diff --git a/.gitmodules b/.gitmodules
index 7af82082..4a973500 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -13,3 +13,6 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
+[submodule "fsfw_hal"]
+	path = fsfw_hal
+	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw_hal.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 53689123..61b99287 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,6 +40,7 @@ set(TARGET_NAME ${CMAKE_PROJECT_NAME})
 set(LIB_FSFW_NAME fsfw)
 set(LIB_ETL_NAME etl)
 set(LIB_CSP_NAME libcsp)
+set(LIB_FSFW_HAL_NAME fsfw_hal)
 set(LIB_LWGPS_NAME lwgps)
 set(THIRD_PARTY_FOLDER thirdparty)
 
@@ -50,6 +51,7 @@ set(TEST_PATH test/testtasks)
 set(LINUX_PATH linux)
 set(COMMON_PATH common)
 
+set(FSFW_HAL_LIB_PATH fsfw_hal)
 set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
 set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
 set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
@@ -68,10 +70,12 @@ if(TGT_BSP)
         set(FSFW_CONFIG_PATH "fsfwconfig")
         set(ADD_LINUX_FILES TRUE)
         set(ADD_CSP_LIB TRUE)
+        set(FSFW_HAL_ADD_LINUX ON)
     endif()
    
     if(${TGT_BSP} MATCHES "arm/raspberrypi") 
         add_definitions(-DRASPBERRY_PI)
+        set(FSFW_HAL_ADD_RASPBERRY_PI ON)
     endif()
     
     if(${TGT_BSP} MATCHES "arm/q7s")
@@ -113,6 +117,7 @@ add_subdirectory(${BSP_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${MISSION_PATH})
 add_subdirectory(${TEST_PATH})
+add_subdirectory(${FSFW_HAL_LIB_PATH})
 add_subdirectory(${COMMON_PATH})
 
 ################################################################################
@@ -126,6 +131,7 @@ target_link_libraries(${TARGET_NAME} PRIVATE
 	${LIB_FSFW_NAME} 
 	${LIB_OS_NAME} 
 	${LIB_LWGPS_NAME}
+	${LIB_FSFW_HAL_NAME}
 )
 
 if(ADD_ETL_LIB)
diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp
index f81fc173..3e52402a 100644
--- a/bsp_q7s/ObjectFactory.cpp
+++ b/bsp_q7s/ObjectFactory.cpp
@@ -24,15 +24,17 @@
 #include <linux/csp/CspComIF.h>
 #include <linux/i2c/I2cCookie.h>
 #include <linux/i2c/I2cComIF.h>
-#include <linux/gpio/LinuxLibgpioIF.h>
-#include <linux/gpio/GpioCookie.h>
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 
 #include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
-#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
-#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
+
+/* UDP server includes */
+#include <fsfw/osal/common/UdpTmTcBridge.h>
+#include <fsfw/osal/common/UdpTcPollingTask.h>
 
 #if TEST_LIBGPIOD == 1
 #include <linux/boardtest/LibgpiodTest.h>
@@ -170,10 +172,10 @@ void ObjectFactory::produce(){
             gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
 #endif
 
-    new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
+    new UdpTmTcBridge(objects::UDP_BRIDGE,
             objects::CCSDS_PACKET_DISTRIBUTOR,
             objects::TM_STORE, objects::TC_STORE);
-    new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
+    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
 
 #if TE0720 == 1 && TEST_LIBGPIOD == 1
     /* Configure MIO0 as input */
diff --git a/bsp_q7s/devices/HeaterHandler.cpp b/bsp_q7s/devices/HeaterHandler.cpp
index 9a44c57b..21a4a3f4 100644
--- a/bsp_q7s/devices/HeaterHandler.cpp
+++ b/bsp_q7s/devices/HeaterHandler.cpp
@@ -2,7 +2,7 @@
 #include <fsfwconfig/devices/powerSwitcherList.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <devices/gpioIds.h>
-#include <linux/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 
 HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
         CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :
diff --git a/bsp_q7s/devices/HeaterHandler.h b/bsp_q7s/devices/HeaterHandler.h
index 01319ce9..8969ebd9 100644
--- a/bsp_q7s/devices/HeaterHandler.h
+++ b/bsp_q7s/devices/HeaterHandler.h
@@ -10,7 +10,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <linux/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 #include <unordered_map>
 
 /**
diff --git a/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp b/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
index d307ef15..25be3927 100644
--- a/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
+++ b/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
@@ -3,7 +3,7 @@
 #include <devices/powerSwitcherList.h>
 #include <devices/gpioIds.h>
 
-#include <linux/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw/ipc/QueueFactory.h>
 
 
diff --git a/bsp_q7s/devices/SolarArrayDeploymentHandler.h b/bsp_q7s/devices/SolarArrayDeploymentHandler.h
index b7e94f23..5e573128 100644
--- a/bsp_q7s/devices/SolarArrayDeploymentHandler.h
+++ b/bsp_q7s/devices/SolarArrayDeploymentHandler.h
@@ -1,8 +1,6 @@
 #ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
 #define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
 
