diff --git a/linux/devices/RwPollingTask.cpp b/linux/devices/RwPollingTask.cpp
index b300136a..c8744301 100644
--- a/linux/devices/RwPollingTask.cpp
+++ b/linux/devices/RwPollingTask.cpp
@@ -190,7 +190,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
         return rws::SPI_READ_FAILURE;
       }
       if (idx == 0) {
-        if (byteRead != FLAG_BYTE) {
+        if (byteRead != rws::FRAME_DELIMITER) {
           sif::error << "Invalid data, expected start marker" << std::endl;
           pullCsHigh(gpioId, gpioIF);
           closeSpi(fd);
@@ -198,7 +198,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
         }
       }
 
-      if (byteRead != FLAG_BYTE) {
+      if (byteRead != rws::FRAME_DELIMITER) {
         break;
       }
 
@@ -228,7 +228,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
       }
     }
 
-    if (byteRead == FLAG_BYTE) {
+    if (byteRead == rws::FRAME_DELIMITER) {
       // Reached end of frame
       break;
     } else if (byteRead == 0x7D) {
@@ -268,9 +268,9 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
         result = rws::SPI_READ_FAILURE;
         break;
       }
-      if (byteRead != FLAG_BYTE) {
-        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
-                   << std::endl;
+      if (byteRead != rws::FRAME_DELIMITER) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign "
+                   << static_cast<int>(rws::FRAME_DELIMITER) << std::endl;
         decodedFrameLen--;
         result = rws::MISSING_END_SIGN;
         break;
@@ -353,23 +353,6 @@ size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx,
   }
 }
 
-void RwPollingTask::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen) {
-  encodedBuffer[0] = FLAG_BYTE;
-  encodedLen = 1;
-  for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
-    if (sourceBuf[sourceIdx] == 0x7E) {
-      encodedBuffer[encodedLen++] = 0x7D;
-      encodedBuffer[encodedLen++] = 0x5E;
-    } else if (sourceBuf[sourceIdx] == 0x7D) {
-      encodedBuffer[encodedLen++] = 0x7D;
-      encodedBuffer[encodedLen++] = 0x5D;
-    } else {
-      encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
-    }
-  }
-  encodedBuffer[encodedLen++] = FLAG_BYTE;
-}
-
 // This closes the SPI
 void RwPollingTask::closeSpi(int fd) {
   // This will perform the function to close the SPI
@@ -385,31 +368,9 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
     return returnvalue::FAILED;
   }
   pullCsLow(gpioId, spiLock, gpioIF);
-  /*
-  //Encoding and sending command
-  size_t idx = 0;
-  while (idx < dataLen) {
-    switch (*(data + idx)) {
-      case 0x7E:
-        writeBuffer[0] = 0x7D;
-        writeBuffer[1] = 0x5E;
-        writeSize = 2;
-        break;
-      case 0x7D:
-        writeBuffer[0] = 0x7D;
-        writeBuffer[1] = 0x5D;
-        writeSize = 2;
-        break;
-      default:
-        writeBuffer[0] = *(data + idx);
-        writeSize = 1;
-        break;
-    }
-  }
-  */
   // Add datalinklayer like specified in the datasheet.
   size_t lenToSend = 0;
-  encodeHdlc(writeBuffer.data(), writeLen, lenToSend);
+  rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
   if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
     pullCsHigh(gpioId, gpioIF);
diff --git a/linux/devices/RwPollingTask.h b/linux/devices/RwPollingTask.h
index 701771f1..b9895865 100644
--- a/linux/devices/RwPollingTask.h
+++ b/linux/devices/RwPollingTask.h
@@ -48,8 +48,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
 
   size_t writeLen = 0;
-  //! This is the end and start marker of the frame datalinklayer
-  static constexpr uint8_t FLAG_BYTE = 0x7E;
   static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
   static constexpr uint32_t TIMEOUT_MS = 20;
   static constexpr uint8_t MAX_RETRIES_REPLY = 5;
@@ -75,7 +73,6 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
 
   size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
-  void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen);
 
