diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8d76f2fb..59d9d32d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -177,6 +177,7 @@ endif()
 if(NOT EIVE_BUILD_WATCHDOG)
     if(NOT EIVE_BUILD_UNITTESTS)  
         if(EIVE_ADD_LINUX_FILES)
+            add_subdirectory(${LIB_ARCSEC_PATH})
             add_subdirectory(${LINUX_PATH})
         endif()
         add_subdirectory(${BSP_PATH})
@@ -192,7 +193,6 @@ if((NOT BUILD_Q7S_SIMPLE_MODE) AND (NOT EIVE_BUILD_WATCHDOG))
     add_subdirectory(${FSFW_PATH})
     add_subdirectory(${MISSION_PATH})
     add_subdirectory(${TEST_PATH})
-    add_subdirectory(${LIB_ARCSEC_PATH})
 endif()
 
 if(EIVE_BUILD_UNITTESTS)
diff --git a/bsp_hosted/fsfwconfig/devices/gpioIds.h b/bsp_hosted/fsfwconfig/devices/gpioIds.h
index 1ab55d08..a4b4ac81 100644
--- a/bsp_hosted/fsfwconfig/devices/gpioIds.h
+++ b/bsp_hosted/fsfwconfig/devices/gpioIds.h
@@ -1,8 +1,6 @@
 #ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
 #define FSFWCONFIG_DEVICES_GPIOIDS_H_
 
-#include <linux/gpio/GpioIF.h>
-
 namespace gpioIds {
 	enum gpioId_t {
 		HEATER_0,
diff --git a/bsp_q7s/callbacks/rwSpiCallback.cpp b/bsp_q7s/callbacks/rwSpiCallback.cpp
index 620f63f7..ad99d505 100644
--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@@ -133,8 +133,15 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
             closeSpi(gpioId, gpioIF, mutex);
             return RwHandler::SPI_READ_FAILURE;
         }
+        if(idx == 0) {
+            if(byteRead != FLAG_BYTE) {
+                sif::error << "Invalid data, expected start marker" << std::endl;
+                closeSpi(gpioId, gpioIF, mutex);
+                return RwHandler::NO_START_MARKER;
+            }
+        }
 
-        if (byteRead != 0x7E) {
+        if (byteRead != FLAG_BYTE) {
             break;
         }
 
@@ -145,6 +152,10 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
         }
     }
 
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+    sif::info << "RW start marker detected" << std::endl;
+#endif
+
     size_t decodedFrameLen = 0;
     while(decodedFrameLen < replyBufferSize) {
 
@@ -158,7 +169,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
             }
         }
 
-        if (byteRead == 0x7E) {
+        if (byteRead == FLAG_BYTE) {
             /** Reached end of frame */
             break;
         }
diff --git a/bsp_q7s/callbacks/rwSpiCallback.h b/bsp_q7s/callbacks/rwSpiCallback.h
index cc7c6cbe..8952f873 100644
--- a/bsp_q7s/callbacks/rwSpiCallback.h
+++ b/bsp_q7s/callbacks/rwSpiCallback.h
@@ -8,6 +8,9 @@
 
 namespace rwSpiCallback {
 
+//! This is the end and start marker of the frame datalinklayer
+static constexpr uint8_t FLAG_BYTE = 0x7E;
+
 /**
  * @brief   This is the callback function to send commands to the nano avionics reaction wheels and
  *          receive the replies.
diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 57db4a71..8ba118bc 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -22,7 +22,7 @@
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
 ServiceInterfaceStream sif::warning("WARNING");
-ServiceInterfaceStream sif::error("ERROR", false, false, true);
+ServiceInterfaceStream sif::error("ERROR");
 #else
 ServiceInterfaceStream sif::debug("DEBUG", true);
 ServiceInterfaceStream sif::info("INFO", true);
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index ccc2ea7a..0001d031 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -23,12 +23,13 @@
 #include "bsp_q7s/callbacks/rwSpiCallback.h"
 #include "bsp_q7s/callbacks/gnssCallback.h"
 
-#include "linux/devices/HeaterHandler.h"
 #include "linux/devices/SolarArrayDeploymentHandler.h"
 #include "linux/devices/devicedefinitions/SusDefinitions.h"
 #include "linux/devices/SusHandler.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/csp/CspComIF.h"
+
+#include "mission/devices/HeaterHandler.h"
 #include "mission/core/GenericFactory.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
@@ -37,7 +38,7 @@
 #include "mission/devices/P60DockHandler.h"
 #include "mission/devices/Tmp1075Handler.h"
 #include "mission/devices/Max31865PT1000Handler.h"
-#include "mission/devices/GyroADIS16507Handler.h"
+#include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/IMTQHandler.h"
 #include "mission/devices/SyrlinksHkHandler.h"
 #include "mission/devices/PlocMPSoCHandler.h"
@@ -49,6 +50,7 @@
 #include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
+
 #include "mission/devices/GPSHyperionHandler.h"
 #include "mission/tmtc/CCSDSHandler.h"
 #include "mission/tmtc/VirtualChannel.h"
@@ -270,7 +272,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::RAD_SENSOR;
     GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
-            q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::OUT, gpio::HIGH);
+            q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::DIR_OUT, gpio::HIGH);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
@@ -284,43 +286,43 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
     GpioCookie* gpioCookieSus = new GpioCookie();
     GpioCallback* susgpio = nullptr;
 
-    susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 5", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 6", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 7", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 8", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 9", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 10", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 11", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 12", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, gpio::HIGH,
+    susgpio = new GpioCallback("Chip select SUS 13", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
 
