diff --git a/CHANGELOG.md b/CHANGELOG.md
index fd68ddf9..fba19657 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,7 +8,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 # [unreleased]
 
-# [v5.0.0]
+# [v5.0.0] 25.07.2022
 
 ## Changes
 
@@ -19,16 +19,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Bump C++ required version to C++17. Every project which uses the FSFW and every modern
   compiler supports it
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/622
-- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
-  and mode
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
-- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
-  name clashes with Windows defines.
-  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - New CMake option `FSFW_HAL_LINUX_ADD_LIBGPIOD` to specifically exclude `gpiod` code.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
 - HAL Devicehandlers: Periodic printout is run-time configurable now
 - `oneShotAction` flag in the `TestTask` class is not static anymore
+- `SimpleRingBuffer::writeData` now checks if the amount is larger than the total size of the 
+  Buffer and rejects such writeData calls with `HasReturnvaluesIF::RETURN_FAILED`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/586
 - Major update for version handling, using `git describe` to fetch version information with git.
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/601
   - Add helper functions provided by [`cmake-modules`](https://github.com/bilke/cmake-modules)
@@ -46,6 +43,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   creation call. It allows passing context information and an arbitrary user argument into
   the message queue. Also streamlined and simplified `MessageQueue` implementation for all OSALs
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/583
+- Internal API change: Moved the `fsfw_hal` to the `src` folder and integration and internal
+  tests part of `fsfw_tests` to `src`. Unittests are now in a dedicated folder called `unittests`
+  PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/653
 
 ### Task Module Refactoring
 
@@ -120,6 +120,8 @@ https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/593
 
 ## Additions
 
+- New constructor for PoolEntry which allows to simply specify the length of the pool entry.
+  This is also the new default constructor for scalar value with 0 as an initial value
 - Added options for CI/CD builds: `FSFW_CICD_BUILD`. This allows the source code to know
   whether it is running in CI/CD
   PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/623
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 15e7662a..7de32501 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@ list(APPEND CMAKE_MODULE_PATH
 # Version file handling  #
 # ##############################################################################
 
-set(FSFW_VERSION_IF_GIT_FAILS 4)
+set(FSFW_VERSION_IF_GIT_FAILS 5)
 set(FSFW_SUBVERSION_IF_GIT_FAILS 0)
 set(FSFW_REVISION_IF_GIT_FAILS 0)
 
@@ -67,6 +67,7 @@ endif()
 set(FSFW_SOURCES_DIR "${CMAKE_SOURCE_DIR}/src/fsfw")
 
 set(FSFW_ETL_LIB_NAME etl)
+set(FSFW_ETL_LINK_TARGET etl::etl)
 set(FSFW_ETL_LIB_MAJOR_VERSION
     20
     CACHE STRING "ETL library major version requirement")
@@ -103,11 +104,11 @@ if(FSFW_GENERATE_SECTIONS)
   option(FSFW_REMOVE_UNUSED_CODE "Remove unused code" ON)
 endif()
 
-option(FSFW_BUILD_UNITTESTS
-       "Build unittest binary in addition to static library" OFF)
+option(FSFW_BUILD_TESTS "Build unittest binary in addition to static library"
+       OFF)
 option(FSFW_CICD_BUILD "Build for CI/CD. This can disable problematic test" OFF)
 option(FSFW_BUILD_DOCS "Build documentation with Sphinx and Doxygen" OFF)
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   option(FSFW_TESTS_GEN_COV "Generate coverage data for unittests" ON)
 endif()
 
@@ -139,7 +140,7 @@ if(IPO_SUPPORTED AND FSFW_ENABLE_IPO)
                                                 TRUE)
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   message(
     STATUS
       "${MSG_PREFIX} Building the FSFW unittests in addition to the static library"
@@ -162,10 +163,9 @@ if(FSFW_BUILD_UNITTESTS)
     list(APPEND FSFW_FETCH_CONTENT_TARGETS Catch2)
   endif()
 
-  set(FSFW_CONFIG_PATH tests/src/fsfw_tests/unit/testcfg)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in FSFWConfig.h)
-  configure_file(tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
-                 tests/TestsConfig.h)
+  set(FSFW_CONFIG_PATH unittests/testcfg)
+  configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
+  configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
   project(${FSFW_TEST_TGT} CXX C)
   add_executable(${FSFW_TEST_TGT})
@@ -284,16 +284,15 @@ message(
 )
 
 add_subdirectory(src)
-add_subdirectory(tests)
-if(FSFW_ADD_HAL)
-  add_subdirectory(hal)
-endif()
 add_subdirectory(contrib)
+if(FSFW_BUILD_TESTS)
+  add_subdirectory(unittests)
+endif()
 if(FSFW_BUILD_DOCS)
   add_subdirectory(docs)
 endif()
 
-if(FSFW_BUILD_UNITTESTS)
+if(FSFW_BUILD_TESTS)
   if(FSFW_TESTS_GEN_COV)
     if(CMAKE_COMPILER_IS_GNUCXX)
       include(CodeCoverage)
@@ -450,8 +449,8 @@ target_include_directories(
 target_compile_options(${LIB_FSFW_NAME} PRIVATE ${FSFW_WARNING_FLAGS}
                                                 ${COMPILER_FLAGS})
 
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ETL_LINK_TARGET}
-                                               ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${FSFW_ADDITIONAL_LINK_LIBS})
+target_link_libraries(${LIB_FSFW_NAME} PUBLIC ${FSFW_ETL_LINK_TARGET})
 
 string(
   CONCAT
diff --git a/README.md b/README.md
index 8d611c57..1b2ca52d 100644
--- a/README.md
+++ b/README.md
@@ -132,14 +132,14 @@ You can use the following commands inside the `fsfw` folder to set up the build
 
 ```sh
 mkdir build-tests && cd build-tests
-cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
+cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host -DCMAKE_BUILD_TYPE=Debug ..
 ```
 
 You can also use `-DFSFW_OSAL=linux` on Linux systems.
 
