diff --git a/.gitignore b/.gitignore
index 2ccfca61..f9bfaa1d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,6 +1,4 @@
-_obj
-_bin
-_dep
+/build*
 
 Debug
 Debug*
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6e4eb527..f32d4e3e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,10 @@ if(NOT OS_FSFW)
 	set(OS_FSFW host CACHE STRING "OS for the FSFW.")
 endif()
 
+if(TGT_BSP MATCHES "arm/raspberrypi" OR TGT_BSP MATCHES "arm/beagleboneblack")
+    option(LINUX_CROSS_COMPILE ON)
+endif()
+
 # Perform steps like loading toolchain files where applicable.
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
@@ -65,7 +69,9 @@ include (${CMAKE_SCRIPT_PATH}/HardwareOsPreConfig.cmake)
 pre_source_hw_os_config()
 
 if(TGT_BSP)
-    if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi")
+    if(${TGT_BSP} MATCHES "arm/q7s" OR ${TGT_BSP} MATCHES "arm/raspberrypi" 
+            OR ${TGT_BSP} MATCHES "arm/beagleboneblack"
+    )
         set(ROOT_CONFIG_FOLDER TRUE)
         set(FSFW_CONFIG_PATH "fsfwconfig")
         set(ADD_LINUX_FILES TRUE)
@@ -78,6 +84,10 @@ if(TGT_BSP)
         set(FSFW_HAL_ADD_RASPBERRY_PI ON)
     endif()
     
+    if(${TGT_BSP} MATCHES "arm/beagleboneblack") 
+        add_definitions(-DBEAGLEBONEBLACK)
+    endif()
+    
     if(${TGT_BSP} MATCHES "arm/q7s")
         add_definitions(-DXIPHOS_Q7S)
     endif()
diff --git a/bsp_rpi/CMakeLists.txt b/bsp_linux_board/CMakeLists.txt
similarity index 83%
rename from bsp_rpi/CMakeLists.txt
rename to bsp_linux_board/CMakeLists.txt
index da35633d..5963d48c 100644
--- a/bsp_rpi/CMakeLists.txt
+++ b/bsp_linux_board/CMakeLists.txt
@@ -6,9 +6,3 @@ target_sources(${TARGET_NAME} PUBLIC
 
