diff --git a/action/ActionMessage.h b/action/ActionMessage.h
index c564911c..0a718aab 100644
--- a/action/ActionMessage.h
+++ b/action/ActionMessage.h
@@ -10,7 +10,7 @@ class ActionMessage {
 private:
 	ActionMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::ACTION;
+	static const uint8_t MESSAGE_ID = messagetypes::ACTION;
 	static const Command_t EXECUTE_ACTION = MAKE_COMMAND_ID(1);
 	static const Command_t STEP_SUCCESS = MAKE_COMMAND_ID(2);
 	static const Command_t STEP_FAILED = MAKE_COMMAND_ID(3);
diff --git a/container/SinglyLinkedList.h b/container/SinglyLinkedList.h
index 0a2e0531..eb6ae276 100644
--- a/container/SinglyLinkedList.h
+++ b/container/SinglyLinkedList.h
@@ -1,10 +1,13 @@
-#ifndef SINGLYLINKEDLIST_H_
-#define SINGLYLINKEDLIST_H_
+#ifndef FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+#define FRAMEWORK_CONTAINER_SINGLYLINKEDLIST_H_
+
+#include <cstddef>
+#include <cstdint>
 
-#include <stddef.h>
-#include <stdint.h>
 /**
- * \ingroup container
+ * @brief	Linked list data structure,
+ * 			each entry has a pointer to the next entry (singly)
+ * @ingroup container
  */
 template<typename T>
 class LinkedElement {
@@ -12,11 +15,8 @@ public:
 	T *value;
 	class Iterator {
 	public:
-		LinkedElement<T> *value;
-		Iterator() :
-				value(NULL) {
-
-		}
+		LinkedElement<T> *value = nullptr;
+		Iterator() {}
 
 		Iterator(LinkedElement<T> *element) :
 				value(element) {
@@ -45,12 +45,11 @@ public:
 		}
 	};
 
-	LinkedElement(T* setElement, LinkedElement<T>* setNext = NULL) : value(setElement),
-		next(setNext) {
-	}
-	virtual ~LinkedElement(){
+	LinkedElement(T* setElement, LinkedElement<T>* setNext = nullptr):
+	       value(setElement), next(setNext) {}
+
+	virtual ~LinkedElement(){}
 
-	}
 	virtual LinkedElement* getNext() const {
 		return next;
 	}
@@ -58,11 +57,16 @@ public:
 	virtual void setNext(LinkedElement* next) {
 		this->next = next;
 	}
+
+	virtual void setEnd() {
+	    this->next = nullptr;
+	}
+
 	LinkedElement* begin() {
 		return this;
 	}
 	LinkedElement* end() {
-		return NULL;
+		return nullptr;
 	}
 private:
 	LinkedElement *next;
@@ -71,37 +75,80 @@ private:
 template<typename T>
 class SinglyLinkedList {
 public:
-	SinglyLinkedList() :
-			start(NULL) {
-	}
+    using ElementIterator = typename LinkedElement<T>::Iterator;
+
+	SinglyLinkedList() {}
+
+	SinglyLinkedList(ElementIterator start) :
+			start(start.value) {}
 
-	SinglyLinkedList(typename LinkedElement<T>::Iterator start) :
-			start(start.value) {
-	}
 	SinglyLinkedList(LinkedElement<T>* startElement) :
-				start(startElement) {
-		}
-	typename LinkedElement<T>::Iterator begin() const {
-		return LinkedElement<T>::Iterator::Iterator(start);
-	}
-	typename LinkedElement<T>::Iterator::Iterator end() const {
-		return LinkedElement<T>::Iterator::Iterator();
+			start(startElement) {}
+
+	ElementIterator begin() const {
+		return ElementIterator::Iterator(start);
 	}
 
-	uint32_t getSize() const {
-		uint32_t size = 0;
+	/** Returns iterator to nulltr */
+	ElementIterator end() const {
+		return ElementIterator::Iterator();
+	}
+
+	/**
+	 * Returns last element in singly linked list.
+	 * @return
+	 */
+	ElementIterator back() const {
+	    LinkedElement<T> *element = start;
+	    while (element->getNext() != nullptr) {
+	        element = element->getNext();
+	    }
+	    return ElementIterator::Iterator(element);
+	}
+
+	size_t getSize() const {
+		size_t size = 0;
 		LinkedElement<T> *element = start;
-		while (element != NULL) {
+		while (element != nullptr) {
 			size++;
 			element = element->getNext();
 		}
 		return size;
 	}
-	void setStart(LinkedElement<T>* setStart) {
-		start = setStart;
+	void setStart(LinkedElement<T>* firstElement) {
+		start = firstElement;
 	}
+
+	void setNext(LinkedElement<T>* currentElement,
+	        LinkedElement<T>* nextElement) {
+	    currentElement->setNext(nextElement);
+	}
+
+    void setLast(LinkedElement<T>* lastElement) {
+        lastElement->setEnd();
+    }
+
+    void insertElement(LinkedElement<T>* element, size_t position) {
+        LinkedElement<T> *currentElement = start;
+        for(size_t count = 0; count < position; count++) {
+            if(currentElement == nullptr) {
+                return;
+            }
+            currentElement = currentElement->getNext();
+        }
+        LinkedElement<T>* elementAfterCurrent = currentElement->next;
+        currentElement->setNext(element);
+        if(elementAfterCurrent != nullptr) {
+            element->setNext(elementAfterCurrent);
+        }
+    }
+
+    void insertBack(LinkedElement<T>* lastElement) {
+        back().value->setNext(lastElement);
+    }
+
 protected:
-	LinkedElement<T> *start;
+	LinkedElement<T> *start = nullptr;
 };
 
 #endif /* SINGLYLINKEDLIST_H_ */
diff --git a/datapool/DataPool.cpp b/datapool/DataPool.cpp
index 817089bf..1b6cb7a1 100644
--- a/datapool/DataPool.cpp
+++ b/datapool/DataPool.cpp
@@ -61,7 +61,7 @@ ReturnValue_t DataPool::freeDataPoolLock() {
 }
 
 ReturnValue_t DataPool::lockDataPool() {
-	ReturnValue_t status = mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t status = mutex->lockMutex(MutexIF::BLOCKING);
 	if ( status != RETURN_OK ) {
 		sif::error << "DataPool::DataPool: lock of mutex failed with error code: " << status << std::endl;
 	}
diff --git a/devicehandlers/DeviceHandlerMessage.h b/devicehandlers/DeviceHandlerMessage.h
index f33fdad8..8d1c94f4 100644
--- a/devicehandlers/DeviceHandlerMessage.h
+++ b/devicehandlers/DeviceHandlerMessage.h
@@ -25,7 +25,7 @@ public:
 	/**
 	 * These are the commands that can be sent to a DeviceHandlerBase
 	 */
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::DEVICE_HANDLER_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::DEVICE_HANDLER_COMMAND;
 	static const Command_t CMD_RAW = MAKE_COMMAND_ID( 1 ); //!< Sends a raw command, setParameter is a ::store_id_t containing the raw packet to send
 //	static const Command_t CMD_DIRECT = MAKE_COMMAND_ID( 2 ); //!< Sends a direct command, setParameter is a ::DeviceCommandId_t, setParameter2 is a ::store_id_t containing the data needed for the command
 	static const Command_t CMD_SWITCH_IOBOARD = MAKE_COMMAND_ID( 3 ); //!< Requests a IO-Board switch, setParameter() is the IO-Board identifier
diff --git a/events/EventManager.cpp b/events/EventManager.cpp
index fb4499b2..e58f251a 100644
--- a/events/EventManager.cpp
+++ b/events/EventManager.cpp
@@ -147,7 +147,7 @@ void EventManager::printEvent(EventMessage* message) {
 #endif
 