 Coverage data in HTML format can be generated using the `CodeCoverage`
 [CMake module](https://github.com/bilke/cmake-modules/tree/master).
-To build the unittests, run them and then generare the coverage data in this format,
+To build the unittests, run them and then generate the coverage data in this format,
 the following command can be used inside the build directory after the build system was set up
 
 ```sh
@@ -188,7 +188,10 @@ and open the documentation conveniently. Try `helper.py -h for more information.
 
 The formatting is done by the `clang-format` tool. The configuration is contained within the
 `.clang-format` file in the repository root. As long as `clang-format` is installed, you
-can run the `apply-clang-format.sh` helper script to format all source files consistently.
+can run the `auto-format.sh` helper script to format all source files consistently. Furthermore cmake-format is required to format CMake files which can be installed with:
+````sh
+sudo pip install cmakelang
+````
 
 ## Index
 
diff --git a/automation/Dockerfile b/automation/Dockerfile
index 0eb98fbb..2ed2a7d9 100644
--- a/automation/Dockerfile
+++ b/automation/Dockerfile
@@ -12,3 +12,9 @@ RUN git clone https://github.com/catchorg/Catch2.git && \
 	git checkout v3.0.0-preview5 && \
 	cmake -Bbuild -H. -DBUILD_TESTING=OFF && \
 	cmake --build build/ --target install
+
+RUN git clone https://github.com/ETLCPP/etl.git && \
+	cd etl && \
+	git checkout 20.28.0 && \
+	cmake -B build . && \
+	cmake --install build/
diff --git a/automation/Jenkinsfile b/automation/Jenkinsfile
index 798b6b1a..c5dcbe02 100644
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@@ -3,7 +3,7 @@ pipeline {
         BUILDDIR = 'build-tests'
     }
     agent {
-        docker { image 'fsfw-ci:d2'}
+        docker { image 'fsfw-ci:d3'}
     }
     stages {
         stage('Clean') {
@@ -14,7 +14,7 @@ pipeline {
         stage('Configure') {
             steps {
                 dir(BUILDDIR) {
-                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON -DFSFW_CICD_BUILD=ON ..'
+                    sh 'cmake -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON -DFSFW_CICD_BUILD=ON ..'
                 }
             }
         }
diff --git a/docs/getting_started.rst b/docs/getting_started.rst
index 01724b3a..4f8ae543 100644
--- a/docs/getting_started.rst
+++ b/docs/getting_started.rst
@@ -106,7 +106,7 @@ You can use the following commands inside the ``fsfw`` folder to set up the buil
 .. code-block:: console
 
    mkdir build-tests && cd build-tests
-   cmake -DFSFW_BUILD_UNITTESTS=ON -DFSFW_OSAL=host ..
+   cmake -DFSFW_BUILD_TESTS=ON -DFSFW_OSAL=host ..
 
 
 You can also use ``-DFSFW_OSAL=linux`` on Linux systems.
diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
deleted file mode 100644
index 7a97ae0f..00000000
--- a/hal/CMakeLists.txt
+++ /dev/null
@@ -1,48 +0,0 @@
-cmake_minimum_required(VERSION 3.13)
-
-# Can also be changed by upper CMakeLists.txt file
-find_library(LIB_FSFW_NAME fsfw REQUIRED)
-
-option(FSFW_HAL_ADD_LINUX "Add the Linux HAL to the sources. Requires gpiod library" OFF)
-# On by default for now because I did not have an issue including and compiling those files
-# and libraries on a Desktop Linux system and the primary target of the FSFW is still embedded
-# Linux. The only exception from this is the gpiod library which requires a dedicated installation,
-# but CMake is able to determine whether this library is installed with find_library.
-option(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS "Add peripheral drivers for embedded Linux" ON)
-option(FSFW_HAL_LINUX_ADD_LIBGPIOD "Target implements libgpiod" ON)
-
-option(FSFW_HAL_ADD_RASPBERRY_PI "Add Raspberry Pi specific code to the sources" OFF)
-option(FSFW_HAL_ADD_STM32H7 "Add the STM32H7 HAL to the sources" OFF)
-option(FSFW_HAL_WARNING_SHADOW_LOCAL_GCC "Enable -Wshadow=local warning in GCC" ON)
-
-set(LINUX_HAL_PATH_NAME linux)
-set(STM32H7_PATH_NAME stm32h7)
-
-add_subdirectory(src)
-
-foreach(INCLUDE_PATH ${FSFW_HAL_ADDITIONAL_INC_PATHS})
-    if(IS_ABSOLUTE ${INCLUDE_PATH})
-        set(CURR_ABS_INC_PATH "${INCLUDE_PATH}")
-    else()
-        get_filename_component(CURR_ABS_INC_PATH
-            ${INCLUDE_PATH} REALPATH BASE_DIR ${CMAKE_SOURCE_DIR})
-    endif()
-
-    if(CMAKE_VERBOSE)
-        message(STATUS "FSFW include path: ${CURR_ABS_INC_PATH}")
-    endif()
-
-    list(APPEND FSFW_HAL_ADD_INC_PATHS_ABS ${CURR_ABS_INC_PATH})
-endforeach()
-
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_ADD_INC_PATHS_ABS}
-)
-
-target_compile_definitions(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_DEFINES}
-)
-
-target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-    ${FSFW_HAL_LINK_LIBS}
-)
diff --git a/hal/src/CMakeLists.txt b/hal/src/CMakeLists.txt
deleted file mode 100644
index 76ee45c6..00000000
--- a/hal/src/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-add_subdirectory(fsfw_hal)
diff --git a/hal/src/fsfw_hal/common/gpio/CMakeLists.txt b/hal/src/fsfw_hal/common/gpio/CMakeLists.txt
deleted file mode 100644
index 098c05fa..00000000
--- a/hal/src/fsfw_hal/common/gpio/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GpioCookie.cpp
-)
\ No newline at end of file
diff --git a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt b/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
deleted file mode 100644
index 94e67c72..00000000
--- a/hal/src/fsfw_hal/devicehandlers/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GyroL3GD20Handler.cpp
-    MgmRM3100Handler.cpp
-    MgmLIS3MDLHandler.cpp
-)
diff --git a/hal/src/fsfw_hal/linux/CMakeLists.txt b/hal/src/fsfw_hal/linux/CMakeLists.txt
deleted file mode 100644
index f6d1a460..00000000
--- a/hal/src/fsfw_hal/linux/CMakeLists.txt
+++ /dev/null
@@ -1,25 +0,0 @@
-if(FSFW_HAL_ADD_RASPBERRY_PI)
-    add_subdirectory(rpi)
-endif()
-
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	UnixFileGuard.cpp
-	CommandExecutor.cpp
-	utility.cpp
-)
-
-if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
-if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
-	add_subdirectory(gpio)
-endif()
-	add_subdirectory(uart)
-	# Adding those does not really make sense on Apple systems which
-	# are generally host systems. It won't even compile as the headers
-	# are missing
-	if(NOT APPLE)
-		add_subdirectory(i2c)
-		add_subdirectory(spi)
-	endif()
-endif()
-
-add_subdirectory(uio)
diff --git a/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt b/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
deleted file mode 100644
index b1609850..00000000
--- a/hal/src/fsfw_hal/linux/gpio/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-# This abstraction layer requires the gpiod library. You can install this library
-# with "sudo apt-get install -y libgpiod-dev". If you are cross-compiling, you need
-# to install the package before syncing the sysroot to your host computer.
-find_library(LIB_GPIO gpiod)
-
-if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
-    message(STATUS "gpiod library not found, not linking against it")
-else()
-    target_sources(${LIB_FSFW_NAME} PRIVATE
-        LinuxLibgpioIF.cpp
-    )
-    target_link_libraries(${LIB_FSFW_NAME} PRIVATE
-        ${LIB_GPIO}
-    )
-endif()
-
diff --git a/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt b/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
deleted file mode 100644
index 3eb0882c..00000000
--- a/hal/src/fsfw_hal/linux/i2c/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-    I2cComIF.cpp
-    I2cCookie.cpp
-)
-
-
-
-
diff --git a/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt b/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
deleted file mode 100644
index 47be218c..00000000
--- a/hal/src/fsfw_hal/linux/rpi/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GpioRPi.cpp
-)
\ No newline at end of file
diff --git a/hal/src/fsfw_hal/linux/spi/CMakeLists.txt b/hal/src/fsfw_hal/linux/spi/CMakeLists.txt
deleted file mode 100644
index 404e1f47..00000000
--- a/hal/src/fsfw_hal/linux/spi/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-    SpiComIF.cpp
-    SpiCookie.cpp
-)
-
-
-
-
diff --git a/hal/src/fsfw_hal/linux/uart/CMakeLists.txt b/hal/src/fsfw_hal/linux/uart/CMakeLists.txt
deleted file mode 100644
index 21ed0278..00000000
--- a/hal/src/fsfw_hal/linux/uart/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-	UartComIF.cpp
-	UartCookie.cpp
-)
diff --git a/hal/src/fsfw_hal/linux/uio/CMakeLists.txt b/hal/src/fsfw_hal/linux/uio/CMakeLists.txt
deleted file mode 100644
index e98a0865..00000000
--- a/hal/src/fsfw_hal/linux/uio/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PUBLIC
-	UioMapper.cpp
-)
diff --git a/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt b/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
deleted file mode 100644
index 7bd4c3a9..00000000
--- a/hal/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    GyroL3GD20H.cpp
-)
\ No newline at end of file
diff --git a/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt b/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
deleted file mode 100644
index 35245b25..00000000
--- a/hal/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    gpio.cpp
-)
diff --git a/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt b/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
deleted file mode 100644
index 5ecb0990..00000000
--- a/hal/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-)
diff --git a/hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt b/hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
deleted file mode 100644
index aa5541bc..00000000
--- a/hal/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    spiCore.cpp
-    spiDefinitions.cpp
-    spiInterrupts.cpp
-    mspInit.cpp
-    SpiCookie.cpp
-    SpiComIF.cpp
-    stm32h743zi.cpp
-)
diff --git a/hal/src/fsfw_hal/stm32h7/uart/CMakeLists.txt b/hal/src/fsfw_hal/stm32h7/uart/CMakeLists.txt
deleted file mode 100644
index 5ecb0990..00000000
--- a/hal/src/fsfw_hal/stm32h7/uart/CMakeLists.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-)
diff --git a/scripts/auto-formatter.sh b/scripts/auto-formatter.sh
index 7e1b596d..723add4f 100755
--- a/scripts/auto-formatter.sh
+++ b/scripts/auto-formatter.sh
@@ -5,8 +5,7 @@ fi
 
 folder_list=(
   "./src"
-  "./hal"
-  "./tests"
+  "./unittests"
 )
 
 cmake_fmt="cmake-format"
diff --git a/scripts/helper.py b/scripts/helper.py
index 4dff908d..0ac616b6 100755
--- a/scripts/helper.py
+++ b/scripts/helper.py
@@ -48,6 +48,20 @@ def main():
         action="store_true",
         help="Run valgrind on generated test binary",
     )
+    parser.add_argument(
+        "-g",
+        "--generators",
+        default = "Ninja",
+        action="store",
+        help="CMake generators",
+    )
+    parser.add_argument(
+        "-w",
+        "--windows",
+        default=False,
+        action="store_true",
+        help="Run on windows",
+    )
 
     args = parser.parse_args()
     if args.all:
@@ -115,14 +129,14 @@ def handle_tests_type(args, build_dir_list: list):
     if args.create:
         if os.path.exists(UNITTEST_FOLDER_NAME):
             shutil.rmtree(UNITTEST_FOLDER_NAME)
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 0:
         print(
             "No valid CMake tests build directory found. "
             "Trying to set up test build system"
         )
-        create_tests_build_cfg()
+        create_tests_build_cfg(args)
         build_directory = UNITTEST_FOLDER_NAME
     elif len(build_dir_list) == 1:
         build_directory = build_dir_list[0]
@@ -147,10 +161,15 @@ def handle_tests_type(args, build_dir_list: list):
         os.chdir("..")
 
 
-def create_tests_build_cfg():
+def create_tests_build_cfg(args):
     os.mkdir(UNITTEST_FOLDER_NAME)
     os.chdir(UNITTEST_FOLDER_NAME)
-    cmd_runner("cmake -DFSFW_OSAL=host -DFSFW_BUILD_UNITTESTS=ON ..")
+    if args.windows:
+        cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON \
+        -DGCOVR_PATH="py -m gcovr" ..'
+    else:
+        cmake_cmd = 'cmake -G "' + args.generators + '" -DFSFW_OSAL=host -DFSFW_BUILD_TESTS=ON ..'
+    cmd_runner(cmake_cmd)
     os.chdir("..")
 
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 34f21c2f..57b24bd5 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -4,3 +4,8 @@ target_include_directories(${LIB_FSFW_NAME}
                            INTERFACE ${CMAKE_CURRENT_SOURCE_DIR})
 
 add_subdirectory(fsfw)
+if(FSFW_ADD_HAL)
+  add_subdirectory(fsfw_hal)
+endif()
+
+add_subdirectory(fsfw_tests)
diff --git a/src/fsfw/action/ActionHelper.cpp b/src/fsfw/action/ActionHelper.cpp
index d41c78b4..bee68b40 100644
--- a/src/fsfw/action/ActionHelper.cpp
+++ b/src/fsfw/action/ActionHelper.cpp
@@ -6,7 +6,7 @@
 ActionHelper::ActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : owner(setOwner), queueToUse(useThisQueue) {}
 
-ActionHelper::~ActionHelper() {}
+ActionHelper::~ActionHelper() = default;
 
 ReturnValue_t ActionHelper::handleActionMessage(CommandMessage* command) {
   if (command->getCommand() == ActionMessage::EXECUTE_ACTION) {
@@ -59,7 +59,7 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/src/fsfw/action/ActionHelper.h b/src/fsfw/action/ActionHelper.h
index d86e87d2..a9910b05 100644
--- a/src/fsfw/action/ActionHelper.h
+++ b/src/fsfw/action/ActionHelper.h
@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_ACTIONHELPER_H_
 #define FSFW_ACTION_ACTIONHELPER_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../serialize/SerializeIF.h"
 #include "ActionMessage.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/serialize/SerializeIF.h"
 /**
  * @brief Action Helper is a helper class which handles action messages
  *
diff --git a/src/fsfw/action/ActionMessage.cpp b/src/fsfw/action/ActionMessage.cpp
index 40a516b1..7fc68558 100644
--- a/src/fsfw/action/ActionMessage.cpp
+++ b/src/fsfw/action/ActionMessage.cpp
@@ -2,9 +2,9 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"
 
-ActionMessage::ActionMessage() {}
+ActionMessage::ActionMessage() = default;
 
-ActionMessage::~ActionMessage() {}
+ActionMessage::~ActionMessage() = default;
 
 void ActionMessage::setCommand(CommandMessage* message, ActionId_t fid,
                                store_address_t parameters) {
@@ -64,9 +64,8 @@ void ActionMessage::clear(CommandMessage* message) {
   switch (message->getCommand()) {
     case EXECUTE_ACTION:
     case DATA_REPLY: {
-      StorageManagerIF* ipcStore =
-          ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-      if (ipcStore != NULL) {
+      auto* ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
+      if (ipcStore != nullptr) {
         ipcStore->deleteData(getStoreId(message));
       }
       break;
diff --git a/src/fsfw/action/CommandActionHelper.cpp b/src/fsfw/action/CommandActionHelper.cpp
index 19d8e9b8..a06bc44c 100644
--- a/src/fsfw/action/CommandActionHelper.cpp
+++ b/src/fsfw/action/CommandActionHelper.cpp
@@ -2,14 +2,14 @@
 #include "fsfw/objectmanager/ObjectManager.h"
 
 CommandActionHelper::CommandActionHelper(CommandsActionsIF *setOwner)
-    : owner(setOwner), queueToUse(NULL), ipcStore(NULL), commandCount(0), lastTarget(0) {}
+    : owner(setOwner), queueToUse(nullptr), ipcStore(nullptr), commandCount(0), lastTarget(0) {}
 
-CommandActionHelper::~CommandActionHelper() {}
+CommandActionHelper::~CommandActionHelper() = default;
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  SerializeIF *data) {
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == nullptr) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
@@ -29,11 +29,8 @@ ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId
 
 ReturnValue_t CommandActionHelper::commandAction(object_id_t commandTo, ActionId_t actionId,
                                                  const uint8_t *data, uint32_t size) {
-  //    if (commandCount != 0) {
-  //        return CommandsFunctionsIF::ALREADY_COMMANDING;
-  //    }
-  HasActionsIF *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
-  if (receiver == NULL) {
+  auto *receiver = ObjectManager::instance()->get<HasActionsIF>(commandTo);
+  if (receiver == nullptr) {
     return CommandsActionsIF::OBJECT_HAS_NO_FUNCTIONS;
   }
   store_address_t storeId;
@@ -59,12 +56,12 @@ ReturnValue_t CommandActionHelper::sendCommand(MessageQueueId_t queueId, ActionI
 
 ReturnValue_t CommandActionHelper::initialize() {
   ipcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
-  if (ipcStore == NULL) {
+  if (ipcStore == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
 
   queueToUse = owner->getCommandQueuePtr();
-  if (queueToUse == NULL) {
+  if (queueToUse == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -104,7 +101,7 @@ ReturnValue_t CommandActionHelper::handleReply(CommandMessage *reply) {
 uint8_t CommandActionHelper::getCommandCount() const { return commandCount; }
 
 void CommandActionHelper::extractDataForOwner(ActionId_t actionId, store_address_t storeId) {
-  const uint8_t *data = NULL;
+  const uint8_t *data = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(storeId, &data, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/src/fsfw/action/CommandActionHelper.h b/src/fsfw/action/CommandActionHelper.h
index 3b8acb04..07636592 100644
--- a/src/fsfw/action/CommandActionHelper.h
+++ b/src/fsfw/action/CommandActionHelper.h
@@ -14,14 +14,14 @@ class CommandActionHelper {
   friend class CommandsActionsIF;
 
  public:
-  CommandActionHelper(CommandsActionsIF* owner);
+  explicit CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
                               const uint8_t* data = nullptr, uint32_t size = 0);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);
-  uint8_t getCommandCount() const;
+  [[nodiscard]] uint8_t getCommandCount() const;
 
  private:
   CommandsActionsIF* owner;
diff --git a/src/fsfw/action/CommandsActionsIF.h b/src/fsfw/action/CommandsActionsIF.h
index 5870a9f2..94d9a7c4 100644
--- a/src/fsfw/action/CommandsActionsIF.h
+++ b/src/fsfw/action/CommandsActionsIF.h
@@ -1,9 +1,9 @@
 #ifndef FSFW_ACTION_COMMANDSACTIONSIF_H_
