diff --git a/CHANGELOG.md b/CHANGELOG.md
index 0f0308e..16af00f 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,36 @@
 
 This project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [v0.2.0]
+
+### Added
+
+- Add BEAM telemetry support via optional `:telemetry` dependency.
+- Enable improved read batching via `:max_gap` option at runtime.
+- Add compile time `gap_safe: false` option to flag mappings as ineligible for gap reads.
+- Add `:max_attempts` option to automatically retry failed read/write callbacks.
+- Support optional 2-arity encode/decode functions which receive
+  `%ModBoss.Encoding.Metadata{}` struct as the second argument.
+- Add `:context` option to `ModBoss.read/4`, `ModBoss.encode/3`, and `ModBoss.write/4`
+  for passing arbitrary contextual info to encode/decode functions and telemetry metadata.
+- Add `debug: true` option to `ModBoss.read/4` which returns detailed mapping info
+  alongside values.
+
+### Changed
+
+- Rename `modbus_schema` macro to `schema`.
+- Swap the order of the 2nd and 3rd arguments to `ModBoss.read/4` and `ModBoss.write/4` to
+  better align with Elixir conventions and improve readability of pipelines.
+
+### Fixed
+
+- Return an error tuple when a decode function returns an error (previously would crash
+  with a match error).
+- Skip decoding of Mapping when `decode: false` is passed to `ModBoss.read/4`. Previously, this
+  opt caused us to return the encoded version, but we would still decode under the hood.
+  This meant if there was a bug in the decoding logic, `ModBoss.read/4` would fail even if
+  `decode: false` had been passed. This fix improves debuggability.
+
 ## [v0.1.1]
 
 ### Added
diff --git a/README.md b/README.md
index 213ed1e..0a370d0 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ by adding `modboss` to your list of dependencies in `mix.exs`:
 ```elixir
 def deps do
   [
-    {:modboss, "~> 0.1.0"}
+    {:modboss, "~> 0.2.0"}
   ]
 end
 ```
@@ -50,10 +50,9 @@ defmodule MyDevice.Schema do
     holding_register 1, :outdoor_temp, as: {ModBoss.Encoding, :signed_int}
     holding_register 2..5, :model_name, as: {ModBoss.Encoding, :ascii}
     holding_register 6, :version, as: :fw_version, mode: :rw
-    # Also supports: input_register / coil / discrete_input
   end
 
-  def encode_fw_version(value, _metadata) do
+  def encode_fw_version(value) do
     encoded_value = do_encode(value)
     {:ok, encoded_value}
   end
@@ -92,8 +91,8 @@ end
 ```
 
 For each batch, the `write_func` will be provided the type of object (`:holding_register` or
-`:coil`), the starting address for the batch to be written, and a list of values to write.
-It must return either `:ok` or `{:error, message}`.
+`:coil`), the starting address for the batch to be written, and a single value or list of values
+to write. It must return either `:ok` or `{:error, message}`.
 
 ```elixir
 write_func = fn object_type, starting_address, value_or_values ->
@@ -151,7 +150,7 @@ reads and writes. To enable telemetry, add `:telemetry` to your dependencies:
 ```elixir
 def deps do
   [
-    {:modboss, "~> 0.1.0"},
+    # …other deps
     {:telemetry, "~> 1.0"}
   ]
 end
diff --git a/lib/modboss.ex b/lib/modboss.ex
index b2c156c..feddab2 100644
--- a/lib/modboss.ex
+++ b/lib/modboss.ex
@@ -191,10 +191,10 @@ defmodule ModBoss do
 
         stop_measurements = %{
           objects_requested: stats.objects,
-          modbus_requests: stats.requests,
+          batches: stats.batches,
           addresses_read: stats.addresses,
           gap_addresses_read: stats.gap_addresses,
-          max_gap_size: stats.largest_gap,
+          largest_gap: stats.largest_gap,
           total_attempts: stats.total_attempts
         }
 
@@ -228,7 +228,7 @@ defmodule ModBoss do
   defp read_chunks(chunks, module, read_func, opts) do
     initial_stats = %{
       objects: 0,
-      requests: 0,
+      batches: 0,
       addresses: 0,
       gap_addresses: 0,
       largest_gap: 0,
@@ -255,7 +255,7 @@ defmodule ModBoss do
 
       updated_stats = %{
         objects: stats.objects + object_count,
-        requests: stats.requests + 1,
+        batches: stats.batches + 1,
         addresses: stats.addresses + address_count,
         gap_addresses: stats.gap_addresses + gap_addresses,
         largest_gap: max(stats.largest_gap, largest_gap),
@@ -288,7 +288,7 @@ defmodule ModBoss do
 
           :telemetry.span([:modboss, :read_callback], start_metadata, fn ->