 void EventManager::lockMutex() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 }
 
 void EventManager::unlockMutex() {
diff --git a/framework.mk b/fsfw.mk
similarity index 97%
rename from framework.mk
rename to fsfw.mk
index 136eff3a..c2c6e747 100644
--- a/framework.mk
+++ b/fsfw.mk
@@ -1,3 +1,4 @@
+# This submake file needs to be included by the primary Makefile.
 # This file needs FRAMEWORK_PATH and OS_FSFW set correctly by another Makefile.
 # Valid API settings: rtems, linux, freeRTOS, host
 
diff --git a/health/HealthMessage.h b/health/HealthMessage.h
index 95bd9d45..db2a7719 100644
--- a/health/HealthMessage.h
+++ b/health/HealthMessage.h
@@ -6,7 +6,7 @@
 
 class HealthMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::HEALTH_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::HEALTH_COMMAND;
 	static const Command_t HEALTH_SET = MAKE_COMMAND_ID(1);//REPLY_COMMAND_OK/REPLY_REJECTED
 	static const Command_t HEALTH_ANNOUNCE = MAKE_COMMAND_ID(3);	//NO REPLY!
 	static const Command_t HEALTH_INFO = MAKE_COMMAND_ID(5);
diff --git a/health/HealthTable.cpp b/health/HealthTable.cpp
index 846152f6..4d2564a3 100644
--- a/health/HealthTable.cpp
+++ b/health/HealthTable.cpp
@@ -26,7 +26,7 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
 
 void HealthTable::setHealth(object_id_t object,
 		HasHealthIF::HealthState newState) {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		iter->second = newState;
@@ -36,7 +36,7 @@ void HealthTable::setHealth(object_id_t object,
 
 HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 	HasHealthIF::HealthState state = HasHealthIF::HEALTHY;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		state = iter->second;
@@ -46,7 +46,7 @@ HasHealthIF::HealthState HealthTable::getHealth(object_id_t object) {
 }
 
 uint32_t HealthTable::getPrintSize() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	uint32_t size = healthMap.size() * 5 + 2;
 	mutex->unlockMutex();
 	return size;
@@ -54,7 +54,7 @@ uint32_t HealthTable::getPrintSize() {
 
 bool HealthTable::hasHealth(object_id_t object) {
 	bool exits = false;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	HealthMap::iterator iter = healthMap.find(object);
 	if (iter != healthMap.end()) {
 		exits = true;
@@ -64,7 +64,7 @@ bool HealthTable::hasHealth(object_id_t object) {
 }
 
 void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	size_t size = 0;
 	uint16_t count = healthMap.size();
 	ReturnValue_t result = SerializeAdapter::serialize(&count,
@@ -85,7 +85,7 @@ void HealthTable::printAll(uint8_t* pointer, size_t maxSize) {
 ReturnValue_t HealthTable::iterate(
 		std::pair<object_id_t, HasHealthIF::HealthState> *value, bool reset) {
 	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	if (reset) {
 		mapIterator = healthMap.begin();
 	}
diff --git a/internalError/InternalErrorReporter.cpp b/internalError/InternalErrorReporter.cpp
index b468ca5e..861e1595 100644
--- a/internalError/InternalErrorReporter.cpp
+++ b/internalError/InternalErrorReporter.cpp
@@ -54,7 +54,7 @@ void InternalErrorReporter::lostTm() {
 
 uint32_t InternalErrorReporter::getAndResetQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = queueHits;
 	queueHits = 0;
 	mutex->unlockMutex();
@@ -63,21 +63,21 @@ uint32_t InternalErrorReporter::getAndResetQueueHits() {
 
 uint32_t InternalErrorReporter::getQueueHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = queueHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementQueueHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	queueHits++;
 	mutex->unlockMutex();
 }
 
 uint32_t InternalErrorReporter::getAndResetTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = tmHits;
 	tmHits = 0;
 	mutex->unlockMutex();
@@ -86,14 +86,14 @@ uint32_t InternalErrorReporter::getAndResetTmHits() {
 
 uint32_t InternalErrorReporter::getTmHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = tmHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementTmHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	tmHits++;
 	mutex->unlockMutex();
 }
@@ -104,7 +104,7 @@ void InternalErrorReporter::storeFull() {
 
 uint32_t InternalErrorReporter::getAndResetStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = storeHits;
 	storeHits = 0;
 	mutex->unlockMutex();
@@ -113,14 +113,14 @@ uint32_t InternalErrorReporter::getAndResetStoreHits() {
 
 uint32_t InternalErrorReporter::getStoreHits() {
 	uint32_t value;
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	value = storeHits;
 	mutex->unlockMutex();
 	return value;
 }
 
 void InternalErrorReporter::incrementStoreHits() {
-	mutex->lockMutex(MutexIF::NO_TIMEOUT);
+	mutex->lockMutex(MutexIF::BLOCKING);
 	storeHits++;
 	mutex->unlockMutex();
 }
diff --git a/ipc/CommandMessage.cpp b/ipc/CommandMessage.cpp
index 8c5e15b8..dbea8533 100644
--- a/ipc/CommandMessage.cpp
+++ b/ipc/CommandMessage.cpp
@@ -15,7 +15,7 @@
 #include "../tmstorage/TmStoreMessage.h"
 #include "../parameters/ParameterMessage.h"
 
-namespace MESSAGE_TYPE {
+namespace messagetypes {
 void clearMissionMessage(CommandMessage* message);
 }
 
@@ -67,35 +67,35 @@ void CommandMessage::setParameter2(uint32_t parameter2) {
 
 void CommandMessage::clearCommandMessage() {
 	switch((getCommand()>>8) & 0xff){
-	case  MESSAGE_TYPE::MODE_COMMAND:
+	case  messagetypes::MODE_COMMAND:
 		ModeMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::HEALTH_COMMAND:
+	case messagetypes::HEALTH_COMMAND:
 		HealthMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MODE_SEQUENCE:
+	case messagetypes::MODE_SEQUENCE:
 		ModeSequenceMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::ACTION:
+	case messagetypes::ACTION:
 		ActionMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::DEVICE_HANDLER_COMMAND:
+	case messagetypes::DEVICE_HANDLER_COMMAND:
 		DeviceHandlerMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MEMORY:
+	case messagetypes::MEMORY:
 		MemoryMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::MONITORING:
+	case messagetypes::MONITORING:
 		MonitoringMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::TM_STORE:
+	case messagetypes::TM_STORE:
 		TmStoreMessage::clear(this);
 		break;
-	case MESSAGE_TYPE::PARAMETER:
+	case messagetypes::PARAMETER:
 		ParameterMessage::clear(this);
 		break;
 	default:
-		MESSAGE_TYPE::clearMissionMessage(this);
+		messagetypes::clearMissionMessage(this);
 		break;
 	}
 }
diff --git a/ipc/CommandMessage.h b/ipc/CommandMessage.h
index 87244c11..e984ad3d 100644
--- a/ipc/CommandMessage.h
+++ b/ipc/CommandMessage.h
@@ -23,7 +23,7 @@ public:
 	static const ReturnValue_t UNKNOWN_COMMAND = MAKE_RETURN_CODE(0x01);
 
 
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::COMMAND;
 	static const Command_t CMD_NONE = MAKE_COMMAND_ID( 0 );//!< Used internally, will be ignored
 	static const Command_t REPLY_COMMAND_OK = MAKE_COMMAND_ID( 3 );
 	static const Command_t REPLY_REJECTED = MAKE_COMMAND_ID( 0xD1 );//!< Reply indicating that the current command was rejected, par1 should contain the error code
diff --git a/ipc/FwMessageTypes.h b/ipc/FwMessageTypes.h
index ec1c9aa2..e820b1df 100644
--- a/ipc/FwMessageTypes.h
+++ b/ipc/FwMessageTypes.h
@@ -1,7 +1,7 @@
 #ifndef FRAMEWORK_IPC_FWMESSAGETYPES_H_
 #define FRAMEWORK_IPC_FWMESSAGETYPES_H_
 
