diff --git a/linux/devices/RwPollingTask.cpp b/linux/devices/RwPollingTask.cpp
index f0cef059..f6df08f5 100644
--- a/linux/devices/RwPollingTask.cpp
+++ b/linux/devices/RwPollingTask.cpp
@@ -32,12 +32,20 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
     ipcLock->unlockMutex();
     semaphore->acquire();
     int fd = 0;
+    for (auto& skip : skipCommandingForRw) {
+      skip = false;
+    }
     ReturnValue_t result = openSpi(O_RDWR, fd);
     if (result != returnvalue::OK) {
       continue;
     }
     for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
-      if (rwCookies[idx]->setSpeed) {
+      if (rwCookies[idx]->specialRequest == rws::SpecialRwRequest::RESET_MCU) {
+        prepareSimpleCommand(rws::RESET_MCU);
+        // No point in commanding that specific RW for the cycle.
+        skipCommandingForRw[idx] = true;
+        writeOneRwCmd(idx, fd);
+      } else if (rwCookies[idx]->setSpeed) {
         prepareSetSpeedCmd(idx);
         if (writeOneRwCmd(idx, fd) != returnvalue::OK) {
           continue;
@@ -163,6 +171,9 @@ ReturnValue_t RwPollingTask::writeAndReadAllRws(DeviceCommandId_t id) {
     return result;
   }
   for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
+    if (skipCommandingForRw[idx]) {
+      continue;
+    }
     ReturnValue_t result = sendOneMessage(fd, *rwCookies[idx]);
     if (result != returnvalue::OK) {
       closeSpi(fd);
@@ -307,32 +318,26 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
 ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
   ReturnValue_t result = sendOneMessage(fd, *rwCookies[rwIdx]);
   if (result != returnvalue::OK) {
-    closeSpi(fd);
     return returnvalue::FAILED;
   }
   return returnvalue::OK;
 }
 
 ReturnValue_t RwPollingTask::readAllRws(int fd, DeviceCommandId_t id) {
-  ReturnValue_t result = openSpi(O_RDWR, fd);
-  if (result != returnvalue::OK) {
-    return result;
-  }
+  // SPI dev will be opened in readNextReply on demand.
   for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
-    if (id == rws::SET_SPEED and !rwCookies[idx]->setSpeed) {
+    if (((id == rws::SET_SPEED) and !rwCookies[idx]->setSpeed) or skipCommandingForRw[idx]) {
       continue;
     }
     if (spiLock == nullptr) {
       sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
       return returnvalue::FAILED;
     }
-    // TODO: Fix buffer to write to
     uint8_t* replyBuf;
     size_t maxReadLen = idAndIdxToReadBuffer(id, idx, &replyBuf);
     readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
   }
-
-  closeSpi(fd);
+  // SPI is closed in readNextReply as well.
   return returnvalue::OK;
 }
 
diff --git a/linux/devices/RwPollingTask.h b/linux/devices/RwPollingTask.h
index f22ad1fe..42bae737 100644
--- a/linux/devices/RwPollingTask.h
+++ b/linux/devices/RwPollingTask.h
@@ -44,6 +44,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   MutexIF* spiLock;
   const char* spiDev;
   SpiComIF* spiIF;
+  std::array<bool, 4> skipCommandingForRw;
   std::array<RwCookie*, 4> rwCookies;
   std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
   std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;