diff --git a/.gitmodules b/.gitmodules
index dae431d4..7af82082 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,5 +1,5 @@
 [submodule "etl"]
-	path = etl
+	path = thirdparty/etl
 	url = https://github.com/ETLCPP/etl.git
 [submodule "arduino"]
 	path = arduino
@@ -10,3 +10,6 @@
 [submodule "tmtc"]
 	path = tmtc
 	url = https://egit.irs.uni-stuttgart.de/eive/eive_tmtc.git
+[submodule "thirdparty/lwgps"]
+	path = thirdparty/lwgps
+	url = https://github.com/rmspacefish/lwgps.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2cde6b98..53689123 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,6 +15,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
+option(ADD_ETL_LIB "Add ETL library" ON)
 if(NOT OS_FSFW)
 	set(OS_FSFW host CACHE STRING "OS for the FSFW.")
 endif()
@@ -37,14 +38,21 @@ set(CMAKE_CXX_STANDARD_REQUIRED True)
 # Set names and variables
 set(TARGET_NAME ${CMAKE_PROJECT_NAME}) 
 set(LIB_FSFW_NAME fsfw)
+set(LIB_ETL_NAME etl)
 set(LIB_CSP_NAME libcsp)
+set(LIB_LWGPS_NAME lwgps)
+set(THIRD_PARTY_FOLDER thirdparty)
 
 # Set path names
 set(FSFW_PATH fsfw)
 set(MISSION_PATH mission)
-set(CSPLIB_PATH libcsp)
 set(TEST_PATH test/testtasks)
 set(LINUX_PATH linux)
+set(COMMON_PATH common)
+
+set(CSP_LIB_PATH ${THIRD_PARTY_FOLDER}/libcsp)
+set(ETL_LIB_PATH ${THIRD_PARTY_FOLDER}/etl)
+set(LWGPS_LIB_PATH ${THIRD_PARTY_FOLDER}/lwgps)
 
 set(FSFW_WARNING_SHADOW_LOCAL_GCC OFF)
 set(ADD_LINUX_FILES FALSE)
@@ -73,6 +81,8 @@ else()
     # Required by FSFW library
     set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
 endif()
+# Set for lwgps library
+set(LWGPS_CONFIG_PATH "${COMMON_PATH}/config")
 
 ################################################################################
 # Executable and Sources
@@ -87,17 +97,23 @@ if(ROOT_CONFIG_FOLDER)
 endif()
 
 if(ADD_CSP_LIB)
-    add_subdirectory(${CSPLIB_PATH})
+    add_subdirectory(${CSP_LIB_PATH})
+endif()
+
+if(ADD_ETL_LIB)
+    add_subdirectory(${ETL_LIB_PATH})
 endif()
 
 if(ADD_LINUX_FILES)
     add_subdirectory(${LINUX_PATH})
 endif()
 
+add_subdirectory(${LWGPS_LIB_PATH})
 add_subdirectory(${BSP_PATH})
 add_subdirectory(${FSFW_PATH})
 add_subdirectory(${MISSION_PATH})
 add_subdirectory(${TEST_PATH})
+add_subdirectory(${COMMON_PATH})
 
 ################################################################################
 # Post-Sources preparation
@@ -109,8 +125,15 @@ set_property(CACHE OS_FSFW PROPERTY STRINGS host linux)
 target_link_libraries(${TARGET_NAME} PRIVATE
 	${LIB_FSFW_NAME} 
 	${LIB_OS_NAME} 
+	${LIB_LWGPS_NAME}
 )
 
+if(ADD_ETL_LIB)
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        ${LIB_ETL_NAME}
+    )
+endif()
+
 if(ADD_CSP_LIB)
 	target_link_libraries(${TARGET_NAME} PRIVATE
 		${LIB_CSP_NAME}
diff --git a/README.md b/README.md
index 4d8c0ecf..6d38fd66 100644
--- a/README.md
+++ b/README.md
@@ -208,7 +208,16 @@ or
 ssh eive@192.168.199.227
 ```
 
-To access the console of the Q7S run the following:
+If the static IP address of the Q7S has already been set,
+you can access it with ssh
+
+```sh
+ssh root@192.168.133.10
+```
+
+If this has not been done yet, you can access the serial
+console of the Q7S like this to set it
+
 ```sh
 picocom -b 115200 /dev/ttyUSB0
 ```
diff --git a/bsp_hosted/InitMission.cpp b/bsp_hosted/InitMission.cpp
index 5ed5775d..06bc5646 100644
--- a/bsp_hosted/InitMission.cpp
+++ b/bsp_hosted/InitMission.cpp
@@ -15,7 +15,6 @@
 
 #include <iostream>
 
-// This is configured for linux without \cr
 #ifdef LINUX
 ServiceInterfaceStream sif::debug("DEBUG");
 ServiceInterfaceStream sif::info("INFO");
@@ -31,8 +30,8 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
 ObjectManagerIF *objectManager = nullptr;
 
 void initmission::initMission() {
-	sif::info << "Building global objects.." << std::endl;
-	/* Instantiate global object manager and also create all objects */
+    sif::info << "Building global objects.." << std::endl;
+    /* Instantiate global object manager and also create all objects */
     objectManager = new ObjectManager(ObjectFactory::produce);
     sif::info << "Initializing all objects.." << std::endl;
     objectManager->initialize();
@@ -41,117 +40,120 @@ void initmission::initMission() {
     initTasks();
 }
 
-void initmission::initTasks(){
-	/* TMTC Distribution */
-	PeriodicTaskIF* TmTcDistributor = TaskFactory::instance()->
-			createPeriodicTask("DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					0.100, nullptr);
-	ReturnValue_t result = TmTcDistributor->addComponent(
-			objects::CCSDS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-	result = TmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-    result = TmTcDistributor->addComponent(objects::TM_FUNNEL);
+void initmission::initTasks() {
+    TaskFactory* factory = TaskFactory::instance();
+    if(factory == nullptr) {
+        /* Should never happen ! */
+        return;
+    }
+#if OBSW_PRINT_MISSED_DEADLINES == 1
+    void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
+#else
+    void (*missedDeadlineFunc) (void) = nullptr;
+#endif
+
+    /* TMTC Distribution */
+    PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
+            "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+    ReturnValue_t result = tmTcDistributor->addComponent(
+            objects::CCSDS_PACKET_DISTRIBUTOR);
+    if(result != HasReturnvaluesIF::RETURN_OK){
+        sif::error << "Object add component failed" << std::endl;
+    }
+    result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
+    if(result != HasReturnvaluesIF::RETURN_OK){
+        sif::error << "Object add component failed" << std::endl;
+    }
+    result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    	sif::error << "Object add component failed" << std::endl;
+        sif::error << "Object add component failed" << std::endl;
     }
 
     /* UDP bridge */
-    PeriodicTaskIF* UdpBridgeTask = TaskFactory::instance()->createPeriodicTask(
-    		"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE,
-			0.2, nullptr);
-    result = UdpBridgeTask->addComponent(objects::UDP_BRIDGE);
+    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
+            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
+    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    	sif::error << "Add component UDP Unix Bridge failed" << std::endl;
+        sif::error << "Add component UDP Unix Bridge failed" << std::endl;
     }
-    PeriodicTaskIF* UdpPollingTask = TaskFactory::instance()->
-    		createPeriodicTask("UDP_POLLING", 80,
-    		PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, nullptr);
-    result = UdpPollingTask->addComponent(objects::UDP_POLLING_TASK);
+    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
+            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
-    	sif::error << "Add component UDP Polling failed" << std::endl;
+        sif::error << "Add component UDP Polling failed" << std::endl;
     }
 
-	/* PUS Services */
-	PeriodicTaskIF* PusVerification = TaskFactory::instance()->
-			createPeriodicTask("PUS_VERIF_1", 40,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
-	result = PusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
+    /* PUS Services */
+    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
+            "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+    result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