-namespace MESSAGE_TYPE {
+namespace messagetypes {
 //Remember to add new Message Types to the clearCommandMessage function!
 enum FW_MESSAGE_TYPE {
 	COMMAND = 0,
diff --git a/ipc/MutexHelper.h b/ipc/MutexHelper.h
index dffcd54e..3dc36921 100644
--- a/ipc/MutexHelper.h
+++ b/ipc/MutexHelper.h
@@ -6,15 +6,21 @@
 
 class MutexHelper {
 public:
-	MutexHelper(MutexIF* mutex, uint32_t timeoutMs) :
+	MutexHelper(MutexIF* mutex, MutexIF::TimeoutType timeoutType =
+			MutexIF::TimeoutType::BLOCKING, uint32_t timeoutMs = 0) :
 			internalMutex(mutex) {
-		ReturnValue_t status = mutex->lockMutex(timeoutMs);
-		if(status != HasReturnvaluesIF::RETURN_OK){
-			sif::error << "MutexHelper: Lock of Mutex failed " << status << std::endl;
+		ReturnValue_t status = mutex->lockMutex(timeoutType,
+		        timeoutMs);
+		if(status == MutexIF::MUTEX_TIMEOUT) {
+			sif::error << "MutexHelper: Lock of mutex failed with timeout of "
+					<< timeoutMs << " milliseconds!" << std::endl;
+		}
+		else if(status != HasReturnvaluesIF::RETURN_OK){
+			sif::error << "MutexHelper: Lock of Mutex failed with code " <<
+					status << std::endl;
 		}
 	}
 
-
 	~MutexHelper() {
 		internalMutex->unlockMutex();
 	}
diff --git a/ipc/MutexIF.h b/ipc/MutexIF.h
index 851d50a1..5673e4d7 100644
--- a/ipc/MutexIF.h
+++ b/ipc/MutexIF.h
@@ -3,9 +3,33 @@
 
 #include "../returnvalues/HasReturnvaluesIF.h"
 
+/**
+ * @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
+ * @details https://en.wikipedia.org/wiki/Lock_(computer_science)
+ * @ingroup osal
+ * @ingroup interface
+ */
 class MutexIF {
 public:
-	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.
+    /**
+     * Different types of timeout for the mutex lock.
+     */
+    enum TimeoutType {
+        POLLING, //!< If mutex is not available, return immediately
+        WAITING, //!< Wait a specified time for the mutex to become available
+        BLOCKING //!< Block indefinitely until the mutex becomes available.
+    };
+
+    /**
+     * Lock the mutex. The timeout value will only be used for
+     * TimeoutType::WAITING
+     * @param timeoutType
+     * @param timeoutMs
+     * @return
+     */
+    virtual ReturnValue_t lockMutex(TimeoutType timeoutType =
+            TimeoutType::BLOCKING, uint32_t timeoutMs = 0) = 0;
+    virtual ReturnValue_t unlockMutex() = 0;
 
 	static const uint8_t INTERFACE_ID = CLASS_ID::MUTEX_IF;
 	/**
@@ -57,9 +81,7 @@ public:
 	 */
 	static const ReturnValue_t MUTEX_DESTROYED_WHILE_WAITING = MAKE_RETURN_CODE(12);
 
-	virtual ~MutexIF() {}
-	virtual ReturnValue_t lockMutex(uint32_t timeoutMs) = 0;
-	virtual ReturnValue_t unlockMutex() = 0;
+    virtual ~MutexIF() {}
 };
 
 
diff --git a/memory/MemoryMessage.h b/memory/MemoryMessage.h
index f723bbb6..a4c2de63 100644
--- a/memory/MemoryMessage.h
+++ b/memory/MemoryMessage.h
@@ -9,7 +9,7 @@ class MemoryMessage {
 private:
 	MemoryMessage(); //A private ctor inhibits instantiation
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MEMORY;
+	static const uint8_t MESSAGE_ID = messagetypes::MEMORY;
 	static const Command_t CMD_MEMORY_LOAD = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t CMD_MEMORY_DUMP = MAKE_COMMAND_ID( 0x02 );
 	static const Command_t CMD_MEMORY_CHECK = MAKE_COMMAND_ID( 0x03 );
diff --git a/modes/ModeMessage.h b/modes/ModeMessage.h
index 5fd82512..925f3fc1 100644
--- a/modes/ModeMessage.h
+++ b/modes/ModeMessage.h
@@ -17,7 +17,7 @@ class ModeMessage {
 private:
 	ModeMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_COMMAND;
+	static const uint8_t MESSAGE_ID = messagetypes::MODE_COMMAND;
 	static const Command_t CMD_MODE_COMMAND = MAKE_COMMAND_ID(0x01);//!> Command to set the specified Mode, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!!
 	static const Command_t CMD_MODE_COMMAND_FORCED = MAKE_COMMAND_ID(0xF1);//!> Command to set the specified Mode, regardless of external control flag, replies are: REPLY_MODE_REPLY, REPLY_WRONG_MODE_REPLY, and REPLY_REJECTED; don't add any replies, as this will break the subsystem mode machine!!
 	static const Command_t REPLY_MODE_REPLY = MAKE_COMMAND_ID(0x02);//!> Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
diff --git a/monitoring/MonitoringMessage.h b/monitoring/MonitoringMessage.h
index 248cd6ff..84b02750 100644
--- a/monitoring/MonitoringMessage.h
+++ b/monitoring/MonitoringMessage.h
@@ -6,7 +6,7 @@
 
 class MonitoringMessage: public CommandMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MONITORING;
+	static const uint8_t MESSAGE_ID = messagetypes::MONITORING;
 	//Object id could be useful, but we better manage that on service level (register potential reporters).
 	static const Command_t LIMIT_VIOLATION_REPORT = MAKE_COMMAND_ID(10);
 	virtual ~MonitoringMessage();
diff --git a/osal/FreeRTOS/Clock.cpp b/osal/FreeRTOS/Clock.cpp
index 9733c405..acfa98d7 100644
--- a/osal/FreeRTOS/Clock.cpp
+++ b/osal/FreeRTOS/Clock.cpp
@@ -155,7 +155,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if (checkOrCreateClockMutex() != HasReturnvaluesIF::RETURN_OK) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -170,7 +170,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if (timeMutex == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 902502f9..4873dde4 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -5,11 +5,12 @@
 uint32_t FixedTimeslotTask::deadlineMissedCount = 0;
 const size_t PeriodicTaskIF::MINIMUM_STACK_SIZE = configMINIMAL_STACK_SIZE;
 
-FixedTimeslotTask::FixedTimeslotTask(const char *name, TaskPriority setPriority,
+FixedTimeslotTask::FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod overallPeriod,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), handle(NULL), pst(overallPeriod * 1000) {
-	xTaskCreate(taskEntryPoint, name, setStack, this, setPriority, &handle);
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
+	xTaskCreate(taskEntryPoint, name, stackSize, this, setPriority, &handle);
 	// All additional attributes are applied to the object.
 	this->deadlineMissedFunc = setDeadlineMissedFunc;
 }
@@ -82,7 +83,7 @@ ReturnValue_t FixedTimeslotTask::checkSequence() const {
 void FixedTimeslotTask::taskFunctionality() {
 	// A local iterator for the Polling Sequence Table is created to find the
     // start time for the first entry.
-	FixedSlotSequence::SlotListIter slotListIter = pst.current;
+	auto slotListIter = pst.current;
 