 add_subdirectory(boardconfig)
 add_subdirectory(boardtest)
-add_subdirectory(gpio)
-
-
-
-
-
diff --git a/bsp_rpi/InitMission.cpp b/bsp_linux_board/InitMission.cpp
similarity index 100%
rename from bsp_rpi/InitMission.cpp
rename to bsp_linux_board/InitMission.cpp
diff --git a/bsp_rpi/InitMission.h b/bsp_linux_board/InitMission.h
similarity index 100%
rename from bsp_rpi/InitMission.h
rename to bsp_linux_board/InitMission.h
diff --git a/bsp_rpi/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
similarity index 100%
rename from bsp_rpi/ObjectFactory.cpp
rename to bsp_linux_board/ObjectFactory.cpp
diff --git a/bsp_rpi/ObjectFactory.h b/bsp_linux_board/ObjectFactory.h
similarity index 100%
rename from bsp_rpi/ObjectFactory.h
rename to bsp_linux_board/ObjectFactory.h
diff --git a/bsp_rpi/boardconfig/CMakeLists.txt b/bsp_linux_board/boardconfig/CMakeLists.txt
similarity index 100%
rename from bsp_rpi/boardconfig/CMakeLists.txt
rename to bsp_linux_board/boardconfig/CMakeLists.txt
diff --git a/bsp_rpi/boardconfig/etl_profile.h b/bsp_linux_board/boardconfig/etl_profile.h
similarity index 100%
rename from bsp_rpi/boardconfig/etl_profile.h
rename to bsp_linux_board/boardconfig/etl_profile.h
diff --git a/bsp_rpi/boardconfig/gcov.h b/bsp_linux_board/boardconfig/gcov.h
similarity index 100%
rename from bsp_rpi/boardconfig/gcov.h
rename to bsp_linux_board/boardconfig/gcov.h
diff --git a/bsp_rpi/boardconfig/print.c b/bsp_linux_board/boardconfig/print.c
similarity index 100%
rename from bsp_rpi/boardconfig/print.c
rename to bsp_linux_board/boardconfig/print.c
diff --git a/bsp_rpi/boardconfig/print.h b/bsp_linux_board/boardconfig/print.h
similarity index 100%
rename from bsp_rpi/boardconfig/print.h
rename to bsp_linux_board/boardconfig/print.h
diff --git a/bsp_rpi/boardconfig/rpi_config.h b/bsp_linux_board/boardconfig/rpi_config.h
similarity index 100%
rename from bsp_rpi/boardconfig/rpi_config.h
rename to bsp_linux_board/boardconfig/rpi_config.h
diff --git a/bsp_rpi/boardtest/CMakeLists.txt b/bsp_linux_board/boardtest/CMakeLists.txt
similarity index 100%
rename from bsp_rpi/boardtest/CMakeLists.txt
rename to bsp_linux_board/boardtest/CMakeLists.txt
diff --git a/bsp_rpi/main.cpp b/bsp_linux_board/main.cpp
similarity index 100%
rename from bsp_rpi/main.cpp
rename to bsp_linux_board/main.cpp
diff --git a/bsp_rpi/gpio/CMakeLists.txt b/bsp_rpi/gpio/CMakeLists.txt
deleted file mode 100644
index b816684d..00000000
--- a/bsp_rpi/gpio/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-target_sources(${TARGET_NAME} PUBLIC
-)
-
-
-
-
-
-
diff --git a/cmake/BBBCrossCompileConfig.cmake b/cmake/BBBCrossCompileConfig.cmake
new file mode 100644
index 00000000..b32897f5
--- /dev/null
+++ b/cmake/BBBCrossCompileConfig.cmake
@@ -0,0 +1,98 @@
+# BBB_ROOTFS should point to the local directory which contains all the 
+# libraries and includes from the target raspi.
+# The following command can be used to do this, replace <ip-address> and the
+# local <rootfs-path> accordingly:
+# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
+# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
+# application CMakeLists.txt before loading the toolchain file.
+
+# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
+
+if(NOT DEFINED ENV{BBB_ROOTFS})
+	message(FATAL_ERROR 
+		"Define the BBB_ROOTFS variable to point to the Beagle Bone Black rootfs."
+	)
+else()
+	set(SYSROOT_PATH "$ENV{BBB_ROOTFS}")
+	message(STATUS "Beagle Bone Black sysroot: ${SYSROOT_PATH}")
+endif()
+
+if(NOT DEFINED ENV{CROSS_COMPILE})
+	set(CROSS_COMPILE "arm-linux-gnueabihf")
+	message(STATUS 
+		"No CROSS_COMPILE environmental variable set, using default ARM linux "
+		"cross compiler name ${CROSS_COMPILE}"
+	)
+else()
+	set(CROSS_COMPILE "$ENV{CROSS_COMPILE}")
+	message(STATUS 
+		"Using environmental variable CROSS_COMPILE as cross-compiler: "
+		"$ENV{CROSS_COMPILE}"
+	)
+endif()
+
+message(STATUS "Using sysroot path: ${SYSROOT_PATH}")
+
+set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc")
+set(CROSS_COMPILE_CXX "${CROSS_COMPILE}-g++")
+set(CROSS_COMPILE_LD "${CROSS_COMPILE}-ld")
+set(CROSS_COMPILE_AR "${CROSS_COMPILE}-ar")
+set(CROSS_COMPILE_RANLIB "${CROSS_COMPILE}-ranlib")
+set(CROSS_COMPILE_STRIP "${CROSS_COMPILE}-strip")
+set(CROSS_COMPILE_NM "${CROSS_COMPILE}-nm")
+set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy")
+set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size")
+
+# At the very least, cross compile gcc and g++ have to be set!
+find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED)
+find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED)
+
+set(CMAKE_CROSSCOMPILING TRUE)
+set(CMAKE_SYSROOT "${SYSROOT_PATH}")
+
+# Define name of the target system
+set(CMAKE_SYSTEM_NAME "Linux")
+set(CMAKE_SYSTEM_PROCESSOR "arm")
+
+# Define the compiler
+set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC})
+set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX})
+
+# List of library dirs where LD has to look. Pass them directly through gcc. 
+# LD_LIBRARY_PATH is not evaluated by arm-*-ld
+set(LIB_DIRS 
+	"${SYSROOT_PATH}/lib/${CROSS_COMPILE}"
+	"${SYSROOT_PATH}/usr/local/lib"
+	"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
+	"${SYSROOT_PATH}/usr/lib"
+)
+# You can additionally check the linker paths if you add the 
+# flags ' -Xlinker --verbose'
+set(COMMON_FLAGS "-I${SYSROOT_PATH}/usr/include")
+foreach(LIB ${LIB_DIRS})
+	set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}")
+endforeach()
+
+set(CMAKE_PREFIX_PATH 
+	"${CMAKE_PREFIX_PATH}"
+	"${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}"
+)
+
+set(CMAKE_C_FLAGS 
+	"-march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard ${COMMON_FLAGS}" 
+	CACHE STRING "Flags for Beagle Bone Black"
+)
+set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" 
+	CACHE STRING "Flags for Beagle Bone Black"
+)
+
+set(CMAKE_FIND_ROOT_PATH 
+	"${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}"
+)
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
diff --git a/cmake/HardwareOsPreConfig.cmake b/cmake/HardwareOsPreConfig.cmake
index ab5c16fd..38248fce 100644
--- a/cmake/HardwareOsPreConfig.cmake
+++ b/cmake/HardwareOsPreConfig.cmake
@@ -53,8 +53,8 @@ endif()
 	