@@ -401,61 +403,61 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     GpiodRegularByLineName* gpio = nullptr;
     consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(),
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GPS0_HANDLER;
     // GNSS reset pins are active low
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GPS1_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
 
@@ -463,12 +465,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
     // Enable pins must be pulled low for regular operations
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(),
-            gpio::OUT, gpio::LOW);
+            gpio::DIR_OUT, gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
 
     consumer.str("");
     consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 
@@ -515,10 +517,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     // Commented until ACS board V2 in in clean room again
     // Gyro 0 Side A
     spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
-            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
             spi::DEFAULT_ADIS16507_SPEED);
-    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
-            spiCookie);
+    auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie, ADIS1650X::Type::ADIS16505);
     adisHandler->setStartUpImmediately();
     // Gyro 1 Side A
     spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
@@ -531,10 +533,10 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 #endif
     // Gyro 2 Side B
     spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
-            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
+            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
             spi::DEFAULT_ADIS16507_SPEED);
-    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
-            spiCookie);
+    adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie, ADIS1650X::Type::ADIS16505);
     adisHandler->setStartUpImmediately();
     // Gyro 3 Side B
     spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
@@ -582,37 +584,37 @@ void ObjectFactory::createHeaterComponents() {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::HEATER_HANDLER;
     /* Pin H2-11 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
     /* Pin H2-12 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);
 
     /* Pin H2-13 on stack connector */
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(),
-            gpio::OUT, gpio::LOW);
+            gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(),
-                gpio::OUT, gpio::LOW);
+                gpio::DIR_OUT, gpio::LOW);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -626,9 +628,9 @@ void ObjectFactory::createSolarArrayDeploymentComponents() {
     std::stringstream consumer;
     consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0,
-            consumer.str(), gpio::OUT, gpio::LOW);
+            consumer.str(), gpio::DIR_OUT, gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);
 
@@ -650,52 +652,52 @@ void ObjectFactory::createSyrlinksComponents() {
 void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
     GpioCookie* rtdGpioCookie = new GpioCookie;
 
-    GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
-    GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
-    GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
-    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
-    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
-    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
-    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
-    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
-    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
-    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
-    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
-    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
-    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
-    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
-    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
-    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::OUT, gpio::HIGH,
+    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);
 
@@ -743,7 +745,7 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
             q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
             spi::RTD_SPEED);
 
-    Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF,
+    Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF,
             spiRtdIc0);
     Max31865PT1000Handler* rtdIc1 = new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF,
             spiRtdIc1);
@@ -800,38 +802,38 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
 
 void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRw = new GpioCookie;
-    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
-    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
-    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
-    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH,
+    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::DIR_OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
     std::stringstream consumer;
     GpiodRegularByLineName* gpio = nullptr;
     consumer << "0x" << std::hex << objects::RW1;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW2;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW3;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
     consumer.str("");
     consumer << "0x" << std::hex << objects::RW4;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);
 
@@ -841,7 +843,7 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
      * Per default the PS SPI is selected (EMIO = 0).
      */
     gpio = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_SELECT,
-            "SPI Reaction Wheel Callback ", gpio::OUT, gpio::LOW);
+            "SPI Reaction Wheel Callback ", gpio::DIR_OUT, gpio::LOW);
     gpioCookieRw->addGpio(gpioIds::SPI_MUX, gpio);
 
     gpioComIF->addGpios(gpioCookieRw);
@@ -949,7 +951,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
     consumer.str("");
     consumer << "ptme rate setter";
     // Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks)
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
     gpioComIF->addGpios(gpioCookieRateSetter);
@@ -974,7 +976,7 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
     consumer.str("");
     consumer << "0x" << std::hex << objects::PDEC_HANDLER;
     // GPIO also low after linux boot (specified by device-tree)
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::DIR_OUT,
             gpio::LOW);
     gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);
 
@@ -987,18 +989,18 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
 #if BOARD_TE0720 == 0
     GpioCookie* gpioRS485Chip = new GpioCookie;
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);
 
     // Default configuration enables RX channels (RXEN = LOW)
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
-            gpio::Direction::OUT, gpio::LOW);
+            gpio::Direction::DIR_OUT, gpio::LOW);
     gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);
 
     gpioComIF->addGpios(gpioRS485Chip);
@@ -1014,10 +1016,10 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
 #if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
     /* Configure MIO0 as input */
-    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0);
+    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0);
 #elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
     GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test",
-            gpio::OUT, 0);
+            gpio::DIR_OUT, 0);
 #else
     /* Configure MIO0 as input */
     GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
@@ -1030,7 +1032,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1
     GpioCookie* gpioCookieSus = new GpioCookie;
     GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
-            std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
+            std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
     gpioComIF->addGpios(gpioCookieSus);
 
@@ -1058,7 +1060,7 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
     GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
-            std::string("Chip select radiation sensor"), gpio::OUT, 1);
+            std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp
index 38c5b46e..2cbf3320 100644
--- a/bsp_q7s/gpio/gpioCallbacks.cpp
+++ b/bsp_q7s/gpio/gpioCallbacks.cpp
@@ -27,13 +27,15 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
     GpiodRegularByLineName* spiMuxBit = nullptr;
     /** Setting mux bit 1 to low will disable IC21 on the interface board */
     spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
-            gpio::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit);
     /** Setting mux bit 2 to low disables IC1 on the TCS board */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2", gpio::OUT, gpio::HIGH);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_2_PIN, "SPI Mux Bit 2",
+            gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit);
     /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_3_PIN, "SPI Mux Bit 3",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
 
