diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp
index b7222465..ac0c6353 100644
--- a/bsp_q7s/ObjectFactory.cpp
+++ b/bsp_q7s/ObjectFactory.cpp
@@ -33,9 +33,13 @@
 #include <linux/csp/CspCookie.h>
 #include <linux/csp/CspComIF.h>
 
+#include <linux/uart/UartComIF.h>
+#include <linux/uart/UartCookie.h>
+
 #include <fsfw_hal/linux/i2c/I2cCookie.h>
 #include <fsfw_hal/linux/i2c/I2cComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 
@@ -94,8 +98,6 @@ void ObjectFactory::produce(){
     new UartComIF(objects::UART_COM_IF);
     new SpiComIF(objects::SPI_COM_IF, gpioComIF);
 
-    auto gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
-
     /* Temperature sensors */
     Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
             objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
@@ -143,30 +145,31 @@ void ObjectFactory::produce(){
     (void) acuhandler;
 
     GpioCookie* gpioCookieAcsBoard = new GpioCookie();
-    GpiodRegular gpioGyro1(std::string("gpiochip5"), 21, std::string("CS_GYRO_1_ADIS"),
+    GpiodRegular* gpio = nullptr;
+    gpio = new GpiodRegular(std::string("gpiochip5"), 21, std::string("CS_GYRO_1_ADIS"),
             gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpioGyro1);
-    GpiodRegular gpioGyro2(std::string("gpiochip5"), 7, std::string("CS_GYRO_2_L3G"),
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+    gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_2_L3G"),
             gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpioGyro2);
-    GpiodRegular gpioGyro3(std::string("gpiochip5"), 3, std::string("CS_GYRO_3_L3G"),
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+    gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_3_L3G"),
             gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpioGyro3);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
 
-    GpiodRegular gpioMgm0(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"),
+    gpio = new GpiodRegular(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"),
             gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpioMgm0);
-    GpiodRegular gpioMgm1(std::string("gpiochip5"), 17, std::string("CS_MGM_1_RM3100_A"),
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
+    gpio = new GpiodRegular(std::string("gpiochip5"), 17, std::string("CS_MGM_1_RM3100_A"),
             gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpioMgm1);
-    GpiodRegular gpioMgm2(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"),
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+    gpio = new GpiodRegular(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"),
             gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpioMgm2);
-    GpiodRegular gpioMgm3(std::string("gpiochip5"), 23, std::string("CS_MGM_3_RM3100_B"),
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+    gpio = new GpiodRegular(std::string("gpiochip5"), 23, std::string("CS_MGM_3_RM3100_B"),
             gpio::OUT, gpio::HIGH);
-    gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpioMgm3);
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
-    gpioIF->addGpios(gpioCookieAcsBoard);
+    gpioComIF->addGpios(gpioCookieAcsBoard);
 
     std::string spiDev = "/dev/spidev2.0";
     SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
@@ -366,7 +369,7 @@ void ObjectFactory::produce(){
     Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
     Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
     Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
-    rtdIc10->setStartUpImmediately();
+//    rtdIc10->setStartUpImmediately();
 //    rtdIc4->setStartUpImmediately();
 #endif
 
diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp
index b85de9ab..086e6469 100644
--- a/bsp_q7s/gpio/gpioCallbacks.cpp
+++ b/bsp_q7s/gpio/gpioCallbacks.cpp
@@ -1,7 +1,8 @@
-#include <bsp_q7s/gpio/gpioCallbacks.h>
-#include <fsfwconfig/devices/gpioIds.h>
-#include <linux/gpio/LinuxLibgpioIF.h>
-#include <linux/gpio/GpioCookie.h>
+#include "gpioCallbacks.h"
+#include <devices/gpioIds.h>
+
+#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw_hal/common/gpio/GpioCookie.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 
 
diff --git a/bsp_q7s/gpio/gpioCallbacks.h b/bsp_q7s/gpio/gpioCallbacks.h
index 7654e548..845127fb 100644
--- a/bsp_q7s/gpio/gpioCallbacks.h
+++ b/bsp_q7s/gpio/gpioCallbacks.h
@@ -1,8 +1,8 @@
 #ifndef LINUX_GPIO_GPIOCALLBACKS_H_
 #define LINUX_GPIO_GPIOCALLBACKS_H_
 
-#include <linux/gpio/gpioDefinitions.h>
-#include <linux/gpio/GpioIF.h>
+#include <fsfw_hal/common/gpio/gpioDefinitions.h>
+#include <fsfw_hal/common/gpio/GpioIF.h>
 
 
 namespace gpioCallbacks {
diff --git a/fsfw_hal b/fsfw_hal
index 7ffae254..c62cdbeb 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 7ffae254b1c2658c2b87566a7bb6856236c6e7e8
+Subproject commit c62cdbebcb521975043f1782692667faaf5a8aca
diff --git a/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 5f1c8359..ce0b7490 100644
--- a/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -182,27 +182,27 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
 	thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
 			DeviceHandlerIF::GET_READ);
 
-	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
-			DeviceHandlerIF::PERFORM_OPERATION);
-	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
-			DeviceHandlerIF::SEND_WRITE);
-	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
-			DeviceHandlerIF::GET_WRITE);
-	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
-			DeviceHandlerIF::SEND_READ);
-	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
-			DeviceHandlerIF::GET_READ);
-
-	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-			DeviceHandlerIF::PERFORM_OPERATION);
-	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-			DeviceHandlerIF::SEND_WRITE);
-	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
-			DeviceHandlerIF::GET_WRITE);
-	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
-			DeviceHandlerIF::SEND_READ);
-	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
-			DeviceHandlerIF::GET_READ);
+//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
+//			DeviceHandlerIF::PERFORM_OPERATION);
+//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
+//			DeviceHandlerIF::SEND_WRITE);
+//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
+//			DeviceHandlerIF::GET_WRITE);
+//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
+//			DeviceHandlerIF::SEND_READ);
+//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
+//			DeviceHandlerIF::GET_READ);
+//
+//	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+//			DeviceHandlerIF::PERFORM_OPERATION);
+//	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+//			DeviceHandlerIF::SEND_WRITE);
+//	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+//			DeviceHandlerIF::GET_WRITE);
+//	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+//			DeviceHandlerIF::SEND_READ);
+//	thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+//			DeviceHandlerIF::GET_READ);
 
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "Initialization of GomSpace PST failed" << std::endl;
diff --git a/linux/CMakeLists.txt b/linux/CMakeLists.txt
index d6824b0e..7e6d1f35 100644
--- a/linux/CMakeLists.txt
+++ b/linux/CMakeLists.txt
@@ -1,4 +1,4 @@
 add_subdirectory(csp)
+add_subdirectory(uart)
 add_subdirectory(utility)
 add_subdirectory(boardtest)
-