   void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
   void closeSpi(int);
diff --git a/misc/eclipse/.cproject b/misc/eclipse/.cproject
index 0dfd812a..0f3348a8 100644
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@@ -57,7 +57,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -119,7 +120,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -187,7 +189,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -255,7 +258,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_q7s|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug/_deps|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug-q7s-em|cmake-build-debug-q7s|bsp_q7s|cmake-build-debug/_deps|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -418,7 +422,8 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|build-Debug-RPi/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|build-Debug-RPi/_deps/etl-src/temp|thirdparty/json/single_include|cmake-build-debug-q7s-em|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|build-Debug-RPi/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/images|build-Debug-RPi/_deps/etl-src/subprojects|cmake-build-debug|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|bsp_hosted|thirdparty/json/test|bsp_te0720_1cfa|scripts|build-Debug-RPi/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|thirdparty/rapidcsv/doc|build-Debug-RPi/_deps/etl-src/examples|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|build-Debug-RPi/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/scripts|cmake-build-debug-q7s|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/arduino|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|build-Debug-RPi/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/support|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="build-Debug-RPi/_deps/etl-src/uml|build-Debug-RPi/_deps/etl-src/test|build-Debug-RPi/_deps/etl-src/temp|build-Debug-RPi/_deps/etl-src/support|build-Debug-RPi/_deps/etl-src/subprojects|build-Debug-RPi/_deps/etl-src/scripts|build-Debug-RPi/_deps/etl-src/images|build-Debug-RPi/_deps/etl-src/examples|build-Debug-RPi/_deps/etl-src/cmake|build-Debug-RPi/_deps/etl-src/arduino|cmake-build-debug-q7s|cmake-build-debug|cmake-build-debug-q7s-em|cmake-build-release-q7s-em|bsp_hosted|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="cmake-build-debug/_deps/etl-src/include"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -580,7 +585,8 @@
 						</toolChain>
 					</folderInfo>
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-						<entry excluding="thirdparty/json/tests|thirdparty/json/docs|cmake-build-debug-q7s-em/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-release-q7s|bsp_linux_board|thirdparty/json/single_include|cmake-build-debug-q7s/_deps/etl-src/temp|thirdparty/rapidcsv/examples|cmake-build-debug-q7s/_deps/etl-src/images|fsfwconfig|cmake-build-debug-q7s/_deps/etl-src/subprojects|thirdparty/json/third_party|thirdparty/json/test|bsp_te0720_1cfa|scripts|cmake-build-debug-q7s/_deps/etl-src/cmake|bsp_egse|build-Debug-RPi|thirdparty/rapidcsv/doc|thirdparty/json/doc|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-release-q7s-em|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/test|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|cmake-build-debug-q7s/_deps/etl-src/support|thirdparty/rapidcsv/tests|archive|thirdparty/json/cmake|thirdparty/json/benchmarks" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="cmake-build-debug/_deps/etl-src/uml|cmake-build-debug/_deps/etl-src/test|cmake-build-debug/_deps/etl-src/temp|cmake-build-debug/_deps/etl-src/support|cmake-build-debug/_deps/etl-src/subprojects|cmake-build-debug/_deps/etl-src/scripts|cmake-build-debug/_deps/etl-src/images|cmake-build-debug/_deps/etl-src/examples|cmake-build-debug/_deps/etl-src/cmake|cmake-build-debug/_deps/etl-src/arduino|cmake-build-release-q7s-em|build-Debug-RPi|bsp_linux_board|cmake-build-debug-q7s/_deps/etl-src/uml|cmake-build-debug-q7s/_deps/etl-src/temp|cmake-build-debug-q7s/_deps/etl-src/support|cmake-build-debug-q7s/_deps/etl-src/subprojects|cmake-build-debug-q7s/_deps/etl-src/scripts|cmake-build-debug-q7s/_deps/etl-src/images|cmake-build-debug-q7s/_deps/etl-src/examples|cmake-build-debug-q7s/_deps/etl-src/cmake|cmake-build-debug-q7s/_deps/etl-src/arduino|tmtc|scripts|bsp_te0720_1cfa|thirdparty/rapidcsv/tests|thirdparty/rapidcsv/examples|thirdparty/rapidcsv/doc|thirdparty/json/third_party|thirdparty/json/test|thirdparty/json/single_include|thirdparty/json/doc|thirdparty/json/cmake|thirdparty/json/benchmarks|archive|cmake-build-release-q7s|bsp_egse|cmake-build-debug-q7s/_deps/etl-src/test|fsfwconfig" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/mission/devices/devicedefinitions/CMakeLists.txt b/mission/devices/devicedefinitions/CMakeLists.txt
index 0ecd64e6..cee48ea8 100644
--- a/mission/devices/devicedefinitions/CMakeLists.txt
+++ b/mission/devices/devicedefinitions/CMakeLists.txt
@@ -1 +1 @@
-target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp)
+target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp)
diff --git a/mission/devices/devicedefinitions/rwHelpers.cpp b/mission/devices/devicedefinitions/rwHelpers.cpp
index 4c246eb8..6ef1daca 100644
--- a/mission/devices/devicedefinitions/rwHelpers.cpp
+++ b/mission/devices/devicedefinitions/rwHelpers.cpp
@@ -3,4 +3,22 @@
 
 #include "rwHelpers.h"
 