 //    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_1_PIN, "SPI Mux Bit 1",
@@ -47,14 +49,17 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
 //    spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit);
 
     /** The following gpios can take arbitrary initial values */
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_4_PIN, "SPI Mux Bit 4",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit);
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_5_PIN, "SPI Mux Bit 5",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit);
-    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6", gpio::OUT, gpio::LOW);
+    spiMuxBit = new GpiodRegularByLineName(q7s::gpioNames::SPI_MUX_BIT_6_PIN, "SPI Mux Bit 6",
+            gpio::DIR_OUT, gpio::LOW);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit);
     GpiodRegularByLineName* enRwDecoder = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_CS,
-            "EN_RW_CS", gpio::OUT, gpio::HIGH);
+            "EN_RW_CS", gpio::DIR_OUT, gpio::HIGH);
     spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
     result = gpioComInterface->addGpios(spiMuxGpios);
diff --git a/linux/fsfwconfig/devices/heaterSwitcherList.h b/common/config/devices/heaterSwitcherList.h
similarity index 100%
rename from linux/fsfwconfig/devices/heaterSwitcherList.h
rename to common/config/devices/heaterSwitcherList.h
diff --git a/fsfw b/fsfw
index ceb87b5a..9a858eb5 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit ceb87b5abb2992a18266328e0ea34d9af15db7af
+Subproject commit 9a858eb54c5603ccd3cbd2423cdaf87b20f0c0c4
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index 5168ba95..b043b55d 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -297,65 +297,65 @@ void SpiTestClass::acsInit() {
     GpiodRegularByChip* gpio = nullptr;
     std::string rpiGpioName = "gpiochip0";
     gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
 
     gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
-            gpio::Direction::OUT, 1);
+            gpio::DIR_OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 #elif defined(XIPHOS_Q7S)
     GpiodRegularByLineName* gpio = nullptr;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS",
-            gpio::Direction::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
     gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS",
-            gpio::Direction::OUT, gpio::HIGH);
+            gpio::DIR_OUT, gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::Direction::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT,
             gpio::HIGH);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::DIR_OUT,
             gpio::LOW);
     gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::OUT,
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::DIR_OUT,
             gpio::LOW);
     gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 #endif
diff --git a/linux/devices/CMakeLists.txt b/linux/devices/CMakeLists.txt
index 3871a6a6..b02c8e57 100644
--- a/linux/devices/CMakeLists.txt
+++ b/linux/devices/CMakeLists.txt
@@ -1,5 +1,4 @@
 target_sources(${TARGET_NAME} PRIVATE
-	HeaterHandler.cpp
 	SolarArrayDeploymentHandler.cpp
 	SusHandler.cpp
 )
diff --git a/linux/fsfwconfig/FSFWConfig.h.in b/linux/fsfwconfig/FSFWConfig.h.in
index 3b87078c..9e8f2016 100644
--- a/linux/fsfwconfig/FSFWConfig.h.in
+++ b/linux/fsfwconfig/FSFWConfig.h.in
@@ -78,6 +78,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0
 #define FSFW_HAL_RM3100_MGM_DEBUG               0
 #define FSFW_HAL_LIS3MDL_MGM_DEBUG              0
-#define FSFW_HAL_ADIS16507_GYRO_DEBUG           0
+#define FSFW_HAL_ADIS1650X_GYRO_DEBUG           0
 
 #endif /* CONFIG_FSFWCONFIG_H_ */
diff --git a/misc/eclipse/.cproject b/misc/eclipse/.cproject
index 7d7c4c09..3bab5367 100644
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@@ -19,7 +19,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
-							<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<builder arguments="--build . -j" buildPath="${workspace_loc:/eive-obsw/build-Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
 							<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.both.asm.option.include.paths.596367416" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
@@ -406,6 +406,9 @@
 					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.MakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.autotools.core.ErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
diff --git a/misc/eclipse/Host/eive-mingw-debug-cmake.launch b/misc/eclipse/Host/eive-mingw-debug-cmake.launch
index 0dddc60f..9109d83c 100644
--- a/misc/eclipse/Host/eive-mingw-debug-cmake.launch
+++ b/misc/eclipse/Host/eive-mingw-debug-cmake.launch
@@ -18,7 +18,7 @@
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
     <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
     <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Host/eive_obsw.exe"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="build-Debug-Host/eive-obsw.exe"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive-obsw"/>
     <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
     <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index ea3fdbea..ed811ed3 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -10,9 +10,10 @@ target_sources(${TARGET_NAME} PUBLIC
 	SyrlinksHkHandler.cpp
 	Max31865PT1000Handler.cpp
 	IMTQHandler.cpp
+	HeaterHandler.cpp
 	PlocMPSoCHandler.cpp
 	RadiationSensorHandler.cpp
-	GyroADIS16507Handler.cpp
+	GyroADIS1650XHandler.cpp
 	RwHandler.cpp
 )
 
diff --git a/mission/devices/GyroADIS16507Handler.cpp b/mission/devices/GyroADIS1650XHandler.cpp
similarity index 69%
rename from mission/devices/GyroADIS16507Handler.cpp
rename to mission/devices/GyroADIS1650XHandler.cpp
index 07e0d643..4acf9196 100644
--- a/mission/devices/GyroADIS16507Handler.cpp
+++ b/mission/devices/GyroADIS1650XHandler.cpp
@@ -1,8 +1,8 @@
-#include "GyroADIS16507Handler.h"
+#include "GyroADIS1650XHandler.h"
 #include <fsfw/action/HasActionsIF.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 
-#if OBSW_ADIS16507_LINUX_COM_IF == 1
+#if OBSW_ADIS1650X_LINUX_COM_IF == 1
 #include "fsfw_hal/linux/utility.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "fsfw_hal/linux/spi/SpiComIF.h"
@@ -11,15 +11,15 @@
 #include <unistd.h>
 #endif
 
-GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF * comCookie):
-        DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
-        configDataset(this), breakCountdown() {
-#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
+GyroADIS1650XHandler::GyroADIS1650XHandler(object_id_t objectId,
+        object_id_t deviceCommunication, CookieIF * comCookie, ADIS1650X::Type type):
+        DeviceHandlerBase(objectId, deviceCommunication, comCookie), adisType(type),
+        primaryDataset(this), configDataset(this), breakCountdown() {
+#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(5);
 #endif
 
-#if OBSW_ADIS16507_LINUX_COM_IF == 1
+#if OBSW_ADIS1650X_LINUX_COM_IF == 1
     SpiCookie* cookie = dynamic_cast<SpiCookie*>(comCookie);
     if(cookie != nullptr) {
         cookie->setCallbackMode(&spiSendCallback, this);
@@ -27,11 +27,11 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
 #endif
 }
 
-void GyroADIS16507Handler::doStartUp() {
+void GyroADIS1650XHandler::doStartUp() {
     // Initial 310 ms start up time after power-up
     if(internalState == InternalState::STARTUP) {
         if(not commandExecuted) {
-            breakCountdown.setTimeout(ADIS16507::START_UP_TIME);
+            breakCountdown.setTimeout(ADIS1650X::START_UP_TIME);
             commandExecuted = true;
         }
         if(breakCountdown.hasTimedOut()) {
@@ -54,20 +54,20 @@ void GyroADIS16507Handler::doStartUp() {
     }
 }
 
-void GyroADIS16507Handler::doShutDown() {
+void GyroADIS1650XHandler::doShutDown() {
     commandExecuted = false;
     setMode(_MODE_POWER_DOWN);
 }
 
-ReturnValue_t GyroADIS16507Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
-    *id = ADIS16507::READ_SENSOR_DATA;
+ReturnValue_t GyroADIS1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+    *id = ADIS1650X::READ_SENSOR_DATA;
     return buildCommandFromCommand(*id, nullptr, 0);
 }
 
-ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+ReturnValue_t GyroADIS1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
     switch(internalState) {
     case(InternalState::CONFIG): {
-        *id = ADIS16507::READ_OUT_CONFIG;
+        *id = ADIS1650X::READ_OUT_CONFIG;
         buildCommandFromCommand(*id, nullptr, 0);
         break;
     }
@@ -85,79 +85,79 @@ ReturnValue_t GyroADIS16507Handler::buildTransitionDeviceCommand(DeviceCommandId
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GyroADIS16507Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+ReturnValue_t GyroADIS1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
         const uint8_t *commandData, size_t commandDataLen) {
     switch(deviceCommand) {
-    case(ADIS16507::READ_OUT_CONFIG): {
-        this->rawPacketLen = ADIS16507::CONFIG_READOUT_SIZE;
+    case(ADIS1650X::READ_OUT_CONFIG): {
+        this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE;
         uint8_t regList[5];
-        regList[0] = ADIS16507::DIAG_STAT_REG;
-        regList[1] = ADIS16507::FILTER_CTRL_REG;
-        regList[2] = ADIS16507::MSC_CTRL_REG;
-        regList[3] = ADIS16507::DEC_RATE_REG;
-        regList[4] = ADIS16507::PROD_ID_REG;
+        regList[0] = ADIS1650X::DIAG_STAT_REG;
+        regList[1] = ADIS1650X::FILTER_CTRL_REG;
+        regList[2] = ADIS1650X::MSC_CTRL_REG;
+        regList[3] = ADIS1650X::DEC_RATE_REG;
+        regList[4] = ADIS1650X::PROD_ID_REG;
         prepareReadCommand(regList, sizeof(regList));
         this->rawPacket = commandBuffer.data();
         break;
     }
-    case(ADIS16507::READ_SENSOR_DATA): {
+    case(ADIS1650X::READ_SENSOR_DATA): {
         if(breakCountdown.isBusy()) {
             // A glob command is pending and sensor data can't be read currently
             return NO_REPLY_EXPECTED;
         }
-        std::memcpy(commandBuffer.data(), ADIS16507::BURST_READ_ENABLE.data(),
-                ADIS16507::BURST_READ_ENABLE.size());
+        std::memcpy(commandBuffer.data(), ADIS1650X::BURST_READ_ENABLE.data(),
+                ADIS1650X::BURST_READ_ENABLE.size());
         std::memset(commandBuffer.data() + 2, 0, 10 * 2);
-        this->rawPacketLen = ADIS16507::SENSOR_READOUT_SIZE;
+        this->rawPacketLen = ADIS1650X::SENSOR_READOUT_SIZE;
         this->rawPacket = commandBuffer.data();
         break;
     }
-    case(ADIS16507::SELF_TEST_SENSORS): {
+    case(ADIS1650X::SELF_TEST_SENSORS): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::SENSOR_SELF_TEST, 0x00);
-        breakCountdown.setTimeout(ADIS16507::SELF_TEST_BREAK);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::SENSOR_SELF_TEST, 0x00);
+        breakCountdown.setTimeout(ADIS1650X::SELF_TEST_BREAK);
         break;
     }
-    case(ADIS16507::SELF_TEST_MEMORY): {
+    case(ADIS1650X::SELF_TEST_MEMORY): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FLASH_MEMORY_TEST, 0x00);
-        breakCountdown.setTimeout(ADIS16507::FLASH_MEMORY_TEST_BREAK);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FLASH_MEMORY_TEST, 0x00);
+        breakCountdown.setTimeout(ADIS1650X::FLASH_MEMORY_TEST_BREAK);
         break;
     }
-    case(ADIS16507::UPDATE_NV_CONFIGURATION): {
+    case(ADIS1650X::UPDATE_NV_CONFIGURATION): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FLASH_MEMORY_UPDATE, 0x00);
-        breakCountdown.setTimeout(ADIS16507::FLASH_MEMORY_UPDATE_BREAK);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FLASH_MEMORY_UPDATE, 0x00);
+        breakCountdown.setTimeout(ADIS1650X::FLASH_MEMORY_UPDATE_BREAK);
         break;
     }
-    case(ADIS16507::RESET_SENSOR_CONFIGURATION): {
+    case(ADIS1650X::RESET_SENSOR_CONFIGURATION): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::FACTORY_CALIBRATION, 0x00);
-        breakCountdown.setTimeout(ADIS16507::FACTORY_CALIBRATION_BREAK);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FACTORY_CALIBRATION, 0x00);
+        breakCountdown.setTimeout(ADIS1650X::FACTORY_CALIBRATION_BREAK);
         break;
     }
-    case(ADIS16507::SW_RESET): {
+    case(ADIS1650X::SW_RESET): {
         if(breakCountdown.isBusy()) {
             // Another glob command is pending
             return HasActionsIF::IS_BUSY;
         }
-        prepareWriteCommand(ADIS16507::GLOB_CMD, ADIS16507::GlobCmds::SOFTWARE_RESET, 0x00);
-        breakCountdown.setTimeout(ADIS16507::SW_RESET_BREAK);
+        prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::SOFTWARE_RESET, 0x00);
+        breakCountdown.setTimeout(ADIS1650X::SW_RESET_BREAK);
         break;
     }
-    case(ADIS16507::PRINT_CURRENT_CONFIGURATION): {
+    case(ADIS1650X::PRINT_CURRENT_CONFIGURATION): {
 #if OBSW_VERBOSE_LEVEL >= 1
         PoolReadGuard pg(&configDataset);
         sif::info << "ADIS16507 Sensor configuration: DIAG_STAT: 0x" << std::hex << std::setw(4) <<
@@ -172,18 +172,18 @@ ReturnValue_t GyroADIS16507Handler::buildCommandFromCommand(DeviceCommandId_t de
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void GyroADIS16507Handler::fillCommandAndReplyMap() {
-    insertInCommandAndReplyMap(ADIS16507::READ_SENSOR_DATA, 1, &primaryDataset);
-    insertInCommandAndReplyMap(ADIS16507::READ_OUT_CONFIG, 1, &configDataset);
-    insertInCommandAndReplyMap(ADIS16507::SELF_TEST_SENSORS, 1);
-    insertInCommandAndReplyMap(ADIS16507::SELF_TEST_MEMORY, 1);
-    insertInCommandAndReplyMap(ADIS16507::UPDATE_NV_CONFIGURATION, 1);
-    insertInCommandAndReplyMap(ADIS16507::RESET_SENSOR_CONFIGURATION, 1);
-    insertInCommandAndReplyMap(ADIS16507::SW_RESET, 1);
-    insertInCommandAndReplyMap(ADIS16507::PRINT_CURRENT_CONFIGURATION, 1);
+void GyroADIS1650XHandler::fillCommandAndReplyMap() {
+    insertInCommandAndReplyMap(ADIS1650X::READ_SENSOR_DATA, 1, &primaryDataset);
+    insertInCommandAndReplyMap(ADIS1650X::READ_OUT_CONFIG, 1, &configDataset);
+    insertInCommandAndReplyMap(ADIS1650X::SELF_TEST_SENSORS, 1);
+    insertInCommandAndReplyMap(ADIS1650X::SELF_TEST_MEMORY, 1);
+    insertInCommandAndReplyMap(ADIS1650X::UPDATE_NV_CONFIGURATION, 1);
+    insertInCommandAndReplyMap(ADIS1650X::RESET_SENSOR_CONFIGURATION, 1);
+    insertInCommandAndReplyMap(ADIS1650X::SW_RESET, 1);
+    insertInCommandAndReplyMap(ADIS1650X::PRINT_CURRENT_CONFIGURATION, 1);
 }
 
-ReturnValue_t GyroADIS16507Handler::scanForReply(const uint8_t *start, size_t remainingSize,
+ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
         DeviceCommandId_t *foundId, size_t *foundLen) {
     /* For SPI, the ID will always be the one of the last sent command. */
     *foundId = this->getPendingCommand();
@@ -192,16 +192,19 @@ ReturnValue_t GyroADIS16507Handler::scanForReply(const uint8_t *start, size_t re
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
+ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
         const uint8_t *packet) {
     switch(id) {
-    case(ADIS16507::READ_OUT_CONFIG): {
+    case(ADIS1650X::READ_OUT_CONFIG): {
         PoolReadGuard rg(&configDataset);
         uint16_t readProdId = packet[10] << 8 | packet[11];
-        if (readProdId != ADIS16507::PROD_ID) {
+        if(((adisType == ADIS1650X::Type::ADIS16507) and
+                (readProdId != ADIS1650X::PROD_ID_16507)) or
+                ((adisType == ADIS1650X::Type::ADIS16505) and
+                        (readProdId != ADIS1650X::PROD_ID_16505))) {
 #if OBSW_VERBOSE_LEVEL >= 1
-            sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID!"
-                    << std::endl;
+            sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID "
+                    << readProdId << std::endl;
 #endif
             return HasReturnvaluesIF::RETURN_FAILED;
         }
@@ -215,7 +218,7 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
         }
         break;
     }
-    case(ADIS16507::READ_SENSOR_DATA): {
+    case(ADIS1650X::READ_SENSOR_DATA): {
         return handleSensorData(packet);
     }
 