+    if(result != HasReturnvaluesIF::RETURN_OK){
+        sif::error << "Object add component failed" << std::endl;
+    }
 
-	PeriodicTaskIF* PusEvents = TaskFactory::instance()->
-			createPeriodicTask("PUS_VERIF_1", 60,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, nullptr);
-	result = PusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
-	if(result != HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
+    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
+            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
+    if(result != HasReturnvaluesIF::RETURN_OK){
+        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
+    }
 
-	PeriodicTaskIF* PusHighPrio = TaskFactory::instance()->
-			createPeriodicTask("PUS_HIGH_PRIO", 50,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					0.200, nullptr);
-	result = PusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-	result = PusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
+    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
+            "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
+    }
+    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
+    }
 
-	PeriodicTaskIF* PusMedPrio = TaskFactory::instance()->
-			createPeriodicTask("PUS_HIGH_PRIO", 40,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					0.8, nullptr);
-	result = PusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
-	result = PusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
+    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
+            "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
+    }
+    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
+    }
 
-	PeriodicTaskIF* PusLowPrio = TaskFactory::instance()->
-			createPeriodicTask("PUSB", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE,
-					1.6, nullptr);
-	result = PusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
-	if(result!=HasReturnvaluesIF::RETURN_OK){
-		sif::error << "Object add component failed" << std::endl;
-	}
+    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
+            "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
+    result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
+    }
 
+    PeriodicTaskIF* testTask = factory->createPeriodicTask(
+            "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
+#if OBSW_ADD_TEST_CODE == 1
+    result = testTask->addComponent(objects::TEST_TASK);
+    if(result != HasReturnvaluesIF::RETURN_OK) {
+        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
+    }
+#endif /* OBSW_ADD_TEST_CODE == 1 */
+
+    sif::info << "Starting tasks.." << std::endl;
+    tmTcDistributor->startTask();
+    udpBridgeTask->startTask();
+    udpPollingTask->startTask();
+
+    pusVerification->startTask();
+    pusEvents->startTask();
+    pusHighPrio->startTask();
+    pusMedPrio->startTask();
+    pusLowPrio->startTask();
 
 #if OBSW_ADD_TEST_CODE == 1
-	FixedTimeslotTaskIF* TestTimeslotTask = TaskFactory::instance()->
-			createFixedTimeslotTask("PST_TEST_TASK", 10,
-					PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
-	result = pst::pollingSequenceTestFunction(TestTimeslotTask);
-	if(result != HasReturnvaluesIF::RETURN_OK) {
-		sif::error << "InitMission::createTasks: Test PST initialization "
-				<< "failed!" << std::endl;
-	}
-#endif
+    testTask->startTask();
+#endif /* OBSW_ADD_TEST_CODE == 1 */
 
-	//Main thread sleep
-	sif::info << "Starting tasks.." << std::endl;
-	TmTcDistributor->startTask();
-	UdpBridgeTask->startTask();
-	UdpPollingTask->startTask();
-
-	PusVerification->startTask();
-	PusEvents->startTask();
-	PusHighPrio->startTask();
-	PusMedPrio->startTask();
-	PusLowPrio->startTask();
-#if OBSW_ADD_TEST_CODE == 1
-	TestTimeslotTask->startTask();
-#endif
-	sif::info << "Tasks started.." << std::endl;
+    sif::info << "Tasks started.." << std::endl;
 }
diff --git a/bsp_hosted/fsfwconfig/OBSWConfig.h b/bsp_hosted/fsfwconfig/OBSWConfig.h
index b784cd03..5996e3a2 100644
--- a/bsp_hosted/fsfwconfig/OBSWConfig.h
+++ b/bsp_hosted/fsfwconfig/OBSWConfig.h
@@ -6,7 +6,9 @@
 #ifndef CONFIG_OBSWCONFIG_H_
 #define CONFIG_OBSWCONFIG_H_
 
-#define OBSW_ADD_TEST_CODE      0
+#include "commonConfig.h"
+
+#define OBSW_ADD_TEST_CODE      1
 
 /* These defines should be disabled for mission code but are useful for
 debugging. */
diff --git a/bsp_hosted/fsfwconfig/devices/gpioIds.h b/bsp_hosted/fsfwconfig/devices/gpioIds.h
new file mode 100644
index 00000000..8963bd20
--- /dev/null
+++ b/bsp_hosted/fsfwconfig/devices/gpioIds.h
@@ -0,0 +1,35 @@
+#ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
+#define FSFWCONFIG_DEVICES_GPIOIDS_H_
+
+#include <linux/gpio/GpioIF.h>
+
+namespace gpioIds {
+	enum gpioId_t {
+		HEATER_0,
+		HEATER_1,
+		HEATER_2,
+		HEATER_3,
+		HEATER_4,
+		HEATER_5,
+		HEATER_6,
+		HEATER_7,
+		DEPLSA1,
+		DEPLSA2,
+
+		MGM_0_LIS3_CS,
+		MGM_1_RM3100_CS,
+		GYRO_0_ADIS_CS,
+		GYRO_1_L3G_CS,
+		GYRO_2_L3G_CS,
+		MGM_2_LIS3_CS,
+		MGM_3_RM3100_CS,
+
+		TEST_ID_0,
+		TEST_ID_1
+	};
+}
+
+
+
+
+#endif /* FSFWCONFIG_DEVICES_GPIOIDS_H_ */
diff --git a/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h b/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
new file mode 100644
index 00000000..09bdf568
--- /dev/null
+++ b/bsp_hosted/fsfwconfig/devices/powerSwitcherList.h
@@ -0,0 +1,58 @@
+#ifndef FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
+#define FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_
+
+#include <OBSWConfig.h>
+
+namespace pcduSwitches {
+	/* Switches are uint8_t datatype and go from 0 to 255 */
+	enum switcherList {
+	    Q7S,
+        PAYLOAD_PCDU_CH1,
+        RW,
+        TCS_BOARD_8V_HEATER_IN,
+        SUS_REDUNDANT,
+        DEPLOYMENT_MECHANISM,
+        PAYLOAD_PCDU_CH6,
+        ACS_BOARD_SIDE_B,
+        PAYLOAD_CAMERA,
+        TCS_BOARD_3V3,
+        SYRLINKS,
+        STAR_TRACKER,
+        MGT,
+        SUS_NOMINAL,
+        SOLAR_CELL_EXP,
+        PLOC,
+        ACS_BORAD_SIDE_A,
+        NUMBER_OF_SWITCHES
+	};
+
+	static const uint8_t ON = 1;
+	static const uint8_t OFF = 0;
+
+	/* Output states after reboot of the PDUs */
+	static const uint8_t INIT_STATE_Q7S = ON;
+	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH1 = OFF;
+	static const uint8_t INIT_STATE_RW = OFF;
+#if TE0720 == 1
+	/* Because the TE0720 is not connected to the PCDU, this switch is always on */
+	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = ON;
+#else
+	static const uint8_t INIT_STATE_TCS_BOARD_8V_HEATER_IN = OFF;
+#endif
+	static const uint8_t INIT_STATE_SUS_REDUNDANT = OFF;
+	static const uint8_t INIT_STATE_DEPLOYMENT_MECHANISM = OFF;
+	static const uint8_t INIT_STATE_PAYLOAD_PCDU_CH6 = OFF;
+	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_B = OFF;
+	static const uint8_t INIT_STATE_PAYLOAD_CAMERA = OFF;
+	static const uint8_t INIT_STATE_TCS_BOARD_3V3 = OFF;
+	static const uint8_t INIT_STATE_SYRLINKS = OFF;
+	static const uint8_t INIT_STATE_STAR_TRACKER = OFF;
+	static const uint8_t INIT_STATE_MGT = OFF;
+	static const uint8_t INIT_STATE_SUS_NOMINAL = OFF;
+	static const uint8_t INIT_STATE_SOLAR_CELL_EXP = OFF;
+	static const uint8_t INIT_STATE_PLOC = OFF;
+	static const uint8_t INIT_STATE_ACS_BOARD_SIDE_A = OFF;
+}
+
+
+#endif /* FSFWCONFIG_DEVICES_POWERSWITCHERLIST_H_ */