             result = read_func.(type, starting_address, address_count)
-            stop_measurements = %{gap_addresses_read: gap_addresses, max_gap_size: largest_gap}
+            stop_measurements = %{gap_addresses_read: gap_addresses, largest_gap: largest_gap}
             stop_metadata = Map.put(start_metadata, :result, result)
 
             {result, stop_measurements, stop_metadata}
@@ -553,7 +553,7 @@ defmodule ModBoss do
 
         stop_measurements = %{
           objects_requested: stats.objects,
-          modbus_requests: stats.requests,
+          batches: stats.batches,
           total_attempts: stats.total_attempts
         }
 
@@ -569,7 +569,7 @@ defmodule ModBoss do
   end
 
   defp write_mappings(module, mappings, write_func, opts) do
-    initial_stats = %{objects: 0, requests: 0, total_attempts: 0}
+    initial_stats = %{objects: 0, batches: 0, total_attempts: 0}
 
     mappings
     |> chunk_mappings(module, :write, opts)
@@ -591,7 +591,7 @@ defmodule ModBoss do
 
       updated_stats = %{
         objects: stats.objects + address_count,
-        requests: stats.requests + 1,
+        batches: stats.batches + 1,
         total_attempts: stats.total_attempts + attempts
       }
 
diff --git a/lib/modboss/telemetry.ex b/lib/modboss/telemetry.ex
index e06a5ec..353fe7d 100644
--- a/lib/modboss/telemetry.ex
+++ b/lib/modboss/telemetry.ex
@@ -49,12 +49,12 @@ defmodule ModBoss.Telemetry do
       %{
         duration: integer(),
         monotonic_time: integer(),
-        modbus_requests: non_neg_integer(),
+        batches: non_neg_integer(),
         total_attempts: pos_integer(),
         objects_requested: non_neg_integer(),
         addresses_read: non_neg_integer(),
         gap_addresses_read: non_neg_integer(),
-        max_gap_size: non_neg_integer()
+        largest_gap: non_neg_integer()
       }
 
       # Metadata
@@ -110,7 +110,7 @@ defmodule ModBoss.Telemetry do
       %{
         duration: integer(),
         monotonic_time: integer(),
-        modbus_requests: non_neg_integer(),
+        batches: non_neg_integer(),
         total_attempts: pos_integer(),
         objects_requested: non_neg_integer()
       }
@@ -182,7 +182,7 @@ defmodule ModBoss.Telemetry do
         duration: integer(),
         monotonic_time: integer(),
         gap_addresses_read: non_neg_integer(),
-        max_gap_size: non_neg_integer()
+        largest_gap: non_neg_integer()
       }
 
       # Metadata
@@ -297,26 +297,25 @@ defmodule ModBoss.Telemetry do
 
   * `duration` — elapsed time in native time units. Convert with
     `System.convert_time_unit(duration, :native, :millisecond)`.
-  * `modbus_requests` — number of batches for the operation. Each contiguous
-    address range of one object type is one request. Note that this _does not_
-    account for retries.
+  * `batches` — number of batches attempted for the operation. Each contiguous
+    address range of one object type is one batch. Does not account for retries.
   * `total_attempts` — total number of `read_func`/`write_func` invocations,
-    including retries. Equal to `modbus_requests` when no retries were needed.
-    The difference of `total_attempts - modbus_requests` is the number of retries.
+    including retries. Equal to `batches` when no retries were needed.
+    The difference of `total_attempts - batches` is the number of retries.
   * `objects_requested` — total Modbus objects (registers/coils) covered by
     attempted callbacks.
   * `addresses_read` — total addresses attempted on the wire, including gap
     addresses (read operations only).
   * `gap_addresses_read` — gap addresses read and discarded (read events only).
-  * `max_gap_size` — largest address gap bridged (read events only).
+  * `largest_gap` — largest address gap bridged (read events only).
 
   > #### Partial failures {: .info}
   >
   > When an operation requires multiple callbacks and one fails partway through,
   > measurements reflect what was **attempted** (including the failed callback),
-  > not what was planned. For example, if a read batches into 3 callbacks and
-  > the 2nd fails, `modbus_requests` will be `2`, and `objects_requested` and
-  > `addresses_read` will cover only the first two batches.
+  > not what was planned. For example, if a read groups into 3 address batches
+  > and the 2nd fails, `batches` will be `2`, and `objects_requested` and
+  > `addresses_read` will cover only those first 2 batches.
