diff --git a/.gitmodules b/.gitmodules
index 6bde354a..c7623fa2 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -13,9 +13,6 @@
 [submodule "thirdparty/lwgps"]
 	path = thirdparty/lwgps
 	url = https://github.com/rmspacefish/lwgps.git
-[submodule "fsfw_hal"]
-	path = fsfw_hal
-	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-hal.git
 [submodule "generators/fsfwgen"]
 	path = generators/fsfwgen
 	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-generators.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7a7e434..8decdc8b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,6 @@ set(TARGET_NAME ${CMAKE_PROJECT_NAME})
 set(LIB_FSFW_NAME fsfw)
 set(LIB_ETL_NAME etl)
 set(LIB_CSP_NAME libcsp)
-set(LIB_FSFW_HAL_NAME fsfw_hal)
 set(LIB_LWGPS_NAME lwgps)
 set(THIRD_PARTY_FOLDER thirdparty)
 set(LIB_CXX_FS -lstdc++fs)
@@ -146,7 +145,6 @@ if(NOT Q7S_SIMPLE_MODE)
     add_subdirectory(${FSFW_PATH})
     add_subdirectory(${MISSION_PATH})
     add_subdirectory(${TEST_PATH})
-    add_subdirectory(${FSFW_HAL_LIB_PATH})
 endif()
 
 
@@ -162,7 +160,6 @@ if(NOT Q7S_SIMPLE_MODE)
         ${LIB_FSFW_NAME}
         ${LIB_OS_NAME}
         ${LIB_LWGPS_NAME}
-        ${LIB_FSFW_HAL_NAME}
         ${LIB_CXX_FS}
     )
 endif()
diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp
index c5e12868..4f7dd59a 100644
--- a/bsp_linux_board/ObjectFactory.cpp
+++ b/bsp_linux_board/ObjectFactory.cpp
@@ -1,5 +1,5 @@
-#include <fsfw_hal/linux/uart/UartComIF.h>
-#include <fsfw_hal/linux/uart/UartCookie.h>
+#include <fsfw/hal/linux/uart/UartComIF.h>
+#include <fsfw/hal/linux/uart/UartCookie.h>
 #include <mission/devices/GPSHyperionHandler.h>
 #include "ObjectFactory.h"
 
@@ -31,12 +31,12 @@
 #include "fsfw/osal/common/UdpTmTcBridge.h"
 #include "fsfw/osal/common/UdpTcPollingTask.h"
 
-#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
-#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
-#include "fsfw_hal/linux/rpi/GpioRPi.h"
-#include "fsfw_hal/common/gpio/GpioCookie.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/spi/SpiComIF.h"
+#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
+#include "fsfw/hal/linux/gpio/LinuxLibgpioIF.h"
+#include "fsfw/hal/linux/rpi/GpioRPi.h"
+#include "fsfw/hal/common/gpio/GpioCookie.h"
+#include "fsfw/hal/linux/spi/SpiCookie.h"
+#include "fsfw/hal/linux/spi/SpiComIF.h"
 
 void Factory::setStaticFrameworkObjectIds() {
     PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 5f015ff1..249b8e59 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -43,15 +43,15 @@
 #include <mission/utility/TmFunnel.h>
 #include <linux/obc/CCSDSIPCoreBridge.h>
 
-#include "fsfw_hal/linux/uart/UartComIF.h"
-#include "fsfw_hal/linux/uart/UartCookie.h"
-#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.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>
+#include "fsfw/hal/linux/uart/UartComIF.h"
+#include "fsfw/hal/linux/uart/UartCookie.h"
+#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.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>
 
 #include <fsfw/datapoollocal/LocalDataPoolManager.h>
 #include <fsfw/tmtcservices/CommandingServiceBase.h>
diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp
index 5499517b..29e7f86d 100644
--- a/bsp_q7s/gpio/gpioCallbacks.cpp
+++ b/bsp_q7s/gpio/gpioCallbacks.cpp
@@ -1,8 +1,8 @@
 #include "gpioCallbacks.h"
 #include <devices/gpioIds.h>
 