diff --git a/bsp_hosted/fsfwconfig/objects/systemObjectList.h b/bsp_hosted/fsfwconfig/objects/systemObjectList.h
index 05ed2c52..d7a1abd7 100644
--- a/bsp_hosted/fsfwconfig/objects/systemObjectList.h
+++ b/bsp_hosted/fsfwconfig/objects/systemObjectList.h
@@ -27,6 +27,21 @@ namespace objects {
 		DUMMY_INTERFACE = 0xCAFECAFE,
 		DUMMY_HANDLER = 0x4400AFFE,
 
+        /* 0x44 ('D') for device handlers */
+        P60DOCK_HANDLER = 0x44000001,
+        PDU1_HANDLER = 0x44000002,
+        PDU2_HANDLER = 0x44000003,
+        ACU_HANDLER = 0x44000004,
+        TMP1075_HANDLER_1 = 0x44000005,
+        TMP1075_HANDLER_2 = 0x44000006,
+        MGM_0_LIS3_HANDLER = 0x4400007,
+        MGM_1_RM3100_HANDLER = 0x44000008,
+        MGM_2_LIS3_HANDLER = 0x44000009,
+        MGM_3_RM3100_HANDLER = 0x44000010,
+        GYRO_0_ADIS_HANDLER = 0x44000011,
+        GYRO_1_L3G_HANDLER = 0x44000012,
+        GYRO_2_L3G_HANDLER = 0x44000013,
+
 		/* 0x49 ('I') for Communication Interfaces **/
 		ARDUINO_COM_IF = 0x49000001
 	};
diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp
index 6a3b16bc..4c54e526 100644
--- a/bsp_q7s/ObjectFactory.cpp
+++ b/bsp_q7s/ObjectFactory.cpp
@@ -7,6 +7,7 @@
 #include <devices/powerSwitcherList.h>
 
 #include <bsp_q7s/devices/HeaterHandler.h>
+#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
 
 #include <mission/core/GenericFactory.h>
 #include <mission/devices/PDU1Handler.h>
@@ -15,7 +16,6 @@
 #include <mission/devices/PCDUHandler.h>
 #include <mission/devices/P60DockHandler.h>
 #include <mission/devices/Tmp1075Handler.h>
-#include <mission/devices/SolarArrayDeploymentHandler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/utility/TmFunnel.h>
diff --git a/bsp_q7s/devices/CMakeLists.txt b/bsp_q7s/devices/CMakeLists.txt
index c720706a..9e6fb793 100644
--- a/bsp_q7s/devices/CMakeLists.txt
+++ b/bsp_q7s/devices/CMakeLists.txt
@@ -1,3 +1,4 @@
 target_sources(${TARGET_NAME} PRIVATE
 	HeaterHandler.cpp
+	SolarArrayDeploymentHandler.cpp
 )
diff --git a/mission/devices/SolarArrayDeploymentHandler.cpp b/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
similarity index 99%
rename from mission/devices/SolarArrayDeploymentHandler.cpp
rename to bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
index c114209b..80d941bf 100644
--- a/mission/devices/SolarArrayDeploymentHandler.cpp
+++ b/bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
@@ -1,7 +1,8 @@
+#include "SolarArrayDeploymentHandler.h"
+
 #include <devices/powerSwitcherList.h>
 #include <devices/gpioIds.h>
 
-#include <mission/devices/SolarArrayDeploymentHandler.h>
 #include <linux/gpio/GpioCookie.h>
 #include <fsfw/ipc/QueueFactory.h>
 
diff --git a/mission/devices/SolarArrayDeploymentHandler.h b/bsp_q7s/devices/SolarArrayDeploymentHandler.h
similarity index 100%
rename from mission/devices/SolarArrayDeploymentHandler.h
rename to bsp_q7s/devices/SolarArrayDeploymentHandler.h
diff --git a/cmake/scripts/Host/create_cmake_debug_cfg.sh b/cmake/scripts/Host/create_cmake_debug_cfg.sh
index ee7b441a..23c74de0 100644
--- a/cmake/scripts/Host/create_cmake_debug_cfg.sh
+++ b/cmake/scripts/Host/create_cmake_debug_cfg.sh
@@ -15,6 +15,7 @@ if [ "${counter}" -ge 5 ];then
 fi
 
 build_generator=""
+build_dir="Debug-Host"
 os_fsfw="host"
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
@@ -23,4 +24,4 @@ else
 	build_generator="Unix Makefiles"
 fi
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l"${build_dir}"
diff --git a/cmake/scripts/Host/create_cmake_release_cfg.sh b/cmake/scripts/Host/create_cmake_release_cfg.sh
index 778cde3b..03378e98 100644
--- a/cmake/scripts/Host/create_cmake_release_cfg.sh
+++ b/cmake/scripts/Host/create_cmake_release_cfg.sh
@@ -16,6 +16,7 @@ fi
 
 build_generator=""
 os_fsfw="host"
+build_dir="Debug-Release"
 if [ "${OS}" = "Windows_NT" ]; then
 	build_generator="MinGW Makefiles"
 # Could be other OS but this works for now.
@@ -23,4 +24,4 @@ else
 	build_generator="Unix Makefiles"
 fi
 
-python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release"
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -l"${build_dir}"
diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
new file mode 100644
index 00000000..9040988f
--- /dev/null
+++ b/common/CMakeLists.txt
@@ -0,0 +1 @@
+add_subdirectory(config)
diff --git a/common/config/CMakeLists.txt b/common/config/CMakeLists.txt
new file mode 100644
index 00000000..f38f2c50
--- /dev/null
+++ b/common/config/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_include_directories(${TARGET_NAME} PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
\ No newline at end of file
diff --git a/common/config/commonConfig.h b/common/config/commonConfig.h
new file mode 100644
index 00000000..6c5cb4c4
--- /dev/null
+++ b/common/config/commonConfig.h
@@ -0,0 +1,7 @@
+#ifndef COMMON_CONFIG_COMMONCONFIG_H_
+#define COMMON_CONFIG_COMMONCONFIG_H_
+
+#define OBSW_ADD_LWGPS_TEST     0
+
+
+#endif /* COMMON_CONFIG_COMMONCONFIG_H_ */
diff --git a/common/config/lwgps_opts.h b/common/config/lwgps_opts.h
new file mode 100644
index 00000000..20632d6f
--- /dev/null
+++ b/common/config/lwgps_opts.h
@@ -0,0 +1,44 @@
+/**
+ * \file            lwgps_opts_template.h
+ * \brief           LwGPS configuration file
+ */
+
+/*
+ * Copyright (c) 2020 Tilen MAJERLE
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge,
+ * publish, distribute, sublicense, and/or sell copies of the Software,
+ * and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
+ * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * This file is part of LwGPS - Lightweight GPS NMEA parser library.
+ *
+ * Author:          Tilen MAJERLE <tilen@majerle.eu>
+ * Version:         v2.1.0
+ */
+#ifndef LWGPS_HDR_OPTS_H
+#define LWGPS_HDR_OPTS_H
+
+/* Rename this file to "lwgps_opts.h" for your application */
+
+/*
+ * Open "include/lwgps/lwgps_opt.h" and
+ * copy & replace here settings you want to change values
+ */
+
+#endif /* LWGPS_HDR_OPTS_H */
diff --git a/fsfwconfig/OBSWConfig.h b/fsfwconfig/OBSWConfig.h
index d4220b9e..f40fbec3 100644
--- a/fsfwconfig/OBSWConfig.h
+++ b/fsfwconfig/OBSWConfig.h
@@ -9,6 +9,7 @@
 #ifdef RASPBERRY_PI
 #include <rpi_config.h>
 #endif
+#include "commonConfig.h"
 #include "OBSWVersion.h"
 
 /* These defines should be disabled for mission code but are useful for
diff --git a/misc/eclipse/Host/eive-mingw-debug-cmake.launch b/misc/eclipse/Host/eive-mingw-debug-cmake.launch
index 3552a26b..d31b97e9 100644
--- a/misc/eclipse/Host/eive-mingw-debug-cmake.launch
+++ b/misc/eclipse/Host/eive-mingw-debug-cmake.launch
@@ -4,7 +4,7 @@
     <listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
     <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="true"/>
     <stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
     <booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
@@ -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="Debug/eive_obsw"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="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 aec93c1c..a8205276 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -10,7 +10,6 @@ target_sources(${TARGET_NAME} PUBLIC
 	PDU1Handler.cpp
 	PDU2Handler.cpp
 	ACUHandler.cpp
-	SolarArrayDeploymentHandler.cpp
 )
 
 
diff --git a/mission/devices/PCDUHandler.cpp b/mission/devices/PCDUHandler.cpp
index 0b3b1459..8e2c1a39 100644
--- a/mission/devices/PCDUHandler.cpp