 
   ## Metadata details
 
diff --git a/mix.exs b/mix.exs
index 5f98a57..7d20175 100644
--- a/mix.exs
+++ b/mix.exs
@@ -2,7 +2,7 @@ defmodule ModBoss.MixProject do
   use Mix.Project
 
   @source_url "https://github.com/goodpixel/modboss"
-  @version "0.1.1"
+  @version "0.2.0"
 
   def project do
     [
diff --git a/test/modboss/telemetry_test.exs b/test/modboss/telemetry_test.exs
index c89c254..4e9621f 100644
--- a/test/modboss/telemetry_test.exs
+++ b/test/modboss/telemetry_test.exs
@@ -65,11 +65,11 @@ defmodule ModBoss.TelemetryTest do
       assert_receive {:telemetry, [:modboss, :read, :stop], stop_measurements, stop_metadata}
       assert is_integer(stop_measurements.duration)
       assert stop_measurements.duration >= 0
-      assert stop_measurements.modbus_requests == 1
+      assert stop_measurements.batches == 1
       assert stop_measurements.objects_requested == 1
       assert stop_measurements.addresses_read == 1
       assert stop_measurements.gap_addresses_read == 0
-      assert stop_measurements.max_gap_size == 0
+      assert stop_measurements.largest_gap == 0
       assert stop_measurements.total_attempts == 1
       assert stop_metadata.schema == TestSchema
       assert stop_metadata.names == [:foo]
@@ -101,7 +101,7 @@ defmodule ModBoss.TelemetryTest do
       assert is_integer(stop_measurements.duration)
       assert stop_measurements.duration >= 0
       assert stop_measurements.gap_addresses_read == 0
-      assert stop_measurements.max_gap_size == 0
+      assert stop_measurements.largest_gap == 0
       assert stop_metadata.schema == TestSchema
       assert stop_metadata.names == [:foo]
       assert stop_metadata.object_type == :holding_register
@@ -131,7 +131,7 @@ defmodule ModBoss.TelemetryTest do
 
       # Batched reads
       assert_receive {:telemetry, [:modboss, :read, :stop], read_measurements, _stop_metadata}
-      assert read_measurements.modbus_requests == 2
+      assert read_measurements.batches == 2
       assert read_measurements.objects_requested == 3
       assert read_measurements.total_attempts == 2
 
@@ -157,7 +157,7 @@ defmodule ModBoss.TelemetryTest do
       assert_receive {:telemetry, [:modboss, :read, :stop], read_measurements, _}
       assert read_measurements.objects_requested == 3
       assert read_measurements.addresses_read == 3
-      assert read_measurements.modbus_requests == 1
+      assert read_measurements.batches == 1
       assert read_measurements.total_attempts == 1
 
       assert_receive {:telemetry, [:modboss, :read_callback, :stop], _req_measurements, req_meta}
@@ -183,11 +183,11 @@ defmodule ModBoss.TelemetryTest do
 
       # Per-operation: 1 request, 2 objects requested, 5 addresses read, 3 gap addresses
       assert_receive {:telemetry, [:modboss, :read, :stop], measurements, _}
-      assert measurements.modbus_requests == 1
+      assert measurements.batches == 1
       assert measurements.objects_requested == 2
       assert measurements.addresses_read == 5
       assert measurements.gap_addresses_read == 3
-      assert measurements.max_gap_size == 3
+      assert measurements.largest_gap == 3
       assert measurements.total_attempts == 1
 
       # Per-request: single request spanning addresses 1-5
@@ -195,7 +195,7 @@ defmodule ModBoss.TelemetryTest do
       assert req_meta.address_count == 5
       assert req_meta.attempt == 1
       assert req_measurements.gap_addresses_read == 3
-      assert req_measurements.max_gap_size == 3
+      assert req_measurements.largest_gap == 3
     end
 
     test "reports multiple gaps correctly", %{device: device} do
@@ -213,18 +213,18 @@ defmodule ModBoss.TelemetryTest do
         ModBoss.read(GapSchema, [:alpha, :charlie, :echo], read_func(device), max_gap: 10)
 
       assert_receive {:telemetry, [:modboss, :read, :stop], measurements, _}
-      assert measurements.modbus_requests == 1
+      assert measurements.batches == 1
       assert measurements.objects_requested == 3
       assert measurements.addresses_read == 5
       assert measurements.gap_addresses_read == 2
       # Two gaps of size 1 each (addr 2 and addr 4)
-      assert measurements.max_gap_size == 1
+      assert measurements.largest_gap == 1
       assert measurements.total_attempts == 1
 