+void rws::encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
+                     size_t& encodedLen) {
+  encodedBuffer[0] = rws::FRAME_DELIMITER;
+  encodedLen = 1;
+  for (size_t sourceIdx = 0; sourceIdx < sourceLen; sourceIdx++) {
+    if (sourceBuf[sourceIdx] == 0x7E) {
+      encodedBuffer[encodedLen++] = 0x7D;
+      encodedBuffer[encodedLen++] = 0x5E;
+    } else if (sourceBuf[sourceIdx] == 0x7D) {
+      encodedBuffer[encodedLen++] = 0x7D;
+      encodedBuffer[encodedLen++] = 0x5D;
+    } else {
+      encodedBuffer[encodedLen++] = sourceBuf[sourceIdx];
+    }
+  }
+  encodedBuffer[encodedLen++] = rws::FRAME_DELIMITER;
+}
+
 #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWHELPERS_CPP_ */
diff --git a/mission/devices/devicedefinitions/rwHelpers.h b/mission/devices/devicedefinitions/rwHelpers.h
index 55b17859..9ae68e02 100644
--- a/mission/devices/devicedefinitions/rwHelpers.h
+++ b/mission/devices/devicedefinitions/rwHelpers.h
@@ -5,11 +5,15 @@
 #include <fsfw/datapoollocal/StaticLocalDataSet.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 
+#include "eive/resultClassIds.h"
 #include "events/subsystemIdRanges.h"
 #include "objects/systemObjectList.h"
 
 namespace rws {
 
+void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, uint8_t* encodedBuffer,
+                size_t& encodedLen);
+
 static const size_t SIZE_GET_RESET_STATUS = 5;
 static const size_t SIZE_CLEAR_RESET_STATUS = 4;
 static const size_t SIZE_INIT_RW = 4;
@@ -19,6 +23,10 @@ static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
 /** Max size when requesting telemetry */
 static const size_t SIZE_GET_TELEMETRY_REPLY = 91;
 
+//! This is the end and start marker of the frame datalinklayer. Also called frame delimiter
+//! in the NanoAvionics datasheet.
+static constexpr uint8_t FRAME_DELIMITER = 0x7E;
+
 enum class SpecialRwRequest : uint8_t {
   REQUEST_NONE = 0,
   RESET_MCU = 1,
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 1786b71e..2ff542fd 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -4,5 +4,6 @@ add_subdirectory(mocks)
 target_sources(${UNITTEST_NAME} PRIVATE
     main.cpp
     testEnvironment.cpp
+    hdlcEncodingRw.cpp
     printChar.cpp
 )
\ No newline at end of file
diff --git a/unittest/hdlcEncodingRw.cpp b/unittest/hdlcEncodingRw.cpp
new file mode 100644
index 00000000..88587414
--- /dev/null
+++ b/unittest/hdlcEncodingRw.cpp
@@ -0,0 +1,38 @@
+
+
+#include <catch2/catch_test_macros.hpp>
+
+#include "mission/devices/devicedefinitions/rwHelpers.h"
+
+TEST_CASE("HDLC Encoding RW", "[acs]") {
+  std::array<uint8_t, 256> encodedBuffer{};
+  size_t encodedLen = 0;
+  SECTION("Basic No Escaped Bytes") {
+    std::array<uint8_t, 4> dummyNoEscaped = {1, 2, 3, 4};
+
+    rws::encodeHdlc(dummyNoEscaped.data(), dummyNoEscaped.size(), encodedBuffer.data(), encodedLen);
+    REQUIRE(encodedLen == 6);
+    REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
+    REQUIRE(encodedBuffer[1] == 1);
+    REQUIRE(encodedBuffer[2] == 2);
+    REQUIRE(encodedBuffer[3] == 3);
+    REQUIRE(encodedBuffer[4] == 4);
+    REQUIRE(encodedBuffer[5] == rws::FRAME_DELIMITER);
+  }
+
+  SECTION("Basic Some Escaped Bytes") {
+    std::array<uint8_t, 4> dummySomeEscaped = {1, 0x7D, 0x7E, 4};
+
+    rws::encodeHdlc(dummySomeEscaped.data(), dummySomeEscaped.size(), encodedBuffer.data(),
+                    encodedLen);
+    REQUIRE(encodedLen == 8);
+    REQUIRE(encodedBuffer[0] == rws::FRAME_DELIMITER);
+    REQUIRE(encodedBuffer[1] == 1);
+    REQUIRE(encodedBuffer[2] == 0x7D);
+    REQUIRE(encodedBuffer[3] == 0x5D);
+    REQUIRE(encodedBuffer[4] == 0x7D);
+    REQUIRE(encodedBuffer[5] == 0x5E);
+    REQUIRE(encodedBuffer[6] == 4);
+    REQUIRE(encodedBuffer[7] == rws::FRAME_DELIMITER);
+  }
+}