+++ b/mission/devices/PCDUHandler.cpp
@@ -1,9 +1,12 @@
 #include "PCDUHandler.h"
-#include <fsfwconfig/objects/systemObjectList.h>
+#include <OBSWConfig.h>
+#include <objects/systemObjectList.h>
+
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
+
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/housekeeping/HousekeepingSnapshot.h>
-#include <fsfwconfig/OBSWConfig.h>
+
 
 PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize) :
         SystemObject(setObjectId), poolManager(this, nullptr), pdu2HkTableDataset(this), pdu1HkTableDataset(
diff --git a/mission/devices/PCDUHandler.h b/mission/devices/PCDUHandler.h
index f6b49dc0..566e1d9c 100644
--- a/mission/devices/PCDUHandler.h
+++ b/mission/devices/PCDUHandler.h
@@ -1,6 +1,7 @@
 #ifndef MISSION_DEVICES_PCDUHANDLER_H_
 #define MISSION_DEVICES_PCDUHANDLER_H_
 
+#include <devices/powerSwitcherList.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/devices/GomspaceDeviceHandler.h>
 #include <fsfw/timemanager/CCSDSTime.h>
@@ -9,7 +10,7 @@
 #include <fsfw/objectmanager/SystemObject.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
-#include <fsfwconfig/devices/powerSwitcherList.h>
+
 
 /**
  * @brief	The PCDUHandler provides a compact interface to handle all devices related to the
diff --git a/mission/devices/PDU1Handler.cpp b/mission/devices/PDU1Handler.cpp
index 92281f49..074a0b9f 100644
--- a/mission/devices/PDU1Handler.cpp
+++ b/mission/devices/PDU1Handler.cpp
@@ -1,6 +1,6 @@
 #include "PDU1Handler.h"
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
-#include <fsfwconfig/OBSWConfig.h>
+#include <OBSWConfig.h>
 
 PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
         GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
diff --git a/mission/devices/PDU2Handler.cpp b/mission/devices/PDU2Handler.cpp
index b442c12c..eaeb00bb 100644
--- a/mission/devices/PDU2Handler.cpp
+++ b/mission/devices/PDU2Handler.cpp
@@ -1,6 +1,6 @@
 #include "PDU2Handler.h"
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
-#include <fsfwconfig/OBSWConfig.h>
+#include <OBSWConfig.h>
 
 PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
         GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
diff --git a/mission/devices/Tmp1075Handler.cpp b/mission/devices/Tmp1075Handler.cpp
index f0d95a18..a84f5597 100644
--- a/mission/devices/Tmp1075Handler.cpp
+++ b/mission/devices/Tmp1075Handler.cpp
@@ -1,6 +1,6 @@
 #include <mission/devices/Tmp1075Handler.h>
 #include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
-#include <fsfwconfig/OBSWConfig.h>
+#include <OBSWConfig.h>
 
 Tmp1075Handler::Tmp1075Handler(object_id_t objectId, object_id_t comIF,
 		CookieIF * comCookie) :
diff --git a/test/testtasks/TestTask.cpp b/test/testtasks/TestTask.cpp
index 9a5018c5..57abc758 100644
--- a/test/testtasks/TestTask.cpp
+++ b/test/testtasks/TestTask.cpp
@@ -1,4 +1,6 @@
-#include <test/testtasks/TestTask.h>
+#include "TestTask.h"
+#include <OBSWConfig.h>
+
 #include <fsfw/objectmanager/frameworkObjects.h>
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/objectmanager/ObjectManagerIF.h>
@@ -10,56 +12,99 @@
 
 
 TestTask::TestTask(object_id_t objectId_):
-	SystemObject(objectId_), testMode(testModes::A) {
-	IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
+SystemObject(objectId_), testMode(testModes::A) {
+    IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
 }
 
 TestTask::~TestTask() {
 }
 
 ReturnValue_t TestTask::performOperation(uint8_t operationCode) {
-	ReturnValue_t result = RETURN_OK;
+    ReturnValue_t result = RETURN_OK;
 
-	if(oneShotAction) {
-		/* Add code here which should only be run once */
-		performOneShotAction();
-		oneShotAction = false;
-	}
+    if(oneShotAction) {
+        /* Add code here which should only be run once */
+        performOneShotAction();
+        oneShotAction = false;
+    }
 
-	/* Add code here which should only be run once per performOperation */
-	performPeriodicAction();
+    /* Add code here which should only be run once per performOperation */
+    performPeriodicAction();
 
-	/* Add code here which should only be run on alternating cycles. */
-	if(testMode == testModes::A) {
-		performActionA();
-		testMode = testModes::B;
-	}
-	else if(testMode == testModes::B) {
-		performActionB();
-		testMode = testModes::A;
-	}
-	return result;
+    /* Add code here which should only be run on alternating cycles. */
+    if(testMode == testModes::A) {
+        performActionA();
+        testMode = testModes::B;
+    }
+    else if(testMode == testModes::B) {
+        performActionB();
+        testMode = testModes::A;
+    }
+    return result;
 }
 
+#include <etl/vector.h>
+#include <lwgps/lwgps.h>
+
+/**
+ * @brief           Dummy data from GPS receiver. Will be replaced witgh hyperion data later.
+ */
+const char
+gps_rx_data[] = ""
+        "$GPRMC,183729,A,3907.356,N,12102.482,W,000.0,360.0,080301,015.5,E*6F\r\n"
+        "$GPRMB,A,,,,,,,,,,,,V*71\r\n"
+        "$GPGGA,183730,3907.356,N,12102.482,W,1,05,1.6,646.4,M,-24.1,M,,*75\r\n"
+        "$GPGSA,A,3,02,,,07,,09,24,26,,,,,1.6,1.6,1.0*3D\r\n"
+        "$GPGSV,2,1,08,02,43,088,38,04,42,145,00,05,11,291,00,07,60,043,35*71\r\n"
+        "$GPGSV,2,2,08,08,02,145,00,09,46,303,47,24,16,178,32,26,18,231,43*77\r\n"
+        "$PGRME,22.0,M,52.9,M,51.0,M*14\r\n"
+        "$GPGLL,3907.360,N,12102.481,W,183730,A*33\r\n"
+        "$PGRMZ,2062,f,3*2D\r\n"
+        "$PGRMM,WGS84*06\r\n"
+        "$GPBOD,,T,,M,,*47\r\n"
+        "$GPRTE,1,1,c,0*07\r\n"
+        "$GPRMC,183731,A,3907.482,N,12102.436,W,000.0,360.0,080301,015.5,E*67\r\n"
+        "$GPRMB,A,,,,,,,,,,,,V*71\r\n";
+
 ReturnValue_t TestTask::performOneShotAction() {
-	/* Everything here will only be performed once. */
+#if OBSW_ADD_TEST_CODE == 1
+    performLwgpsTest();
+#endif
     return HasReturnvaluesIF::RETURN_OK;
 }
 
 
 ReturnValue_t TestTask::performPeriodicAction() {
-	ReturnValue_t result = RETURN_OK;
-	return result;
+    ReturnValue_t result = RETURN_OK;
+    return result;
 }
 
 ReturnValue_t TestTask::performActionA() {
-	ReturnValue_t result = RETURN_OK;
-	/* Add periodically executed code here */
-	return result;
+    ReturnValue_t result = RETURN_OK;
+    /* Add periodically executed code here */
+    return result;
 }
 
 ReturnValue_t TestTask::performActionB() {
-	ReturnValue_t result = RETURN_OK;
-	/* Add periodically executed code here */
-	return result;
+    ReturnValue_t result = RETURN_OK;
+    /* Add periodically executed code here */
+    return result;
+}
+
+void TestTask::performLwgpsTest() {
+    /* Everything here will only be performed once. */
+    etl::vector<uint8_t, 30> testVec;
+
+    lwgps_t gpsStruct;
+    sif::info << "Size of GPS struct: " << sizeof(gpsStruct) << std::endl;
+    lwgps_init(&gpsStruct);
+
+    /* Process all input data */
+    lwgps_process(&gpsStruct, gps_rx_data, strlen(gps_rx_data));
+
+    /* Print messages */
+    printf("Valid status: %d\r\n", gpsStruct.is_valid);
+    printf("Latitude: %f degrees\r\n", gpsStruct.latitude);
+    printf("Longitude: %f degrees\r\n", gpsStruct.longitude);
+    printf("Altitude: %f meters\r\n", gpsStruct.altitude);
 }
diff --git a/test/testtasks/TestTask.h b/test/testtasks/TestTask.h
index fef1ff0e..e2e8db48 100644
--- a/test/testtasks/TestTask.h
+++ b/test/testtasks/TestTask.h
@@ -50,6 +50,8 @@ private:
 	// Let's keep it simple for now.