 	//The start time for the first entry is read.
 	uint32_t intervalMs = slotListIter->pollingTimeMs;
@@ -155,3 +156,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
+
+TaskHandle_t FixedTimeslotTask::getTaskHandle() {
+    return handle;
+}
diff --git a/osal/FreeRTOS/FixedTimeslotTask.h b/osal/FreeRTOS/FixedTimeslotTask.h
index d65f1fe4..84264c4c 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.h
+++ b/osal/FreeRTOS/FixedTimeslotTask.h
@@ -1,14 +1,16 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 #define FRAMEWORK_OSAL_FREERTOS_FIXEDTIMESLOTTASK_H_
 
+#include "FreeRTOSTaskIF.h"
 #include "../../devicehandlers/FixedSlotSequence.h"
 #include "../../tasks/FixedTimeslotTaskIF.h"
 #include "../../tasks/Typedef.h"
 
+
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
-class FixedTimeslotTask: public FixedTimeslotTaskIF {
+class FixedTimeslotTask: public FixedTimeslotTaskIF, public FreeRTOSTaskIF {
 public:
 
 	/**
@@ -23,7 +25,7 @@ public:
 	 * @param setDeadlineMissedFunc Callback if a deadline was missed.
 	 * @return Pointer to the newly created task.
 	 */
-	FixedTimeslotTask(const char *name, TaskPriority setPriority,
+	FixedTimeslotTask(TaskName name, TaskPriority setPriority,
 			TaskStackSize setStack, TaskPeriod overallPeriod,
 			void (*setDeadlineMissedFunc)());
 
@@ -57,6 +59,8 @@ public:
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 
+	TaskHandle_t getTaskHandle() override;
+
 protected:
 	bool started;
 	TaskHandle_t handle;
diff --git a/osal/FreeRTOS/FreeRTOSTaskIF.h b/osal/FreeRTOS/FreeRTOSTaskIF.h
new file mode 100644
index 00000000..06fda282
--- /dev/null
+++ b/osal/FreeRTOS/FreeRTOSTaskIF.h
@@ -0,0 +1,13 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+class FreeRTOSTaskIF {
+public:
+	virtual~ FreeRTOSTaskIF() {}
+	virtual TaskHandle_t getTaskHandle() = 0;
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
diff --git a/osal/FreeRTOS/Mutex.cpp b/osal/FreeRTOS/Mutex.cpp
index 6da58783..9d9638b5 100644
--- a/osal/FreeRTOS/Mutex.cpp
+++ b/osal/FreeRTOS/Mutex.cpp
@@ -2,27 +2,31 @@
 
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
-
 Mutex::Mutex() {
 	handle = xSemaphoreCreateMutex();
-	//TODO print error
+	if(handle == nullptr) {
+		sif::error << "Mutex::Mutex(FreeRTOS): Creation failure" << std::endl;
+	}
 }
 
 Mutex::~Mutex() {
-	if (handle != 0) {
+	if (handle != nullptr) {
 		vSemaphoreDelete(handle);
 	}
 
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	if (handle == 0) {
-		//TODO Does not exist
-		return HasReturnvaluesIF::RETURN_FAILED;
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType,
+        uint32_t timeoutMs) {
+	if (handle == nullptr) {
+		return MutexIF::MUTEX_NOT_FOUND;
 	}
-	TickType_t timeout = portMAX_DELAY;
-	if (timeoutMs != NO_TIMEOUT) {
+	// If the timeout type is BLOCKING, this will be the correct value.
+	uint32_t timeout = portMAX_DELAY;
+	if(timeoutType == TimeoutType::POLLING) {
+		timeout = 0;
+	}
+	else if(timeoutType == TimeoutType::WAITING){
 		timeout = pdMS_TO_TICKS(timeoutMs);
 	}
 
@@ -30,21 +34,18 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO could not be acquired/timeout
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::MUTEX_TIMEOUT;
 	}
 }
 
 ReturnValue_t Mutex::unlockMutex() {
-	if (handle == 0) {
-		//TODO Does not exist
-		return HasReturnvaluesIF::RETURN_FAILED;
+	if (handle == nullptr) {
+		return MutexIF::MUTEX_NOT_FOUND;
 	}
 	BaseType_t returncode = xSemaphoreGive(handle);
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {
-		//TODO is not owner
-		return HasReturnvaluesIF::RETURN_FAILED;
+		return MutexIF::CURR_THREAD_DOES_NOT_OWN_MUTEX;
 	}
 }
diff --git a/osal/FreeRTOS/Mutex.h b/osal/FreeRTOS/Mutex.h
index d376b7bc..156d431c 100644
--- a/osal/FreeRTOS/Mutex.h
+++ b/osal/FreeRTOS/Mutex.h
@@ -1,22 +1,29 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
+#define FRAMEWORK_FREERTOS_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 
-#include <FreeRTOS.h>
-#include "semphr.h"
-
-
-
+/**
+ * @brief OS component to implement MUTual EXclusion
+ *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
+ * @ingroup osal
+ */
 class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
-	ReturnValue_t unlockMutex();
+	ReturnValue_t lockMutex(TimeoutType timeoutType,
+	        uint32_t timeoutMs) override;
+	ReturnValue_t unlockMutex() override;
+
 private:
 	SemaphoreHandle_t handle;
 };
 
-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */
diff --git a/osal/FreeRTOS/PeriodicTask.cpp b/osal/FreeRTOS/PeriodicTask.cpp
index a95333b4..ce981877 100644
--- a/osal/FreeRTOS/PeriodicTask.cpp
+++ b/osal/FreeRTOS/PeriodicTask.cpp
@@ -5,12 +5,13 @@
 
 PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		TaskStackSize setStack, TaskPeriod setPeriod,
-		void (*setDeadlineMissedFunc)()) :
+		TaskDeadlineMissedFunction deadlineMissedFunc) :
 		started(false), handle(NULL), period(setPeriod), deadlineMissedFunc(
-		setDeadlineMissedFunc)
+		deadlineMissedFunc)
 {
+	configSTACK_DEPTH_TYPE stackSize = setStack / sizeof(configSTACK_DEPTH_TYPE);
 	BaseType_t status = xTaskCreate(taskEntryPoint, name,
-			setStack, this, setPriority, &handle);
+			stackSize, this, setPriority, &handle);
 	if(status != pdPASS){
 		sif::debug << "PeriodicTask Insufficient heap memory remaining. "
 		        "Status: " << status << std::endl;
@@ -81,19 +82,17 @@ void PeriodicTask::taskFunctionality() {
 	}
 }
 
-ReturnValue_t PeriodicTask::addComponent(object_id_t object, bool setTaskIF) {
+ReturnValue_t PeriodicTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
 	    sif::error << "PeriodicTask::addComponent: Invalid object. Make sure"
-	            "it implements ExecutableObjectIF!" << std::endl;
+	            "it implement ExecutableObjectIF" << std::endl;
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
 
-	if(setTaskIF) {
-	     newObject->setTaskIF(this);
-	}
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -124,6 +123,10 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     }
 }
 