 #define FSFW_ACTION_COMMANDSACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "CommandActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * Interface to separate commanding actions of other objects.
@@ -21,7 +21,7 @@ class CommandsActionsIF {
   static const uint8_t INTERFACE_ID = CLASS_ID::COMMANDS_ACTIONS_IF;
   static const ReturnValue_t OBJECT_HAS_NO_FUNCTIONS = MAKE_RETURN_CODE(1);
   static const ReturnValue_t ALREADY_COMMANDING = MAKE_RETURN_CODE(2);
-  virtual ~CommandsActionsIF() {}
+  virtual ~CommandsActionsIF() = default;
   virtual MessageQueueIF* getCommandQueuePtr() = 0;
 
  protected:
diff --git a/src/fsfw/action/HasActionsIF.h b/src/fsfw/action/HasActionsIF.h
index acc502d7..89e58add 100644
--- a/src/fsfw/action/HasActionsIF.h
+++ b/src/fsfw/action/HasActionsIF.h
@@ -1,11 +1,11 @@
 #ifndef FSFW_ACTION_HASACTIONSIF_H_
 #define FSFW_ACTION_HASACTIONSIF_H_
 
-#include "../ipc/MessageQueueIF.h"
-#include "../returnvalues/HasReturnvaluesIF.h"
 #include "ActionHelper.h"
 #include "ActionMessage.h"
 #include "SimpleActionHelper.h"
+#include "fsfw/ipc/MessageQueueIF.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
 
 /**
  * @brief
@@ -40,12 +40,12 @@ class HasActionsIF {
   static const ReturnValue_t INVALID_PARAMETERS = MAKE_RETURN_CODE(2);
   static const ReturnValue_t EXECUTION_FINISHED = MAKE_RETURN_CODE(3);
   static const ReturnValue_t INVALID_ACTION_ID = MAKE_RETURN_CODE(4);
-  virtual ~HasActionsIF() {}
+  virtual ~HasActionsIF() = default;
   /**
    * Function to get the MessageQueueId_t of the implementing object
    * @return MessageQueueId_t of the object
    */
-  virtual MessageQueueId_t getCommandQueue() const = 0;
+  [[nodiscard]] virtual MessageQueueId_t getCommandQueue() const = 0;
   /**
    * Execute or initialize the execution of a certain function.
    * The ActionHelpers will execute this function and behave differently
diff --git a/src/fsfw/action/SimpleActionHelper.cpp b/src/fsfw/action/SimpleActionHelper.cpp
index 894f0df6..fc7e064e 100644
--- a/src/fsfw/action/SimpleActionHelper.cpp
+++ b/src/fsfw/action/SimpleActionHelper.cpp
@@ -3,7 +3,7 @@
 SimpleActionHelper::SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue)
     : ActionHelper(setOwner, useThisQueue), isExecuting(false) {}
 
-SimpleActionHelper::~SimpleActionHelper() {}
+SimpleActionHelper::~SimpleActionHelper() = default;
 
 void SimpleActionHelper::step(ReturnValue_t result) {
   // STEP_OFFESET is subtracted to compensate for adding offset in base
@@ -38,7 +38,7 @@ void SimpleActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId
     ActionMessage::setStepReply(&reply, actionId, 0, HasActionsIF::IS_BUSY);
     queueToUse->sendMessage(commandedBy, &reply);
   }
-  const uint8_t* dataPtr = NULL;
+  const uint8_t* dataPtr = nullptr;
   size_t size = 0;
   ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
   if (result != HasReturnvaluesIF::RETURN_OK) {
diff --git a/src/fsfw/action/SimpleActionHelper.h b/src/fsfw/action/SimpleActionHelper.h
index 5cb85fbd..973c7cf2 100644
--- a/src/fsfw/action/SimpleActionHelper.h
+++ b/src/fsfw/action/SimpleActionHelper.h
@@ -11,15 +11,15 @@
 class SimpleActionHelper : public ActionHelper {
  public:
   SimpleActionHelper(HasActionsIF* setOwner, MessageQueueIF* useThisQueue);
-  virtual ~SimpleActionHelper();
+  ~SimpleActionHelper() override;
   void step(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   void finish(ReturnValue_t result = HasReturnvaluesIF::RETURN_OK);
   ReturnValue_t reportData(SerializeIF* data);
 
  protected:
   void prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
-                        store_address_t dataAddress);
-  virtual void resetHelper();
+                        store_address_t dataAddress) override;
+  void resetHelper() override;
 
  private:
   bool isExecuting;
@@ -28,4 +28,4 @@ class SimpleActionHelper : public ActionHelper {
   uint8_t stepCount = 0;
 };
 
-#endif /* SIMPLEACTIONHELPER_H_ */
+#endif /* FSFW_ACTION_SIMPLEACTIONHELPER_H_ */
diff --git a/src/fsfw/container/SimpleRingBuffer.cpp b/src/fsfw/container/SimpleRingBuffer.cpp
index bcf3cf20..c104ea97 100644
--- a/src/fsfw/container/SimpleRingBuffer.cpp
+++ b/src/fsfw/container/SimpleRingBuffer.cpp
@@ -2,6 +2,9 @@
 
 #include <cstring>
 
+#include "fsfw/FSFW.h"
+#include "fsfw/serviceinterface.h"
+
 SimpleRingBuffer::SimpleRingBuffer(const size_t size, bool overwriteOld, size_t maxExcessBytes)
     : RingBufferBase<>(0, size, overwriteOld), maxExcessBytes(maxExcessBytes) {
   if (maxExcessBytes > size) {
@@ -48,6 +51,19 @@ void SimpleRingBuffer::confirmBytesWritten(size_t amount) {
 }
 
 ReturnValue_t SimpleRingBuffer::writeData(const uint8_t* data, size_t amount) {
+  if (data == nullptr) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  if (amount > getMaxSize()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "SimpleRingBuffer::writeData: Amount of data too large" << std::endl;
+#else
+    sif::printError("SimpleRingBuffer::writeData: Amount of data too large\n");
+#endif
+#endif
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
   if (availableWriteSpace() >= amount or overwriteOld) {
     size_t amountTillWrap = writeTillWrap();
     if (amountTillWrap >= amount) {
diff --git a/src/fsfw/controller/ControllerBase.cpp b/src/fsfw/controller/ControllerBase.cpp
index 0e4ff970..91b40638 100644
--- a/src/fsfw/controller/ControllerBase.cpp
+++ b/src/fsfw/controller/ControllerBase.cpp
@@ -28,7 +28,7 @@ ReturnValue_t ControllerBase::initialize() {
 
   MessageQueueId_t parentQueue = 0;
   if (parentId != objects::NO_OBJECT) {
-    SubsystemBase* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
+    auto* parent = ObjectManager::instance()->get<SubsystemBase>(parentId);
     if (parent == nullptr) {
       return RETURN_FAILED;
     }
@@ -54,7 +54,7 @@ MessageQueueId_t ControllerBase::getCommandQueue() const { return commandQueue->
 
 void ControllerBase::handleQueue() {
   CommandMessage command;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result;
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = modeHelper.handleModeCommand(&command);
@@ -75,20 +75,20 @@ void ControllerBase::handleQueue() {
   }
 }
 
-void ControllerBase::startTransition(Mode_t mode, Submode_t submode) {
+void ControllerBase::startTransition(Mode_t mode_, Submode_t submode_) {
   changeHK(this->mode, this->submode, false);
   triggerEvent(CHANGING_MODE, mode, submode);
-  this->mode = mode;
-  this->submode = submode;
+  mode = mode_;
+  submode = submode_;
   modeHelper.modeChanged(mode, submode);
   modeChanged(mode, submode);
   announceMode(false);
   changeHK(this->mode, this->submode, true);
 }
 
-void ControllerBase::getMode(Mode_t* mode, Submode_t* submode) {
-  *mode = this->mode;
-  *submode = this->submode;
+void ControllerBase::getMode(Mode_t* mode_, Submode_t* submode_) {
+  *mode_ = this->mode;
+  *submode_ = this->submode;
 }
 
 void ControllerBase::setToExternalControl() { healthHelper.setHealth(EXTERNAL_CONTROL); }
@@ -101,7 +101,7 @@ ReturnValue_t ControllerBase::performOperation(uint8_t opCode) {
   return RETURN_OK;
 }
 
-void ControllerBase::modeChanged(Mode_t mode, Submode_t submode) { return; }
+void ControllerBase::modeChanged(Mode_t mode_, Submode_t submode_) {}
 
 ReturnValue_t ControllerBase::setHealth(HealthState health) {
   switch (health) {
@@ -117,6 +117,6 @@ ReturnValue_t ControllerBase::setHealth(HealthState health) {
 HasHealthIF::HealthState ControllerBase::getHealth() { return healthHelper.getHealth(); }
 void ControllerBase::setTaskIF(PeriodicTaskIF* task_) { executingTask = task_; }
 
-void ControllerBase::changeHK(Mode_t mode, Submode_t submode, bool enable) {}
+void ControllerBase::changeHK(Mode_t mode_, Submode_t submode_, bool enable) {}
 
 ReturnValue_t ControllerBase::initializeAfterTaskCreation() { return HasReturnvaluesIF::RETURN_OK; }
diff --git a/src/fsfw/controller/ControllerBase.h b/src/fsfw/controller/ControllerBase.h
index 227b859b..550659b8 100644
--- a/src/fsfw/controller/ControllerBase.h
+++ b/src/fsfw/controller/ControllerBase.h
@@ -24,21 +24,21 @@ class ControllerBase : public HasModesIF,
   static const Mode_t MODE_NORMAL = 2;
 
   ControllerBase(object_id_t setObjectId, object_id_t parentId, size_t commandQueueDepth = 3);
-  virtual ~ControllerBase();
+  ~ControllerBase() override;
 
   /** SystemObject override */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   /** HasHealthIF overrides */
-  virtual ReturnValue_t setHealth(HealthState health) override;
-  virtual HasHealthIF::HealthState getHealth() override;
+  ReturnValue_t setHealth(HealthState health) override;
+  HasHealthIF::HealthState getHealth() override;
 
   /** ExecutableObjectIF overrides */
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual void setTaskIF(PeriodicTaskIF *task) override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  void setTaskIF(PeriodicTaskIF *task) override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   /**
@@ -54,8 +54,8 @@ class ControllerBase : public HasModesIF,
    */
   virtual void performControlOperation() = 0;
 
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t *msToReachTheMode) override = 0;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t *msToReachTheMode) override = 0;
 
   const object_id_t parentId;
 
@@ -80,10 +80,10 @@ class ControllerBase : public HasModesIF,
 
   /** Mode helpers */
   virtual void modeChanged(Mode_t mode, Submode_t submode);
-  virtual void startTransition(Mode_t mode, Submode_t submode) override;
-  virtual void getMode(Mode_t *mode, Submode_t *submode) override;
-  virtual void setToExternalControl() override;
-  virtual void announceMode(bool recursive);
+  void startTransition(Mode_t mode, Submode_t submode) override;
+  void getMode(Mode_t *mode, Submode_t *submode) override;
+  void setToExternalControl() override;
+  void announceMode(bool recursive) override;
   /** HK helpers */
   virtual void changeHK(Mode_t mode, Submode_t submode, bool enable);
 };
diff --git a/src/fsfw/controller/ExtendedControllerBase.cpp b/src/fsfw/controller/ExtendedControllerBase.cpp
index 0dfd9dc7..64b39a31 100644
--- a/src/fsfw/controller/ExtendedControllerBase.cpp
+++ b/src/fsfw/controller/ExtendedControllerBase.cpp
@@ -6,7 +6,7 @@ ExtendedControllerBase::ExtendedControllerBase(object_id_t objectId, object_id_t
       poolManager(this, commandQueue),
       actionHelper(this, commandQueue) {}
 
-ExtendedControllerBase::~ExtendedControllerBase() {}
+ExtendedControllerBase::~ExtendedControllerBase() = default;
 
 ReturnValue_t ExtendedControllerBase::executeAction(ActionId_t actionId,
                                                     MessageQueueId_t commandedBy,
@@ -31,7 +31,7 @@ ReturnValue_t ExtendedControllerBase::handleCommandMessage(CommandMessage *messa
 
 void ExtendedControllerBase::handleQueue() {
   CommandMessage command;
-  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  ReturnValue_t result;
   for (result = commandQueue->receiveMessage(&command); result == RETURN_OK;
        result = commandQueue->receiveMessage(&command)) {
     result = actionHelper.handleActionMessage(&command);
diff --git a/src/fsfw/controller/ExtendedControllerBase.h b/src/fsfw/controller/ExtendedControllerBase.h
index 0c64f5b9..b5583a88 100644
--- a/src/fsfw/controller/ExtendedControllerBase.h
+++ b/src/fsfw/controller/ExtendedControllerBase.h
@@ -18,16 +18,16 @@ class ExtendedControllerBase : public ControllerBase,
                                public HasLocalDataPoolIF {
  public:
   ExtendedControllerBase(object_id_t objectId, object_id_t parentId, size_t commandQueueDepth = 3);
-  virtual ~ExtendedControllerBase();
+  ~ExtendedControllerBase() override;
 
   /* SystemObjectIF overrides */
-  virtual ReturnValue_t initialize() override;
+  ReturnValue_t initialize() override;
 
-  virtual MessageQueueId_t getCommandQueue() const override;
+  [[nodiscard]] MessageQueueId_t getCommandQueue() const override;
 
   /* ExecutableObjectIF overrides */
-  virtual ReturnValue_t performOperation(uint8_t opCode) override;
-  virtual ReturnValue_t initializeAfterTaskCreation() override;
+  ReturnValue_t performOperation(uint8_t opCode) override;
+  ReturnValue_t initializeAfterTaskCreation() override;
 
  protected:
   LocalDataPoolManager poolManager;
@@ -39,32 +39,32 @@ class ExtendedControllerBase : public ControllerBase,
    * @param message
    * @return
    */
-  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) = 0;
+  ReturnValue_t handleCommandMessage(CommandMessage* message) override = 0;
 
   /**
    * Periodic helper from ControllerBase, implemented by child class.
    */
-  virtual void performControlOperation() = 0;
+  void performControlOperation() override = 0;
 
   /* Handle the four messages mentioned above */
   void handleQueue() override;
 
   /* HasActionsIF overrides */
-  virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
-                                      const uint8_t* data, size_t size) override;
+  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
+                              const uint8_t* data, size_t size) override;
 
   /* HasLocalDatapoolIF overrides */
-  virtual LocalDataPoolManager* getHkManagerHandle() override;
-  virtual object_id_t getObjectId() const override;
-  virtual uint32_t getPeriodicOperationFrequency() const override;
+  LocalDataPoolManager* getHkManagerHandle() override;
+  [[nodiscard]] object_id_t getObjectId() const override;
+  [[nodiscard]] uint32_t getPeriodicOperationFrequency() const override;
 
-  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
-                                                LocalDataPoolManager& poolManager) override = 0;
-  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
+  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+                                        LocalDataPoolManager& poolManager) override = 0;
+  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override = 0;
 
   // Mode abstract functions
-  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
-                                         uint32_t* msToReachTheMode) override = 0;
+  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
+                                 uint32_t* msToReachTheMode) override = 0;
 };
 
 #endif /* FSFW_CONTROLLER_EXTENDEDCONTROLLERBASE_H_ */
diff --git a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp
index f61980c6..11faa4d0 100644
--- a/src/fsfw/datapoollocal/LocalDataPoolManager.cpp
+++ b/src/fsfw/datapoollocal/LocalDataPoolManager.cpp
@@ -700,7 +700,8 @@ void LocalDataPoolManager::performPeriodicHkGeneration(HkReceiver& receiver) {
   if (result != HasReturnvaluesIF::RETURN_OK) {
     /* Configuration error */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed." << std::endl;
+    sif::warning << "LocalDataPoolManager::performPeriodicHkOperation: HK generation failed."
+                 << std::endl;
 #else
     sif::printWarning("LocalDataPoolManager::performPeriodicHkOperation: HK generation failed.\n");
 #endif
diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
index a7ce2870..8efac940 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp
@@ -63,7 +63,9 @@ void DeviceHandlerBase::setThermalStateRequestPoolIds(lp_id_t thermalStatePoolId
 }
 
 DeviceHandlerBase::~DeviceHandlerBase() {
-  delete comCookie;
+  if (comCookie != nullptr) {
+    delete comCookie;
+  }
   if (defaultFDIRUsed) {
     delete fdirInstance;
   }
@@ -247,15 +249,14 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
   for (std::pair<const DeviceCommandId_t, DeviceReplyInfo>& replyPair : deviceReplyMap) {
     if (replyPair.second.countdown != nullptr && replyPair.second.active) {
       if (replyPair.second.countdown->hasTimedOut()) {
+        resetTimeoutControlledReply(&replyPair.second);
         timedOut = true;
       }
     }
     if (replyPair.second.delayCycles != 0 && replyPair.second.countdown == nullptr) {
       replyPair.second.delayCycles--;
       if (replyPair.second.delayCycles == 0) {
-        if (replyPair.second.periodic) {
-          replyPair.second.delayCycles = replyPair.second.maxDelayCycles;
-        }
+        resetDelayCyclesControlledReply(&replyPair.second);
         timedOut = true;
       }
     }
@@ -263,7 +264,6 @@ void DeviceHandlerBase::decrementDeviceReplyMap() {
       replyToReply(replyPair.first, replyPair.second, TIMEOUT);
       missedReply(replyPair.first);
       timedOut = false;
-      replyPair.second.active = false;
     }
   }
 }
@@ -377,8 +377,6 @@ void DeviceHandlerBase::doStateMachine() {
         setMode(MODE_OFF);
         break;
       }
-      uint32_t currentUptime;
-      Clock::getUptime(&currentUptime);
       if (currentUptime - timeoutStart >= powerSwitcher->getSwitchDelayMs()) {
         triggerEvent(MODE_TRANSITION_FAILED, PowerSwitchIF::SWITCH_TIMEOUT, 0);
         setMode(MODE_ERROR_ON);
@@ -451,9 +449,6 @@ ReturnValue_t DeviceHandlerBase::insertInReplyMap(DeviceCommandId_t replyId,
   info.dataSet = dataSet;
   info.command = deviceCommandMap.end();
   info.countdown = countdown;
-  if (info.periodic) {
-    info.active = true;
-  }
   auto resultPair = deviceReplyMap.emplace(replyId, info);
   if (resultPair.second) {
     return RETURN_OK;
@@ -526,9 +521,19 @@ ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandI
       return COMMAND_NOT_SUPPORTED;
     }
     if (enable) {
-      info->delayCycles = info->maxDelayCycles;
+      info->active = true;
+      if (info->countdown != nullptr) {
+        info->delayCycles = info->maxDelayCycles;
+      } else {
+        info->countdown->resetTimer();
+      }
     } else {
-      info->delayCycles = 0;
+      info->active = false;
+      if (info->countdown != nullptr) {
+        info->delayCycles = 0;
+      } else {
+        info->countdown->timeOut();
+      }
     }
   }
   return HasReturnvaluesIF::RETURN_OK;
@@ -846,9 +851,9 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
     }
 
     if (info->active && info->countdown != nullptr) {