 	bool oneShotAction = true;
 	StorageManagerIF* IPCStore;
+
+	void performLwgpsTest();
 };
 
 
diff --git a/etl b/thirdparty/etl
similarity index 100%
rename from etl
rename to thirdparty/etl
diff --git a/libcsp/CMakeLists.txt b/thirdparty/libcsp/CMakeLists.txt
similarity index 100%
rename from libcsp/CMakeLists.txt
rename to thirdparty/libcsp/CMakeLists.txt
diff --git a/libcsp/bindings/python/libcsp/__init__.py b/thirdparty/libcsp/bindings/python/libcsp/__init__.py
similarity index 100%
rename from libcsp/bindings/python/libcsp/__init__.py
rename to thirdparty/libcsp/bindings/python/libcsp/__init__.py
diff --git a/libcsp/doc/example.rst b/thirdparty/libcsp/doc/example.rst
similarity index 100%
rename from libcsp/doc/example.rst
rename to thirdparty/libcsp/doc/example.rst
diff --git a/libcsp/doc/history.rst b/thirdparty/libcsp/doc/history.rst
similarity index 100%
rename from libcsp/doc/history.rst
rename to thirdparty/libcsp/doc/history.rst
diff --git a/libcsp/doc/interfaces.rst b/thirdparty/libcsp/doc/interfaces.rst
similarity index 100%
rename from libcsp/doc/interfaces.rst
rename to thirdparty/libcsp/doc/interfaces.rst
diff --git a/libcsp/doc/libcsp.rst b/thirdparty/libcsp/doc/libcsp.rst
similarity index 100%
rename from libcsp/doc/libcsp.rst
rename to thirdparty/libcsp/doc/libcsp.rst
diff --git a/libcsp/doc/memory.rst b/thirdparty/libcsp/doc/memory.rst
similarity index 100%
rename from libcsp/doc/memory.rst
rename to thirdparty/libcsp/doc/memory.rst
diff --git a/libcsp/doc/mtu.rst b/thirdparty/libcsp/doc/mtu.rst
similarity index 100%
rename from libcsp/doc/mtu.rst
rename to thirdparty/libcsp/doc/mtu.rst
diff --git a/libcsp/doc/protocolstack.rst b/thirdparty/libcsp/doc/protocolstack.rst
similarity index 100%
rename from libcsp/doc/protocolstack.rst
rename to thirdparty/libcsp/doc/protocolstack.rst
diff --git a/libcsp/doc/structure.rst b/thirdparty/libcsp/doc/structure.rst
similarity index 100%
rename from libcsp/doc/structure.rst
rename to thirdparty/libcsp/doc/structure.rst
diff --git a/libcsp/doc/topology.rst b/thirdparty/libcsp/doc/topology.rst
similarity index 100%
rename from libcsp/doc/topology.rst
rename to thirdparty/libcsp/doc/topology.rst
diff --git a/libcsp/examples/csp_if_fifo.c b/thirdparty/libcsp/examples/csp_if_fifo.c
similarity index 100%
rename from libcsp/examples/csp_if_fifo.c
rename to thirdparty/libcsp/examples/csp_if_fifo.c
diff --git a/libcsp/examples/csp_if_fifo_windows.c b/thirdparty/libcsp/examples/csp_if_fifo_windows.c
similarity index 100%
rename from libcsp/examples/csp_if_fifo_windows.c
rename to thirdparty/libcsp/examples/csp_if_fifo_windows.c
diff --git a/libcsp/examples/kiss.c b/thirdparty/libcsp/examples/kiss.c
similarity index 100%
rename from libcsp/examples/kiss.c
rename to thirdparty/libcsp/examples/kiss.c
diff --git a/libcsp/examples/python_bindings_example_client.py b/thirdparty/libcsp/examples/python_bindings_example_client.py
similarity index 100%
rename from libcsp/examples/python_bindings_example_client.py
rename to thirdparty/libcsp/examples/python_bindings_example_client.py
diff --git a/libcsp/examples/python_bindings_example_client_can.py b/thirdparty/libcsp/examples/python_bindings_example_client_can.py
similarity index 100%
rename from libcsp/examples/python_bindings_example_client_can.py
rename to thirdparty/libcsp/examples/python_bindings_example_client_can.py
diff --git a/libcsp/examples/python_bindings_example_server.py b/thirdparty/libcsp/examples/python_bindings_example_server.py
similarity index 100%
rename from libcsp/examples/python_bindings_example_server.py
rename to thirdparty/libcsp/examples/python_bindings_example_server.py
diff --git a/libcsp/examples/simple.c b/thirdparty/libcsp/examples/simple.c
similarity index 100%
rename from libcsp/examples/simple.c
rename to thirdparty/libcsp/examples/simple.c
diff --git a/libcsp/examples/zmqproxy.c b/thirdparty/libcsp/examples/zmqproxy.c
similarity index 100%
rename from libcsp/examples/zmqproxy.c
rename to thirdparty/libcsp/examples/zmqproxy.c
diff --git a/libcsp/include/CMakeLists.txt b/thirdparty/libcsp/include/CMakeLists.txt
similarity index 100%
rename from libcsp/include/CMakeLists.txt
rename to thirdparty/libcsp/include/CMakeLists.txt
diff --git a/libcsp/include/csp/arch/csp_clock.h b/thirdparty/libcsp/include/csp/arch/csp_clock.h
similarity index 100%
rename from libcsp/include/csp/arch/csp_clock.h
rename to thirdparty/libcsp/include/csp/arch/csp_clock.h
diff --git a/libcsp/include/csp/arch/csp_malloc.h b/thirdparty/libcsp/include/csp/arch/csp_malloc.h
similarity index 100%
rename from libcsp/include/csp/arch/csp_malloc.h
rename to thirdparty/libcsp/include/csp/arch/csp_malloc.h
diff --git a/libcsp/include/csp/arch/csp_queue.h b/thirdparty/libcsp/include/csp/arch/csp_queue.h
similarity index 100%
rename from libcsp/include/csp/arch/csp_queue.h
rename to thirdparty/libcsp/include/csp/arch/csp_queue.h
diff --git a/libcsp/include/csp/arch/csp_semaphore.h b/thirdparty/libcsp/include/csp/arch/csp_semaphore.h
similarity index 100%
rename from libcsp/include/csp/arch/csp_semaphore.h
rename to thirdparty/libcsp/include/csp/arch/csp_semaphore.h
diff --git a/libcsp/include/csp/arch/csp_system.h b/thirdparty/libcsp/include/csp/arch/csp_system.h
similarity index 100%
rename from libcsp/include/csp/arch/csp_system.h
rename to thirdparty/libcsp/include/csp/arch/csp_system.h
diff --git a/libcsp/include/csp/arch/csp_thread.h b/thirdparty/libcsp/include/csp/arch/csp_thread.h
similarity index 100%
rename from libcsp/include/csp/arch/csp_thread.h
rename to thirdparty/libcsp/include/csp/arch/csp_thread.h
diff --git a/libcsp/include/csp/arch/csp_time.h b/thirdparty/libcsp/include/csp/arch/csp_time.h
similarity index 100%
rename from libcsp/include/csp/arch/csp_time.h
rename to thirdparty/libcsp/include/csp/arch/csp_time.h
diff --git a/libcsp/include/csp/arch/posix/pthread_queue.h b/thirdparty/libcsp/include/csp/arch/posix/pthread_queue.h
similarity index 100%
rename from libcsp/include/csp/arch/posix/pthread_queue.h
rename to thirdparty/libcsp/include/csp/arch/posix/pthread_queue.h
diff --git a/libcsp/include/csp/crypto/csp_hmac.h b/thirdparty/libcsp/include/csp/crypto/csp_hmac.h
similarity index 100%
rename from libcsp/include/csp/crypto/csp_hmac.h
rename to thirdparty/libcsp/include/csp/crypto/csp_hmac.h
diff --git a/libcsp/include/csp/crypto/csp_sha1.h b/thirdparty/libcsp/include/csp/crypto/csp_sha1.h
similarity index 100%
rename from libcsp/include/csp/crypto/csp_sha1.h
rename to thirdparty/libcsp/include/csp/crypto/csp_sha1.h
diff --git a/libcsp/include/csp/crypto/csp_xtea.h b/thirdparty/libcsp/include/csp/crypto/csp_xtea.h
similarity index 100%
rename from libcsp/include/csp/crypto/csp_xtea.h
rename to thirdparty/libcsp/include/csp/crypto/csp_xtea.h
diff --git a/libcsp/include/csp/csp.h b/thirdparty/libcsp/include/csp/csp.h
similarity index 100%
rename from libcsp/include/csp/csp.h
rename to thirdparty/libcsp/include/csp/csp.h
diff --git a/libcsp/include/csp/csp_autoconfig.h b/thirdparty/libcsp/include/csp/csp_autoconfig.h
similarity index 100%
rename from libcsp/include/csp/csp_autoconfig.h
rename to thirdparty/libcsp/include/csp/csp_autoconfig.h
diff --git a/libcsp/include/csp/csp_buffer.h b/thirdparty/libcsp/include/csp/csp_buffer.h
similarity index 100%
rename from libcsp/include/csp/csp_buffer.h