+TaskHandle_t PeriodicTask::getTaskHandle() {
+    return handle;
+}
+
 void PeriodicTask::handleMissedDeadline() {
 #ifdef DEBUG
     sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<
diff --git a/osal/FreeRTOS/PeriodicTask.h b/osal/FreeRTOS/PeriodicTask.h
index 3eb8f57e..ea170aba 100644
--- a/osal/FreeRTOS/PeriodicTask.h
+++ b/osal/FreeRTOS/PeriodicTask.h
@@ -4,6 +4,8 @@
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
 #include "../../tasks/Typedef.h"
+#include "FreeRTOSTaskIF.h"
+
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
@@ -17,7 +19,7 @@ class ExecutableObjectIF;
  * 			periodic activities of multiple objects.
  * @ingroup task_handling
  */
-class PeriodicTask: public PeriodicTaskIF {
+class PeriodicTask: public PeriodicTaskIF, public FreeRTOSTaskIF {
 public:
 	/**
 	 * Keep in Mind that you need to call before this vTaskStartScheduler()!
@@ -38,9 +40,9 @@ public:
 	 * The function pointer to the deadline missed function that shall
 	 * be assigned.
 	 */
-	PeriodicTask(const char *name, TaskPriority setPriority,
+	PeriodicTask(TaskName name, TaskPriority setPriority,
 	        TaskStackSize setStack, TaskPeriod setPeriod,
-	        void (*setDeadlineMissedFunc)());
+	        TaskDeadlineMissedFunction deadlineMissedFunc);
 	/**
 	 * @brief	Currently, the executed object's lifetime is not coupled with
 	 * 			the task object's lifetime, so the destructor is empty.
@@ -63,12 +65,13 @@ public:
 	 * -@c RETURN_OK on success
 	 * -@c RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
-	        bool setTaskIF = true) override;
+	ReturnValue_t addComponent(object_id_t object) override;
 
 	uint32_t getPeriodMs() const override;
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() override;
 protected:
 	bool started;
 	TaskHandle_t handle;
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
new file mode 100644
index 00000000..16682d36
--- /dev/null
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -0,0 +1,24 @@
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+void TaskManagement::vRequestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void TaskManagement::requestContextSwitch(
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
+		// This function depends on the partmacro.h definition for the specific device
+		vRequestContextSwitchFromISR();
+	} else {
+		vRequestContextSwitchFromTask();
+	}
+}
+
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+	return xTaskGetCurrentTaskHandle();
+}
+
+size_t TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
new file mode 100644
index 00000000..43003d76
--- /dev/null
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -0,0 +1,64 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+#include "../../returnvalues/HasReturnvaluesIF.h"
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+#include <cstdint>
+
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern void vRequestContextSwitchFromISR();
+
+/*!
+ * Used by functions to tell if they are being called from
+ * within an ISR or from a regular task. This is required because FreeRTOS
+ * has different functions for handling semaphores and messages from within
+ * an ISR and task.
+ */
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
+};
+
+
+class TaskManagement {
+public:
+	/**
+	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * 			function calls to request a context switch can be specified.
+	 * This can be used if sending to the queue from an ISR caused a task
+	 * to unblock and a context switch is required.
+	 */
+	static void requestContextSwitch(CallContext callContext);
+
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void vRequestContextSwitchFromTask(void);
+
+	/**
+	 * @return The current task handle
+	 */
+	static TaskHandle_t getCurrentTaskHandle();
+
+	/**
+	 * Get returns the minimum amount of remaining stack space in words
+	 * that was a available to the task since the task started executing.
+	 * Please note that the actual value in bytes depends
+	 * on the stack depth type.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * @return Smallest value of stack remaining since the task was started in
+	 * 		   words.
+	 */
+	static size_t getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */
diff --git a/osal/linux/Clock.cpp b/osal/linux/Clock.cpp
index 48e325ef..5f764a6f 100644
--- a/osal/linux/Clock.cpp
+++ b/osal/linux/Clock.cpp
@@ -179,7 +179,7 @@ ReturnValue_t Clock::setLeapSeconds(const uint16_t leapSeconds_) {
 	if(checkOrCreateClockMutex()!=HasReturnvaluesIF::RETURN_OK){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
@@ -194,7 +194,7 @@ ReturnValue_t Clock::getLeapSeconds(uint16_t* leapSeconds_) {
 	if(timeMutex==NULL){
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
-	ReturnValue_t result = timeMutex->lockMutex(MutexIF::NO_TIMEOUT);
+	ReturnValue_t result = timeMutex->lockMutex(MutexIF::BLOCKING);
 	if (result != HasReturnvaluesIF::RETURN_OK) {
 		return result;
 	}
diff --git a/osal/linux/Mutex.cpp b/osal/linux/Mutex.cpp
index dd8d3c5b..b27ff8c0 100644
--- a/osal/linux/Mutex.cpp
+++ b/osal/linux/Mutex.cpp
@@ -2,7 +2,6 @@
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 #include "../../timemanager/Clock.h"
 
-const uint32_t MutexIF::NO_TIMEOUT = 0;
 uint8_t Mutex::count = 0;
 
 
@@ -25,7 +24,9 @@ Mutex::Mutex() {
 		sif::error << "Mutex: creation with name, id " << mutex.__data.__count
 				<< ", " << " failed with " << strerror(status) << std::endl;
 	}
-	//After a mutex attributes object has been used to initialize one or more mutexes, any function affecting the attributes object (including destruction) shall not affect any previously initialized mutexes.
+	// After a mutex attributes object has been used to initialize one or more
+	// mutexes, any function affecting the attributes object
+	// (including destruction) shall not affect any previously initialized mutexes.
 	status = pthread_mutexattr_destroy(&mutexAttr);
 	if (status != 0) {
 		sif::error << "Mutex: Attribute destroy failed with " << strerror(status) << std::endl;
@@ -37,9 +38,13 @@ Mutex::~Mutex() {
 	pthread_mutex_destroy(&mutex);
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
 	int status = 0;
-	if (timeoutMs != MutexIF::NO_TIMEOUT) {
+
+	if(timeoutType == TimeoutType::POLLING) {
+	    status = pthread_mutex_trylock(&mutex);
+	}
+	else if (timeoutType == TimeoutType::WAITING) {
 		timespec timeOut;
 		clock_gettime(CLOCK_REALTIME, &timeOut);
 		uint64_t nseconds = timeOut.tv_sec * 1000000000 + timeOut.tv_nsec;
@@ -47,27 +52,35 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 		timeOut.tv_sec = nseconds / 1000000000;
 		timeOut.tv_nsec = nseconds - timeOut.tv_sec * 1000000000;
 		status = pthread_mutex_timedlock(&mutex, &timeOut);
-	} else {
+	}
+	else if(timeoutType == TimeoutType::BLOCKING) {
 		status = pthread_mutex_lock(&mutex);
 	}
+
 	switch (status) {
 	case EINVAL:
-		//The mutex was created with the protocol attribute having the value PTHREAD_PRIO_PROTECT and the calling thread's priority is higher than the mutex's current priority ceiling.
+		// The mutex was created with the protocol attribute having the value
+		// PTHREAD_PRIO_PROTECT and the calling thread's priority is higher
+		// than the mutex's current priority ceiling.
 		return WRONG_ATTRIBUTE_SETTING;
-		//The process or thread would have blocked, and the abs_timeout parameter specified a nanoseconds field value less than zero or greater than or equal to 1000 million.
-		//The value specified by mutex does not refer to an initialized mutex object.
+		// The process or thread would have blocked, and the abs_timeout
+		// parameter specified a nanoseconds field value less than zero or
+		// greater than or equal to 1000 million.
+		// The value specified by mutex does not refer to an initialized mutex object.
 		//return MUTEX_NOT_FOUND;
 	case EBUSY:
-		//The mutex could not be acquired because it was already locked.
+		// The mutex could not be acquired because it was already locked.
 		return MUTEX_ALREADY_LOCKED;
 	case ETIMEDOUT:
-		//The mutex could not be locked before the specified timeout expired.
+		// The mutex could not be locked before the specified timeout expired.
 		return MUTEX_TIMEOUT;
 	case EAGAIN:
-		//The mutex could not be acquired because the maximum number of recursive locks for mutex has been exceeded.
+		// The mutex could not be acquired because the maximum number of
+		// recursive locks for mutex has been exceeded.
 		return MUTEX_MAX_LOCKS;
 	case EDEADLK:
-		//A deadlock condition was detected or the current thread already owns the mutex.
+		// A deadlock condition was detected or the current thread
+		// already owns the mutex.
 		return CURR_THREAD_ALREADY_OWNS_MUTEX;
 	case 0:
 		//Success
diff --git a/osal/linux/Mutex.h b/osal/linux/Mutex.h
index 9f9bf521..ecb47a33 100644
--- a/osal/linux/Mutex.h
+++ b/osal/linux/Mutex.h
@@ -1,14 +1,15 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef OS_LINUX_MUTEX_H_
+#define OS_LINUX_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 #include <pthread.h>
 