-#include <linux/gpio/GpioIF.h>
-
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
@@ -11,7 +9,7 @@
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/timemanager/Countdown.h>
-
+#include <fsfw_hal/common/gpio/GpioIF.h>
 #include <unordered_map>
 
 /**
diff --git a/bsp_rpi/ObjectFactory.cpp b/bsp_rpi/ObjectFactory.cpp
index 13cadfb3..0c75cf81 100644
--- a/bsp_rpi/ObjectFactory.cpp
+++ b/bsp_rpi/ObjectFactory.cpp
@@ -1,5 +1,5 @@
 #include "ObjectFactory.h"
-#include <bsp_rpi/gpio/GPIORPi.h>
+#include <fsfw_hal/linux/rpi/GpioRPi.h>
 
 #include <fsfwconfig/objects/systemObjectList.h>
 #include <fsfwconfig/devices/addresses.h>
@@ -11,11 +11,10 @@
 
 #include <linux/boardtest/LibgpiodTest.h>
 #include <linux/boardtest/SpiTestClass.h>
-#include <linux/gpio/GpioCookie.h>
-#include <linux/gpio/LinuxLibgpioIF.h>
 #include <linux/spi/SpiCookie.h>
 #include <linux/spi/SpiComIF.h>
 
+#include <mission/devices/GyroL3GD20Handler.h>
 #include <mission/core/GenericFactory.h>
 #include <mission/utility/TmFunnel.h>
 #include <mission/devices/MGMHandlerLIS3MDL.h>
@@ -24,11 +23,15 @@
 #include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
 #include <fsfw/tmtcservices/PusServiceBase.h>
-#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
 #include <fsfw/tmtcpacket/pus/TmPacketStored.h>
-#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
 #include <fsfw/tasks/TaskFactory.h>
-#include <mission/devices/GyroL3GD20Handler.h>
+
+/* UDP server includes */
+#include <fsfw/osal/common/UdpTmTcBridge.h>
+#include <fsfw/osal/common/UdpTcPollingTask.h>
+
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 
 
 void Factory::setStaticFrameworkObjectIds() {
@@ -54,10 +57,10 @@ void ObjectFactory::produce(){
     Factory::setStaticFrameworkObjectIds();
     ObjectFactory::produceGenericObjects();
 
-    new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
+    new UdpTmTcBridge(objects::UDP_BRIDGE,
             objects::CCSDS_PACKET_DISTRIBUTOR,
             objects::TM_STORE, objects::TC_STORE);
-    new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
+    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
 
     GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
 
diff --git a/bsp_rpi/gpio/CMakeLists.txt b/bsp_rpi/gpio/CMakeLists.txt
index 85bd6aa6..b816684d 100644
--- a/bsp_rpi/gpio/CMakeLists.txt
+++ b/bsp_rpi/gpio/CMakeLists.txt
@@ -1,5 +1,4 @@
 target_sources(${TARGET_NAME} PUBLIC
-	GPIORPi.cpp
 )
 
 
diff --git a/cmake/scripts/cmake_build_config.py b/cmake/scripts/cmake_build_config.py
index 0e4b6f25..32b560f6 100644
--- a/cmake/scripts/cmake_build_config.py
+++ b/cmake/scripts/cmake_build_config.py
@@ -26,6 +26,9 @@ def main():
                              "Information)", default="debug")
     parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.")
     parser.add_argument("-g", "--generator", type=str, help="CMake Generator")
+    parser.add_argument("-d", "--defines",
+                        help="Additional custom defines passed to CMake (supply without -D prefix!)",
+                        nargs="*", type=str)
     parser.add_argument("-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine")
 
     args = parser.parse_args()
diff --git a/fsfw b/fsfw
index 83d0db82..f2da3123 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 83d0db824289b28dbad81cce0c80276c4fc839c8
+Subproject commit f2da31239c43422f7254b8f4a26e663cffd8e3f3
diff --git a/fsfw_hal b/fsfw_hal
new file mode 160000
index 00000000..20b4b5d5
--- /dev/null
+++ b/fsfw_hal
@@ -0,0 +1 @@
+Subproject commit 20b4b5d5d3c5f1af807634e75f859ded2dc74012
diff --git a/fsfwconfig/devices/gpioIds.h b/fsfwconfig/devices/gpioIds.h
index 8963bd20..10c0a553 100644
--- a/fsfwconfig/devices/gpioIds.h
+++ b/fsfwconfig/devices/gpioIds.h
@@ -1,7 +1,7 @@
 #ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
 #define FSFWCONFIG_DEVICES_GPIOIDS_H_
 