-      disableTimeoutControlledReply(info);
+      resetTimeoutControlledReply(info);
     } else if (info->delayCycles != 0) {
-      disableDelayCyclesControlledReply(info);
+      resetDelayCyclesControlledReply(info);
     }
 
     if (result != RETURN_OK) {
@@ -867,7 +872,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId
   }
 }
 
-void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
+void DeviceHandlerBase::resetTimeoutControlledReply(DeviceReplyInfo* info) {
   if (info->periodic) {
     info->countdown->resetTimer();
   } else {
@@ -876,7 +881,7 @@ void DeviceHandlerBase::disableTimeoutControlledReply(DeviceReplyInfo* info) {
   }
 }
 
-void DeviceHandlerBase::disableDelayCyclesControlledReply(DeviceReplyInfo* info) {
+void DeviceHandlerBase::resetDelayCyclesControlledReply(DeviceReplyInfo* info) {
   if (info->periodic) {
     info->delayCycles = info->maxDelayCycles;
   } else {
@@ -1007,6 +1012,8 @@ ReturnValue_t DeviceHandlerBase::enableReplyInReplyMap(DeviceCommandMap::iterato
   }
   if (iter != deviceReplyMap.end()) {
     DeviceReplyInfo* info = &(iter->second);
+    // If a countdown has been set, the delay cycles will be ignored and the reply times out
+    // as soon as the countdown has expired
     info->delayCycles = info->maxDelayCycles;
     info->command = command;
     command->second.expectedReplies = expectedReplies;
@@ -1405,7 +1412,12 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
   if (iter == deviceReplyMap.end()) {
     return 0;
   } else if (iter->second.countdown != nullptr) {
-    return 0;
+    // fake a useful return value for legacy code
+    if (iter->second.active) {
+      return 1;
+    } else {
+      return 0;
+    }
   }
   return iter->second.delayCycles;
 }
diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h
index 58e54da0..2ce53341 100644
--- a/src/fsfw/devicehandlers/DeviceHandlerBase.h
+++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h
@@ -469,12 +469,21 @@ class DeviceHandlerBase : public DeviceHandlerIF,
    * @param maxDelayCycles The maximum number of delay cycles the reply waits
    *    until it times out.
    * @param periodic	Indicates if the command is periodic (i.e. it is sent
+<<<<<<< HEAD
    *    by the device repeatedly without request) or not. Default is aperiodic (0).
    *    Please note that periodic replies are disabled by default. You can enable them with
    *    #updatePeriodicReply
    * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
    *    to provide a pointer to a Countdown object which will signal the timeout
    *    when expired
+=======
+   * by the device repeatedly without request) or not. Default is aperiodic (0).
+   * Please note that periodic replies are disabled by default. You can enable them with
+   * #updatePeriodicReply
+   * @param countdown Instead of using maxDelayCycles to timeout a device reply it is also possible
+   *                  to provide a pointer to a Countdown object which will signal the timeout
+   *                  when expired
+>>>>>>> upstream/development
    * @return	- @c RETURN_OK when the command was successfully inserted,
    *          - @c RETURN_FAILED else.
    */
@@ -1274,15 +1283,15 @@ class DeviceHandlerBase : public DeviceHandlerIF,
   void doGetRead(void);
 
   /**
-   * @brief Handles disabling of replies which use a timeout to detect missed replies.
+   * @brief Resets replies which use a timeout to detect missed replies.
    */
-  void disableTimeoutControlledReply(DeviceReplyInfo *info);
+  void resetTimeoutControlledReply(DeviceReplyInfo *info);
 
   /**
-   * @brief Handles disabling of replies which use a number of maximum delay cycles to detect
+   * @brief Resets replies which use a number of maximum delay cycles to detect
    *        missed replies.
    */
-  void disableDelayCyclesControlledReply(DeviceReplyInfo *info);
+  void resetDelayCyclesControlledReply(DeviceReplyInfo *info);
 
   /**
    * Retrive data from the #IPCStore.
diff --git a/src/fsfw/events/EventManager.cpp b/src/fsfw/events/EventManager.cpp
index 824682da..d25dc9ce 100644
--- a/src/fsfw/events/EventManager.cpp
+++ b/src/fsfw/events/EventManager.cpp
@@ -100,6 +100,11 @@ ReturnValue_t EventManager::subscribeToEventRange(MessageQueueId_t listener, Eve
   return result;
 }
 
+ReturnValue_t EventManager::unsubscribeFromAllEvents(MessageQueueId_t listener,
+                                                     object_id_t object) {
+  return unsubscribeFromEventRange(listener, 0, 0, true, object);
+}
+
 ReturnValue_t EventManager::unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom,
                                                       EventId_t idTo, bool idInverted,
                                                       object_id_t reporterFrom,
diff --git a/src/fsfw/events/EventManager.h b/src/fsfw/events/EventManager.h
index e2a8dd95..5d786358 100644
--- a/src/fsfw/events/EventManager.h
+++ b/src/fsfw/events/EventManager.h
@@ -37,6 +37,7 @@ class EventManager : public EventManagerIF, public ExecutableObjectIF, public Sy
                                       EventId_t idTo = 0, bool idInverted = false,
                                       object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
                                       bool reporterInverted = false);
+  ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object);
   ReturnValue_t unsubscribeFromEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                           EventId_t idTo = 0, bool idInverted = false,
                                           object_id_t reporterFrom = 0, object_id_t reporterTo = 0,
diff --git a/src/fsfw/events/EventManagerIF.h b/src/fsfw/events/EventManagerIF.h
index 98051ba0..adb61f2b 100644
--- a/src/fsfw/events/EventManagerIF.h
+++ b/src/fsfw/events/EventManagerIF.h
@@ -20,6 +20,7 @@ class EventManagerIF {
                                          bool forwardAllButSelected = false) = 0;
   virtual ReturnValue_t subscribeToEvent(MessageQueueId_t listener, EventId_t event) = 0;
   virtual ReturnValue_t subscribeToAllEventsFrom(MessageQueueId_t listener, object_id_t object) = 0;
+  virtual ReturnValue_t unsubscribeFromAllEvents(MessageQueueId_t listener, object_id_t object) = 0;
   virtual ReturnValue_t subscribeToEventRange(MessageQueueId_t listener, EventId_t idFrom = 0,
                                               EventId_t idTo = 0, bool idInverted = false,
                                               object_id_t reporterFrom = 0,
diff --git a/src/fsfw/fdir/FailureIsolationBase.cpp b/src/fsfw/fdir/FailureIsolationBase.cpp
index c17cf624..922011fa 100644
--- a/src/fsfw/fdir/FailureIsolationBase.cpp
+++ b/src/fsfw/fdir/FailureIsolationBase.cpp
@@ -15,6 +15,16 @@ FailureIsolationBase::FailureIsolationBase(object_id_t owner, object_id_t parent
 }
 
 FailureIsolationBase::~FailureIsolationBase() {
+  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
+  if (manager == nullptr) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::error << "FailureIsolationBase::~FailureIsolationBase: Event Manager has not"
+                  " been initialized!"
+               << std::endl;
+#endif
+    return;
+  }
+  manager->unsubscribeFromAllEvents(eventQueue->getId(), ownerId);
   QueueFactory::instance()->deleteMessageQueue(eventQueue);
 }
 
diff --git a/src/fsfw/fdir/FaultCounter.cpp b/src/fsfw/fdir/FaultCounter.cpp
index e87cf613..4515e5b1 100644
--- a/src/fsfw/fdir/FaultCounter.cpp
+++ b/src/fsfw/fdir/FaultCounter.cpp
@@ -60,14 +60,14 @@ ReturnValue_t FaultCounter::getParameter(uint8_t domainId, uint8_t uniqueId,
     return INVALID_DOMAIN_ID;
   }
 
-  switch (uniqueId) {
-    case 0:
+  switch (static_cast<ParameterIds>(uniqueId)) {
+    case ParameterIds::FAILURE_THRESHOLD:
       parameterWrapper->set(failureThreshold);
       break;
-    case 1:
+    case ParameterIds::FAULT_COUNT:
       parameterWrapper->set(faultCount);
       break;
-    case 2:
+    case ParameterIds::TIMEOUT:
       parameterWrapper->set(timer.timeout);
       break;
     default:
diff --git a/src/fsfw/fdir/FaultCounter.h b/src/fsfw/fdir/FaultCounter.h
index 3b59885c..cca780d6 100644
--- a/src/fsfw/fdir/FaultCounter.h
+++ b/src/fsfw/fdir/FaultCounter.h
@@ -6,6 +6,8 @@
 
 class FaultCounter : public HasParametersIF {
  public:
+  enum class ParameterIds { FAILURE_THRESHOLD, FAULT_COUNT, TIMEOUT };
+
   FaultCounter();
   FaultCounter(uint32_t failureThreshold, uint32_t decrementAfterMs,
                uint8_t setParameterDomain = 0);
@@ -25,7 +27,8 @@ class FaultCounter : public HasParametersIF {
 
   virtual ReturnValue_t getParameter(uint8_t domainId, uint8_t uniqueId,
                                      ParameterWrapper *parameterWrapper,
-                                     const ParameterWrapper *newValues, uint16_t startAtIndex);
+                                     const ParameterWrapper *newValues = nullptr,
+                                     uint16_t startAtIndex = 0);
 
   void setParameterDomain(uint8_t domain);
 
diff --git a/src/fsfw/health/HealthHelper.cpp b/src/fsfw/health/HealthHelper.cpp
index 4bef128c..0f51ddeb 100644
--- a/src/fsfw/health/HealthHelper.cpp
+++ b/src/fsfw/health/HealthHelper.cpp
@@ -5,7 +5,7 @@
 HealthHelper::HealthHelper(HasHealthIF* owner, object_id_t objectId)
     : objectId(objectId), owner(owner) {}
 
-HealthHelper::~HealthHelper() {}
+HealthHelper::~HealthHelper() { healthTable->removeObject(objectId); }
 
 ReturnValue_t HealthHelper::handleHealthCommand(CommandMessage* message) {
   switch (message->getCommand()) {
diff --git a/src/fsfw/health/HealthTable.cpp b/src/fsfw/health/HealthTable.cpp
index ab4881f4..f4bda1c3 100644
--- a/src/fsfw/health/HealthTable.cpp
+++ b/src/fsfw/health/HealthTable.cpp
@@ -27,6 +27,15 @@ ReturnValue_t HealthTable::registerObject(object_id_t object,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
+ReturnValue_t HealthTable::removeObject(object_id_t object) {
+  mapIterator = healthMap.find(object);
+  if (mapIterator == healthMap.end()) {
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  healthMap.erase(mapIterator);
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
 void HealthTable::setHealth(object_id_t object, HasHealthIF::HealthState newState) {
   MutexGuard(mutex, timeoutType, mutexTimeoutMs);
   HealthMap::iterator iter = healthMap.find(object);
diff --git a/src/fsfw/health/HealthTable.h b/src/fsfw/health/HealthTable.h
index 4718abc3..60e00f92 100644
--- a/src/fsfw/health/HealthTable.h
+++ b/src/fsfw/health/HealthTable.h
@@ -17,6 +17,7 @@ class HealthTable : public HealthTableIF, public SystemObject {
   /** HealthTableIF overrides */
   virtual ReturnValue_t registerObject(
       object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) override;
+  ReturnValue_t removeObject(object_id_t object) override;
   virtual size_t getPrintSize() override;
   virtual void printAll(uint8_t* pointer, size_t maxSize) override;
 
diff --git a/src/fsfw/health/HealthTableIF.h b/src/fsfw/health/HealthTableIF.h
index 50266ac2..aab3f0eb 100644
--- a/src/fsfw/health/HealthTableIF.h
+++ b/src/fsfw/health/HealthTableIF.h
@@ -14,6 +14,8 @@ class HealthTableIF : public ManagesHealthIF {
   virtual ReturnValue_t registerObject(
       object_id_t object, HasHealthIF::HealthState initilialState = HasHealthIF::HEALTHY) = 0;
 
+  virtual ReturnValue_t removeObject(object_id_t objectId) = 0;
+
   virtual size_t getPrintSize() = 0;
   virtual void printAll(uint8_t *pointer, size_t maxSize) = 0;
 
diff --git a/src/fsfw/osal/linux/FixedTimeslotTask.cpp b/src/fsfw/osal/linux/FixedTimeslotTask.cpp
index 775acea8..156413ea 100644
--- a/src/fsfw/osal/linux/FixedTimeslotTask.cpp
+++ b/src/fsfw/osal/linux/FixedTimeslotTask.cpp
@@ -54,7 +54,7 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
       // If the deadline was missed, the deadlineMissedFunc is called.
       if (!PosixThread::delayUntil(&lastWakeTime, interval)) {
         // No time left on timer -> we missed the deadline
-        if(dlmFunc != nullptr){
+        if (dlmFunc != nullptr) {
           dlmFunc();
         }
       }
diff --git a/src/fsfw/osal/linux/MessageQueue.cpp b/src/fsfw/osal/linux/MessageQueue.cpp
index 378f4e74..ec212165 100644
--- a/src/fsfw/osal/linux/MessageQueue.cpp
+++ b/src/fsfw/osal/linux/MessageQueue.cpp
@@ -290,9 +290,9 @@ ReturnValue_t MessageQueue::handleOpenError(mq_attr* attributes, uint32_t messag
          */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::error << "MessageQueue::MessageQueue: Default MQ size " << defaultMqMaxMsg
-                   << " is too small for requested size " << messageDepth << std::endl;
+                   << " is too small for requested message depth " << messageDepth << std::endl;
         sif::error << "This error can be fixed by setting the maximum "
-                      "allowed message size higher!"
+                      "allowed message depth higher"
                    << std::endl;
 #else
         sif::printError(
diff --git a/hal/src/fsfw_hal/CMakeLists.txt b/src/fsfw_hal/CMakeLists.txt
similarity index 65%
rename from hal/src/fsfw_hal/CMakeLists.txt
rename to src/fsfw_hal/CMakeLists.txt
index b7559d4b..057ab3a6 100644
--- a/hal/src/fsfw_hal/CMakeLists.txt
+++ b/src/fsfw_hal/CMakeLists.txt
@@ -2,9 +2,9 @@ add_subdirectory(devicehandlers)
 add_subdirectory(common)
 
 if(UNIX)
-    add_subdirectory(linux)
+  add_subdirectory(linux)
 endif()
 
 if(FSFW_HAL_ADD_STM32H7)
-    add_subdirectory(stm32h7)
+  add_subdirectory(stm32h7)
 endif()
diff --git a/hal/src/fsfw_hal/common/CMakeLists.txt b/src/fsfw_hal/common/CMakeLists.txt
similarity index 100%
rename from hal/src/fsfw_hal/common/CMakeLists.txt
rename to src/fsfw_hal/common/CMakeLists.txt
diff --git a/src/fsfw_hal/common/gpio/CMakeLists.txt b/src/fsfw_hal/common/gpio/CMakeLists.txt
new file mode 100644
index 00000000..5c81d9cc
--- /dev/null
+++ b/src/fsfw_hal/common/gpio/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE GpioCookie.cpp)
diff --git a/hal/src/fsfw_hal/common/gpio/GpioCookie.cpp b/src/fsfw_hal/common/gpio/GpioCookie.cpp
similarity index 100%
rename from hal/src/fsfw_hal/common/gpio/GpioCookie.cpp
rename to src/fsfw_hal/common/gpio/GpioCookie.cpp
diff --git a/hal/src/fsfw_hal/common/gpio/GpioCookie.h b/src/fsfw_hal/common/gpio/GpioCookie.h
similarity index 100%
rename from hal/src/fsfw_hal/common/gpio/GpioCookie.h
rename to src/fsfw_hal/common/gpio/GpioCookie.h
diff --git a/hal/src/fsfw_hal/common/gpio/GpioIF.h b/src/fsfw_hal/common/gpio/GpioIF.h
similarity index 100%
rename from hal/src/fsfw_hal/common/gpio/GpioIF.h
rename to src/fsfw_hal/common/gpio/GpioIF.h
diff --git a/hal/src/fsfw_hal/common/gpio/gpioDefinitions.h b/src/fsfw_hal/common/gpio/gpioDefinitions.h
similarity index 100%
rename from hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
rename to src/fsfw_hal/common/gpio/gpioDefinitions.h
diff --git a/hal/src/fsfw_hal/common/spi/spiCommon.h b/src/fsfw_hal/common/spi/spiCommon.h
similarity index 100%
rename from hal/src/fsfw_hal/common/spi/spiCommon.h
rename to src/fsfw_hal/common/spi/spiCommon.h
diff --git a/src/fsfw_hal/devicehandlers/CMakeLists.txt b/src/fsfw_hal/devicehandlers/CMakeLists.txt
new file mode 100644
index 00000000..17139416
--- /dev/null
+++ b/src/fsfw_hal/devicehandlers/CMakeLists.txt
@@ -0,0 +1,3 @@
+target_sources(
+  ${LIB_FSFW_NAME} PRIVATE GyroL3GD20Handler.cpp MgmRM3100Handler.cpp
+                           MgmLIS3MDLHandler.cpp)
diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
rename to src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
rename to src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
rename to src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h b/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
rename to src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
rename to src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h b/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
rename to src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h b/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
rename to src/fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h
diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h b/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
rename to src/fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h
diff --git a/hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h b/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
similarity index 100%
rename from hal/src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
rename to src/fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h
diff --git a/hal/src/fsfw_hal/host/CMakeLists.txt b/src/fsfw_hal/host/CMakeLists.txt
similarity index 100%
rename from hal/src/fsfw_hal/host/CMakeLists.txt
rename to src/fsfw_hal/host/CMakeLists.txt
diff --git a/src/fsfw_hal/linux/CMakeLists.txt b/src/fsfw_hal/linux/CMakeLists.txt
new file mode 100644
index 00000000..ffa5f5ee
--- /dev/null
+++ b/src/fsfw_hal/linux/CMakeLists.txt
@@ -0,0 +1,21 @@
+if(FSFW_HAL_ADD_RASPBERRY_PI)
+  add_subdirectory(rpi)
+endif()
+
+target_sources(${LIB_FSFW_NAME} PRIVATE UnixFileGuard.cpp CommandExecutor.cpp
+                                        utility.cpp)
+
+if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
+  if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
+    add_subdirectory(gpio)
+  endif()
+  add_subdirectory(uart)
+  # Adding those does not really make sense on Apple systems which are generally
+  # host systems. It won't even compile as the headers are missing
+  if(NOT APPLE)
+    add_subdirectory(i2c)
+    add_subdirectory(spi)
+  endif()
+endif()
+
+add_subdirectory(uio)
diff --git a/hal/src/fsfw_hal/linux/CommandExecutor.cpp b/src/fsfw_hal/linux/CommandExecutor.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/CommandExecutor.cpp
rename to src/fsfw_hal/linux/CommandExecutor.cpp
diff --git a/hal/src/fsfw_hal/linux/CommandExecutor.h b/src/fsfw_hal/linux/CommandExecutor.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/CommandExecutor.h