+
 class Mutex : public MutexIF {
 public:
 	Mutex();
 	virtual ~Mutex();
-	virtual ReturnValue_t lockMutex(uint32_t timeoutMs);
+	virtual ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs);
 	virtual ReturnValue_t unlockMutex();
 private:
 	pthread_mutex_t mutex;
diff --git a/osal/linux/PeriodicPosixTask.cpp b/osal/linux/PeriodicPosixTask.cpp
index c08bb472..df3694ef 100644
--- a/osal/linux/PeriodicPosixTask.cpp
+++ b/osal/linux/PeriodicPosixTask.cpp
@@ -21,8 +21,7 @@ void* PeriodicPosixTask::taskEntryPoint(void* arg) {
 	return NULL;
 }
 
-ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object,
-        bool addTaskIF) {
+ReturnValue_t PeriodicPosixTask::addComponent(object_id_t object) {
 	ExecutableObjectIF* newObject = objectManager->get<ExecutableObjectIF>(
 			object);
 	if (newObject == nullptr) {
diff --git a/osal/linux/PeriodicPosixTask.h b/osal/linux/PeriodicPosixTask.h
index 6737cee6..f23adf4d 100644
--- a/osal/linux/PeriodicPosixTask.h
+++ b/osal/linux/PeriodicPosixTask.h
@@ -39,8 +39,7 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object,
-	        bool addTaskIF = true) override;
+	ReturnValue_t addComponent(object_id_t object) override;
 
 	uint32_t getPeriodMs() const override;
 
diff --git a/osal/rtems/MultiObjectTask.cpp b/osal/rtems/MultiObjectTask.cpp
index 3c4886a5..2342c24c 100644
--- a/osal/rtems/MultiObjectTask.cpp
+++ b/osal/rtems/MultiObjectTask.cpp
@@ -78,6 +78,8 @@ ReturnValue_t MultiObjectTask::addComponent(object_id_t object) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	objectList.push_back(newObject);
+	newObject->setTaskIF(this);
+
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
diff --git a/osal/rtems/MultiObjectTask.h b/osal/rtems/MultiObjectTask.h
index 28d05fb1..736e79dd 100644
--- a/osal/rtems/MultiObjectTask.h
+++ b/osal/rtems/MultiObjectTask.h
@@ -1,11 +1,5 @@
-/**
- * @file	MultiObjectTask.h
- * @brief	This file defines the MultiObjectTask class.
- * @date	30.01.2014
- * @author	baetz
- */
-#ifndef MULTIOBJECTTASK_H_
-#define MULTIOBJECTTASK_H_
+#ifndef FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
+#define FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_
 
 #include "../../objectmanager/ObjectManagerIF.h"
 #include "../../tasks/PeriodicTaskIF.h"
@@ -21,7 +15,7 @@ class ExecutableObjectIF;
  * @details MultiObjectTask is an extension to ObjectTask in the way that it is able to execute
  * 			multiple objects that implement the ExecutableObjectIF interface. The objects must be
  * 			added prior to starting the task.
- *
+ * @author  baetz
  * @ingroup task_handling
  */
 class MultiObjectTask: public TaskBase, public PeriodicTaskIF {
@@ -63,11 +57,11 @@ public:
 	 * @param object Id of the object to add.
 	 * @return RETURN_OK on success, RETURN_FAILED if the object could not be added.
 	 */
-	ReturnValue_t addComponent(object_id_t object);
+	ReturnValue_t addComponent(object_id_t object) override;
 
-	uint32_t getPeriodMs() const;
+	uint32_t getPeriodMs() const override;
 
-	ReturnValue_t sleepFor(uint32_t ms);
+	ReturnValue_t sleepFor(uint32_t ms) override;
 protected:
 	typedef std::vector<ExecutableObjectIF*> ObjectList;	//!< Typedef for the List of objects.
 	/**
@@ -110,4 +104,4 @@ protected:
 	void taskFunctionality(void);
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* FSFW_OSAL_RTEMS_MULTIOBJECTTASK_H_ */
diff --git a/osal/rtems/Mutex.cpp b/osal/rtems/Mutex.cpp
index d8babcde..9553ac79 100644
--- a/osal/rtems/Mutex.cpp
+++ b/osal/rtems/Mutex.cpp
@@ -1,7 +1,6 @@
 #include "Mutex.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
-const uint32_t MutexIF::NO_TIMEOUT = RTEMS_NO_TIMEOUT;
 uint8_t Mutex::count = 0;
 
 Mutex::Mutex() :
@@ -24,8 +23,22 @@ Mutex::~Mutex() {
 	}
 }
 
-ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
-	rtems_status_code status = rtems_semaphore_obtain(mutexId, RTEMS_WAIT, timeoutMs);
+ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType =
+        TimeoutType::BLOCKING, uint32_t timeoutMs) {
+	if(timeoutMs == MutexIF::TimeoutType::BLOCKING) {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_WAIT, RTEMS_NO_TIMEOUT);
+	}
+	else if(timeoutMs == MutexIF::TimeoutType::POLLING) {
+		timeoutMs = RTEMS_NO_TIMEOUT;
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_NO_WAIT, 0);
+	}
+	else {
+		rtems_status_code status = rtems_semaphore_obtain(mutexId,
+				RTEMS_WAIT, timeoutMs);
+	}
+
 	switch(status){
 	case RTEMS_SUCCESSFUL:
 		//semaphore obtained successfully
diff --git a/osal/rtems/Mutex.h b/osal/rtems/Mutex.h
index 340bb16b..72368210 100644
--- a/osal/rtems/Mutex.h
+++ b/osal/rtems/Mutex.h
@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_OSAL_RTEMS_MUTEX_H_
+#define FRAMEWORK_OSAL_RTEMS_MUTEX_H_
 
