diff --git a/keywords.txt b/keywords.txt
index 40771b2..c0ccb51 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -37,6 +37,7 @@ enableARVRStabilizedGameRotationVector	KEYWORD2
 enableAccelerometer	KEYWORD2
 enableGyro	KEYWORD2
 enableMagnetometer	KEYWORD2
+enableTapDetector	KEYWORD2
 enableStepCounter	KEYWORD2
 enableStabilityClassifier	KEYWORD2
 enableActivityClassifier	KEYWORD2
@@ -98,6 +99,7 @@ saveCalibration	KEYWORD2
 requestCalibrationStatus	KEYWORD2
 calibrationComplete	KEYWORD2
 
+getTapDetector	KEYWORD2
 getTimeStamp	KEYWORD2
 getStepCount	KEYWORD2
 getStabilityClassifier	KEYWORD2
diff --git a/src/SparkFun_BNO080_Arduino_Library.cpp b/src/SparkFun_BNO080_Arduino_Library.cpp
index 16ce758..4d3a903 100644
--- a/src/SparkFun_BNO080_Arduino_Library.cpp
+++ b/src/SparkFun_BNO080_Arduino_Library.cpp
@@ -345,6 +345,10 @@ uint16_t BNO080::parseInputReport(void)
 		// not game rot vector and not ar/vr stabilized rotation vector
 		rawQuatRadianAccuracy = data5;
 	}
+	else if (shtpData[5] == SENSOR_REPORTID_TAP_DETECTOR)
+	{
+		tapDetector = shtpData[5 + 4]; //Byte 4 only
+	}
 	else if (shtpData[5] == SENSOR_REPORTID_STEP_COUNTER)
 	{
 		stepCount = data3; //Bytes 8/9
@@ -717,6 +721,14 @@ float BNO080::getFastGyroZ()
 	return (gyro);
 }
 
+//Return the tap detector
+uint8_t BNO080::getTapDetector()
+{
+	uint8_t previousTapDetector = tapDetector;
+	tapDetector = 0; //Reset so user code sees exactly one tap
+	return (previousTapDetector);
+}
+
 //Return the step count
 uint16_t BNO080::getStepCount()
 {
@@ -1036,6 +1048,12 @@ void BNO080::enableGyroIntegratedRotationVector(uint16_t timeBetweenReports)
 	setFeatureCommand(SENSOR_REPORTID_GYRO_INTEGRATED_ROTATION_VECTOR, timeBetweenReports);
 }
 
+//Sends the packet to enable the tap detector
+void BNO080::enableTapDetector(uint16_t timeBetweenReports)
+{
+	setFeatureCommand(SENSOR_REPORTID_TAP_DETECTOR, timeBetweenReports);
+}
+
 //Sends the packet to enable the step counter
 void BNO080::enableStepCounter(uint16_t timeBetweenReports)
 {
diff --git a/src/SparkFun_BNO080_Arduino_Library.h b/src/SparkFun_BNO080_Arduino_Library.h
index 201d896..ebcbdd7 100644
--- a/src/SparkFun_BNO080_Arduino_Library.h
+++ b/src/SparkFun_BNO080_Arduino_Library.h
@@ -151,6 +151,7 @@ class BNO080
 	void enableLinearAccelerometer(uint16_t timeBetweenReports);
 	void enableGyro(uint16_t timeBetweenReports);
 	void enableMagnetometer(uint16_t timeBetweenReports);
+	void enableTapDetector(uint16_t timeBetweenReports);
 	void enableStepCounter(uint16_t timeBetweenReports);
 	void enableStabilityClassifier(uint16_t timeBetweenReports);
 	void enableActivityClassifier(uint16_t timeBetweenReports, uint32_t activitiesToEnable, uint8_t (&activityConfidences)[9]);
@@ -211,6 +212,7 @@ class BNO080
 	void requestCalibrationStatus(); //Sends command to get status
 	boolean calibrationComplete();   //Checks ME Cal response for byte 5, R0 - Status
 
+	uint8_t getTapDetector();
 	uint32_t getTimeStamp();
 	uint16_t getStepCount();
 	uint8_t getStabilityClassifier();
@@ -276,6 +278,7 @@ class BNO080
 	uint16_t rawMagX, rawMagY, rawMagZ, magAccuracy;
 	uint16_t rawQuatI, rawQuatJ, rawQuatK, rawQuatReal, rawQuatRadianAccuracy, quatAccuracy;
 	uint16_t rawFastGyroX, rawFastGyroY, rawFastGyroZ;
+	uint8_t tapDetector;
 	uint16_t stepCount;
 	uint32_t timeStamp;
 	uint8_t stabilityClassifier;