 
 if(TGT_BSP)
-	if (${TGT_BSP} MATCHES "arm/raspberrypi")
-		set(BSP_PATH "bsp_rpi")
+	if (${TGT_BSP} MATCHES "arm/raspberrypi" OR ${TGT_BSP} MATCHES "arm/beagleboneblack")
+		set(BSP_PATH "bsp_linux_board")
 	elseif(${TGT_BSP} MATCHES "arm/q7s")
 		set(BSP_PATH "bsp_q7s")
 	else() 
diff --git a/cmake/PreProjectConfig.cmake b/cmake/PreProjectConfig.cmake
index f54da048..b78b9d33 100644
--- a/cmake/PreProjectConfig.cmake
+++ b/cmake/PreProjectConfig.cmake
@@ -51,7 +51,14 @@ if(${OS_FSFW} STREQUAL linux AND TGT_BSP)
 			"${CMAKE_SCRIPT_PATH}/RPiCrossCompileConfig.cmake"
 			PARENT_SCOPE
 		)
-	else()
+    elseif(${TGT_BSP} MATCHES "arm/beagleboneblack")
+        if(LINUX_CROSS_COMPILE)
+            set(CMAKE_TOOLCHAIN_FILE
+                "${CMAKE_SCRIPT_PATH}/BBBCrossCompileConfig.cmake"
+                PARENT_SCOPE
+            )
+        endif()
+    else()
 		message(WARNING "Target BSP (TGT_BSP) ${TGT_BSP} unknown!")
 	endif()
 endif()
diff --git a/cmake/scripts/BeagleBoneBlack/create_cmake_debug_cfg.sh b/cmake/scripts/BeagleBoneBlack/create_cmake_debug_cfg.sh
new file mode 100644
index 00000000..cfa71d02
--- /dev/null
+++ b/cmake/scripts/BeagleBoneBlack/create_cmake_debug_cfg.sh
@@ -0,0 +1,30 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/beagleboneblack"
+build_generator=""
+builddir="build-Debug-BBB"
+defines="LINUX_CROSS_COMPILE=OFF"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l "${builddir}" -d "${defines}"
diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh b/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh
new file mode 100644
index 00000000..340713e1
--- /dev/null
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/bbb_path_helper.sh
@@ -0,0 +1,3 @@
+export PATH=$PATH:"$HOME/beaglebone/<cross_compiler_path>/bin"
+export CROSS_COMPILE="arm-linux-gnueabihf"
+export BBB_ROOTFS="${HOME}/raspberrypi/rootfs"
diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_debug_cfg.sh b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_debug_cfg.sh
new file mode 100644
index 00000000..b413d07f
--- /dev/null
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_debug_cfg.sh
@@ -0,0 +1,30 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/beagleboneblack"
+build_generator=""
+builddir="build-Debug-BBB"
+defines="LINUX_CROSS_COMPILE=ON"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l "${builddir}" -d "${defines}"
diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_release_cfg.sh b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_release_cfg.sh
new file mode 100644
index 00000000..81e3322d
--- /dev/null
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_release_cfg.sh
@@ -0,0 +1,30 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/beagleboneblack"
+build_generator=""
+builddir="build-Release-BBB"
+defines="LINUX_CROSS_COMPILE=ON"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l "${builddir}" -d "${defines}"
diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_relwithdeb_cfg.sh
new file mode 100644
index 00000000..81e3322d
--- /dev/null
+++ b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_relwithdeb_cfg.sh
@@ -0,0 +1,30 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "cmake_build_config.py not found in upper directories!"
+	exit 1
+fi
+
+os_fsfw="linux"
+tgt_bsp="arm/beagleboneblack"
+build_generator=""
+builddir="build-Release-BBB"
+defines="LINUX_CROSS_COMPILE=ON"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \
+		-l "${builddir}" -d "${defines}"