status;
   }
 
diff --git a/test/test_gyro/test_gyro_icm42688.cpp b/test/test_gyro/test_gyro_icm42688.cpp
index 0a252904..8e57f5d6 100644
--- a/test/test_gyro/test_gyro_icm42688.cpp
+++ b/test/test_gyro/test_gyro_icm42688.cpp
@@ -1,12 +1,16 @@
 #include <unity.h>
 #include <ArduinoFake.h>
+#include "Device/Baro/BaroBMP280.hpp"
 #include "Device/Gyro/GyroICM42688.hpp"
 #include "Device/GyroDevice.hpp"
+#include "Device/Mag/MagHMC5883L.hpp"
 #include <platform.h>
 
 using namespace Espfc;
 using namespace Espfc::Device;
 using namespace Espfc::Device::Gyro;
+using namespace Espfc::Device::Mag;
+using namespace Espfc::Device::Baro;
 
 class MockBusDevice : public BusDevice
 {
@@ -14,11 +18,13 @@ class MockBusDevice : public BusDevice
   uint8_t readRegs[256] = {};   // registers ret
   uint8_t writeRegs[256] = {};  // registers captured by write
   int writeCalls = 0;
+  bool failRead = false;
 
   BusType getType() const override { return BUS_SPI; }
 
   int8_t read(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_t* data) override
   {
+    if (failRead) return 0;
     for (uint8_t i = 0; i < length; i++) data[i] = readRegs[(regAddr + i) & 0xFF];
     return length;
   }
@@ -52,6 +58,92 @@ void test_whoami_mismatch()
   GyroICM42688 dev;
   dev.setBus(&bus, 0);
   TEST_ASSERT_FALSE(dev.testConnection());
+
+  const auto chipId = dev.getChipId();
+  TEST_ASSERT_TRUE(chipId.has_value());
+  TEST_ASSERT_EQUAL_HEX8(0x12, chipId.value());
+}
+
+void test_chip_id_is_empty_before_connection()
+{
+  GyroICM42688 dev;
+  TEST_ASSERT_FALSE(dev.getChipId().has_value());
+}
+
+void test_chip_id_cached_on_success()
+{
+  MockBusDevice bus;
+  bus.readRegs[0x75] = 0x47;
+  GyroICM42688 dev;
+  dev.setBus(&bus, 0);
+
+  TEST_ASSERT_TRUE(dev.testConnection());
+
+  const auto chipId = dev.getChipId();
+  TEST_ASSERT_TRUE(chipId.has_value());
+  TEST_ASSERT_EQUAL_HEX8(0x47, chipId.value());
+}
+
+void test_chip_id_updated_on_mismatch()
+{
+  MockBusDevice bus;
+  bus.readRegs[0x75] = 0x47;
+  GyroICM42688 dev;
+  dev.setBus(&bus, 0);
+
+  TEST_ASSERT_TRUE(dev.testConnection());
+  bus.readRegs[0x75] = 0x12;
+  TEST_ASSERT_FALSE(dev.testConnection());
+
+  const auto chipId = dev.getChipId();
+  TEST_ASSERT_TRUE(chipId.has_value());
+  TEST_ASSERT_EQUAL_HEX8(0x12, chipId.value());
+}
+
+void test_chip_id_preserved_on_read_failure()
+{
+  MockBusDevice bus;
+  bus.readRegs[0x75] = 0x47;
+  GyroICM42688 dev;
+  dev.setBus(&bus, 0);
+
+  TEST_ASSERT_TRUE(dev.testConnection());
+  bus.failRead = true;
+  TEST_ASSERT_FALSE(dev.testConnection());
+
+  const auto chipId = dev.getChipId();
+  TEST_ASSERT_TRUE(chipId.has_value());
+  TEST_ASSERT_EQUAL_HEX8(0x47, chipId.value());
+}
+
+void test_mag_hmc5883l_uses_first_id_byte()
+{
+  MockBusDevice bus;
+  bus.readRegs[0x0A] = 'H';
+  bus.readRegs[0x0B] = '4';
+  bus.readRegs[0x0C] = '3';
+  MagHMC5883L dev;
+  dev.setBus(&bus, 0x1E);
+
+  TEST_ASSERT_TRUE(dev.testConnection());
+
+  const auto chipId = dev.getChipId();
+  TEST_ASSERT_TRUE(chipId.has_value());
+  TEST_ASSERT_EQUAL_HEX8('H', chipId.value());
+}
+
+void test_baro_bmp280_caches_whoami()
+{
+  MockBusDevice bus;
+  bus.readRegs[0xD0] = 0x58;
+  BaroBMP280 dev;
+  dev.setBus(&bus, 0x76);
+
+  TEST_ASSERT_TRUE(dev.testConnection());
+
+  const auto chipId = dev.getChipId();
+  TEST_ASSERT_TRUE(chipId.has_value());
+  TEST_ASSERT_EQUAL_HEX8(0x58, chipId.value());
 }
 
 void test_begin_aborts_on_failed_connection()
@@ -126,6 +218,12 @@ int main(int argc, char** argv)
   UNITY_BEGIN();
   RUN_TEST(test_whoami_match);
   RUN_TEST(test_whoami_mismatch);
+  RUN_TEST(test_chip_id_is_empty_before_connection);
+  RUN_TEST(test_chip_id_cached_on_success);
+  RUN_TEST(test_chip_id_updated_on_mismatch);
+  RUN_TEST(test_chip_id_preserved_on_read_failure);
+  RUN_TEST(test_mag_hmc5883l_uses_first_id_byte);
+  RUN_TEST(test_baro_bmp280_caches_whoami);
   RUN_TEST(test_begin_aborts_on_failed_connection);
   RUN_TEST(test_read_gyro_decoding);
   RUN_TEST(test_read_accel_decoding);