@@ -224,7 +227,7 @@ ReturnValue_t GyroADIS16507Handler::interpretDeviceReply(DeviceCommandId_t id,
 }
 
 
-ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
+ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
     BurstModes burstMode = getBurstMode();
     switch(burstMode) {
     case(BurstModes::BURST_16_BURST_SEL_1):
@@ -260,23 +263,32 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
             PoolReadGuard pg(&primaryDataset);
             int16_t angVelocXRaw = packet[4] << 8 | packet[5];
             primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS1650X::GYRO_RANGE;
             int16_t angVelocYRaw = packet[6] << 8 | packet[7];
             primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS1650X::GYRO_RANGE;
             int16_t angVelocZRaw = packet[8] << 8 | packet[9];
             primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) / INT16_MAX *
-                    ADIS16507::GYRO_RANGE;
+                    ADIS1650X::GYRO_RANGE;
 
+            float accelScaling = 0;
+            if(adisType == ADIS1650X::Type::ADIS16507) {
+                accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16507;
+            } else if(adisType == ADIS1650X::Type::ADIS16505) {
+                accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16505;
+            } else {
+                sif::warning << "GyroADIS16507Handler::handleSensorData: "
+                        "Unknown ADIS type" << std::endl;
+            }
             int16_t accelXRaw = packet[10] << 8 | packet[11];
             primaryDataset.accelX.value = static_cast<float>(accelXRaw) / INT16_MAX *
-                    ADIS16507::ACCELEROMETER_RANGE;
+                    accelScaling;
             int16_t accelYRaw = packet[12] << 8 | packet[13];
             primaryDataset.accelY.value = static_cast<float>(accelYRaw) / INT16_MAX *
-                    ADIS16507::ACCELEROMETER_RANGE;
+                    accelScaling;
             int16_t accelZRaw = packet[14] << 8 | packet[15];
             primaryDataset.accelZ.value = static_cast<float>(accelZRaw) / INT16_MAX *
-                    ADIS16507::ACCELEROMETER_RANGE;
+                    accelScaling;
 
             int16_t temperatureRaw = packet[16] << 8 | packet[17];
             primaryDataset.temperature.value = static_cast<float>(temperatureRaw) * 0.1;
@@ -284,7 +296,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
             primaryDataset.setValidity(true, true);
         }
 
-#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
+#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
             sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
             sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
@@ -306,15 +318,15 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-uint32_t GyroADIS16507Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
+uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
     return 5000;
 }
 
-void GyroADIS16507Handler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
+void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
         uint8_t valueTwo) {
     uint8_t secondReg = startReg + 1;
-    startReg |= ADIS16507::WRITE_MASK;
-    secondReg |= ADIS16507::WRITE_MASK;
+    startReg |= ADIS1650X::WRITE_MASK;
+    secondReg |= ADIS1650X::WRITE_MASK;
     commandBuffer[0] = startReg;
     commandBuffer[1] = valueOne;
     commandBuffer[2] = secondReg;
@@ -323,7 +335,7 @@ void GyroADIS16507Handler::prepareWriteCommand(uint8_t startReg, uint8_t valueOn
     this->rawPacket = commandBuffer.data();
 }
 
-void GyroADIS16507Handler::prepareReadCommand(uint8_t *regList, size_t len) {
+void GyroADIS1650XHandler::prepareReadCommand(uint8_t *regList, size_t len) {
     for(size_t idx = 0; idx < len; idx++) {
         commandBuffer[idx * 2] = regList[idx];
         commandBuffer[idx * 2 + 1] = 0x00;
@@ -332,29 +344,29 @@ void GyroADIS16507Handler::prepareReadCommand(uint8_t *regList, size_t len) {
     commandBuffer[len * 2 + 1] = 0x00;
 }
 
-ReturnValue_t GyroADIS16507Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
+ReturnValue_t GyroADIS1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
         LocalDataPoolManager &poolManager) {
-    localDataPoolMap.emplace(ADIS16507::ANG_VELOC_X, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ACCELERATION_X, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ACCELERATION_Y, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::ACCELERATION_Z, new PoolEntry<double>({0.0}));
-    localDataPoolMap.emplace(ADIS16507::TEMPERATURE, new PoolEntry<float>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
+    localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
 