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
-#include <fsfw_hal/common/gpio/GpioCookie.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 eaf9a701..55e67895 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 <fsfw_hal/common/gpio/gpioDefinitions.h>
-#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw/hal/common/gpio/gpioDefinitions.h>
+#include <fsfw/hal/common/gpio/GpioIF.h>
 
 
 namespace gpioCallbacks {
diff --git a/bsp_q7s/spi/Q7sSpiComIF.h b/bsp_q7s/spi/Q7sSpiComIF.h
index a10d63dd..4326bf8c 100644
--- a/bsp_q7s/spi/Q7sSpiComIF.h
+++ b/bsp_q7s/spi/Q7sSpiComIF.h
@@ -1,7 +1,7 @@
 #ifndef BSP_Q7S_SPI_Q7SSPICOMIF_H_
 #define BSP_Q7S_SPI_Q7SSPICOMIF_H_
 
-#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw/hal/linux/spi/SpiComIF.h>
 
 
 /**
diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp
index f05fbbdf..0f60288f 100644
--- a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp
@@ -1,8 +1,8 @@
 #include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
 #include <fsfw/serviceinterface/ServiceInterface.h>
 #include <mission/devices/RwHandler.h>
-#include <fsfw_hal/linux/spi/SpiCookie.h>
-#include <fsfw_hal/linux/UnixFileGuard.h>
+#include <fsfw/hal/linux/spi/SpiCookie.h>
+#include <fsfw/hal/linux/UnixFileGuard.h>
 #include "devices/gpioIds.h"
 
 namespace rwSpiCallback {
diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.h b/bsp_q7s/spiCallbacks/rwSpiCallback.h
index e5a79e64..fd7f1592 100644
--- a/bsp_q7s/spiCallbacks/rwSpiCallback.h
+++ b/bsp_q7s/spiCallbacks/rwSpiCallback.h
@@ -2,8 +2,8 @@
 #define BSP_Q7S_RW_SPI_CALLBACK_H_
 
 #include <fsfw/returnvalues/HasReturnvaluesIF.h>
-#include <fsfw_hal/linux/spi/SpiComIF.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw/hal/linux/spi/SpiComIF.h>
+#include <fsfw/hal/common/gpio/GpioCookie.h>
 
 
 namespace rwSpiCallback {
diff --git a/cmake/PreProjectConfig.cmake b/cmake/PreProjectConfig.cmake
index c2670e33..9f1790bb 100644
--- a/cmake/PreProjectConfig.cmake
+++ b/cmake/PreProjectConfig.cmake
@@ -17,16 +17,16 @@ if(FSFW_OSAL MATCHES linux AND TGT_BSP)
 			PARENT_SCOPE
 		)
 	elseif(TGT_BSP MATCHES "arm/raspberrypi")
-		if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
-			if(NOT DEFINED RASPBIAN_ROOTFS)
-			    message(WARNING "No RASPBIAN_ROOTFS environmental or CMake variable set!")
-				set(ENV{RASPBIAN_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
+		if(NOT DEFINED ENV{LINUX_ROOTFS})
+			if(NOT DEFINED LINUX_ROOTFS)
+			    message(WARNING "No LINUX_ROOTFS environmental or CMake variable set!")
+				set(ENV{LINUX_ROOTFS} "$ENV{HOME}/raspberrypi/rootfs")
 			else()
-				set(ENV{RASPBIAN_ROOTFS} "${RASPBIAN_ROOTFS}")
+				set(ENV{LINUX_ROOTFS} "${LINUX_ROOTFS}")
 			endif()
 		else()	
 			message(STATUS 
-			    "RASPBIAN_ROOTFS from environmental variables used: $ENV{RASPBIAN_ROOTFS}"
+			    "LINUX_ROOTFS from environmental variables used: $ENV{LINUX_ROOTFS}"
 			)
 		endif()
 	
diff --git a/common/config/spiConf.h b/common/config/spiConf.h
index 47600eb3..05866555 100644
--- a/common/config/spiConf.h
+++ b/common/config/spiConf.h
@@ -2,7 +2,7 @@
 #define COMMON_CONFIG_SPICONF_H_
 
 #include <cstdint>
-#include <fsfw_hal/linux/spi/spiDefinitions.h>
+#include <fsfw/hal/linux/spi/spiDefinitions.h>
 
