diff --git a/.gitignore b/.gitignore
index 2286167..21f2210 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,5 @@
 build
+build_test
+*.log
 _codeql_build_dir
 _codeql_detected_source_root
\ No newline at end of file
diff --git a/include/rpl4/peripheral/aux_spi.hpp b/include/rpl4/peripheral/aux_spi.hpp
index e9fb7fb..8a74618 100644
--- a/include/rpl4/peripheral/aux_spi.hpp
+++ b/include/rpl4/peripheral/aux_spi.hpp
@@ -10,7 +10,15 @@
 
 namespace rpl {
 
-class AuxSpi : public SpiBase {
+// Forward declaration for factory
+class AuxSpi;
+
+// Helper struct to enable make_shared with private constructor
+struct AuxSpiFactory {
+  static std::shared_ptr<AuxSpi> Create(AuxSpiRegisterMap* register_map);
+};
+
+class AuxSpi : public SpiBase, public std::enable_shared_from_this<AuxSpi> {
  public:
   enum class Port : size_t {
     kAuxSpi1 = 0,
@@ -229,6 +237,9 @@ class AuxSpi : public SpiBase {
 
   void ConfigureDataShiftTx();
   void ConfigureDataShiftRx();
+
+  // Allow factory struct to access private constructor
+  friend struct AuxSpiFactory;
 };
 
 }  // namespace rpl
diff --git a/include/rpl4/peripheral/dma.hpp b/include/rpl4/peripheral/dma.hpp
index b04d49c..adb5af8 100644
--- a/include/rpl4/peripheral/dma.hpp
+++ b/include/rpl4/peripheral/dma.hpp
@@ -9,7 +9,7 @@
 
 namespace rpl {
 
-class Dma {
+class Dma : public std::enable_shared_from_this<Dma> {
  public:
   enum class Channel : size_t {
     kChannel0 = 0,
@@ -191,6 +191,14 @@ class Dma {
 
   DmaRegisterMap* register_map_;
   Channel channel_;
+
+  // Allow factory struct to access private constructor
+  friend struct DmaFactory;
+};
+
+// Helper struct to enable make_shared with private constructor
+struct DmaFactory {
+  static std::shared_ptr<Dma> Create(DmaRegisterMap* register_map, Dma::Channel channel);
 };
 
 }  // namespace rpl
diff --git a/include/rpl4/peripheral/gpio.hpp b/include/rpl4/peripheral/gpio.hpp
index 19b86d7..4eb0b6a 100644
--- a/include/rpl4/peripheral/gpio.hpp
+++ b/include/rpl4/peripheral/gpio.hpp
@@ -7,7 +7,15 @@
 
 namespace rpl {
 
-class Gpio {
+// Forward declaration for factory
+class Gpio;
+
+// Helper struct to enable make_shared with private constructor
+struct GpioFactory {
+  static std::shared_ptr<Gpio> Create(uint8_t pin);
+};
+
+class Gpio : public std::enable_shared_from_this<Gpio> {
  public:
   /**
    * @brief Resistor Select
@@ -109,6 +117,9 @@ class Gpio {
   static std::array<std::shared_ptr<Gpio>, kNumOfInstances> instances_;
 
   uint8_t pin_;
+
+  // Allow factory struct to access private constructor
+  friend struct GpioFactory;
 };
 
 }  // namespace rpl
diff --git a/include/rpl4/peripheral/pwm.hpp b/include/rpl4/peripheral/pwm.hpp
index 09a21cc..2a2a9a1 100644
--- a/include/rpl4/peripheral/pwm.hpp
+++ b/include/rpl4/peripheral/pwm.hpp
@@ -9,7 +9,7 @@
 
 namespace rpl {
 
-class Pwm {
+class Pwm : public std::enable_shared_from_this<Pwm> {
  public:
   enum class Port : size_t {
     kPwm0 = 0,
@@ -216,6 +216,14 @@ class Pwm {
   Port port_;
   double clock_frequency_;
   static constexpr double kDefaultClockFrequency = 25000000.0;  // 25 MHz
+
+  // Allow factory struct to access private constructor
+  friend struct PwmFactory;
+};
+
+// Helper struct to enable make_shared with private constructor
+struct PwmFactory {
+  static std::shared_ptr<Pwm> Create(PwmRegisterMap* register_map, Pwm::Port port);
 };
 