rename to thirdparty/libcsp/include/csp/csp_buffer.h
diff --git a/libcsp/include/csp/csp_cmp.h b/thirdparty/libcsp/include/csp/csp_cmp.h
similarity index 100%
rename from libcsp/include/csp/csp_cmp.h
rename to thirdparty/libcsp/include/csp/csp_cmp.h
diff --git a/libcsp/include/csp/csp_crc32.h b/thirdparty/libcsp/include/csp/csp_crc32.h
similarity index 100%
rename from libcsp/include/csp/csp_crc32.h
rename to thirdparty/libcsp/include/csp/csp_crc32.h
diff --git a/libcsp/include/csp/csp_debug.h b/thirdparty/libcsp/include/csp/csp_debug.h
similarity index 100%
rename from libcsp/include/csp/csp_debug.h
rename to thirdparty/libcsp/include/csp/csp_debug.h
diff --git a/libcsp/include/csp/csp_endian.h b/thirdparty/libcsp/include/csp/csp_endian.h
similarity index 100%
rename from libcsp/include/csp/csp_endian.h
rename to thirdparty/libcsp/include/csp/csp_endian.h
diff --git a/libcsp/include/csp/csp_error.h b/thirdparty/libcsp/include/csp/csp_error.h
similarity index 100%
rename from libcsp/include/csp/csp_error.h
rename to thirdparty/libcsp/include/csp/csp_error.h
diff --git a/libcsp/include/csp/csp_iflist.h b/thirdparty/libcsp/include/csp/csp_iflist.h
similarity index 100%
rename from libcsp/include/csp/csp_iflist.h
rename to thirdparty/libcsp/include/csp/csp_iflist.h
diff --git a/libcsp/include/csp/csp_interface.h b/thirdparty/libcsp/include/csp/csp_interface.h
similarity index 100%
rename from libcsp/include/csp/csp_interface.h
rename to thirdparty/libcsp/include/csp/csp_interface.h
diff --git a/libcsp/include/csp/csp_platform.h b/thirdparty/libcsp/include/csp/csp_platform.h
similarity index 100%
rename from libcsp/include/csp/csp_platform.h
rename to thirdparty/libcsp/include/csp/csp_platform.h
diff --git a/libcsp/include/csp/csp_rtable.h b/thirdparty/libcsp/include/csp/csp_rtable.h
similarity index 100%
rename from libcsp/include/csp/csp_rtable.h
rename to thirdparty/libcsp/include/csp/csp_rtable.h
diff --git a/libcsp/include/csp/csp_types.h b/thirdparty/libcsp/include/csp/csp_types.h
similarity index 100%
rename from libcsp/include/csp/csp_types.h
rename to thirdparty/libcsp/include/csp/csp_types.h
diff --git a/libcsp/include/csp/drivers/can_socketcan.h b/thirdparty/libcsp/include/csp/drivers/can_socketcan.h
similarity index 100%
rename from libcsp/include/csp/drivers/can_socketcan.h
rename to thirdparty/libcsp/include/csp/drivers/can_socketcan.h
diff --git a/libcsp/include/csp/drivers/i2c.h b/thirdparty/libcsp/include/csp/drivers/i2c.h
similarity index 100%
rename from libcsp/include/csp/drivers/i2c.h
rename to thirdparty/libcsp/include/csp/drivers/i2c.h
diff --git a/libcsp/include/csp/drivers/usart.h b/thirdparty/libcsp/include/csp/drivers/usart.h
similarity index 100%
rename from libcsp/include/csp/drivers/usart.h
rename to thirdparty/libcsp/include/csp/drivers/usart.h
diff --git a/libcsp/include/csp/interfaces/csp_if_can.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_can.h
similarity index 100%
rename from libcsp/include/csp/interfaces/csp_if_can.h
rename to thirdparty/libcsp/include/csp/interfaces/csp_if_can.h
diff --git a/libcsp/include/csp/interfaces/csp_if_i2c.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_i2c.h
similarity index 100%
rename from libcsp/include/csp/interfaces/csp_if_i2c.h
rename to thirdparty/libcsp/include/csp/interfaces/csp_if_i2c.h
diff --git a/libcsp/include/csp/interfaces/csp_if_kiss.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_kiss.h
similarity index 100%
rename from libcsp/include/csp/interfaces/csp_if_kiss.h
rename to thirdparty/libcsp/include/csp/interfaces/csp_if_kiss.h
diff --git a/libcsp/include/csp/interfaces/csp_if_lo.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_lo.h
similarity index 100%
rename from libcsp/include/csp/interfaces/csp_if_lo.h
rename to thirdparty/libcsp/include/csp/interfaces/csp_if_lo.h
diff --git a/libcsp/include/csp/interfaces/csp_if_zmqhub.h b/thirdparty/libcsp/include/csp/interfaces/csp_if_zmqhub.h
similarity index 100%
rename from libcsp/include/csp/interfaces/csp_if_zmqhub.h
rename to thirdparty/libcsp/include/csp/interfaces/csp_if_zmqhub.h
diff --git a/libcsp/libcsp.mk b/thirdparty/libcsp/libcsp.mk
similarity index 100%
rename from libcsp/libcsp.mk
rename to thirdparty/libcsp/libcsp.mk
diff --git a/libcsp/src/CMakeLists.txt b/thirdparty/libcsp/src/CMakeLists.txt
similarity index 100%
rename from libcsp/src/CMakeLists.txt
rename to thirdparty/libcsp/src/CMakeLists.txt
diff --git a/libcsp/src/arch/CMakeLists.txt b/thirdparty/libcsp/src/arch/CMakeLists.txt
similarity index 100%
rename from libcsp/src/arch/CMakeLists.txt
rename to thirdparty/libcsp/src/arch/CMakeLists.txt
diff --git a/libcsp/src/arch/freertos/csp_malloc.c b/thirdparty/libcsp/src/arch/freertos/csp_malloc.c
similarity index 100%
rename from libcsp/src/arch/freertos/csp_malloc.c
rename to thirdparty/libcsp/src/arch/freertos/csp_malloc.c
diff --git a/libcsp/src/arch/freertos/csp_queue.c b/thirdparty/libcsp/src/arch/freertos/csp_queue.c
similarity index 100%
rename from libcsp/src/arch/freertos/csp_queue.c
rename to thirdparty/libcsp/src/arch/freertos/csp_queue.c
diff --git a/libcsp/src/arch/freertos/csp_semaphore.c b/thirdparty/libcsp/src/arch/freertos/csp_semaphore.c
similarity index 100%
rename from libcsp/src/arch/freertos/csp_semaphore.c
rename to thirdparty/libcsp/src/arch/freertos/csp_semaphore.c
diff --git a/libcsp/src/arch/freertos/csp_system.c b/thirdparty/libcsp/src/arch/freertos/csp_system.c
similarity index 100%
rename from libcsp/src/arch/freertos/csp_system.c
rename to thirdparty/libcsp/src/arch/freertos/csp_system.c
diff --git a/libcsp/src/arch/freertos/csp_thread.c b/thirdparty/libcsp/src/arch/freertos/csp_thread.c
similarity index 100%
rename from libcsp/src/arch/freertos/csp_thread.c
rename to thirdparty/libcsp/src/arch/freertos/csp_thread.c
diff --git a/libcsp/src/arch/freertos/csp_time.c b/thirdparty/libcsp/src/arch/freertos/csp_time.c
similarity index 100%
rename from libcsp/src/arch/freertos/csp_time.c
rename to thirdparty/libcsp/src/arch/freertos/csp_time.c
diff --git a/libcsp/src/arch/macosx/csp_malloc.c b/thirdparty/libcsp/src/arch/macosx/csp_malloc.c
similarity index 100%
rename from libcsp/src/arch/macosx/csp_malloc.c
rename to thirdparty/libcsp/src/arch/macosx/csp_malloc.c
diff --git a/libcsp/src/arch/macosx/csp_queue.c b/thirdparty/libcsp/src/arch/macosx/csp_queue.c
similarity index 100%
rename from libcsp/src/arch/macosx/csp_queue.c
rename to thirdparty/libcsp/src/arch/macosx/csp_queue.c
diff --git a/libcsp/src/arch/macosx/csp_semaphore.c b/thirdparty/libcsp/src/arch/macosx/csp_semaphore.c
similarity index 100%
rename from libcsp/src/arch/macosx/csp_semaphore.c
rename to thirdparty/libcsp/src/arch/macosx/csp_semaphore.c
diff --git a/libcsp/src/arch/macosx/csp_system.c b/thirdparty/libcsp/src/arch/macosx/csp_system.c
similarity index 100%
rename from libcsp/src/arch/macosx/csp_system.c
rename to thirdparty/libcsp/src/arch/macosx/csp_system.c
diff --git a/libcsp/src/arch/macosx/csp_thread.c b/thirdparty/libcsp/src/arch/macosx/csp_thread.c
similarity index 100%
rename from libcsp/src/arch/macosx/csp_thread.c
rename to thirdparty/libcsp/src/arch/macosx/csp_thread.c
diff --git a/libcsp/src/arch/macosx/csp_time.c b/thirdparty/libcsp/src/arch/macosx/csp_time.c
similarity index 100%
rename from libcsp/src/arch/macosx/csp_time.c