 /**
  * SPI configuration will be contained here to let the device handlers remain independent
diff --git a/fsfw b/fsfw
index 0b0e2e5f..d11e54dc 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 0b0e2e5f753193e435fa78ce8245322f874d1349
+Subproject commit d11e54dc0a296bda86b5597a34e5e8ba59b9653e
diff --git a/fsfw_hal b/fsfw_hal
deleted file mode 160000
index 1eda4874..00000000
--- a/fsfw_hal
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 1eda4874cda2a31443c435fc671fd5cae8236660
diff --git a/linux/boardtest/LibgpiodTest.h b/linux/boardtest/LibgpiodTest.h
index a18c618e..38325622 100644
--- a/linux/boardtest/LibgpiodTest.h
+++ b/linux/boardtest/LibgpiodTest.h
@@ -2,8 +2,8 @@
 #define TEST_TESTTASKS_LIBGPIODTEST_H_
 
 #include "TestTask.h"
-#include <fsfw_hal/common/gpio/GpioIF.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw/hal/common/gpio/GpioIF.h>
+#include <fsfw/hal/common/gpio/GpioCookie.h>
 #include <fsfw/objectmanager/SystemObject.h>
 
 /**
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index 4fc52f29..71313f25 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -7,10 +7,10 @@
 #include <fsfw/tasks/TaskFactory.h>
 #include <fsfw/timemanager/Stopwatch.h>
 
-#include <fsfw_hal/linux/utility.h>
-#include <fsfw_hal/linux/UnixFileGuard.h>
-#include <fsfw_hal/common/gpio/gpioDefinitions.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw/hal/linux/utility.h>
+#include <fsfw/hal/linux/UnixFileGuard.h>
+#include <fsfw/hal/common/gpio/gpioDefinitions.h>
+#include <fsfw/hal/common/gpio/GpioCookie.h>
 
 #include <linux/spi/spidev.h>
 #include <fcntl.h>
diff --git a/linux/boardtest/SpiTestClass.h b/linux/boardtest/SpiTestClass.h
index dd112a0e..7982c601 100644
--- a/linux/boardtest/SpiTestClass.h
+++ b/linux/boardtest/SpiTestClass.h
@@ -1,8 +1,8 @@
 #ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
 #define LINUX_BOARDTEST_SPITESTCLASS_H_
 
-#include <fsfw_hal/common/gpio/GpioIF.h>
-#include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <fsfw/hal/common/gpio/GpioIF.h>
+#include <fsfw/hal/linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>
 
 #include <vector>
diff --git a/linux/devices/HeaterHandler.cpp b/linux/devices/HeaterHandler.cpp
index 60a60328..c821aa6c 100644
--- a/linux/devices/HeaterHandler.cpp
+++ b/linux/devices/HeaterHandler.cpp
@@ -4,7 +4,7 @@
 
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/ipc/QueueFactory.h>
-#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw/hal/common/gpio/GpioCookie.h>
 
 HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
         CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :
diff --git a/linux/devices/HeaterHandler.h b/linux/devices/HeaterHandler.h
index 678710df..5734a2b6 100644
--- a/linux/devices/HeaterHandler.h
+++ b/linux/devices/HeaterHandler.h
@@ -11,7 +11,7 @@
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw/hal/common/gpio/GpioIF.h>
 #include <unordered_map>
 
 /**
diff --git a/linux/devices/SolarArrayDeploymentHandler.cpp b/linux/devices/SolarArrayDeploymentHandler.cpp
index eea546f6..05052c61 100644
--- a/linux/devices/SolarArrayDeploymentHandler.cpp
+++ b/linux/devices/SolarArrayDeploymentHandler.cpp
@@ -3,7 +3,7 @@
 #include <devices/powerSwitcherList.h>
 #include <devices/gpioIds.h>
 
-#include <fsfw_hal/common/gpio/GpioCookie.h>
+#include <fsfw/hal/common/gpio/GpioCookie.h>
 #include <fsfw/ipc/QueueFactory.h>
 #include <fsfw/objectmanager/ObjectManager.h>
 
diff --git a/linux/devices/SolarArrayDeploymentHandler.h b/linux/devices/SolarArrayDeploymentHandler.h
index 5e573128..97cb48c7 100644
--- a/linux/devices/SolarArrayDeploymentHandler.h
+++ b/linux/devices/SolarArrayDeploymentHandler.h
@@ -9,7 +9,7 @@
 #include <fsfw/devicehandlers/CookieIF.h>
 #include <fsfw/devicehandlers/DeviceHandlerIF.h>
 #include <fsfw/timemanager/Countdown.h>
-#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw/hal/common/gpio/GpioIF.h>
 #include <unordered_map>
 