rename to src/fsfw_hal/linux/CommandExecutor.h
diff --git a/hal/src/fsfw_hal/linux/UnixFileGuard.cpp b/src/fsfw_hal/linux/UnixFileGuard.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/UnixFileGuard.cpp
rename to src/fsfw_hal/linux/UnixFileGuard.cpp
diff --git a/hal/src/fsfw_hal/linux/UnixFileGuard.h b/src/fsfw_hal/linux/UnixFileGuard.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/UnixFileGuard.h
rename to src/fsfw_hal/linux/UnixFileGuard.h
diff --git a/src/fsfw_hal/linux/gpio/CMakeLists.txt b/src/fsfw_hal/linux/gpio/CMakeLists.txt
new file mode 100644
index 00000000..f6e7f2b0
--- /dev/null
+++ b/src/fsfw_hal/linux/gpio/CMakeLists.txt
@@ -0,0 +1,12 @@
+# This abstraction layer requires the gpiod library. You can install this
+# library with "sudo apt-get install -y libgpiod-dev". If you are
+# cross-compiling, you need to install the package before syncing the sysroot to
+# your host computer.
+find_library(LIB_GPIO gpiod)
+
+if(${LIB_GPIO} MATCHES LIB_GPIO-NOTFOUND)
+  message(STATUS "gpiod library not found, not linking against it")
+else()
+  target_sources(${LIB_FSFW_NAME} PRIVATE LinuxLibgpioIF.cpp)
+  target_link_libraries(${LIB_FSFW_NAME} PRIVATE ${LIB_GPIO})
+endif()
diff --git a/hal/src/fsfw_hal/linux/gpio/Gpio.h b/src/fsfw_hal/linux/gpio/Gpio.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/gpio/Gpio.h
rename to src/fsfw_hal/linux/gpio/Gpio.h
diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp b/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
rename to src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
diff --git a/hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h b/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
rename to src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
diff --git a/src/fsfw_hal/linux/i2c/CMakeLists.txt b/src/fsfw_hal/linux/i2c/CMakeLists.txt
new file mode 100644
index 00000000..b94bdc99
--- /dev/null
+++ b/src/fsfw_hal/linux/i2c/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC I2cComIF.cpp I2cCookie.cpp)
diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp b/src/fsfw_hal/linux/i2c/I2cComIF.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/i2c/I2cComIF.cpp
rename to src/fsfw_hal/linux/i2c/I2cComIF.cpp
diff --git a/hal/src/fsfw_hal/linux/i2c/I2cComIF.h b/src/fsfw_hal/linux/i2c/I2cComIF.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/i2c/I2cComIF.h
rename to src/fsfw_hal/linux/i2c/I2cComIF.h
diff --git a/hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp b/src/fsfw_hal/linux/i2c/I2cCookie.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/i2c/I2cCookie.cpp
rename to src/fsfw_hal/linux/i2c/I2cCookie.cpp
diff --git a/hal/src/fsfw_hal/linux/i2c/I2cCookie.h b/src/fsfw_hal/linux/i2c/I2cCookie.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/i2c/I2cCookie.h
rename to src/fsfw_hal/linux/i2c/I2cCookie.h
diff --git a/src/fsfw_hal/linux/rpi/CMakeLists.txt b/src/fsfw_hal/linux/rpi/CMakeLists.txt
new file mode 100644
index 00000000..3a865037
--- /dev/null
+++ b/src/fsfw_hal/linux/rpi/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE GpioRPi.cpp)
diff --git a/hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp b/src/fsfw_hal/linux/rpi/GpioRPi.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
rename to src/fsfw_hal/linux/rpi/GpioRPi.cpp
diff --git a/hal/src/fsfw_hal/linux/rpi/GpioRPi.h b/src/fsfw_hal/linux/rpi/GpioRPi.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/rpi/GpioRPi.h
rename to src/fsfw_hal/linux/rpi/GpioRPi.h
diff --git a/src/fsfw_hal/linux/spi/CMakeLists.txt b/src/fsfw_hal/linux/spi/CMakeLists.txt
new file mode 100644
index 00000000..f242bb3b
--- /dev/null
+++ b/src/fsfw_hal/linux/spi/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC SpiComIF.cpp SpiCookie.cpp)
diff --git a/hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h b/src/fsfw_hal/linux/spi/ManualCsLockGuard.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/spi/ManualCsLockGuard.h
rename to src/fsfw_hal/linux/spi/ManualCsLockGuard.h
diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp b/src/fsfw_hal/linux/spi/SpiComIF.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
rename to src/fsfw_hal/linux/spi/SpiComIF.cpp
diff --git a/hal/src/fsfw_hal/linux/spi/SpiComIF.h b/src/fsfw_hal/linux/spi/SpiComIF.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/spi/SpiComIF.h
rename to src/fsfw_hal/linux/spi/SpiComIF.h
diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.cpp b/src/fsfw_hal/linux/spi/SpiCookie.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
rename to src/fsfw_hal/linux/spi/SpiCookie.cpp
diff --git a/hal/src/fsfw_hal/linux/spi/SpiCookie.h b/src/fsfw_hal/linux/spi/SpiCookie.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/spi/SpiCookie.h
rename to src/fsfw_hal/linux/spi/SpiCookie.h
diff --git a/hal/src/fsfw_hal/linux/spi/spiDefinitions.h b/src/fsfw_hal/linux/spi/spiDefinitions.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/spi/spiDefinitions.h
rename to src/fsfw_hal/linux/spi/spiDefinitions.h
diff --git a/src/fsfw_hal/linux/uart/CMakeLists.txt b/src/fsfw_hal/linux/uart/CMakeLists.txt
new file mode 100644
index 00000000..9cad62a4
--- /dev/null
+++ b/src/fsfw_hal/linux/uart/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC UartComIF.cpp UartCookie.cpp)
diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.cpp b/src/fsfw_hal/linux/uart/UartComIF.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/uart/UartComIF.cpp
rename to src/fsfw_hal/linux/uart/UartComIF.cpp
diff --git a/hal/src/fsfw_hal/linux/uart/UartComIF.h b/src/fsfw_hal/linux/uart/UartComIF.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/uart/UartComIF.h
rename to src/fsfw_hal/linux/uart/UartComIF.h
diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.cpp b/src/fsfw_hal/linux/uart/UartCookie.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/uart/UartCookie.cpp
rename to src/fsfw_hal/linux/uart/UartCookie.cpp
diff --git a/hal/src/fsfw_hal/linux/uart/UartCookie.h b/src/fsfw_hal/linux/uart/UartCookie.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/uart/UartCookie.h
rename to src/fsfw_hal/linux/uart/UartCookie.h
diff --git a/src/fsfw_hal/linux/uio/CMakeLists.txt b/src/fsfw_hal/linux/uio/CMakeLists.txt
new file mode 100644
index 00000000..e3498246
--- /dev/null
+++ b/src/fsfw_hal/linux/uio/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PUBLIC UioMapper.cpp)
diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.cpp b/src/fsfw_hal/linux/uio/UioMapper.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/uio/UioMapper.cpp
rename to src/fsfw_hal/linux/uio/UioMapper.cpp
diff --git a/hal/src/fsfw_hal/linux/uio/UioMapper.h b/src/fsfw_hal/linux/uio/UioMapper.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/uio/UioMapper.h
rename to src/fsfw_hal/linux/uio/UioMapper.h
diff --git a/hal/src/fsfw_hal/linux/utility.cpp b/src/fsfw_hal/linux/utility.cpp
similarity index 100%
rename from hal/src/fsfw_hal/linux/utility.cpp
rename to src/fsfw_hal/linux/utility.cpp
diff --git a/hal/src/fsfw_hal/linux/utility.h b/src/fsfw_hal/linux/utility.h
similarity index 100%
rename from hal/src/fsfw_hal/linux/utility.h
rename to src/fsfw_hal/linux/utility.h
diff --git a/hal/src/fsfw_hal/stm32h7/CMakeLists.txt b/src/fsfw_hal/stm32h7/CMakeLists.txt
similarity index 58%
rename from hal/src/fsfw_hal/stm32h7/CMakeLists.txt
rename to src/fsfw_hal/stm32h7/CMakeLists.txt
index bae3b1ac..e8843ed3 100644
--- a/hal/src/fsfw_hal/stm32h7/CMakeLists.txt
+++ b/src/fsfw_hal/stm32h7/CMakeLists.txt
@@ -2,6 +2,4 @@ add_subdirectory(spi)
 add_subdirectory(gpio)
 add_subdirectory(devicetest)
 
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    dma.cpp
-)
+target_sources(${LIB_FSFW_NAME} PRIVATE dma.cpp)
diff --git a/hal/src/fsfw_hal/stm32h7/definitions.h b/src/fsfw_hal/stm32h7/definitions.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/definitions.h
rename to src/fsfw_hal/stm32h7/definitions.h
diff --git a/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt b/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
new file mode 100644
index 00000000..8e789ddb
--- /dev/null
+++ b/src/fsfw_hal/stm32h7/devicetest/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE GyroL3GD20H.cpp)
diff --git a/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp b/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
rename to src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h b/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
rename to src/fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h
diff --git a/hal/src/fsfw_hal/stm32h7/dma.cpp b/src/fsfw_hal/stm32h7/dma.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/dma.cpp
rename to src/fsfw_hal/stm32h7/dma.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/dma.h b/src/fsfw_hal/stm32h7/dma.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/dma.h
rename to src/fsfw_hal/stm32h7/dma.h
diff --git a/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt b/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
new file mode 100644
index 00000000..54d76b2d
--- /dev/null
+++ b/src/fsfw_hal/stm32h7/gpio/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE gpio.cpp)
diff --git a/hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp b/src/fsfw_hal/stm32h7/gpio/gpio.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/gpio/gpio.cpp
rename to src/fsfw_hal/stm32h7/gpio/gpio.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/gpio/gpio.h b/src/fsfw_hal/stm32h7/gpio/gpio.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/gpio/gpio.h
rename to src/fsfw_hal/stm32h7/gpio/gpio.h
diff --git a/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt b/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
new file mode 100644
index 00000000..a0d48465
--- /dev/null
+++ b/src/fsfw_hal/stm32h7/i2c/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE)
diff --git a/hal/src/fsfw_hal/stm32h7/interrupts.h b/src/fsfw_hal/stm32h7/interrupts.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/interrupts.h
rename to src/fsfw_hal/stm32h7/interrupts.h
diff --git a/src/fsfw_hal/stm32h7/spi/CMakeLists.txt b/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
new file mode 100644
index 00000000..9a98f502
--- /dev/null
+++ b/src/fsfw_hal/stm32h7/spi/CMakeLists.txt
@@ -0,0 +1,9 @@
+target_sources(
+  ${LIB_FSFW_NAME}
+  PRIVATE spiCore.cpp
+          spiDefinitions.cpp
+          spiInterrupts.cpp
+          mspInit.cpp
+          SpiCookie.cpp
+          SpiComIF.cpp
+          stm32h743zi.cpp)
diff --git a/hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp b/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
rename to src/fsfw_hal/stm32h7/spi/SpiComIF.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h b/src/fsfw_hal/stm32h7/spi/SpiComIF.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/SpiComIF.h
rename to src/fsfw_hal/stm32h7/spi/SpiComIF.h
diff --git a/hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp b/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
rename to src/fsfw_hal/stm32h7/spi/SpiCookie.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h b/src/fsfw_hal/stm32h7/spi/SpiCookie.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/SpiCookie.h
rename to src/fsfw_hal/stm32h7/spi/SpiCookie.h
diff --git a/hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp b/src/fsfw_hal/stm32h7/spi/mspInit.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/mspInit.cpp
rename to src/fsfw_hal/stm32h7/spi/mspInit.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/spi/mspInit.h b/src/fsfw_hal/stm32h7/spi/mspInit.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/mspInit.h
rename to src/fsfw_hal/stm32h7/spi/mspInit.h
diff --git a/hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp b/src/fsfw_hal/stm32h7/spi/spiCore.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/spiCore.cpp
rename to src/fsfw_hal/stm32h7/spi/spiCore.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/spi/spiCore.h b/src/fsfw_hal/stm32h7/spi/spiCore.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/spiCore.h
rename to src/fsfw_hal/stm32h7/spi/spiCore.h
diff --git a/hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp b/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp
rename to src/fsfw_hal/stm32h7/spi/spiDefinitions.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.h b/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
rename to src/fsfw_hal/stm32h7/spi/spiDefinitions.h
diff --git a/hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp b/src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp
rename to src/fsfw_hal/stm32h7/spi/spiInterrupts.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.h b/src/fsfw_hal/stm32h7/spi/spiInterrupts.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/spiInterrupts.h
rename to src/fsfw_hal/stm32h7/spi/spiInterrupts.h
diff --git a/hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.cpp b/src/fsfw_hal/stm32h7/spi/stm32h743zi.cpp
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.cpp
rename to src/fsfw_hal/stm32h7/spi/stm32h743zi.cpp
diff --git a/hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.h b/src/fsfw_hal/stm32h7/spi/stm32h743zi.h
similarity index 100%
rename from hal/src/fsfw_hal/stm32h7/spi/stm32h743zi.h
rename to src/fsfw_hal/stm32h7/spi/stm32h743zi.h
diff --git a/src/fsfw_hal/stm32h7/uart/CMakeLists.txt b/src/fsfw_hal/stm32h7/uart/CMakeLists.txt
new file mode 100644
index 00000000..a0d48465
--- /dev/null
+++ b/src/fsfw_hal/stm32h7/uart/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE)
diff --git a/src/fsfw_tests/CMakeLists.txt b/src/fsfw_tests/CMakeLists.txt
new file mode 100644
index 00000000..d161699a
--- /dev/null
+++ b/src/fsfw_tests/CMakeLists.txt
@@ -0,0 +1,7 @@
+if(FSFW_ADD_INTERNAL_TESTS)
+  add_subdirectory(internal)
+endif()
+
+if(NOT FSFW_BUILD_TESTS)
+  add_subdirectory(integration)
+endif()
diff --git a/tests/src/fsfw_tests/integration/CMakeLists.txt b/src/fsfw_tests/integration/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/integration/CMakeLists.txt
rename to src/fsfw_tests/integration/CMakeLists.txt
diff --git a/src/fsfw_tests/integration/assemblies/CMakeLists.txt b/src/fsfw_tests/integration/assemblies/CMakeLists.txt
new file mode 100644
index 00000000..63a6447a
--- /dev/null
+++ b/src/fsfw_tests/integration/assemblies/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE TestAssembly.cpp)
diff --git a/tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp b/src/fsfw_tests/integration/assemblies/TestAssembly.cpp
similarity index 100%
rename from tests/src/fsfw_tests/integration/assemblies/TestAssembly.cpp
rename to src/fsfw_tests/integration/assemblies/TestAssembly.cpp
diff --git a/tests/src/fsfw_tests/integration/assemblies/TestAssembly.h b/src/fsfw_tests/integration/assemblies/TestAssembly.h
similarity index 100%
rename from tests/src/fsfw_tests/integration/assemblies/TestAssembly.h
rename to src/fsfw_tests/integration/assemblies/TestAssembly.h
diff --git a/src/fsfw_tests/integration/controller/CMakeLists.txt b/src/fsfw_tests/integration/controller/CMakeLists.txt
new file mode 100644
index 00000000..5eeb5c68
--- /dev/null
+++ b/src/fsfw_tests/integration/controller/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE TestController.cpp)
diff --git a/tests/src/fsfw_tests/integration/controller/TestController.cpp b/src/fsfw_tests/integration/controller/TestController.cpp
similarity index 100%
rename from tests/src/fsfw_tests/integration/controller/TestController.cpp
rename to src/fsfw_tests/integration/controller/TestController.cpp
diff --git a/tests/src/fsfw_tests/integration/controller/TestController.h b/src/fsfw_tests/integration/controller/TestController.h
similarity index 100%
rename from tests/src/fsfw_tests/integration/controller/TestController.h
rename to src/fsfw_tests/integration/controller/TestController.h
diff --git a/tests/src/fsfw_tests/integration/controller/ctrldefinitions/testCtrlDefinitions.h b/src/fsfw_tests/integration/controller/ctrldefinitions/testCtrlDefinitions.h
similarity index 100%
rename from tests/src/fsfw_tests/integration/controller/ctrldefinitions/testCtrlDefinitions.h
rename to src/fsfw_tests/integration/controller/ctrldefinitions/testCtrlDefinitions.h
diff --git a/src/fsfw_tests/integration/devices/CMakeLists.txt b/src/fsfw_tests/integration/devices/CMakeLists.txt
new file mode 100644
index 00000000..d5799197
--- /dev/null
+++ b/src/fsfw_tests/integration/devices/CMakeLists.txt
@@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE TestCookie.cpp TestDeviceHandler.cpp
+                                        TestEchoComIF.cpp)
diff --git a/tests/src/fsfw_tests/integration/devices/TestCookie.cpp b/src/fsfw_tests/integration/devices/TestCookie.cpp
similarity index 100%
rename from tests/src/fsfw_tests/integration/devices/TestCookie.cpp
rename to src/fsfw_tests/integration/devices/TestCookie.cpp
diff --git a/tests/src/fsfw_tests/integration/devices/TestCookie.h b/src/fsfw_tests/integration/devices/TestCookie.h
similarity index 100%
rename from tests/src/fsfw_tests/integration/devices/TestCookie.h
rename to src/fsfw_tests/integration/devices/TestCookie.h
diff --git a/tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp b/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
similarity index 100%
rename from tests/src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
rename to src/fsfw_tests/integration/devices/TestDeviceHandler.cpp
diff --git a/tests/src/fsfw_tests/integration/devices/TestDeviceHandler.h b/src/fsfw_tests/integration/devices/TestDeviceHandler.h
similarity index 100%
rename from tests/src/fsfw_tests/integration/devices/TestDeviceHandler.h
rename to src/fsfw_tests/integration/devices/TestDeviceHandler.h
diff --git a/tests/src/fsfw_tests/integration/devices/TestEchoComIF.cpp b/src/fsfw_tests/integration/devices/TestEchoComIF.cpp
similarity index 100%
rename from tests/src/fsfw_tests/integration/devices/TestEchoComIF.cpp
rename to src/fsfw_tests/integration/devices/TestEchoComIF.cpp
diff --git a/tests/src/fsfw_tests/integration/devices/TestEchoComIF.h b/src/fsfw_tests/integration/devices/TestEchoComIF.h