 }  // namespace rpl
diff --git a/include/rpl4/peripheral/spi.hpp b/include/rpl4/peripheral/spi.hpp
index 1e04565..ade23b5 100644
--- a/include/rpl4/peripheral/spi.hpp
+++ b/include/rpl4/peripheral/spi.hpp
@@ -9,7 +9,15 @@
 
 namespace rpl {
 
-class Spi : public SpiBase {
+// Forward declaration for factory
+class Spi;
+
+// Helper struct to enable make_shared with private constructor
+struct SpiFactory {
+  static std::shared_ptr<Spi> Create(SpiRegisterMap* register_map);
+};
+
+class Spi : public SpiBase, public std::enable_shared_from_this<Spi> {
  public:
   enum class Port : size_t {
     kSpi0 = 0,
@@ -221,6 +229,9 @@ class Spi : public SpiBase {
   static std::array<std::shared_ptr<Spi>, kNumOfInstances> instances_;
 
   SpiRegisterMap* register_map_;
+
+  // Allow factory struct to access private constructor
+  friend struct SpiFactory;
 };
 
 }  // namespace rpl
diff --git a/src/peripheral/aux_spi.cpp b/src/peripheral/aux_spi.cpp
index 8074ca8..ba87051 100644
--- a/src/peripheral/aux_spi.cpp
+++ b/src/peripheral/aux_spi.cpp
@@ -8,6 +8,13 @@
 
 namespace rpl {
 
+std::shared_ptr<AuxSpi> AuxSpiFactory::Create(AuxSpiRegisterMap* register_map) {
+  struct EnableMakeShared : public AuxSpi {
+    explicit EnableMakeShared(AuxSpiRegisterMap* reg_map) : AuxSpi(reg_map) {}
+  };
+  return std::make_shared<EnableMakeShared>(register_map);
+}
+
 std::array<std::shared_ptr<AuxSpi>, AuxSpi::kNumOfInstances>
     AuxSpi::instances_ = {nullptr};
 
@@ -17,12 +24,10 @@ std::shared_ptr<AuxSpi> AuxSpi::GetInstance(Port port) {
   } else if (instances_[static_cast<size_t>(port)] == nullptr) {
     switch (port) {
       case Port::kAuxSpi1:
-        instances_[static_cast<size_t>(port)] =
-            std::shared_ptr<AuxSpi>(new AuxSpi(REG_SPI1));
+        instances_[static_cast<size_t>(port)] = AuxSpiFactory::Create(REG_SPI1);
         break;
       case Port::kAuxSpi2:
-        instances_[static_cast<size_t>(port)] =
-            std::shared_ptr<AuxSpi>(new AuxSpi(REG_SPI2));
+        instances_[static_cast<size_t>(port)] = AuxSpiFactory::Create(REG_SPI2);
         break;
       default:
         Log(LogLevel::Fatal,
diff --git a/src/peripheral/dma.cpp b/src/peripheral/dma.cpp
index c7cba9d..d3ee303 100644
--- a/src/peripheral/dma.cpp
+++ b/src/peripheral/dma.cpp
@@ -8,6 +8,13 @@
 
 namespace rpl {
 
+std::shared_ptr<Dma> DmaFactory::Create(DmaRegisterMap* register_map, Dma::Channel channel) {
+  struct EnableMakeShared : public Dma {
+    EnableMakeShared(DmaRegisterMap* reg_map, Dma::Channel ch) : Dma(reg_map, ch) {}
+  };
+  return std::make_shared<EnableMakeShared>(register_map, channel);
+}
+
 std::array<std::shared_ptr<Dma>, Dma::kNumOfInstances> Dma::instances_ = {
     nullptr};
 
@@ -69,7 +76,7 @@ std::shared_ptr<Dma> Dma::GetInstance(Channel channel) {
         reg_map = REG_DMA14;
         break;
     }
-    instances_[index] = std::shared_ptr<Dma>(new Dma(reg_map, channel));
+    instances_[index] = DmaFactory::Create(reg_map, channel);
   }
   return instances_[index];
 }
diff --git a/src/peripheral/gpio.cpp b/src/peripheral/gpio.cpp
index 6a34606..83cd404 100644
--- a/src/peripheral/gpio.cpp
+++ b/src/peripheral/gpio.cpp
@@ -5,6 +5,13 @@
 
 namespace rpl {
 
+std::shared_ptr<Gpio> GpioFactory::Create(uint8_t pin) {
+  struct EnableMakeShared : public Gpio {
+    explicit EnableMakeShared(uint8_t p) : Gpio(p) {}
+  };
+  return std::make_shared<EnableMakeShared>(pin);
+}
+
 std::array<std::shared_ptr<Gpio>, Gpio::kNumOfInstances> Gpio::instances_ = {
     nullptr};
 