rename to thirdparty/libcsp/src/arch/macosx/csp_time.c
diff --git a/libcsp/src/arch/macosx/pthread_queue.c b/thirdparty/libcsp/src/arch/macosx/pthread_queue.c
similarity index 100%
rename from libcsp/src/arch/macosx/pthread_queue.c
rename to thirdparty/libcsp/src/arch/macosx/pthread_queue.c
diff --git a/libcsp/src/arch/posix/CMakeLists.txt b/thirdparty/libcsp/src/arch/posix/CMakeLists.txt
similarity index 100%
rename from libcsp/src/arch/posix/CMakeLists.txt
rename to thirdparty/libcsp/src/arch/posix/CMakeLists.txt
diff --git a/libcsp/src/arch/posix/csp_malloc.c b/thirdparty/libcsp/src/arch/posix/csp_malloc.c
similarity index 100%
rename from libcsp/src/arch/posix/csp_malloc.c
rename to thirdparty/libcsp/src/arch/posix/csp_malloc.c
diff --git a/libcsp/src/arch/posix/csp_queue.c b/thirdparty/libcsp/src/arch/posix/csp_queue.c
similarity index 100%
rename from libcsp/src/arch/posix/csp_queue.c
rename to thirdparty/libcsp/src/arch/posix/csp_queue.c
diff --git a/libcsp/src/arch/posix/csp_semaphore.c b/thirdparty/libcsp/src/arch/posix/csp_semaphore.c
similarity index 100%
rename from libcsp/src/arch/posix/csp_semaphore.c
rename to thirdparty/libcsp/src/arch/posix/csp_semaphore.c
diff --git a/libcsp/src/arch/posix/csp_system.c b/thirdparty/libcsp/src/arch/posix/csp_system.c
similarity index 100%
rename from libcsp/src/arch/posix/csp_system.c
rename to thirdparty/libcsp/src/arch/posix/csp_system.c
diff --git a/libcsp/src/arch/posix/csp_thread.c b/thirdparty/libcsp/src/arch/posix/csp_thread.c
similarity index 100%
rename from libcsp/src/arch/posix/csp_thread.c
rename to thirdparty/libcsp/src/arch/posix/csp_thread.c
diff --git a/libcsp/src/arch/posix/csp_time.c b/thirdparty/libcsp/src/arch/posix/csp_time.c
similarity index 100%
rename from libcsp/src/arch/posix/csp_time.c
rename to thirdparty/libcsp/src/arch/posix/csp_time.c
diff --git a/libcsp/src/arch/posix/pthread_queue.c b/thirdparty/libcsp/src/arch/posix/pthread_queue.c
similarity index 100%
rename from libcsp/src/arch/posix/pthread_queue.c
rename to thirdparty/libcsp/src/arch/posix/pthread_queue.c
diff --git a/libcsp/src/arch/windows/README b/thirdparty/libcsp/src/arch/windows/README
similarity index 100%
rename from libcsp/src/arch/windows/README
rename to thirdparty/libcsp/src/arch/windows/README
diff --git a/libcsp/src/arch/windows/csp_malloc.c b/thirdparty/libcsp/src/arch/windows/csp_malloc.c
similarity index 100%
rename from libcsp/src/arch/windows/csp_malloc.c
rename to thirdparty/libcsp/src/arch/windows/csp_malloc.c
diff --git a/libcsp/src/arch/windows/csp_queue.c b/thirdparty/libcsp/src/arch/windows/csp_queue.c
similarity index 100%
rename from libcsp/src/arch/windows/csp_queue.c
rename to thirdparty/libcsp/src/arch/windows/csp_queue.c
diff --git a/libcsp/src/arch/windows/csp_semaphore.c b/thirdparty/libcsp/src/arch/windows/csp_semaphore.c
similarity index 100%
rename from libcsp/src/arch/windows/csp_semaphore.c
rename to thirdparty/libcsp/src/arch/windows/csp_semaphore.c
diff --git a/libcsp/src/arch/windows/csp_system.c b/thirdparty/libcsp/src/arch/windows/csp_system.c
similarity index 100%
rename from libcsp/src/arch/windows/csp_system.c
rename to thirdparty/libcsp/src/arch/windows/csp_system.c
diff --git a/libcsp/src/arch/windows/csp_thread.c b/thirdparty/libcsp/src/arch/windows/csp_thread.c
similarity index 100%
rename from libcsp/src/arch/windows/csp_thread.c
rename to thirdparty/libcsp/src/arch/windows/csp_thread.c
diff --git a/libcsp/src/arch/windows/csp_time.c b/thirdparty/libcsp/src/arch/windows/csp_time.c
similarity index 100%
rename from libcsp/src/arch/windows/csp_time.c
rename to thirdparty/libcsp/src/arch/windows/csp_time.c
diff --git a/libcsp/src/arch/windows/windows_glue.h b/thirdparty/libcsp/src/arch/windows/windows_glue.h
similarity index 100%
rename from libcsp/src/arch/windows/windows_glue.h
rename to thirdparty/libcsp/src/arch/windows/windows_glue.h
diff --git a/libcsp/src/arch/windows/windows_queue.c b/thirdparty/libcsp/src/arch/windows/windows_queue.c
similarity index 100%
rename from libcsp/src/arch/windows/windows_queue.c
rename to thirdparty/libcsp/src/arch/windows/windows_queue.c
diff --git a/libcsp/src/arch/windows/windows_queue.h b/thirdparty/libcsp/src/arch/windows/windows_queue.h
similarity index 100%
rename from libcsp/src/arch/windows/windows_queue.h
rename to thirdparty/libcsp/src/arch/windows/windows_queue.h
diff --git a/libcsp/src/bindings/python/pycsp.c b/thirdparty/libcsp/src/bindings/python/pycsp.c
similarity index 100%
rename from libcsp/src/bindings/python/pycsp.c
rename to thirdparty/libcsp/src/bindings/python/pycsp.c
diff --git a/libcsp/src/crypto/CMakeLists.txt b/thirdparty/libcsp/src/crypto/CMakeLists.txt
similarity index 100%
rename from libcsp/src/crypto/CMakeLists.txt
rename to thirdparty/libcsp/src/crypto/CMakeLists.txt
diff --git a/libcsp/src/crypto/csp_hmac.c b/thirdparty/libcsp/src/crypto/csp_hmac.c
similarity index 100%
rename from libcsp/src/crypto/csp_hmac.c
rename to thirdparty/libcsp/src/crypto/csp_hmac.c
diff --git a/libcsp/src/crypto/csp_sha1.c b/thirdparty/libcsp/src/crypto/csp_sha1.c
similarity index 100%
rename from libcsp/src/crypto/csp_sha1.c
rename to thirdparty/libcsp/src/crypto/csp_sha1.c
diff --git a/libcsp/src/crypto/csp_xtea.c b/thirdparty/libcsp/src/crypto/csp_xtea.c
similarity index 100%
rename from libcsp/src/crypto/csp_xtea.c
rename to thirdparty/libcsp/src/crypto/csp_xtea.c
diff --git a/libcsp/src/csp_bridge.c b/thirdparty/libcsp/src/csp_bridge.c
similarity index 100%
rename from libcsp/src/csp_bridge.c
rename to thirdparty/libcsp/src/csp_bridge.c
diff --git a/libcsp/src/csp_buffer.c b/thirdparty/libcsp/src/csp_buffer.c
similarity index 100%
rename from libcsp/src/csp_buffer.c
rename to thirdparty/libcsp/src/csp_buffer.c
diff --git a/libcsp/src/csp_conn.c b/thirdparty/libcsp/src/csp_conn.c
similarity index 100%
rename from libcsp/src/csp_conn.c
rename to thirdparty/libcsp/src/csp_conn.c
diff --git a/libcsp/src/csp_conn.h b/thirdparty/libcsp/src/csp_conn.h
similarity index 100%
rename from libcsp/src/csp_conn.h
rename to thirdparty/libcsp/src/csp_conn.h
diff --git a/libcsp/src/csp_crc32.c b/thirdparty/libcsp/src/csp_crc32.c
similarity index 100%
rename from libcsp/src/csp_crc32.c
rename to thirdparty/libcsp/src/csp_crc32.c
diff --git a/libcsp/src/csp_debug.c b/thirdparty/libcsp/src/csp_debug.c
similarity index 100%
rename from libcsp/src/csp_debug.c
rename to thirdparty/libcsp/src/csp_debug.c
diff --git a/libcsp/src/csp_dedup.c b/thirdparty/libcsp/src/csp_dedup.c
similarity index 100%
rename from libcsp/src/csp_dedup.c
rename to thirdparty/libcsp/src/csp_dedup.c
diff --git a/libcsp/src/csp_dedup.h b/thirdparty/libcsp/src/csp_dedup.h
similarity index 100%
rename from libcsp/src/csp_dedup.h
rename to thirdparty/libcsp/src/csp_dedup.h
diff --git a/libcsp/src/csp_endian.c b/thirdparty/libcsp/src/csp_endian.c
similarity index 100%
rename from libcsp/src/csp_endian.c
rename to thirdparty/libcsp/src/csp_endian.c
diff --git a/libcsp/src/csp_hex_dump.c b/thirdparty/libcsp/src/csp_hex_dump.c
similarity index 100%
rename from libcsp/src/csp_hex_dump.c
rename to thirdparty/libcsp/src/csp_hex_dump.c
diff --git a/libcsp/src/csp_iflist.c b/thirdparty/libcsp/src/csp_iflist.c
similarity index 100%
rename from libcsp/src/csp_iflist.c
rename to thirdparty/libcsp/src/csp_iflist.c