-    localDataPoolMap.emplace(ADIS16507::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
-    localDataPoolMap.emplace(ADIS16507::FILTER_SETTINGS, new PoolEntry<uint8_t>());
-    localDataPoolMap.emplace(ADIS16507::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
-    localDataPoolMap.emplace(ADIS16507::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
+    localDataPoolMap.emplace(ADIS1650X::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
+    localDataPoolMap.emplace(ADIS1650X::FILTER_SETTINGS, new PoolEntry<uint8_t>());
+    localDataPoolMap.emplace(ADIS1650X::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
+    localDataPoolMap.emplace(ADIS1650X::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-GyroADIS16507Handler::BurstModes GyroADIS16507Handler::getBurstMode() {
+GyroADIS1650XHandler::BurstModes GyroADIS1650XHandler::getBurstMode() {
     configDataset.mscCtrlReg.read();
     uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
     configDataset.mscCtrlReg.commit();
-    if((currentCtrlReg & ADIS16507::BURST_32_BIT) == ADIS16507::BURST_32_BIT) {
-        if((currentCtrlReg & ADIS16507::BURST_SEL_BIT) == ADIS16507::BURST_SEL_BIT) {
+    if((currentCtrlReg & ADIS1650X::BURST_32_BIT) == ADIS1650X::BURST_32_BIT) {
+        if((currentCtrlReg & ADIS1650X::BURST_SEL_BIT) == ADIS1650X::BURST_SEL_BIT) {
             return BurstModes::BURST_32_BURST_SEL_1;
         }
         else {
@@ -362,7 +374,7 @@ GyroADIS16507Handler::BurstModes GyroADIS16507Handler::getBurstMode() {
         }
     }
     else {
-        if((currentCtrlReg & ADIS16507::BURST_SEL_BIT) == ADIS16507::BURST_SEL_BIT) {
+        if((currentCtrlReg & ADIS1650X::BURST_SEL_BIT) == ADIS1650X::BURST_SEL_BIT) {
             return BurstModes::BURST_16_BURST_SEL_1;
         }
         else {
@@ -371,11 +383,11 @@ GyroADIS16507Handler::BurstModes GyroADIS16507Handler::getBurstMode() {
     }
 }
 
-#if OBSW_ADIS16507_LINUX_COM_IF == 1
+#if OBSW_ADIS1650X_LINUX_COM_IF == 1
 
-ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
+ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
         const uint8_t *sendData, size_t sendLen, void *args) {
-    GyroADIS16507Handler* handler = reinterpret_cast<GyroADIS16507Handler*>(args);
+    GyroADIS1650XHandler* handler = reinterpret_cast<GyroADIS1650XHandler*>(args);
     if(handler == nullptr) {
         sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
                 << std::endl;
@@ -383,10 +395,10 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
     }
     DeviceCommandId_t currentCommand = handler->getPendingCommand();
     switch(currentCommand) {
-    case(ADIS16507::READ_SENSOR_DATA): {
+    case(ADIS1650X::READ_SENSOR_DATA): {
         return comIf->performRegularSendOperation(cookie, sendData, sendLen);
     }
-    case(ADIS16507::READ_OUT_CONFIG):
+    case(ADIS1650X::READ_OUT_CONFIG):
     default: {
         ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
         int retval = 0;
@@ -451,7 +463,7 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
 
             idx += 2;
             if(idx < sendLen) {
-                usleep(ADIS16507::STALL_TIME_MICROSECONDS);
+                usleep(ADIS1650X::STALL_TIME_MICROSECONDS);
             }
             spi_ioc_transfer* transferStruct = cookie->getTransferStructHandle();
             transferStruct->tx_buf += 2;
@@ -466,4 +478,4 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-#endif /* OBSW_ADIS16507_LINUX_COM_IF == 1 */
+#endif /* OBSW_ADIS1650X_LINUX_COM_IF == 1 */
diff --git a/mission/devices/GyroADIS16507Handler.h b/mission/devices/GyroADIS1650XHandler.h
similarity index 89%
rename from mission/devices/GyroADIS16507Handler.h
rename to mission/devices/GyroADIS1650XHandler.h
index 467e0906..60adeabe 100644
--- a/mission/devices/GyroADIS16507Handler.h
+++ b/mission/devices/GyroADIS1650XHandler.h
@@ -3,7 +3,7 @@
 
 #include "OBSWConfig.h"
 #include "FSFWConfig.h"
-#include "devicedefinitions/GyroADIS16507Definitions.h"
+#include "devicedefinitions/GyroADIS1650XDefinitions.h"
 
 #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
 #include "fsfw/devicehandlers/DeviceHandlerBase.h"
@@ -19,10 +19,10 @@ class SpiCookie;
  * Flight manual:
  * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/ADIS16507_Gyro
  */
-class GyroADIS16507Handler: public DeviceHandlerBase {
+class GyroADIS1650XHandler: public DeviceHandlerBase {
 public:
-    GyroADIS16507Handler(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF * comCookie);
+    GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
+            CookieIF* comCookie, ADIS1650X::Type type);
 
     /* DeviceHandlerBase abstract function implementation */
     void doStartUp() override;
@@ -42,7 +42,7 @@ public:
 
 private:
     std::array<uint8_t, 32> commandBuffer;
-
+    ADIS1650X::Type adisType;
     AdisGyroPrimaryDataset primaryDataset;
     AdisGyroConfigDataset configDataset;
 
@@ -71,7 +71,7 @@ private:
             const uint8_t *sendData, size_t sendLen, void* args);
 #endif
 
-#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
+#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
     PeriodicOperationDivider* debugDivider;
 #endif
     Countdown breakCountdown;
diff --git a/linux/devices/HeaterHandler.cpp b/mission/devices/HeaterHandler.cpp
similarity index 100%
rename from linux/devices/HeaterHandler.cpp
rename to mission/devices/HeaterHandler.cpp
diff --git a/linux/devices/HeaterHandler.h b/mission/devices/HeaterHandler.h
similarity index 100%
rename from linux/devices/HeaterHandler.h
rename to mission/devices/HeaterHandler.h
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 91188d87..c848c809 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -197,7 +197,7 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize
 ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
 
     /** Check result code */
-    if (*(packet + 1) == RwDefinitions::ERROR) {
+    if (*(packet + 1) == RwDefinitions::STATE_ERROR) {
 		sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: "
 				<< id << std::endl;
         return EXECUTION_FAILED;
@@ -369,7 +369,7 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
     offset += 1;
     statusSet.clcMode = *(packet + offset);
 