 /**
diff --git a/linux/devices/SusHandler.cpp b/linux/devices/SusHandler.cpp
index c31160c4..bf06e031 100644
--- a/linux/devices/SusHandler.cpp
+++ b/linux/devices/SusHandler.cpp
@@ -2,7 +2,7 @@
 #include "OBSWConfig.h"
 
 #include <fsfw/datapool/PoolReadGuard.h>
-#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw/hal/linux/spi/SpiComIF.h>
 
 SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
         LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :
diff --git a/linux/devices/SusHandler.h b/linux/devices/SusHandler.h
index ca9a5c45..d40d9371 100644
--- a/linux/devices/SusHandler.h
+++ b/linux/devices/SusHandler.h
@@ -3,7 +3,7 @@
 
 #include "devicedefinitions/SusDefinitions.h"
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
 
 /**
  * @brief	This is the device handler class for the SUS sensor. The sensor is
diff --git a/linux/fsfwconfig/devices/gpioIds.h b/linux/fsfwconfig/devices/gpioIds.h
index aad06629..4b222b97 100644
--- a/linux/fsfwconfig/devices/gpioIds.h
+++ b/linux/fsfwconfig/devices/gpioIds.h
@@ -1,7 +1,7 @@
 #ifndef FSFWCONFIG_DEVICES_GPIOIDS_H_
 #define FSFWCONFIG_DEVICES_GPIOIDS_H_
 
-#include <fsfw_hal/common/gpio/GpioIF.h>
+#include <fsfw/hal/common/gpio/GpioIF.h>
 
 namespace gpioIds {
 	enum gpioId_t {
diff --git a/linux/obc/CCSDSIPCoreBridge.h b/linux/obc/CCSDSIPCoreBridge.h
index 5b7674e9..f5127828 100644
--- a/linux/obc/CCSDSIPCoreBridge.h
+++ b/linux/obc/CCSDSIPCoreBridge.h
@@ -1,11 +1,12 @@
 #ifndef MISSION_OBC_CCSDSIPCOREBRIDGE_H_
 #define MISSION_OBC_CCSDSIPCOREBRIDGE_H_
 
-#include <fsfw/tmtcservices/TmTcBridge.h>
-#include <fsfw_hal/common/gpio/gpioDefinitions.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
-#include <string.h>
 #include "OBSWConfig.h"
+#include <fsfw/tmtcservices/TmTcBridge.h>
+#include <fsfw/hal/common/gpio/gpioDefinitions.h>
+#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
+
+#include <cstring>
 
 /**
  * @brief   This class handles the interfacing to the telemetry (PTME) and telecommand (PDEC) IP
diff --git a/mission/devices/GyroADIS16507Handler.cpp b/mission/devices/GyroADIS16507Handler.cpp
index ac49a89d..7b45b8c5 100644
--- a/mission/devices/GyroADIS16507Handler.cpp
+++ b/mission/devices/GyroADIS16507Handler.cpp
@@ -4,10 +4,10 @@
 #include "GyroADIS16507Handler.h"
 
 #if OBSW_ADIS16507_LINUX_COM_IF == 1
-#include "fsfw_hal/linux/utility.h"
-#include "fsfw_hal/linux/spi/SpiCookie.h"
-#include "fsfw_hal/linux/spi/SpiComIF.h"
-#include "fsfw_hal/linux/UnixFileGuard.h"
+#include "fsfw/hal/linux/utility.h"
+#include "fsfw/hal/linux/spi/SpiCookie.h"
+#include "fsfw/hal/linux/spi/SpiComIF.h"
+#include "fsfw/hal/linux/UnixFileGuard.h"
 #include <sys/ioctl.h>
 #include <unistd.h>
 #endif
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index cd753be0..a0577043 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -3,7 +3,7 @@
 
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/devices/devicedefinitions/RwDefinitions.h>
-#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
+#include <fsfw/hal/linux/gpio/LinuxLibgpioIF.h>
 #include <string.h>
 
 /**