diff --git a/libcsp/src/csp_io.c b/thirdparty/libcsp/src/csp_io.c
similarity index 100%
rename from libcsp/src/csp_io.c
rename to thirdparty/libcsp/src/csp_io.c
diff --git a/libcsp/src/csp_io.h b/thirdparty/libcsp/src/csp_io.h
similarity index 100%
rename from libcsp/src/csp_io.h
rename to thirdparty/libcsp/src/csp_io.h
diff --git a/libcsp/src/csp_port.c b/thirdparty/libcsp/src/csp_port.c
similarity index 100%
rename from libcsp/src/csp_port.c
rename to thirdparty/libcsp/src/csp_port.c
diff --git a/libcsp/src/csp_port.h b/thirdparty/libcsp/src/csp_port.h
similarity index 100%
rename from libcsp/src/csp_port.h
rename to thirdparty/libcsp/src/csp_port.h
diff --git a/libcsp/src/csp_promisc.c b/thirdparty/libcsp/src/csp_promisc.c
similarity index 100%
rename from libcsp/src/csp_promisc.c
rename to thirdparty/libcsp/src/csp_promisc.c
diff --git a/libcsp/src/csp_promisc.h b/thirdparty/libcsp/src/csp_promisc.h
similarity index 100%
rename from libcsp/src/csp_promisc.h
rename to thirdparty/libcsp/src/csp_promisc.h
diff --git a/libcsp/src/csp_qfifo.c b/thirdparty/libcsp/src/csp_qfifo.c
similarity index 100%
rename from libcsp/src/csp_qfifo.c
rename to thirdparty/libcsp/src/csp_qfifo.c
diff --git a/libcsp/src/csp_qfifo.h b/thirdparty/libcsp/src/csp_qfifo.h
similarity index 100%
rename from libcsp/src/csp_qfifo.h
rename to thirdparty/libcsp/src/csp_qfifo.h
diff --git a/libcsp/src/csp_route.c b/thirdparty/libcsp/src/csp_route.c
similarity index 100%
rename from libcsp/src/csp_route.c
rename to thirdparty/libcsp/src/csp_route.c
diff --git a/libcsp/src/csp_route.h b/thirdparty/libcsp/src/csp_route.h
similarity index 100%
rename from libcsp/src/csp_route.h
rename to thirdparty/libcsp/src/csp_route.h
diff --git a/libcsp/src/csp_service_handler.c b/thirdparty/libcsp/src/csp_service_handler.c
similarity index 100%
rename from libcsp/src/csp_service_handler.c
rename to thirdparty/libcsp/src/csp_service_handler.c
diff --git a/libcsp/src/csp_services.c b/thirdparty/libcsp/src/csp_services.c
similarity index 100%
rename from libcsp/src/csp_services.c
rename to thirdparty/libcsp/src/csp_services.c
diff --git a/libcsp/src/csp_sfp.c b/thirdparty/libcsp/src/csp_sfp.c
similarity index 100%
rename from libcsp/src/csp_sfp.c
rename to thirdparty/libcsp/src/csp_sfp.c
diff --git a/libcsp/src/drivers/CMakeLists.txt b/thirdparty/libcsp/src/drivers/CMakeLists.txt
similarity index 100%
rename from libcsp/src/drivers/CMakeLists.txt
rename to thirdparty/libcsp/src/drivers/CMakeLists.txt
diff --git a/libcsp/src/drivers/can/CMakeLists.txt b/thirdparty/libcsp/src/drivers/can/CMakeLists.txt
similarity index 100%
rename from libcsp/src/drivers/can/CMakeLists.txt
rename to thirdparty/libcsp/src/drivers/can/CMakeLists.txt
diff --git a/libcsp/src/drivers/can/can_socketcan.c b/thirdparty/libcsp/src/drivers/can/can_socketcan.c
similarity index 100%
rename from libcsp/src/drivers/can/can_socketcan.c
rename to thirdparty/libcsp/src/drivers/can/can_socketcan.c
diff --git a/libcsp/src/drivers/usart/usart_linux.c b/thirdparty/libcsp/src/drivers/usart/usart_linux.c
similarity index 100%
rename from libcsp/src/drivers/usart/usart_linux.c
rename to thirdparty/libcsp/src/drivers/usart/usart_linux.c
diff --git a/libcsp/src/drivers/usart/usart_windows.c b/thirdparty/libcsp/src/drivers/usart/usart_windows.c
similarity index 100%
rename from libcsp/src/drivers/usart/usart_windows.c
rename to thirdparty/libcsp/src/drivers/usart/usart_windows.c
diff --git a/libcsp/src/interfaces/CMakeLists.txt b/thirdparty/libcsp/src/interfaces/CMakeLists.txt
similarity index 100%
rename from libcsp/src/interfaces/CMakeLists.txt
rename to thirdparty/libcsp/src/interfaces/CMakeLists.txt
diff --git a/libcsp/src/interfaces/csp_if_can.c b/thirdparty/libcsp/src/interfaces/csp_if_can.c
similarity index 100%
rename from libcsp/src/interfaces/csp_if_can.c
rename to thirdparty/libcsp/src/interfaces/csp_if_can.c
diff --git a/libcsp/src/interfaces/csp_if_can_pbuf.c b/thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.c
similarity index 100%
rename from libcsp/src/interfaces/csp_if_can_pbuf.c
rename to thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.c
diff --git a/libcsp/src/interfaces/csp_if_can_pbuf.h b/thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.h
similarity index 100%
rename from libcsp/src/interfaces/csp_if_can_pbuf.h
rename to thirdparty/libcsp/src/interfaces/csp_if_can_pbuf.h
diff --git a/libcsp/src/interfaces/csp_if_i2c.c b/thirdparty/libcsp/src/interfaces/csp_if_i2c.c
similarity index 100%
rename from libcsp/src/interfaces/csp_if_i2c.c
rename to thirdparty/libcsp/src/interfaces/csp_if_i2c.c
diff --git a/libcsp/src/interfaces/csp_if_kiss.c b/thirdparty/libcsp/src/interfaces/csp_if_kiss.c
similarity index 100%
rename from libcsp/src/interfaces/csp_if_kiss.c
rename to thirdparty/libcsp/src/interfaces/csp_if_kiss.c
diff --git a/libcsp/src/interfaces/csp_if_lo.c b/thirdparty/libcsp/src/interfaces/csp_if_lo.c
similarity index 100%
rename from libcsp/src/interfaces/csp_if_lo.c
rename to thirdparty/libcsp/src/interfaces/csp_if_lo.c
diff --git a/libcsp/src/rtable/CMakeLists.txt b/thirdparty/libcsp/src/rtable/CMakeLists.txt
similarity index 100%
rename from libcsp/src/rtable/CMakeLists.txt
rename to thirdparty/libcsp/src/rtable/CMakeLists.txt
diff --git a/libcsp/src/rtable/csp_rtable_cidr.c b/thirdparty/libcsp/src/rtable/csp_rtable_cidr.c
similarity index 100%
rename from libcsp/src/rtable/csp_rtable_cidr.c
rename to thirdparty/libcsp/src/rtable/csp_rtable_cidr.c
diff --git a/libcsp/src/rtable/csp_rtable_static.c b/thirdparty/libcsp/src/rtable/csp_rtable_static.c
similarity index 100%
rename from libcsp/src/rtable/csp_rtable_static.c
rename to thirdparty/libcsp/src/rtable/csp_rtable_static.c
diff --git a/libcsp/src/transport/CMakeLists.txt b/thirdparty/libcsp/src/transport/CMakeLists.txt
similarity index 100%
rename from libcsp/src/transport/CMakeLists.txt
rename to thirdparty/libcsp/src/transport/CMakeLists.txt
diff --git a/libcsp/src/transport/csp_rdp.c b/thirdparty/libcsp/src/transport/csp_rdp.c
similarity index 100%
rename from libcsp/src/transport/csp_rdp.c
rename to thirdparty/libcsp/src/transport/csp_rdp.c
diff --git a/libcsp/src/transport/csp_transport.h b/thirdparty/libcsp/src/transport/csp_transport.h
similarity index 100%
rename from libcsp/src/transport/csp_transport.h
rename to thirdparty/libcsp/src/transport/csp_transport.h
diff --git a/libcsp/src/transport/csp_udp.c b/thirdparty/libcsp/src/transport/csp_udp.c
similarity index 100%
rename from libcsp/src/transport/csp_udp.c
rename to thirdparty/libcsp/src/transport/csp_udp.c
diff --git a/libcsp/utils/cfpsplit.py b/thirdparty/libcsp/utils/cfpsplit.py
similarity index 100%
rename from libcsp/utils/cfpsplit.py
rename to thirdparty/libcsp/utils/cfpsplit.py
diff --git a/libcsp/utils/cspsplit.py b/thirdparty/libcsp/utils/cspsplit.py
similarity index 100%
rename from libcsp/utils/cspsplit.py
rename to thirdparty/libcsp/utils/cspsplit.py
diff --git a/thirdparty/lwgps b/thirdparty/lwgps
new file mode 160000
index 00000000..d276f972
--- /dev/null
+++ b/thirdparty/lwgps
@@ -0,0 +1 @@
+Subproject commit d276f9722d1311b552e7c99ee5b03a68487a0fc5
diff --git a/tmtc b/tmtc
index 90c45ea0..d1899ef1 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 90c45ea0c77f04677322b3c8c9077db841fc3129
+Subproject commit d1899ef1816aa7531b142f87d8b9ea91ef4011fd