-    if (statusSet.state == RwDefinitions::ERROR) {
+    if (statusSet.state == RwDefinitions::STATE_ERROR) {
         /**
          * This requires the commanding of the init reaction wheel controller command to recover
          * form error state which must be handled by the FDIR instance.
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index cd753be0..57895ca6 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -46,6 +46,8 @@ public:
     static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
     //! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
     static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
+    //! [EXPORT] : [COMMENT] Expected a start marker as first byte
+    static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
 
 protected:
 	void doStartUp() override;
diff --git a/mission/devices/devicedefinitions/GyroADIS16507Definitions.h b/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
similarity index 80%
rename from mission/devices/devicedefinitions/GyroADIS16507Definitions.h
rename to mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
index b83c984d..62744e3a 100644
--- a/mission/devices/devicedefinitions/GyroADIS16507Definitions.h
+++ b/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h
@@ -6,17 +6,24 @@
 
 #include <cstddef>
 
-namespace ADIS16507 {
+namespace ADIS1650X {
+
+enum class Type {
+    ADIS16505,
+    ADIS16507
+};
 
 static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
 static constexpr uint8_t WRITE_MASK = 0b1000'0000;
 
 static constexpr uint32_t GYRO_RANGE = 125;
-static constexpr uint32_t ACCELEROMETER_RANGE = 392;
+static constexpr uint32_t ACCELEROMETER_RANGE_16507 = 392;
+static constexpr float ACCELEROMETER_RANGE_16505 = 78.4;
 
 static constexpr uint32_t STALL_TIME_MICROSECONDS = 16;
 
-static constexpr uint16_t PROD_ID = 16507;
+static constexpr uint16_t PROD_ID_16507 = 16507;
+static constexpr uint16_t PROD_ID_16505 = 16505;
 
 static constexpr std::array<uint8_t, 2> BURST_READ_ENABLE = {0x68, 0x00};
 
@@ -95,31 +102,31 @@ public:
 
     /** Constructor  for data users like controllers */
     AdisGyroPrimaryDataset(object_id_t adisId):
-        StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_DATASET_ID)) {
+        StaticLocalDataSet(sid_t(adisId, ADIS1650X::ADIS_DATASET_ID)) {
         setAllVariablesReadOnly();
     }
 
     /* Angular velocities in degrees per second (DPS) */
     lp_var_t<double> angVelocX = lp_var_t<double>(sid.objectId,
-            ADIS16507::ANG_VELOC_X, this);
+            ADIS1650X::ANG_VELOC_X, this);
     lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId,
-            ADIS16507::ANG_VELOC_Y, this);
+            ADIS1650X::ANG_VELOC_Y, this);
     lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId,
-            ADIS16507::ANG_VELOC_Z, this);
+            ADIS1650X::ANG_VELOC_Z, this);
     lp_var_t<double> accelX = lp_var_t<double>(sid.objectId,
-            ADIS16507::ACCELERATION_X, this);
+            ADIS1650X::ACCELERATION_X, this);
     lp_var_t<double> accelY = lp_var_t<double>(sid.objectId,
-            ADIS16507::ACCELERATION_Y, this);
+            ADIS1650X::ACCELERATION_Y, this);
     lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId,
-            ADIS16507::ACCELERATION_Z, this);
+            ADIS1650X::ACCELERATION_Z, this);
     lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
-            ADIS16507::TEMPERATURE, this);
+            ADIS1650X::TEMPERATURE, this);
 private:
 
-    friend class GyroADIS16507Handler;
+    friend class GyroADIS1650XHandler;
     /** Constructor for the data creator */
     AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, ADIS16507::ADIS_DATASET_ID) {}
+            StaticLocalDataSet(hkOwner, ADIS1650X::ADIS_DATASET_ID) {}
 };
 
 class AdisGyroConfigDataset: public StaticLocalDataSet<5> {
@@ -127,20 +134,20 @@ public:
 
     /** Constructor  for data users like controllers */
     AdisGyroConfigDataset(object_id_t adisId):
-        StaticLocalDataSet(sid_t(adisId, ADIS16507::ADIS_CFG_DATASET_ID)) {
+        StaticLocalDataSet(sid_t(adisId, ADIS1650X::ADIS_CFG_DATASET_ID)) {
         setAllVariablesReadOnly();
     }
 
     lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId,
-            ADIS16507::DIAG_STAT_REGISTER);
-    lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS16507::FILTER_SETTINGS);
-    lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::MSC_CTRL_REGISTER);
-    lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS16507::DEC_RATE_REGISTER);
+            ADIS1650X::DIAG_STAT_REGISTER);
+    lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS);
+    lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER);
+    lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER);
 private:
-    friend class GyroADIS16507Handler;
+    friend class GyroADIS1650XHandler;
     /** Constructor for the data creator */
     AdisGyroConfigDataset(HasLocalDataPoolIF* hkOwner):
-            StaticLocalDataSet(hkOwner, ADIS16507::ADIS_CFG_DATASET_ID) {}
+            StaticLocalDataSet(hkOwner, ADIS1650X::ADIS_CFG_DATASET_ID) {}
 };
 
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */
diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h
index 4b3eeee7..b8905002 100644
--- a/mission/devices/devicedefinitions/RwDefinitions.h
+++ b/mission/devices/devicedefinitions/RwDefinitions.h
@@ -46,7 +46,7 @@ enum PoolIds: lp_id_t {
 };
 
 enum States: uint8_t {
-    ERROR,
+    STATE_ERROR,
     IDLE,
     COASTING,
     RUNNING_SPEED_STABLE,