       assert_receive {:telemetry, [:modboss, :read_callback, :stop], req_measurements, req_meta}
       assert req_meta.attempt == 1
       assert req_measurements.gap_addresses_read == 2
-      assert req_measurements.max_gap_size == 1
+      assert req_measurements.largest_gap == 1
     end
 
     test "reports zero gap measurements without max_gap", %{device: device} do
@@ -237,7 +237,7 @@ defmodule ModBoss.TelemetryTest do
 
       assert_receive {:telemetry, [:modboss, :read, :stop], measurements, _}
       assert measurements.gap_addresses_read == 0
-      assert measurements.max_gap_size == 0
+      assert measurements.largest_gap == 0
       assert measurements.total_attempts == 1
       assert measurements.addresses_read == measurements.objects_requested
     end
@@ -275,10 +275,10 @@ defmodule ModBoss.TelemetryTest do
 
       # 1 object requested, 1 request attempted, 1 address attempted
       assert stop_measurements.objects_requested == 1
-      assert stop_measurements.modbus_requests == 1
+      assert stop_measurements.batches == 1
       assert stop_measurements.addresses_read == 1
       assert stop_measurements.gap_addresses_read == 0
-      assert stop_measurements.max_gap_size == 0
+      assert stop_measurements.largest_gap == 0
       assert stop_measurements.total_attempts == 1
 
       assert_receive {:telemetry, [:modboss, :read_callback, :start], _, _}
@@ -336,7 +336,7 @@ defmodule ModBoss.TelemetryTest do
       assert metadata.result == {:error, "timeout"}
 
       # 3 planned, but only 2 attempted (1 succeeded + 1 failed)
-      assert measurements.modbus_requests == 2
+      assert measurements.batches == 2
 
       # 2 objects in chunk 1 + 2 objects in chunk 2
       assert measurements.objects_requested == 4
@@ -348,7 +348,7 @@ defmodule ModBoss.TelemetryTest do
       assert measurements.gap_addresses_read == 5
 
       # 3 gap addresses from chunk 2 (vs. 2 gap address from chunk 1)
-      assert measurements.max_gap_size == 3
+      assert measurements.largest_gap == 3
 
       # attempted the read callback twice
       assert measurements.total_attempts == 2
@@ -507,7 +507,7 @@ defmodule ModBoss.TelemetryTest do
       assert_receive {:telemetry, [:modboss, :write, :stop], stop_measurements, stop_metadata}
       assert is_integer(stop_measurements.duration)
       assert stop_measurements.duration >= 0
-      assert stop_measurements.modbus_requests == 1
+      assert stop_measurements.batches == 1
       assert stop_measurements.objects_requested == 1
       assert stop_measurements.total_attempts == 1
       assert stop_metadata.schema == TestSchema
@@ -555,7 +555,7 @@ defmodule ModBoss.TelemetryTest do
 
       # Batched writes
       assert_receive {:telemetry, [:modboss, :write, :stop], write_measurements, _}
-      assert write_measurements.modbus_requests == 2
+      assert write_measurements.batches == 2
       assert write_measurements.objects_requested == 3
       assert write_measurements.total_attempts == 2
 
@@ -576,7 +576,7 @@ defmodule ModBoss.TelemetryTest do
 
       assert_receive {:telemetry, [:modboss, :write, :stop], write_measurements, _}
       assert write_measurements.objects_requested == 3
-      assert write_measurements.modbus_requests == 1
+      assert write_measurements.batches == 1
       assert write_measurements.total_attempts == 1
 
       assert_receive {:telemetry, [:modboss, :write_callback, :stop], _req_measurements, req_meta}
@@ -595,7 +595,7 @@ defmodule ModBoss.TelemetryTest do
 
       assert_receive {:telemetry, [:modboss, :write, :stop], stop_measurements, write_metadata}
       assert write_metadata.result == {:error, "device busy"}
-      assert stop_measurements.modbus_requests == 1
+      assert stop_measurements.batches == 1
       assert stop_measurements.objects_requested == 1
       assert stop_measurements.total_attempts == 1
 
@@ -639,7 +639,7 @@ defmodule ModBoss.TelemetryTest do
       assert metadata.result == {:error, "timeout"}
 
       # 3 planned, but only 2 attempted (1 succeeded + 1 failed)
-      assert measurements.modbus_requests == 2
+      assert measurements.batches == 2
       assert measurements.objects_requested == 2
       assert measurements.total_attempts == 2
     end