similarity index 100%
rename from tests/src/fsfw_tests/integration/devices/TestEchoComIF.h
rename to src/fsfw_tests/integration/devices/TestEchoComIF.h
diff --git a/tests/src/fsfw_tests/integration/devices/devicedefinitions/testDeviceDefinitions.h b/src/fsfw_tests/integration/devices/devicedefinitions/testDeviceDefinitions.h
similarity index 100%
rename from tests/src/fsfw_tests/integration/devices/devicedefinitions/testDeviceDefinitions.h
rename to src/fsfw_tests/integration/devices/devicedefinitions/testDeviceDefinitions.h
diff --git a/src/fsfw_tests/integration/task/CMakeLists.txt b/src/fsfw_tests/integration/task/CMakeLists.txt
new file mode 100644
index 00000000..62d5e8ef
--- /dev/null
+++ b/src/fsfw_tests/integration/task/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE TestTask.cpp)
diff --git a/tests/src/fsfw_tests/integration/task/TestTask.cpp b/src/fsfw_tests/integration/task/TestTask.cpp
similarity index 100%
rename from tests/src/fsfw_tests/integration/task/TestTask.cpp
rename to src/fsfw_tests/integration/task/TestTask.cpp
diff --git a/tests/src/fsfw_tests/integration/task/TestTask.h b/src/fsfw_tests/integration/task/TestTask.h
similarity index 100%
rename from tests/src/fsfw_tests/integration/task/TestTask.h
rename to src/fsfw_tests/integration/task/TestTask.h
diff --git a/src/fsfw_tests/internal/CMakeLists.txt b/src/fsfw_tests/internal/CMakeLists.txt
new file mode 100644
index 00000000..c1af5467
--- /dev/null
+++ b/src/fsfw_tests/internal/CMakeLists.txt
@@ -0,0 +1,6 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE InternalUnitTester.cpp
+                                        UnittDefinitions.cpp)
+
+add_subdirectory(osal)
+add_subdirectory(serialize)
+add_subdirectory(globalfunctions)
diff --git a/tests/src/fsfw_tests/internal/InternalUnitTester.cpp b/src/fsfw_tests/internal/InternalUnitTester.cpp
similarity index 100%
rename from tests/src/fsfw_tests/internal/InternalUnitTester.cpp
rename to src/fsfw_tests/internal/InternalUnitTester.cpp
diff --git a/tests/src/fsfw_tests/internal/InternalUnitTester.h b/src/fsfw_tests/internal/InternalUnitTester.h
similarity index 100%
rename from tests/src/fsfw_tests/internal/InternalUnitTester.h
rename to src/fsfw_tests/internal/InternalUnitTester.h
diff --git a/tests/src/fsfw_tests/internal/UnittDefinitions.cpp b/src/fsfw_tests/internal/UnittDefinitions.cpp
similarity index 100%
rename from tests/src/fsfw_tests/internal/UnittDefinitions.cpp
rename to src/fsfw_tests/internal/UnittDefinitions.cpp
diff --git a/tests/src/fsfw_tests/internal/UnittDefinitions.h b/src/fsfw_tests/internal/UnittDefinitions.h
similarity index 100%
rename from tests/src/fsfw_tests/internal/UnittDefinitions.h
rename to src/fsfw_tests/internal/UnittDefinitions.h
diff --git a/src/fsfw_tests/internal/globalfunctions/CMakeLists.txt b/src/fsfw_tests/internal/globalfunctions/CMakeLists.txt
new file mode 100644
index 00000000..6e7e58ad
--- /dev/null
+++ b/src/fsfw_tests/internal/globalfunctions/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE TestArrayPrinter.cpp)
diff --git a/tests/src/fsfw_tests/internal/globalfunctions/TestArrayPrinter.cpp b/src/fsfw_tests/internal/globalfunctions/TestArrayPrinter.cpp
similarity index 100%
rename from tests/src/fsfw_tests/internal/globalfunctions/TestArrayPrinter.cpp
rename to src/fsfw_tests/internal/globalfunctions/TestArrayPrinter.cpp
diff --git a/tests/src/fsfw_tests/internal/globalfunctions/TestArrayPrinter.h b/src/fsfw_tests/internal/globalfunctions/TestArrayPrinter.h
similarity index 100%
rename from tests/src/fsfw_tests/internal/globalfunctions/TestArrayPrinter.h
rename to src/fsfw_tests/internal/globalfunctions/TestArrayPrinter.h
diff --git a/src/fsfw_tests/internal/osal/CMakeLists.txt b/src/fsfw_tests/internal/osal/CMakeLists.txt
new file mode 100644
index 00000000..db1031a0
--- /dev/null
+++ b/src/fsfw_tests/internal/osal/CMakeLists.txt
@@ -0,0 +1,2 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE testMq.cpp testMutex.cpp
+                                        testSemaphore.cpp)
diff --git a/tests/src/fsfw_tests/internal/osal/testMq.cpp b/src/fsfw_tests/internal/osal/testMq.cpp
similarity index 100%
rename from tests/src/fsfw_tests/internal/osal/testMq.cpp
rename to src/fsfw_tests/internal/osal/testMq.cpp
diff --git a/tests/src/fsfw_tests/internal/osal/testMq.h b/src/fsfw_tests/internal/osal/testMq.h
similarity index 100%
rename from tests/src/fsfw_tests/internal/osal/testMq.h
rename to src/fsfw_tests/internal/osal/testMq.h
diff --git a/tests/src/fsfw_tests/internal/osal/testMutex.cpp b/src/fsfw_tests/internal/osal/testMutex.cpp
similarity index 100%
rename from tests/src/fsfw_tests/internal/osal/testMutex.cpp
rename to src/fsfw_tests/internal/osal/testMutex.cpp
diff --git a/tests/src/fsfw_tests/internal/osal/testMutex.h b/src/fsfw_tests/internal/osal/testMutex.h
similarity index 100%
rename from tests/src/fsfw_tests/internal/osal/testMutex.h
rename to src/fsfw_tests/internal/osal/testMutex.h
diff --git a/tests/src/fsfw_tests/internal/osal/testSemaphore.cpp b/src/fsfw_tests/internal/osal/testSemaphore.cpp
similarity index 100%
rename from tests/src/fsfw_tests/internal/osal/testSemaphore.cpp
rename to src/fsfw_tests/internal/osal/testSemaphore.cpp
diff --git a/tests/src/fsfw_tests/internal/osal/testSemaphore.h b/src/fsfw_tests/internal/osal/testSemaphore.h
similarity index 100%
rename from tests/src/fsfw_tests/internal/osal/testSemaphore.h
rename to src/fsfw_tests/internal/osal/testSemaphore.h
diff --git a/src/fsfw_tests/internal/serialize/CMakeLists.txt b/src/fsfw_tests/internal/serialize/CMakeLists.txt
new file mode 100644
index 00000000..ee264d9d
--- /dev/null
+++ b/src/fsfw_tests/internal/serialize/CMakeLists.txt
@@ -0,0 +1 @@
+target_sources(${LIB_FSFW_NAME} PRIVATE IntTestSerialization.cpp)
diff --git a/tests/src/fsfw_tests/internal/serialize/IntTestSerialization.cpp b/src/fsfw_tests/internal/serialize/IntTestSerialization.cpp
similarity index 100%
rename from tests/src/fsfw_tests/internal/serialize/IntTestSerialization.cpp
rename to src/fsfw_tests/internal/serialize/IntTestSerialization.cpp
diff --git a/tests/src/fsfw_tests/internal/serialize/IntTestSerialization.h b/src/fsfw_tests/internal/serialize/IntTestSerialization.h
similarity index 100%
rename from tests/src/fsfw_tests/internal/serialize/IntTestSerialization.h
rename to src/fsfw_tests/internal/serialize/IntTestSerialization.h
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
deleted file mode 100644
index febd4f0a..00000000
--- a/tests/CMakeLists.txt
+++ /dev/null
@@ -1 +0,0 @@
-add_subdirectory(src)
diff --git a/tests/src/CMakeLists.txt b/tests/src/CMakeLists.txt
deleted file mode 100644
index 6673f1e4..00000000
--- a/tests/src/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-target_include_directories(${LIB_FSFW_NAME} PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-target_include_directories(${LIB_FSFW_NAME} INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-add_subdirectory(fsfw_tests)
diff --git a/tests/src/fsfw_tests/CMakeLists.txt b/tests/src/fsfw_tests/CMakeLists.txt
deleted file mode 100644
index f6e1b8ab..00000000
--- a/tests/src/fsfw_tests/CMakeLists.txt
+++ /dev/null
@@ -1,9 +0,0 @@
-if(FSFW_ADD_INTERNAL_TESTS)
-    add_subdirectory(internal)
-endif()
-
-if(FSFW_BUILD_UNITTESTS)
-    add_subdirectory(unit)
-else()
-    add_subdirectory(integration)
-endif()
diff --git a/tests/src/fsfw_tests/integration/assemblies/CMakeLists.txt b/tests/src/fsfw_tests/integration/assemblies/CMakeLists.txt
deleted file mode 100644
index 22c06600..00000000
--- a/tests/src/fsfw_tests/integration/assemblies/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    TestAssembly.cpp
-)
\ No newline at end of file
diff --git a/tests/src/fsfw_tests/integration/controller/CMakeLists.txt b/tests/src/fsfw_tests/integration/controller/CMakeLists.txt
deleted file mode 100644
index f5655b71..00000000
--- a/tests/src/fsfw_tests/integration/controller/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    TestController.cpp
-)
\ No newline at end of file
diff --git a/tests/src/fsfw_tests/integration/devices/CMakeLists.txt b/tests/src/fsfw_tests/integration/devices/CMakeLists.txt
deleted file mode 100644
index cfd238d2..00000000
--- a/tests/src/fsfw_tests/integration/devices/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    TestCookie.cpp
-    TestDeviceHandler.cpp
-    TestEchoComIF.cpp
-)
diff --git a/tests/src/fsfw_tests/integration/task/CMakeLists.txt b/tests/src/fsfw_tests/integration/task/CMakeLists.txt
deleted file mode 100644
index 4cd481bf..00000000
--- a/tests/src/fsfw_tests/integration/task/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-    TestTask.cpp
-)
\ No newline at end of file
diff --git a/tests/src/fsfw_tests/internal/CMakeLists.txt b/tests/src/fsfw_tests/internal/CMakeLists.txt
deleted file mode 100644
index 2a144a9b..00000000
--- a/tests/src/fsfw_tests/internal/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	InternalUnitTester.cpp
-	UnittDefinitions.cpp
-)
-
-add_subdirectory(osal)
-add_subdirectory(serialize)
-add_subdirectory(globalfunctions)
\ No newline at end of file
diff --git a/tests/src/fsfw_tests/internal/globalfunctions/CMakeLists.txt b/tests/src/fsfw_tests/internal/globalfunctions/CMakeLists.txt
deleted file mode 100644
index cde97734..00000000
--- a/tests/src/fsfw_tests/internal/globalfunctions/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	TestArrayPrinter.cpp
-)
diff --git a/tests/src/fsfw_tests/internal/osal/CMakeLists.txt b/tests/src/fsfw_tests/internal/osal/CMakeLists.txt
deleted file mode 100644
index 8d79d759..00000000
--- a/tests/src/fsfw_tests/internal/osal/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	testMq.cpp
-	testMutex.cpp
-	testSemaphore.cpp
-)
diff --git a/tests/src/fsfw_tests/internal/serialize/CMakeLists.txt b/tests/src/fsfw_tests/internal/serialize/CMakeLists.txt
deleted file mode 100644
index 47e8b538..00000000
--- a/tests/src/fsfw_tests/internal/serialize/CMakeLists.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-target_sources(${LIB_FSFW_NAME} PRIVATE
-	IntTestSerialization.cpp
-)
diff --git a/tests/src/fsfw_tests/unit/CMakeLists.txt b/unittests/CMakeLists.txt
similarity index 81%
rename from tests/src/fsfw_tests/unit/CMakeLists.txt
rename to unittests/CMakeLists.txt
index b5143c3b..f32c6e08 100644
--- a/tests/src/fsfw_tests/unit/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@@ -2,7 +2,7 @@ target_sources(${FSFW_TEST_TGT} PRIVATE
     CatchDefinitions.cpp
     CatchFactory.cpp
     printChar.cpp
-    version.cpp
+    testVersion.cpp
 )
 
 target_sources(${FSFW_TEST_TGT} PRIVATE
@@ -26,3 +26,6 @@ add_subdirectory(tmtcpacket)
 add_subdirectory(cfdp)
 add_subdirectory(hal)
 add_subdirectory(internalerror)
+add_subdirectory(devicehandler)
+
+target_include_directories(${FSFW_TEST_TGT} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/tests/src/fsfw_tests/unit/CatchDefinitions.cpp b/unittests/CatchDefinitions.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/CatchDefinitions.cpp
rename to unittests/CatchDefinitions.cpp
diff --git a/tests/src/fsfw_tests/unit/CatchDefinitions.h b/unittests/CatchDefinitions.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/CatchDefinitions.h
rename to unittests/CatchDefinitions.h
diff --git a/tests/src/fsfw_tests/unit/CatchFactory.cpp b/unittests/CatchFactory.cpp
similarity index 97%
rename from tests/src/fsfw_tests/unit/CatchFactory.cpp
rename to unittests/CatchFactory.cpp
index 01018dfa..860a9bed 100644
--- a/tests/src/fsfw_tests/unit/CatchFactory.cpp
+++ b/unittests/CatchFactory.cpp
@@ -65,7 +65,7 @@ void Factory::setStaticFrameworkObjectIds() {
   VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
 
   DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;
-  DeviceHandlerBase::rawDataReceiverId = objects::PUS_SERVICE_2_DEVICE_ACCESS;
+  DeviceHandlerBase::rawDataReceiverId = objects::NO_OBJECT;
 
   LocalDataPoolManager::defaultHkDestination = objects::HK_RECEIVER_MOCK;
 
diff --git a/tests/src/fsfw_tests/unit/CatchFactory.h b/unittests/CatchFactory.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/CatchFactory.h
rename to unittests/CatchFactory.h
diff --git a/tests/src/fsfw_tests/unit/CatchRunner.cpp b/unittests/CatchRunner.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/CatchRunner.cpp
rename to unittests/CatchRunner.cpp
diff --git a/tests/src/fsfw_tests/unit/CatchRunner.h b/unittests/CatchRunner.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/CatchRunner.h
rename to unittests/CatchRunner.h
diff --git a/tests/src/fsfw_tests/unit/CatchSetup.cpp b/unittests/CatchSetup.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/CatchSetup.cpp
rename to unittests/CatchSetup.cpp
diff --git a/tests/src/fsfw_tests/unit/action/CMakeLists.txt b/unittests/action/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/action/CMakeLists.txt
rename to unittests/action/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/action/TestActionHelper.cpp b/unittests/action/TestActionHelper.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/action/TestActionHelper.cpp
rename to unittests/action/TestActionHelper.cpp
index 923b7436..6461a195 100644
--- a/tests/src/fsfw_tests/unit/action/TestActionHelper.cpp
+++ b/unittests/action/TestActionHelper.cpp
@@ -6,7 +6,7 @@
 #include <array>
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/mocks/MessageQueueMockBase.h"
+#include "mocks/MessageQueueMockBase.h"
 
 TEST_CASE("Action Helper", "[ActionHelper]") {
   ActionHelperOwnerMockBase testDhMock;
diff --git a/tests/src/fsfw_tests/unit/action/TestActionHelper.h b/unittests/action/TestActionHelper.h
similarity index 96%
rename from tests/src/fsfw_tests/unit/action/TestActionHelper.h
rename to unittests/action/TestActionHelper.h
index 243f030a..75a9f3fe 100644
--- a/tests/src/fsfw_tests/unit/action/TestActionHelper.h
+++ b/unittests/action/TestActionHelper.h
@@ -6,7 +6,7 @@
 
 #include <cstring>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 class ActionHelperOwnerMockBase : public HasActionsIF {
  public:
diff --git a/tests/src/fsfw_tests/unit/cfdp/CMakeLists.txt b/unittests/cfdp/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/CMakeLists.txt
rename to unittests/cfdp/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/cfdp/testAckPdu.cpp b/unittests/cfdp/testAckPdu.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testAckPdu.cpp
rename to unittests/cfdp/testAckPdu.cpp
diff --git a/tests/src/fsfw_tests/unit/cfdp/testCfdp.cpp b/unittests/cfdp/testCfdp.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/cfdp/testCfdp.cpp
rename to unittests/cfdp/testCfdp.cpp
index 19b1ec7f..78ef618b 100644
--- a/tests/src/fsfw_tests/unit/cfdp/testCfdp.cpp
+++ b/unittests/cfdp/testCfdp.cpp
@@ -2,6 +2,7 @@
 #include <catch2/catch_test_macros.hpp>
 #include <cstring>
 
+#include "CatchDefinitions.h"
 #include "fsfw/cfdp/FileSize.h"
 #include "fsfw/cfdp/pdu/FileDirectiveDeserializer.h"
 #include "fsfw/cfdp/pdu/FileDirectiveSerializer.h"
@@ -9,7 +10,6 @@
 #include "fsfw/cfdp/pdu/HeaderSerializer.h"
 #include "fsfw/globalfunctions/arrayprinter.h"
 #include "fsfw/serialize/SerializeAdapter.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
 
 TEST_CASE("CFDP Base", "[CfdpBase]") {
   using namespace cfdp;
diff --git a/tests/src/fsfw_tests/unit/cfdp/testEofPdu.cpp b/unittests/cfdp/testEofPdu.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testEofPdu.cpp
rename to unittests/cfdp/testEofPdu.cpp
diff --git a/tests/src/fsfw_tests/unit/cfdp/testFileData.cpp b/unittests/cfdp/testFileData.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testFileData.cpp
rename to unittests/cfdp/testFileData.cpp
diff --git a/tests/src/fsfw_tests/unit/cfdp/testFinishedPdu.cpp b/unittests/cfdp/testFinishedPdu.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testFinishedPdu.cpp
rename to unittests/cfdp/testFinishedPdu.cpp
diff --git a/tests/src/fsfw_tests/unit/cfdp/testKeepAlivePdu.cpp b/unittests/cfdp/testKeepAlivePdu.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testKeepAlivePdu.cpp
rename to unittests/cfdp/testKeepAlivePdu.cpp
diff --git a/tests/src/fsfw_tests/unit/cfdp/testMetadataPdu.cpp b/unittests/cfdp/testMetadataPdu.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testMetadataPdu.cpp
rename to unittests/cfdp/testMetadataPdu.cpp
diff --git a/tests/src/fsfw_tests/unit/cfdp/testNakPdu.cpp b/unittests/cfdp/testNakPdu.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testNakPdu.cpp
rename to unittests/cfdp/testNakPdu.cpp
diff --git a/tests/src/fsfw_tests/unit/cfdp/testPromptPdu.cpp b/unittests/cfdp/testPromptPdu.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testPromptPdu.cpp
rename to unittests/cfdp/testPromptPdu.cpp
diff --git a/tests/src/fsfw_tests/unit/cfdp/testTlvsLvs.cpp b/unittests/cfdp/testTlvsLvs.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/cfdp/testTlvsLvs.cpp
rename to unittests/cfdp/testTlvsLvs.cpp
diff --git a/tests/src/fsfw_tests/unit/container/CMakeLists.txt b/unittests/container/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/container/CMakeLists.txt
rename to unittests/container/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/container/RingBufferTest.cpp b/unittests/container/RingBufferTest.cpp
similarity index 94%
rename from tests/src/fsfw_tests/unit/container/RingBufferTest.cpp
rename to unittests/container/RingBufferTest.cpp
index a83fa2ac..f4f111a6 100644
--- a/tests/src/fsfw_tests/unit/container/RingBufferTest.cpp
+++ b/unittests/container/RingBufferTest.cpp
@@ -3,7 +3,7 @@
 #include <catch2/catch_test_macros.hpp>
 #include <cstring>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("Ring Buffer Test", "[RingBufferTest]") {
   uint8_t testData[13] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
@@ -31,6 +31,8 @@ TEST_CASE("Ring Buffer Test", "[RingBufferTest]") {
     for (uint8_t i = 0; i < 9; i++) {
       CHECK(readBuffer[i] == i);
     }
+    REQUIRE(ringBuffer.writeData(testData, 1024) == retval::CATCH_FAILED);
+    REQUIRE(ringBuffer.writeData(nullptr, 5) == retval::CATCH_FAILED);