 #include "../../ipc/MutexIF.h"
 #include "RtemsBasic.h"
@@ -8,7 +8,7 @@ class Mutex : public MutexIF {
 public:
 	Mutex();
 	~Mutex();
-	ReturnValue_t lockMutex(uint32_t timeoutMs);
+	ReturnValue_t lockMutex(TimeoutType timeoutType, uint32_t timeoutMs = 0);
 	ReturnValue_t unlockMutex();
 private:
 	rtems_id mutexId;
diff --git a/parameters/ParameterMessage.h b/parameters/ParameterMessage.h
index 7cb02d96..f59af513 100644
--- a/parameters/ParameterMessage.h
+++ b/parameters/ParameterMessage.h
@@ -9,7 +9,7 @@ class ParameterMessage {
 private:
 	ParameterMessage();
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::PARAMETER;
+	static const uint8_t MESSAGE_ID = messagetypes::PARAMETER;
 	static const Command_t CMD_PARAMETER_LOAD = MAKE_COMMAND_ID( 0x01 );
 	static const Command_t CMD_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x02 );
 	static const Command_t REPLY_PARAMETER_DUMP = MAKE_COMMAND_ID( 0x03 );
diff --git a/serialize/SerialBufferAdapter.cpp b/serialize/SerialBufferAdapter.cpp
index 5dd01f54..812cd34b 100644
--- a/serialize/SerialBufferAdapter.cpp
+++ b/serialize/SerialBufferAdapter.cpp
@@ -1,94 +1,129 @@
-#include "SerialBufferAdapter.h"
-#include <cstring>
-
-
-
-template<typename T>
-SerialBufferAdapter<T>::SerialBufferAdapter(const uint8_t* buffer,
-		T bufferLength, bool serializeLenght) :
-		serializeLength(serializeLenght), constBuffer(buffer), buffer(NULL), bufferLength(
-				bufferLength) {
-}
-
-template<typename T>
-SerialBufferAdapter<T>::SerialBufferAdapter(uint8_t* buffer, T bufferLength,
-		bool serializeLenght) :
-		serializeLength(serializeLenght), constBuffer(NULL), buffer(buffer), bufferLength(
-				bufferLength) {
-}
-
-template<typename T>
-SerialBufferAdapter<T>::~SerialBufferAdapter() {
-}
-
-template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::serialize(uint8_t** buffer, size_t* size,
-		size_t maxSize, Endianness streamEndianness) const {
-	uint32_t serializedLength = bufferLength;
-	if (serializeLength) {
-		serializedLength += SerializeAdapter::getSerializedSize(
-				&bufferLength);
-	}
-	if (*size + serializedLength > maxSize) {
-		return BUFFER_TOO_SHORT;
-	} else {
-		if (serializeLength) {
-			SerializeAdapter::serialize(&bufferLength, buffer, size,
-					maxSize, streamEndianness);
-		}
-		if (this->constBuffer != NULL) {
-			memcpy(*buffer, this->constBuffer, bufferLength);
-		} else if (this->buffer != NULL) {
-			memcpy(*buffer, this->buffer, bufferLength);
-		} else {
-			return HasReturnvaluesIF::RETURN_FAILED;
-		}
-		*size += bufferLength;
-		(*buffer) += bufferLength;
-		return HasReturnvaluesIF::RETURN_OK;
-	}
-}
-
-template<typename T>
-size_t SerialBufferAdapter<T>::getSerializedSize() const {
-	if (serializeLength) {
-		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
-	} else {
-		return bufferLength;
-	}
-}
-template<typename T>
-ReturnValue_t SerialBufferAdapter<T>::deSerialize(const uint8_t** buffer,
-		size_t* size, Endianness streamEndianness) {
-	//TODO Ignores Endian flag!
-	if (buffer != NULL) {
-		if(serializeLength){
-			T serializedSize = SerializeAdapter::getSerializedSize(
-					&bufferLength);
-			if((*size - bufferLength - serializedSize) >= 0){
-				*buffer +=  serializedSize;
-				*size -= serializedSize;
-			}else{
-				return STREAM_TOO_SHORT;
-			}
-		}
-		//No Else If, go on with buffer
-		if (*size - bufferLength >= 0) {
-			*size -= bufferLength;
-			memcpy(this->buffer, *buffer, bufferLength);
-			(*buffer) += bufferLength;
-			return HasReturnvaluesIF::RETURN_OK;
-		} else {
-			return STREAM_TOO_SHORT;
-		}
-	} else {
-		return HasReturnvaluesIF::RETURN_FAILED;
-	}
-}
-
-
-//forward Template declaration for linker
-template class SerialBufferAdapter<uint8_t>;
-template class SerialBufferAdapter<uint16_t>;
-template class SerialBufferAdapter<uint32_t>;
-
+#include "../serialize/SerialBufferAdapter.h"
+#include "../serviceinterface/ServiceInterfaceStream.h"
+#include <cstring>
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(const uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength),
+		constBuffer(buffer), buffer(nullptr),
+		bufferLength(bufferLength) {}
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::SerialBufferAdapter(uint8_t* buffer,
+		count_t bufferLength, bool serializeLength) :
+		serializeLength(serializeLength), constBuffer(buffer), buffer(buffer),
+		bufferLength(bufferLength) {}
+
+
+template<typename count_t>
+SerialBufferAdapter<count_t>::~SerialBufferAdapter() {
+}
+
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::serialize(uint8_t** buffer,
+		size_t* size, size_t maxSize, Endianness streamEndianness) const {
+	if (serializeLength) {
+		ReturnValue_t result = SerializeAdapter::serialize(&bufferLength,
+				buffer, size, maxSize, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+	}
+
+	if (*size + bufferLength > maxSize) {
+		return BUFFER_TOO_SHORT;
+	}
+
+	if (this->constBuffer != nullptr) {
+		std::memcpy(*buffer, this->constBuffer, bufferLength);
+	}
+	else if (this->buffer != nullptr) {
+		// This will propably be never reached, constBuffer should always be
+		// set if non-const buffer is set.
+		std::memcpy(*buffer, this->buffer, bufferLength);
+	}
+	else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	*size += bufferLength;
+	(*buffer) += bufferLength;
+	return HasReturnvaluesIF::RETURN_OK;
+
+}
+
+template<typename count_t>
+size_t SerialBufferAdapter<count_t>::getSerializedSize() const {
+	if (serializeLength) {
+		return bufferLength + SerializeAdapter::getSerializedSize(&bufferLength);
+	} else {
+		return bufferLength;
+	}
+}
+
+template<typename count_t>
+ReturnValue_t SerialBufferAdapter<count_t>::deSerialize(const uint8_t** buffer,
+		size_t* size, Endianness streamEndianness) {
+	if (this->buffer == nullptr) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+
+	if(serializeLength){
+		count_t lengthField = 0;
+		ReturnValue_t result = SerializeAdapter::deSerialize(&lengthField,
+				buffer, size, streamEndianness);
+		if(result != HasReturnvaluesIF::RETURN_OK) {
+			return result;
+		}
+		if(lengthField > bufferLength) {
+			return TOO_MANY_ELEMENTS;
+		}
+		bufferLength = lengthField;
+	}
+
+	if (bufferLength <= *size) {
+		*size -= bufferLength;
+		std::memcpy(this->buffer, *buffer, bufferLength);
+		(*buffer) += bufferLength;
+		return HasReturnvaluesIF::RETURN_OK;
+	}
+	else {
+		return STREAM_TOO_SHORT;
+	}
+}
+
+template<typename count_t>
+uint8_t * SerialBufferAdapter<count_t>::getBuffer() {
+	if(buffer == nullptr) {
+		sif::error << "Wrong access function for stored type !"
+				 " Use getConstBuffer()." << std::endl;
+		return nullptr;
+	}
+	return buffer;
+}
+
+template<typename count_t>
+const uint8_t * SerialBufferAdapter<count_t>::getConstBuffer() {
+	if(constBuffer == nullptr) {
+		sif::error << "SerialBufferAdapter::getConstBuffer:"
+				" Buffers are unitialized!" << std::endl;
+		return nullptr;
+	}
+	return constBuffer;
+}
+
+template<typename count_t>
+void SerialBufferAdapter<count_t>::setBuffer(uint8_t* buffer,
+		count_t bufferLength) {
+	this->buffer = buffer;
+	this->constBuffer = buffer;
+	this->bufferLength = bufferLength;
+}
+
+
+//forward Template declaration for linker
+template class SerialBufferAdapter<uint8_t>;
+template class SerialBufferAdapter<uint16_t>;
+template class SerialBufferAdapter<uint32_t>;
+template class SerialBufferAdapter<uint64_t>;
+
diff --git a/serialize/SerialBufferAdapter.h b/serialize/SerialBufferAdapter.h
index c27a5424..c3dfcd8f 100644
--- a/serialize/SerialBufferAdapter.h
+++ b/serialize/SerialBufferAdapter.h
@@ -1,35 +1,78 @@
-#ifndef SERIALBUFFERADAPTER_H_
-#define SERIALBUFFERADAPTER_H_
-
-#include "SerializeIF.h"
-#include "SerializeAdapter.h"
-
-/**
- * \ingroup serialize
- */
-template<typename T>
-class SerialBufferAdapter: public SerializeIF {
-public:
-	SerialBufferAdapter(const uint8_t * buffer, T bufferLength, bool serializeLenght = false);
-	SerialBufferAdapter(uint8_t* buffer, T bufferLength,
-			bool serializeLenght = false);
-
-	virtual ~SerialBufferAdapter();
-
-	virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
-			size_t maxSize, Endianness streamEndianness) const override;
-
-	virtual size_t getSerializedSize() const override;
-
-	virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
-			Endianness streamEndianness) override;
-private:
-	bool serializeLength;
-	const uint8_t *constBuffer;
-	uint8_t *buffer;
-	T bufferLength;
-};
-
-
-
-#endif /* SERIALBUFFERADAPTER_H_ */
+#ifndef SERIALBUFFERADAPTER_H_
+#define SERIALBUFFERADAPTER_H_
+
+#include "../serialize/SerializeIF.h"
+#include "../serialize/SerializeAdapter.h"
+
+/**
+ * This adapter provides an interface for SerializeIF to serialize or deserialize
+ * buffers with no length header but a known size.
+ *
+ * Additionally, the buffer length can be serialized too and will be put in
+ * front of the serialized buffer.
+ *
+ * Can be used with SerialLinkedListAdapter by declaring a SerializeElement with
+ * SerialElement<SerialBufferAdapter<bufferLengthType(will be uint8_t mostly)>>.
+ * Right now, the SerialBufferAdapter must always
+ * be initialized with the buffer and size !
+ *
+ * \ingroup serialize
+ */
+template<typename count_t>
+class SerialBufferAdapter: public SerializeIF {
+public:
+
+    /**
+     * Constructor for constant uint8_t buffer. Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength
+     */
+    SerialBufferAdapter(const uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    /**
+     * Constructor for non-constant uint8_t buffer.
+     * Length field can be serialized optionally.
+     * Type of length can be supplied as template type.
+     * @param buffer
+     * @param bufferLength
+     * @param serializeLength Length field will be serialized with size count_t
+     */
+    SerialBufferAdapter(uint8_t* buffer, count_t bufferLength,
+            bool serializeLength = false);
+
+    virtual ~SerialBufferAdapter();
+
+    virtual ReturnValue_t serialize(uint8_t** buffer, size_t* size,
+            size_t maxSize, Endianness streamEndianness) const override;
+
+    virtual size_t getSerializedSize() const override;
+
+    /**
+     * @brief This function deserializes a buffer into the member buffer.
+     * @details
+     * If a length field is present, it is ignored, as the size should have
+     * been set in the constructor. If the size is not known beforehand,
+     * consider using SerialFixedArrayListAdapter instead.
+     * @param buffer [out] Resulting buffer
+     * @param size remaining size to deserialize, should be larger than buffer
+     *        + size field size
+     * @param bigEndian
+     * @return
+     */
+    virtual ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
+            Endianness streamEndianness) override;
+
+    uint8_t * getBuffer();
+    const uint8_t * getConstBuffer();
+    void setBuffer(uint8_t* buffer, count_t bufferLength);
+private:
+	bool serializeLength = false;
+	const uint8_t *constBuffer = nullptr;
+	uint8_t *buffer = nullptr;
+	count_t bufferLength = 0;
+};
+
+#endif /* SERIALBUFFERADAPTER_H_ */
diff --git a/storagemanager/PoolManager.tpp b/storagemanager/PoolManager.tpp
index 26eb2270..0e946b66 100644
--- a/storagemanager/PoolManager.tpp
+++ b/storagemanager/PoolManager.tpp
@@ -17,7 +17,7 @@ inline PoolManager<NUMBER_OF_POOLS>::~PoolManager(void) {
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::reserveSpace(
 		const uint32_t size, store_address_t* address, bool ignoreFault) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::reserveSpace(size,
 			address,ignoreFault);
 	return status;
@@ -29,7 +29,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 	// debug << "PoolManager( " << translateObject(getObjectId()) <<
 	//       " )::deleteData from store " << packet_id.pool_index <<
 	//       ". id is "<< packet_id.packet_index << std::endl;
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(packet_id);
 	return status;
 }
@@ -37,7 +37,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 		size_t size, store_address_t* storeId) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::deleteData(buffer,
 			size, storeId);
 	return status;
@@ -46,7 +46,7 @@ inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::deleteData(uint8_t* buffer,
 template<uint8_t NUMBER_OF_POOLS>
 inline ReturnValue_t PoolManager<NUMBER_OF_POOLS>::modifyData(
 		store_address_t packet_id, uint8_t** packet_ptr, size_t* size) {
-	MutexHelper mutexHelper(mutex,MutexIF::NO_TIMEOUT);
+	MutexHelper mutexHelper(mutex,MutexIF::BLOCKING);
 	ReturnValue_t status = LocalPool<NUMBER_OF_POOLS>::modifyData(packet_id,
 				packet_ptr, size);
 	return status;
diff --git a/subsystem/modes/ModeSequenceMessage.h b/subsystem/modes/ModeSequenceMessage.h
index 9f99cc99..bbf747f1 100644
--- a/subsystem/modes/ModeSequenceMessage.h
+++ b/subsystem/modes/ModeSequenceMessage.h
@@ -7,7 +7,7 @@
 
