diff --git a/fsfw_hal b/fsfw_hal
index 73a427d7..2893da04 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 73a427d7e0605519aecfa53fa289b94e0143394f
+Subproject commit 2893da047bc695fcb02b0f9567cef0366a37793a
diff --git a/linux/fsfwconfig/OBSWConfig.h b/linux/fsfwconfig/OBSWConfig.h
index 3894aecb..5d11cb3b 100644
--- a/linux/fsfwconfig/OBSWConfig.h
+++ b/linux/fsfwconfig/OBSWConfig.h
@@ -21,6 +21,8 @@ debugging. */
 #define OBSW_ADD_TEST_CODE              1
 #define OBSW_ADD_TEST_PST               1
 
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING  0
+
 #define TEST_LIBGPIOD                   0
 #define TEST_RADIATION_SENSOR_HANDLER   1
 #define TEST_SUS_HANDLER                1
diff --git a/mission/devices/GyroADIS16507Handler.cpp b/mission/devices/GyroADIS16507Handler.cpp
index 9bef3232..d8ce106b 100644
--- a/mission/devices/GyroADIS16507Handler.cpp
+++ b/mission/devices/GyroADIS16507Handler.cpp
@@ -1,17 +1,20 @@
 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw_hal/linux/utility.h>
+
 #include "GyroADIS16507Handler.h"
 
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
-#endif
-
+#include "fsfw_hal/linux/UnixFileGuard.h"
+#include <sys/ioctl.h>
 #include <unistd.h>
+#endif
 
 GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
         object_id_t deviceCommunication, CookieIF * comCookie):
-            DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
-            configDataset(this) {
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
+        configDataset(this) {
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
     SpiCookie* cookie = dynamic_cast<SpiCookie*>(comCookie);
     if(cookie != nullptr) {
@@ -260,8 +263,80 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
     case(ADIS16507::READ_SENSOR_DATA): {
         return comIf->performRegularSendOperation(cookie, sendData, sendLen);
     }
-    case(ADIS16507::READ_OUT_CONFIG): {
-        usleep(ADIS16507::STALL_TIME_MICROSECONDS);
+    case(ADIS16507::READ_OUT_CONFIG):
+    default: {
+        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+        int retval = 0;
+        // Prepare transfer
+        int fileDescriptor = 0;
+        std::string device = cookie->getSpiDevice();
+        UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
+        if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+            return SpiComIF::OPENING_FILE_FAILED;
+        }
+        spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+        uint32_t spiSpeed = 0;
+        cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+        comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+        cookie->assignWriteBuffer(sendData);
+        cookie->assignTransferSize(2);
+
+        gpioId_t gpioId = cookie->getChipSelectPin();
+        GpioIF* gpioIF =  comIf->getGpioInterface();
+        MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+        uint32_t timeoutMs = 0;
+        MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+        if(mutex == nullptr or gpioIF == nullptr) {
+#if OBSW_VERBOSE_LEVEL >= 1
+            sif::warning << "GyroADIS16507Handler::spiSendCallback: "
+                    "Mutex or GPIO interface invalid" << std::endl;
+            return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+        }
+
+        size_t idx = 0;
+        while(idx < sendLen) {
+            // Pull SPI CS low. For now, no support for active high given
+            if(gpioId != gpio::NO_GPIO) {
+                result = mutex->lockMutex(timeoutType, timeoutMs);
+                if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                    sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+#endif
+                    return result;
+                }
+                gpioIF->pullLow(gpioId);
+            }
+
+            // Execute transfer
+            // Initiate a full duplex SPI transfer.
+            retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
+            if(retval < 0) {
+                utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+                result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+            }
+#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
+            comIf->performSpiWiretapping(cookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+
+            if(gpioId != gpio::NO_GPIO) {
+                gpioIF->pullHigh(gpioId);
+                result = mutex->unlockMutex();
+                if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                    sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
+#endif
+                    return result;
+                }
+            }
+
+            idx += 2;
+            if(idx < sendLen) {
+                usleep(ADIS16507::STALL_TIME_MICROSECONDS);
+            }
+            sendData += 2;
+            cookie->getTransferStructHandle()->rx_buf += 2;
+        }
     }
     }
     return HasReturnvaluesIF::RETURN_OK;