   }
 
   SECTION("Get Free Element Test") {
@@ -144,12 +146,13 @@ TEST_CASE("Ring Buffer Test2", "[RingBufferTest2]") {
 
   SECTION("Overflow") {
     REQUIRE(ringBuffer.availableWriteSpace() == 9);
-    // Writing more than the buffer is large, technically thats allowed
-    // But it is senseless and has undesired impact on read call
-    REQUIRE(ringBuffer.writeData(testData, 13) == retval::CATCH_OK);
-    REQUIRE(ringBuffer.getAvailableReadData() == 3);
+    // We don't allow writing of Data that is larger than the ring buffer in total
+    REQUIRE(ringBuffer.getMaxSize() == 9);
+    REQUIRE(ringBuffer.writeData(testData, 13) == retval::CATCH_FAILED);
+    REQUIRE(ringBuffer.getAvailableReadData() == 0);
     ringBuffer.clear();
     uint8_t *ptr = nullptr;
+    // With excess Bytes 13 Bytes can be written to this Buffer
     REQUIRE(ringBuffer.getFreeElement(&ptr, 13) == retval::CATCH_OK);
     REQUIRE(ptr != nullptr);
     memcpy(ptr, testData, 13);
@@ -234,11 +237,13 @@ TEST_CASE("Ring Buffer Test3", "[RingBufferTest3]") {
 
   SECTION("Overflow") {
     REQUIRE(ringBuffer.availableWriteSpace() == 9);
-    // Writing more than the buffer is large, technically thats allowed
-    // But it is senseless and has undesired impact on read call
-    REQUIRE(ringBuffer.writeData(testData, 13) == retval::CATCH_OK);
-    REQUIRE(ringBuffer.getAvailableReadData() == 3);
+    // Writing more than the buffer is large.
+    // This write will be rejected and is seen as a configuration mistake
+    REQUIRE(ringBuffer.writeData(testData, 13) == retval::CATCH_FAILED);
+    REQUIRE(ringBuffer.getAvailableReadData() == 0);
     ringBuffer.clear();
+    // Using FreeElement allows the usage of excessBytes but
+    // should be used with caution
     uint8_t *ptr = nullptr;
     REQUIRE(ringBuffer.getFreeElement(&ptr, 13) == retval::CATCH_OK);
     REQUIRE(ptr != nullptr);
diff --git a/tests/src/fsfw_tests/unit/container/TestArrayList.cpp b/unittests/container/TestArrayList.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/container/TestArrayList.cpp
rename to unittests/container/TestArrayList.cpp
index 2c5a37d9..4daf59d4 100644
--- a/tests/src/fsfw_tests/unit/container/TestArrayList.cpp
+++ b/unittests/container/TestArrayList.cpp
@@ -3,7 +3,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 /**
  * @brief 	Array List test
diff --git a/tests/src/fsfw_tests/unit/container/TestDynamicFifo.cpp b/unittests/container/TestDynamicFifo.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/container/TestDynamicFifo.cpp
rename to unittests/container/TestDynamicFifo.cpp
index 540ea31e..6769c247 100644
--- a/tests/src/fsfw_tests/unit/container/TestDynamicFifo.cpp
+++ b/unittests/container/TestDynamicFifo.cpp
@@ -4,7 +4,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("Dynamic Fifo Tests", "[TestDynamicFifo]") {
   INFO("Dynamic Fifo Tests");
diff --git a/tests/src/fsfw_tests/unit/container/TestFifo.cpp b/unittests/container/TestFifo.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/container/TestFifo.cpp
rename to unittests/container/TestFifo.cpp
index a9eb7956..0b4b41af 100644
--- a/tests/src/fsfw_tests/unit/container/TestFifo.cpp
+++ b/unittests/container/TestFifo.cpp
@@ -4,7 +4,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("Static Fifo Tests", "[TestFifo]") {
   INFO("Fifo Tests");
diff --git a/tests/src/fsfw_tests/unit/container/TestFixedArrayList.cpp b/unittests/container/TestFixedArrayList.cpp
similarity index 96%
rename from tests/src/fsfw_tests/unit/container/TestFixedArrayList.cpp
rename to unittests/container/TestFixedArrayList.cpp
index 42ae01d5..6beb8d5d 100644
--- a/tests/src/fsfw_tests/unit/container/TestFixedArrayList.cpp
+++ b/unittests/container/TestFixedArrayList.cpp
@@ -3,7 +3,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("FixedArrayList Tests", "[TestFixedArrayList]") {
   INFO("FixedArrayList Tests");
diff --git a/tests/src/fsfw_tests/unit/container/TestFixedMap.cpp b/unittests/container/TestFixedMap.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/container/TestFixedMap.cpp
rename to unittests/container/TestFixedMap.cpp
index 4c3cad1e..d3c65760 100644
--- a/tests/src/fsfw_tests/unit/container/TestFixedMap.cpp
+++ b/unittests/container/TestFixedMap.cpp
@@ -3,7 +3,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 template class FixedMap<unsigned int, unsigned short>;
 
diff --git a/tests/src/fsfw_tests/unit/container/TestFixedOrderedMultimap.cpp b/unittests/container/TestFixedOrderedMultimap.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/container/TestFixedOrderedMultimap.cpp
rename to unittests/container/TestFixedOrderedMultimap.cpp
index 7dd63b34..88b32694 100644
--- a/tests/src/fsfw_tests/unit/container/TestFixedOrderedMultimap.cpp
+++ b/unittests/container/TestFixedOrderedMultimap.cpp
@@ -3,7 +3,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("FixedOrderedMultimap Tests", "[TestFixedOrderedMultimap]") {
   INFO("FixedOrderedMultimap Tests");
diff --git a/tests/src/fsfw_tests/unit/container/TestPlacementFactory.cpp b/unittests/container/TestPlacementFactory.cpp
similarity index 97%
rename from tests/src/fsfw_tests/unit/container/TestPlacementFactory.cpp
rename to unittests/container/TestPlacementFactory.cpp
index 0140ce05..1333567e 100644
--- a/tests/src/fsfw_tests/unit/container/TestPlacementFactory.cpp
+++ b/unittests/container/TestPlacementFactory.cpp
@@ -5,7 +5,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("PlacementFactory Tests", "[TestPlacementFactory]") {
   INFO("PlacementFactory Tests");
diff --git a/tests/src/fsfw_tests/unit/datapoollocal/CMakeLists.txt b/unittests/datapoollocal/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/datapoollocal/CMakeLists.txt
rename to unittests/datapoollocal/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/datapoollocal/DataSetTest.cpp b/unittests/datapoollocal/DataSetTest.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/datapoollocal/DataSetTest.cpp
rename to unittests/datapoollocal/DataSetTest.cpp
index 902d59ef..c9f023ef 100644
--- a/tests/src/fsfw_tests/unit/datapoollocal/DataSetTest.cpp
+++ b/unittests/datapoollocal/DataSetTest.cpp
@@ -8,8 +8,8 @@
 #include <catch2/catch_approx.hpp>
 #include <catch2/catch_test_macros.hpp>
 
+#include "CatchDefinitions.h"
 #include "LocalPoolOwnerBase.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
 #include "tests/TestsConfig.h"
 
 TEST_CASE("DataSetTest", "[DataSetTest]") {
diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp b/unittests/datapoollocal/LocalPoolManagerTest.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp
rename to unittests/datapoollocal/LocalPoolManagerTest.cpp
index f2a5c18a..58a6065e 100644
--- a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolManagerTest.cpp
+++ b/unittests/datapoollocal/LocalPoolManagerTest.cpp
@@ -11,8 +11,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <iostream>
 
+#include "CatchDefinitions.h"
 #include "LocalPoolOwnerBase.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
 
 TEST_CASE("LocalPoolManagerTest", "[LocManTest]") {
   LocalPoolOwnerBase* poolOwner =
diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.cpp b/unittests/datapoollocal/LocalPoolOwnerBase.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.cpp
rename to unittests/datapoollocal/LocalPoolOwnerBase.cpp
diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.h b/unittests/datapoollocal/LocalPoolOwnerBase.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/datapoollocal/LocalPoolOwnerBase.h
rename to unittests/datapoollocal/LocalPoolOwnerBase.h
diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVariableTest.cpp b/unittests/datapoollocal/LocalPoolVariableTest.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVariableTest.cpp
rename to unittests/datapoollocal/LocalPoolVariableTest.cpp
index 73d51d92..3479cdbe 100644
--- a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVariableTest.cpp
+++ b/unittests/datapoollocal/LocalPoolVariableTest.cpp
@@ -3,12 +3,12 @@
 
 #include <catch2/catch_test_macros.hpp>
 
+#include "CatchDefinitions.h"
 #include "LocalPoolOwnerBase.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
 #include "tests/TestsConfig.h"
 
 TEST_CASE("LocalPoolVariable", "[LocPoolVarTest]") {
-  LocalPoolOwnerBase* poolOwner =
+  auto* poolOwner =
       ObjectManager::instance()->get<LocalPoolOwnerBase>(objects::TEST_LOCAL_POOL_OWNER_BASE);
   REQUIRE(poolOwner != nullptr);
   REQUIRE(poolOwner->initializeHkManager() == retval::CATCH_OK);
diff --git a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVectorTest.cpp b/unittests/datapoollocal/LocalPoolVectorTest.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVectorTest.cpp
rename to unittests/datapoollocal/LocalPoolVectorTest.cpp
index 5932db44..2235ad39 100644
--- a/tests/src/fsfw_tests/unit/datapoollocal/LocalPoolVectorTest.cpp
+++ b/unittests/datapoollocal/LocalPoolVectorTest.cpp
@@ -3,8 +3,8 @@
 
 #include <catch2/catch_test_macros.hpp>
 
+#include "CatchDefinitions.h"
 #include "LocalPoolOwnerBase.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
 #include "tests/TestsConfig.h"
 
 TEST_CASE("LocalPoolVector", "[LocPoolVecTest]") {
diff --git a/unittests/devicehandler/CMakeLists.txt b/unittests/devicehandler/CMakeLists.txt
new file mode 100644
index 00000000..7ad5d316
--- /dev/null
+++ b/unittests/devicehandler/CMakeLists.txt
@@ -0,0 +1,8 @@
+target_sources(${FSFW_TEST_TGT} PRIVATE
+	CookieIFMock.cpp
+	ComIFMock.cpp
+	DeviceHandlerCommander.cpp
+	DeviceHandlerMock.cpp
+	DeviceFdirMock.cpp
+	TestDeviceHandlerBase.cpp
+)
diff --git a/unittests/devicehandler/ComIFMock.cpp b/unittests/devicehandler/ComIFMock.cpp
new file mode 100644
index 00000000..650b74bd
--- /dev/null
+++ b/unittests/devicehandler/ComIFMock.cpp
@@ -0,0 +1,46 @@
+#include "ComIFMock.h"
+
+#include "DeviceHandlerMock.h"
+
+ComIFMock::ComIFMock(object_id_t objectId) : SystemObject(objectId) {}
+
+ComIFMock::~ComIFMock() {}
+
+ReturnValue_t ComIFMock::initializeInterface(CookieIF *cookie) { return RETURN_OK; }
+
+ReturnValue_t ComIFMock::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
+  data = *sendData;
+  return RETURN_OK;
+}
+
+ReturnValue_t ComIFMock::getSendSuccess(CookieIF *cookie) { return RETURN_OK; }
+
+ReturnValue_t ComIFMock::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
+  return RETURN_OK;
+}
+
+ReturnValue_t ComIFMock::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
+  switch (testCase) {
+    case TestCase::MISSED_REPLY: {
+      *size = 0;
+      return RETURN_OK;
+    }
+    case TestCase::SIMPLE_COMMAND_NOMINAL: {
+      *size = 1;
+      data = DeviceHandlerMock::SIMPLE_COMMAND_DATA;
+      *buffer = &data;
+      break;
+    }
+    case TestCase::PERIODIC_REPLY_NOMINAL: {
+      *size = 1;
+      data = DeviceHandlerMock::PERIODIC_REPLY_DATA;
+      *buffer = &data;
+      break;
+    }
+    default:
+      break;
+  }
+  return RETURN_OK;
+}
+
+void ComIFMock::setTestCase(TestCase testCase_) { testCase = testCase_; }
diff --git a/unittests/devicehandler/ComIFMock.h b/unittests/devicehandler/ComIFMock.h
new file mode 100644
index 00000000..d16cc0a6
--- /dev/null
+++ b/unittests/devicehandler/ComIFMock.h
@@ -0,0 +1,37 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COMIFMOCK_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COMIFMOCK_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+
+/**
+ * @brief	The ComIFMock supports the simulation of various device communication error cases
+ * 			  like incomplete or wrong replies and can be used to test the
+ * DeviceHandlerBase.
+ */
+class ComIFMock : public DeviceCommunicationIF, public SystemObject {
+ public:
+  enum class TestCase { SIMPLE_COMMAND_NOMINAL, PERIODIC_REPLY_NOMINAL, MISSED_REPLY };
+
+  ComIFMock(object_id_t objectId);
+  virtual ~ComIFMock();
+
+  virtual ReturnValue_t initializeInterface(CookieIF *cookie) override;
+  virtual ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData,
+                                    size_t sendLen) override;
+  virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
+  virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
+  virtual ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
+                                            size_t *size) override;
+  void setTestCase(TestCase testCase_);
+
+ private:
+  TestCase testCase = TestCase::SIMPLE_COMMAND_NOMINAL;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  uint8_t data = 0;
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COMIFMOCK_H_ */
diff --git a/unittests/devicehandler/CookieIFMock.cpp b/unittests/devicehandler/CookieIFMock.cpp
new file mode 100644
index 00000000..1ae2eb6e
--- /dev/null
+++ b/unittests/devicehandler/CookieIFMock.cpp
@@ -0,0 +1,5 @@
+#include "CookieIFMock.h"
+
+CookieIFMock::CookieIFMock() {}
+
+CookieIFMock::~CookieIFMock() {}
diff --git a/unittests/devicehandler/CookieIFMock.h b/unittests/devicehandler/CookieIFMock.h
new file mode 100644
index 00000000..1243b0a7
--- /dev/null
+++ b/unittests/devicehandler/CookieIFMock.h
@@ -0,0 +1,12 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COOKIEIFMOCK_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COOKIEIFMOCK_H_
+
+#include "fsfw/devicehandlers/CookieIF.h"
+
+class CookieIFMock : public CookieIF {
+ public:
+  CookieIFMock();
+  virtual ~CookieIFMock();
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_COOKIEIFMOCK_H_ */
diff --git a/unittests/devicehandler/DeviceFdirMock.cpp b/unittests/devicehandler/DeviceFdirMock.cpp
new file mode 100644
index 00000000..e3ac39ac
--- /dev/null
+++ b/unittests/devicehandler/DeviceFdirMock.cpp
@@ -0,0 +1,18 @@
+#include "DeviceFdirMock.h"
+
+#include "devicehandler/DeviceFdirMock.h"
+
+DeviceFdirMock::DeviceFdirMock(object_id_t owner, object_id_t parent)
+    : DeviceHandlerFailureIsolation(owner, parent) {}
+
+DeviceFdirMock::~DeviceFdirMock() {}
+
+uint32_t DeviceFdirMock::getMissedReplyCount() {
+  ParameterWrapper parameterWrapper;
+  this->getParameter(MISSED_REPLY_DOMAIN_ID,
+                     static_cast<uint8_t>(FaultCounter::ParameterIds::FAULT_COUNT),
+                     &parameterWrapper, nullptr, 0);
+  uint32_t missedReplyCount = 0;
+  parameterWrapper.getElement(&missedReplyCount);
+  return missedReplyCount;
+}
diff --git a/unittests/devicehandler/DeviceFdirMock.h b/unittests/devicehandler/DeviceFdirMock.h
new file mode 100644
index 00000000..b314fc98
--- /dev/null
+++ b/unittests/devicehandler/DeviceFdirMock.h
@@ -0,0 +1,18 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEFDIRMOCK_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEFDIRMOCK_H_
+
+#include "fsfw/devicehandlers/DeviceHandlerFailureIsolation.h"
+
+class DeviceFdirMock : public DeviceHandlerFailureIsolation {
+ public:
+  DeviceFdirMock(object_id_t owner, object_id_t parent);
+  virtual ~DeviceFdirMock();
+
+  uint32_t getMissedReplyCount();
+
+ private:
+  static const uint8_t STRANGE_REPLY_DOMAIN_ID = 0xF0;
+  static const uint8_t MISSED_REPLY_DOMAIN_ID = 0xF1;
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEFDIRMOCK_H_ */
diff --git a/unittests/devicehandler/DeviceHandlerCommander.cpp b/unittests/devicehandler/DeviceHandlerCommander.cpp
new file mode 100644
index 00000000..d38166ad
--- /dev/null
+++ b/unittests/devicehandler/DeviceHandlerCommander.cpp
@@ -0,0 +1,64 @@
+#include "DeviceHandlerCommander.h"
+
+#include <fsfw/ipc/QueueFactory.h>
+
+DeviceHandlerCommander::DeviceHandlerCommander(object_id_t objectId)
+    : SystemObject(objectId), commandActionHelper(this) {
+  auto mqArgs = MqArgs(this->getObjectId());
+  commandQueue = QueueFactory::instance()->createMessageQueue(
+      QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
+}
+
+DeviceHandlerCommander::~DeviceHandlerCommander() {}
+
+ReturnValue_t DeviceHandlerCommander::performOperation(uint8_t operationCode) {
+  readCommandQueue();
+  return RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerCommander::initialize() {
+  ReturnValue_t result = commandActionHelper.initialize();
+  if (result != HasReturnvaluesIF::RETURN_OK) {
+    return result;
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+MessageQueueIF* DeviceHandlerCommander::getCommandQueuePtr() { return commandQueue; }
+
+void DeviceHandlerCommander::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) {}
+
+void DeviceHandlerCommander::stepFailedReceived(ActionId_t actionId, uint8_t step,
+                                                ReturnValue_t returnCode) {}
+
+void DeviceHandlerCommander::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
+}
+
+void DeviceHandlerCommander::completionSuccessfulReceived(ActionId_t actionId) {
+  lastReplyReturnCode = RETURN_OK;
+}
+
+void DeviceHandlerCommander::completionFailedReceived(ActionId_t actionId,
+                                                      ReturnValue_t returnCode) {
+  lastReplyReturnCode = returnCode;
+}
+
+void DeviceHandlerCommander::readCommandQueue() {
+  CommandMessage message;
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  for (result = commandQueue->receiveMessage(&message); result == HasReturnvaluesIF::RETURN_OK;
+       result = commandQueue->receiveMessage(&message)) {
+    result = commandActionHelper.handleReply(&message);
+    if (result == HasReturnvaluesIF::RETURN_OK) {
+      continue;
+    }
+  }
+}
+
+ReturnValue_t DeviceHandlerCommander::sendCommand(object_id_t target, ActionId_t actionId) {
+  return commandActionHelper.commandAction(target, actionId, nullptr, 0);
+}
+
+ReturnValue_t DeviceHandlerCommander::getReplyReturnCode() { return lastReplyReturnCode; }
+
+void DeviceHandlerCommander::resetReplyReturnCode() { lastReplyReturnCode = RETURN_FAILED; }
diff --git a/unittests/devicehandler/DeviceHandlerCommander.h b/unittests/devicehandler/DeviceHandlerCommander.h
new file mode 100644
index 00000000..435d0017
--- /dev/null
+++ b/unittests/devicehandler/DeviceHandlerCommander.h
@@ -0,0 +1,50 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERCOMMANDER_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERCOMMANDER_H_