 class ModeSequenceMessage {
 public:
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::MODE_SEQUENCE;
+	static const uint8_t MESSAGE_ID = messagetypes::MODE_SEQUENCE;
 
 	static const Command_t ADD_SEQUENCE = MAKE_COMMAND_ID(0x01);
 	static const Command_t ADD_TABLE = MAKE_COMMAND_ID(0x02);
diff --git a/tasks/PeriodicTaskIF.h b/tasks/PeriodicTaskIF.h
index 17a64b96..4df37645 100644
--- a/tasks/PeriodicTaskIF.h
+++ b/tasks/PeriodicTaskIF.h
@@ -36,8 +36,7 @@ public:
 	 * to the component.
 	 * @return
 	 */
-	virtual ReturnValue_t addComponent(object_id_t object,
-	        bool setTaskIF = true) {
+	virtual ReturnValue_t addComponent(object_id_t object) {
 	    return HasReturnvaluesIF::RETURN_FAILED;
 	};
 
diff --git a/tasks/Typedef.h b/tasks/Typedef.h
index b393ee1e..07d96b00 100644
--- a/tasks/Typedef.h
+++ b/tasks/Typedef.h
@@ -1,7 +1,6 @@
 #ifndef FRAMEWORK_TASKS_TYPEDEF_H_
 #define FRAMEWORK_TASKS_TYPEDEF_H_
 
-//TODO more generic?
 typedef const char* TaskName;
 typedef uint8_t TaskPriority;
 typedef size_t TaskStackSize;
diff --git a/tmstorage/TmStoreMessage.h b/tmstorage/TmStoreMessage.h
index 66fdefa5..5b928569 100644
--- a/tmstorage/TmStoreMessage.h
+++ b/tmstorage/TmStoreMessage.h
@@ -41,7 +41,7 @@ public:
 
 	static store_address_t getStoreId(const CommandMessage* cmd);
 	virtual ~TmStoreMessage();
-	static const uint8_t MESSAGE_ID = MESSAGE_TYPE::TM_STORE;
+	static const uint8_t MESSAGE_ID = messagetypes::TM_STORE;
 	static const Command_t ENABLE_STORING = MAKE_COMMAND_ID(1);
 	static const Command_t DELETE_STORE_CONTENT = MAKE_COMMAND_ID(2);
 	static const Command_t DOWNLINK_STORE_CONTENT = MAKE_COMMAND_ID(3);