-#include <linux/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 
 namespace gpioIds {
 	enum gpioId_t {
diff --git a/linux/CMakeLists.txt b/linux/CMakeLists.txt
index 77bea0ef..13748f41 100644
--- a/linux/CMakeLists.txt
+++ b/linux/CMakeLists.txt
@@ -1,4 +1,4 @@
-add_subdirectory(gpio)
+# add_subdirectory(gpio)
 add_subdirectory(i2c)
 add_subdirectory(csp)
 add_subdirectory(spi)
diff --git a/linux/gpio/CMakeLists.txt b/linux/archive/gpio/CMakeLists.txt
similarity index 100%
rename from linux/gpio/CMakeLists.txt
rename to linux/archive/gpio/CMakeLists.txt
diff --git a/linux/gpio/GpioCookie.cpp b/linux/archive/gpio/GpioCookie.cpp
similarity index 100%
rename from linux/gpio/GpioCookie.cpp
rename to linux/archive/gpio/GpioCookie.cpp
diff --git a/linux/gpio/GpioCookie.h b/linux/archive/gpio/GpioCookie.h
similarity index 100%
rename from linux/gpio/GpioCookie.h
rename to linux/archive/gpio/GpioCookie.h
diff --git a/linux/gpio/GpioIF.h b/linux/archive/gpio/GpioIF.h
similarity index 100%
rename from linux/gpio/GpioIF.h
rename to linux/archive/gpio/GpioIF.h
diff --git a/linux/gpio/LinuxLibgpioIF.cpp b/linux/archive/gpio/LinuxLibgpioIF.cpp
similarity index 100%
rename from linux/gpio/LinuxLibgpioIF.cpp
rename to linux/archive/gpio/LinuxLibgpioIF.cpp
diff --git a/linux/gpio/LinuxLibgpioIF.h b/linux/archive/gpio/LinuxLibgpioIF.h
similarity index 100%
rename from linux/gpio/LinuxLibgpioIF.h
rename to linux/archive/gpio/LinuxLibgpioIF.h
diff --git a/linux/gpio/gpioDefinitions.h b/linux/archive/gpio/gpioDefinitions.h
similarity index 100%
rename from linux/gpio/gpioDefinitions.h
rename to linux/archive/gpio/gpioDefinitions.h
diff --git a/linux/boardtest/LibgpiodTest.h b/linux/boardtest/LibgpiodTest.h
index e9c6c030..a18c618e 100644
--- a/linux/boardtest/LibgpiodTest.h
+++ b/linux/boardtest/LibgpiodTest.h
@@ -2,8 +2,8 @@
 #define TEST_TESTTASKS_LIBGPIODTEST_H_
 
 #include "TestTask.h"
-#include <linux/gpio/GpioIF.h>
-#include <linux/gpio/GpioCookie.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw/objectmanager/SystemObject.h>
 
 /**
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index 3090c115..374cb644 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -7,9 +7,9 @@
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
-#include <linux/gpio/gpioDefinitions.h>
-#include <linux/gpio/GpioCookie.h>
 #include <linux/utility/Utility.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 
 #include <linux/spi/spidev.h>
 #include <fcntl.h>
diff --git a/linux/boardtest/SpiTestClass.h b/linux/boardtest/SpiTestClass.h
index c567bc45..2e3d8b8c 100644
--- a/linux/boardtest/SpiTestClass.h
+++ b/linux/boardtest/SpiTestClass.h
@@ -1,7 +1,7 @@
 #ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
 #define LINUX_BOARDTEST_SPITESTCLASS_H_
 
-#include <linux/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 #include <linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>
 
diff --git a/linux/spi/SpiComIF.h b/linux/spi/SpiComIF.h
index 0e27a595..c5076ba6 100644
--- a/linux/spi/SpiComIF.h
+++ b/linux/spi/SpiComIF.h
@@ -3,7 +3,7 @@
 
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
-#include <linux/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 #include <linux/spi/spiDefinitions.h>
 #include <returnvalues/classIds.h>
 
diff --git a/linux/spi/SpiCookie.h b/linux/spi/SpiCookie.h
index 59d0e206..aff4d770 100644
--- a/linux/spi/SpiCookie.h
+++ b/linux/spi/SpiCookie.h
@@ -3,7 +3,7 @@
 
 #include "spiDefinitions.h"
 #include <fsfw/devicehandlers/CookieIF.h>
-#include <linux/gpio/gpioDefinitions.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
 #include <linux/spi/spidev.h>
 
 class SpiCookie: public CookieIF {
diff --git a/bsp_rpi/gpio/GPIORPi.cpp b/misc/archive/GPIORPi.cpp
similarity index 100%
rename from bsp_rpi/gpio/GPIORPi.cpp
rename to misc/archive/GPIORPi.cpp
diff --git a/bsp_rpi/gpio/GPIORPi.h b/misc/archive/GPIORPi.h
similarity index 100%
rename from bsp_rpi/gpio/GPIORPi.h
rename to misc/archive/GPIORPi.h
diff --git a/misc/eclipse/.project b/misc/eclipse/.project
index 906c567f..059a5c19 100644
--- a/misc/eclipse/.project
+++ b/misc/eclipse/.project
@@ -7,7 +7,7 @@
 	<buildSpec>
 		<buildCommand>
 			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<triggers>clean,full,incremental,</triggers>
+			<triggers>full,incremental,</triggers>
 			<arguments>
 			</arguments>
 		</buildCommand>
diff --git a/tmtc b/tmtc
index 5f1803b6..74c61842 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 5f1803b66393210ded8c5d88fbc28cd8130cef91
+Subproject commit 74c61842c87e6a25751904116fdc82dd61a14333