@@ -17,7 +24,7 @@ std::shared_ptr<Gpio> Gpio::GetInstance(uint8_t pin) {
   if (!IsInitialized()) {
     Log(LogLevel::Error, "[Gpio::GetInstance()] RPL is not initialized.");
   } else if (instances_[static_cast<size_t>(pin)] == nullptr) {
-    instances_[static_cast<size_t>(pin)] = std::shared_ptr<Gpio>(new Gpio(pin));
+    instances_[static_cast<size_t>(pin)] = GpioFactory::Create(pin);
   }
   return instances_[static_cast<size_t>(pin)];
 }
diff --git a/src/peripheral/pwm.cpp b/src/peripheral/pwm.cpp
index 7e3ba5d..030d022 100644
--- a/src/peripheral/pwm.cpp
+++ b/src/peripheral/pwm.cpp
@@ -6,6 +6,13 @@
 
 namespace rpl {
 
+std::shared_ptr<Pwm> PwmFactory::Create(PwmRegisterMap* register_map, Pwm::Port port) {
+  struct EnableMakeShared : public Pwm {
+    EnableMakeShared(PwmRegisterMap* reg_map, Pwm::Port p) : Pwm(reg_map, p) {}
+  };
+  return std::make_shared<EnableMakeShared>(register_map, port);
+}
+
 std::array<std::shared_ptr<Pwm>, Pwm::kNumOfInstances> Pwm::instances_ = {
     nullptr};
 
@@ -28,7 +35,7 @@ std::shared_ptr<Pwm> Pwm::GetInstance(Port port) {
         reg_map = REG_PWM1;
         break;
     }
-    instances_[index] = std::shared_ptr<Pwm>(new Pwm(reg_map, port));
+    instances_[index] = PwmFactory::Create(reg_map, port);
   }
   return instances_[index];
 }
diff --git a/src/peripheral/spi.cpp b/src/peripheral/spi.cpp
index 02f06e4..c041abf 100644
--- a/src/peripheral/spi.cpp
+++ b/src/peripheral/spi.cpp
@@ -8,6 +8,13 @@
 
 namespace rpl {
 
+std::shared_ptr<Spi> SpiFactory::Create(SpiRegisterMap* register_map) {
+  struct EnableMakeShared : public Spi {
+    explicit EnableMakeShared(SpiRegisterMap* reg_map) : Spi(reg_map) {}
+  };
+  return std::make_shared<EnableMakeShared>(register_map);
+}
+
 std::array<std::shared_ptr<Spi>, Spi::kNumOfInstances> Spi::instances_ = {
     nullptr};
 
@@ -17,24 +24,19 @@ std::shared_ptr<Spi> Spi::GetInstance(Port port) {
   } else if (instances_[static_cast<size_t>(port)] == nullptr) {
     switch (port) {
       case Port::kSpi0:
-        instances_[static_cast<size_t>(port)] =
-            std::shared_ptr<Spi>(new Spi(REG_SPI0));
+        instances_[static_cast<size_t>(port)] = SpiFactory::Create(REG_SPI0);
         break;
       case Port::kSpi3:
-        instances_[static_cast<size_t>(port)] =
-            std::shared_ptr<Spi>(new Spi(REG_SPI3));
+        instances_[static_cast<size_t>(port)] = SpiFactory::Create(REG_SPI3);
         break;
       case Port::kSpi4:
-        instances_[static_cast<size_t>(port)] =
-            std::shared_ptr<Spi>(new Spi(REG_SPI4));
+        instances_[static_cast<size_t>(port)] = SpiFactory::Create(REG_SPI4);
         break;
       case Port::kSpi5:
-        instances_[static_cast<size_t>(port)] =
-            std::shared_ptr<Spi>(new Spi(REG_SPI5));
+        instances_[static_cast<size_t>(port)] = SpiFactory::Create(REG_SPI5);
         break;
       case Port::kSpi6:
-        instances_[static_cast<size_t>(port)] =
-            std::shared_ptr<Spi>(new Spi(REG_SPI6));
+        instances_[static_cast<size_t>(port)] = SpiFactory::Create(REG_SPI6);
         break;
       default:
         Log(LogLevel::Fatal,