+
+#include "fsfw/action/CommandActionHelper.h"
+#include "fsfw/action/CommandsActionsIF.h"
+#include "fsfw/objectmanager/SystemObject.h"
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/tasks/ExecutableObjectIF.h"
+
+class DeviceHandlerCommander : public ExecutableObjectIF,
+                               public SystemObject,
+                               public CommandsActionsIF,
+                               public HasReturnvaluesIF {
+ public:
+  DeviceHandlerCommander(object_id_t objectId);
+  virtual ~DeviceHandlerCommander();
+
+  ReturnValue_t performOperation(uint8_t operationCode = 0);
+  ReturnValue_t initialize() override;
+  MessageQueueIF* getCommandQueuePtr() override;
+  void stepSuccessfulReceived(ActionId_t actionId, uint8_t step) override;
+  void stepFailedReceived(ActionId_t actionId, uint8_t step, ReturnValue_t returnCode) override;
+  void dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) override;
+  void completionSuccessfulReceived(ActionId_t actionId) override;
+  void completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) override;
+
+  /**
+   * @brief	Calling this function will send the command to the device handler object.
+   *
+   * @param target	Object ID of the device handler
+   * @param actionId	Action ID of the command to send
+   */
+  ReturnValue_t sendCommand(object_id_t target, ActionId_t actionId);
+
+  ReturnValue_t getReplyReturnCode();
+  void resetReplyReturnCode();
+
+ private:
+  static const uint32_t QUEUE_SIZE = 20;
+
+  MessageQueueIF* commandQueue = nullptr;
+
+  CommandActionHelper commandActionHelper;
+
+  ReturnValue_t lastReplyReturnCode = RETURN_FAILED;
+
+  void readCommandQueue();
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERCOMMANDER_H_ */
diff --git a/unittests/devicehandler/DeviceHandlerMock.cpp b/unittests/devicehandler/DeviceHandlerMock.cpp
new file mode 100644
index 00000000..ea30ff6a
--- /dev/null
+++ b/unittests/devicehandler/DeviceHandlerMock.cpp
@@ -0,0 +1,103 @@
+#include "DeviceHandlerMock.h"
+
+#include <catch2/catch_test_macros.hpp>
+
+DeviceHandlerMock::DeviceHandlerMock(object_id_t objectId, object_id_t deviceCommunication,
+                                     CookieIF *comCookie, FailureIsolationBase *fdirInstance)
+    : DeviceHandlerBase(objectId, deviceCommunication, comCookie, fdirInstance) {
+  mode = MODE_ON;
+}
+
+DeviceHandlerMock::~DeviceHandlerMock() {}
+
+void DeviceHandlerMock::doStartUp() { setMode(_MODE_TO_ON); }
+
+void DeviceHandlerMock::doShutDown() { setMode(_MODE_POWER_DOWN); }
+
+ReturnValue_t DeviceHandlerMock::buildNormalDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t DeviceHandlerMock::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
+  return NOTHING_TO_SEND;
+}
+
+ReturnValue_t DeviceHandlerMock::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+                                                         const uint8_t *commandData,
+                                                         size_t commandDataLen) {
+  switch (deviceCommand) {
+    case SIMPLE_COMMAND: {
+      commandBuffer[0] = SIMPLE_COMMAND_DATA;
+      rawPacket = commandBuffer;
+      rawPacketLen = sizeof(SIMPLE_COMMAND_DATA);
+      break;
+    }
+    default:
+      WARN("DeviceHandlerMock::buildCommandFromCommand: Invalid device command");
+      break;
+  }
+  return RETURN_OK;
+}
+
+ReturnValue_t DeviceHandlerMock::scanForReply(const uint8_t *start, size_t len,
+                                              DeviceCommandId_t *foundId, size_t *foundLen) {
+  switch (*start) {
+    case SIMPLE_COMMAND_DATA: {
+      *foundId = SIMPLE_COMMAND;
+      *foundLen = sizeof(SIMPLE_COMMAND_DATA);
+      return RETURN_OK;
+      break;
+    }
+    case PERIODIC_REPLY_DATA: {
+      *foundId = PERIODIC_REPLY;
+      *foundLen = sizeof(PERIODIC_REPLY_DATA);
+      return RETURN_OK;
+      break;
+    }
+    default:
+      break;
+  }
+  return RETURN_FAILED;
+}
+
+ReturnValue_t DeviceHandlerMock::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
+  switch (id) {
+    case SIMPLE_COMMAND:
+    case PERIODIC_REPLY: {
+      periodicReplyReceived = true;
+      break;
+    }
+    default:
+      break;
+  }
+  return RETURN_OK;
+}
+
+void DeviceHandlerMock::fillCommandAndReplyMap() {
+  insertInCommandAndReplyMap(SIMPLE_COMMAND, 0, nullptr, 0, false, false, 0,
+                             &simpleCommandReplyTimeout);
+  insertInCommandAndReplyMap(PERIODIC_REPLY, 0, nullptr, 0, true, false, 0,
+                             &periodicReplyCountdown);
+}
+
+uint32_t DeviceHandlerMock::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 500; }
+
+void DeviceHandlerMock::changePeriodicReplyCountdown(uint32_t timeout) {
+  periodicReplyCountdown.setTimeout(timeout);
+}
+
+void DeviceHandlerMock::changeSimpleCommandReplyCountdown(uint32_t timeout) {
+  simpleCommandReplyTimeout.setTimeout(timeout);
+}
+
+void DeviceHandlerMock::resetPeriodicReplyState() { periodicReplyReceived = false; }
+
+bool DeviceHandlerMock::getPeriodicReplyReceived() { return periodicReplyReceived; }
+
+ReturnValue_t DeviceHandlerMock::enablePeriodicReply(DeviceCommandId_t replyId) {
+  return updatePeriodicReply(true, replyId);
+}
+
+ReturnValue_t DeviceHandlerMock::disablePeriodicReply(DeviceCommandId_t replyId) {
+  return updatePeriodicReply(false, replyId);
+}
diff --git a/unittests/devicehandler/DeviceHandlerMock.h b/unittests/devicehandler/DeviceHandlerMock.h
new file mode 100644
index 00000000..ef1649c3
--- /dev/null
+++ b/unittests/devicehandler/DeviceHandlerMock.h
@@ -0,0 +1,46 @@
+#ifndef TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERMOCK_H_
+#define TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERMOCK_H_
+
+#include <fsfw/devicehandlers/DeviceHandlerBase.h>
+
+class DeviceHandlerMock : public DeviceHandlerBase {
+ public:
+  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
+  static const DeviceCommandId_t PERIODIC_REPLY = 2;
+
+  static const uint8_t SIMPLE_COMMAND_DATA = 1;
+  static const uint8_t PERIODIC_REPLY_DATA = 2;
+
+  DeviceHandlerMock(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
+                    FailureIsolationBase *fdirInstance);
+  virtual ~DeviceHandlerMock();
+  void changePeriodicReplyCountdown(uint32_t timeout);
+  void changeSimpleCommandReplyCountdown(uint32_t timeout);
+  void resetPeriodicReplyState();
+  bool getPeriodicReplyReceived();
+  ReturnValue_t enablePeriodicReply(DeviceCommandId_t replyId);
+  ReturnValue_t disablePeriodicReply(DeviceCommandId_t replyId);
+
+ protected:
+  void doStartUp() override;
+  void doShutDown() override;
+  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
+  ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
+                                        size_t commandDataLen) override;
+  ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
+                             size_t *foundLen) override;
+  ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
+  void fillCommandAndReplyMap() override;
+  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
+
+ private:
+  Countdown simpleCommandReplyTimeout = Countdown(1000);
+  Countdown periodicReplyCountdown = Countdown(1000);
+
+  uint8_t commandBuffer[1];
+
+  bool periodicReplyReceived = false;
+};
+
+#endif /* TESTS_SRC_FSFW_TESTS_UNIT_DEVICEHANDLER_DEVICEHANDLERMOCK_H_ */
diff --git a/unittests/devicehandler/TestDeviceHandlerBase.cpp b/unittests/devicehandler/TestDeviceHandlerBase.cpp
new file mode 100644
index 00000000..e8fdd17b
--- /dev/null
+++ b/unittests/devicehandler/TestDeviceHandlerBase.cpp
@@ -0,0 +1,95 @@
+#include <catch2/catch_test_macros.hpp>
+
+#include "ComIFMock.h"
+#include "DeviceFdirMock.h"
+#include "DeviceHandlerCommander.h"
+#include "DeviceHandlerMock.h"
+#include "devicehandler/CookieIFMock.h"
+#include "objects/systemObjectList.h"
+
+TEST_CASE("Device Handler Base", "[DeviceHandlerBase]") {
+  // Will be deleted with DHB destructor
+  auto* cookieIFMock = new CookieIFMock;
+  ComIFMock comIF(objects::COM_IF_MOCK);
+  DeviceFdirMock deviceFdirMock(objects::DEVICE_HANDLER_MOCK, objects::NO_OBJECT);
+  DeviceHandlerMock deviceHandlerMock(objects::DEVICE_HANDLER_MOCK, objects::COM_IF_MOCK,
+                                      cookieIFMock, &deviceFdirMock);
+  ReturnValue_t result = deviceHandlerMock.initialize();
+  REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+  DeviceHandlerCommander deviceHandlerCommander(objects::DEVICE_HANDLER_COMMANDER);
+  result = deviceHandlerCommander.initialize();
+  REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+
+  SECTION("Commanding nominal") {
+    comIF.setTestCase(ComIFMock::TestCase::SIMPLE_COMMAND_NOMINAL);
+    result = deviceHandlerCommander.sendCommand(objects::DEVICE_HANDLER_MOCK,
+                                                DeviceHandlerMock::SIMPLE_COMMAND);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_READ);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_READ);
+    deviceHandlerCommander.performOperation();
+    result = deviceHandlerCommander.getReplyReturnCode();
+    uint32_t missedReplies = deviceFdirMock.getMissedReplyCount();
+    REQUIRE(missedReplies == 0);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+  }
+
+  SECTION("Commanding missed reply") {
+    comIF.setTestCase(ComIFMock::TestCase::MISSED_REPLY);
+    deviceHandlerCommander.resetReplyReturnCode();
+    // Set the timeout to 0 to immediately timeout the reply
+    deviceHandlerMock.changeSimpleCommandReplyCountdown(0);
+    result = deviceHandlerCommander.sendCommand(objects::DEVICE_HANDLER_MOCK,
+                                                DeviceHandlerMock::SIMPLE_COMMAND);
+    REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_READ);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_READ);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
+    deviceHandlerCommander.performOperation();
+    result = deviceHandlerCommander.getReplyReturnCode();
+    REQUIRE(result == DeviceHandlerIF::TIMEOUT);
+    uint32_t missedReplies = deviceFdirMock.getMissedReplyCount();
+    REQUIRE(missedReplies == 1);
+  }
+
+  SECTION("Periodic reply nominal") {
+    comIF.setTestCase(ComIFMock::TestCase::PERIODIC_REPLY_NOMINAL);
+    deviceHandlerMock.enablePeriodicReply(DeviceHandlerMock::PERIODIC_REPLY);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_READ);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_READ);
+    REQUIRE(deviceHandlerMock.getPeriodicReplyReceived() == true);
+  }
+
+  SECTION("Missed periodic reply") {
+    comIF.setTestCase(ComIFMock::TestCase::MISSED_REPLY);
+    // Set the timeout to 0 to immediately timeout the reply
+    deviceHandlerMock.changePeriodicReplyCountdown(0);
+    deviceHandlerMock.enablePeriodicReply(DeviceHandlerMock::PERIODIC_REPLY);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_READ);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_READ);
+    uint32_t missedReplies = deviceFdirMock.getMissedReplyCount();
+    REQUIRE(missedReplies == 1);
+    // Test if disabling of periodic reply
+    deviceHandlerMock.disablePeriodicReply(DeviceHandlerMock::PERIODIC_REPLY);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::PERFORM_OPERATION);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_WRITE);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::SEND_READ);
+    deviceHandlerMock.performOperation(DeviceHandlerIF::GET_READ);
+    missedReplies = deviceFdirMock.getMissedReplyCount();
+    // Should still be 1 because periodic reply is now disabled
+    REQUIRE(missedReplies == 1);
+  }
+}
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt b/unittests/globalfunctions/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/globalfunctions/CMakeLists.txt
rename to unittests/globalfunctions/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testBitutil.cpp b/unittests/globalfunctions/testBitutil.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/globalfunctions/testBitutil.cpp
rename to unittests/globalfunctions/testBitutil.cpp
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testCRC.cpp b/unittests/globalfunctions/testCRC.cpp
similarity index 88%
rename from tests/src/fsfw_tests/unit/globalfunctions/testCRC.cpp
rename to unittests/globalfunctions/testCRC.cpp
index b163ea1f..2b6de4db 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/testCRC.cpp
+++ b/unittests/globalfunctions/testCRC.cpp
@@ -1,8 +1,8 @@
 #include <array>
 
+#include "CatchDefinitions.h"
 #include "catch2/catch_test_macros.hpp"
 #include "fsfw/globalfunctions/CRC.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
 
 TEST_CASE("CRC", "[CRC]") {
   std::array<uint8_t, 10> testData = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp b/unittests/globalfunctions/testDleEncoder.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
rename to unittests/globalfunctions/testDleEncoder.cpp
index 034cb3a0..0c707f4c 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/testDleEncoder.cpp
+++ b/unittests/globalfunctions/testDleEncoder.cpp
@@ -1,8 +1,8 @@
 #include <array>
 
+#include "CatchDefinitions.h"
 #include "catch2/catch_test_macros.hpp"
 #include "fsfw/globalfunctions/DleEncoder.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
 
 const std::vector<uint8_t> TEST_ARRAY_0 = {0, 0, 0, 0, 0};
 const std::vector<uint8_t> TEST_ARRAY_1 = {0, DleEncoder::DLE_CHAR, 5};
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testOpDivider.cpp b/unittests/globalfunctions/testOpDivider.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/globalfunctions/testOpDivider.cpp
rename to unittests/globalfunctions/testOpDivider.cpp
diff --git a/tests/src/fsfw_tests/unit/globalfunctions/testTimevalOperations.cpp b/unittests/globalfunctions/testTimevalOperations.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/globalfunctions/testTimevalOperations.cpp
rename to unittests/globalfunctions/testTimevalOperations.cpp
index 347d2204..155e6b15 100644
--- a/tests/src/fsfw_tests/unit/globalfunctions/testTimevalOperations.cpp
+++ b/unittests/globalfunctions/testTimevalOperations.cpp
@@ -3,7 +3,7 @@
 #include <catch2/catch_approx.hpp>
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("TimevalTest", "[timevalOperations]") {
   SECTION("Comparison") {
diff --git a/tests/src/fsfw_tests/unit/hal/CMakeLists.txt b/unittests/hal/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/hal/CMakeLists.txt
rename to unittests/hal/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp b/unittests/hal/testCommandExecutor.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
rename to unittests/hal/testCommandExecutor.cpp
index 6af101dd..c28f5159 100644
--- a/tests/src/fsfw_tests/unit/hal/testCommandExecutor.cpp
+++ b/unittests/hal/testCommandExecutor.cpp
@@ -4,12 +4,12 @@
 #include <fstream>
 #include <iostream>
 
-#include "tests/TestsConfig.h"
 #include "fsfw/container/DynamicFIFO.h"
 #include "fsfw/container/SimpleRingBuffer.h"
 #include "fsfw/platform.h"
 #include "fsfw/serviceinterface.h"
 #include "fsfw_hal/linux/CommandExecutor.h"
+#include "tests/TestsConfig.h"
 
 #ifdef PLATFORM_UNIX
 
diff --git a/tests/src/fsfw_tests/unit/internalerror/CMakeLists.txt b/unittests/internalerror/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/internalerror/CMakeLists.txt
rename to unittests/internalerror/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/internalerror/TestInternalErrorReporter.cpp b/unittests/internalerror/TestInternalErrorReporter.cpp
similarity index 96%
rename from tests/src/fsfw_tests/unit/internalerror/TestInternalErrorReporter.cpp
rename to unittests/internalerror/TestInternalErrorReporter.cpp
index a993fff6..2b999fae 100644
--- a/tests/src/fsfw_tests/unit/internalerror/TestInternalErrorReporter.cpp
+++ b/unittests/internalerror/TestInternalErrorReporter.cpp
@@ -8,12 +8,12 @@
 #include <array>
 #include <catch2/catch_test_macros.hpp>
 
+#include "CatchDefinitions.h"
 #include "fsfw/action/ActionMessage.h"
 #include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
 #include "fsfw/objectmanager/frameworkObjects.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
-#include "fsfw_tests/unit/mocks/PeriodicTaskIFMock.h"
+#include "mocks/PeriodicTaskIFMock.h"
 
 TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
   PeriodicTaskMock task(10, nullptr);
@@ -21,7 +21,7 @@ TEST_CASE("Internal Error Reporter", "[TestInternalError]") {
   if (manager == nullptr) {
     FAIL();
   }
-  InternalErrorReporter* internalErrorReporter = dynamic_cast<InternalErrorReporter*>(
+  auto* internalErrorReporter = dynamic_cast<InternalErrorReporter*>(
       ObjectManager::instance()->get<InternalErrorReporterIF>(objects::INTERNAL_ERROR_REPORTER));
   if (internalErrorReporter == nullptr) {
     FAIL();
diff --git a/tests/src/fsfw_tests/unit/mocks/CMakeLists.txt b/unittests/mocks/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/mocks/CMakeLists.txt
rename to unittests/mocks/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/mocks/HkReceiverMock.h b/unittests/mocks/HkReceiverMock.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/mocks/HkReceiverMock.h
rename to unittests/mocks/HkReceiverMock.h
diff --git a/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h b/unittests/mocks/MessageQueueMockBase.h
similarity index 98%
rename from tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h
rename to unittests/mocks/MessageQueueMockBase.h
index 4236593e..d3323186 100644
--- a/tests/src/fsfw_tests/unit/mocks/MessageQueueMockBase.h
+++ b/unittests/mocks/MessageQueueMockBase.h
@@ -4,11 +4,11 @@
 #include <cstring>
 #include <queue>
 
+#include "CatchDefinitions.h"
 #include "fsfw/ipc/CommandMessage.h"
 #include "fsfw/ipc/MessageQueueBase.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/ipc/MessageQueueMessage.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
 
 class MessageQueueMockBase : public MessageQueueBase {
  public:
diff --git a/tests/src/fsfw_tests/unit/mocks/PeriodicTaskIFMock.h b/unittests/mocks/PeriodicTaskIFMock.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/mocks/PeriodicTaskIFMock.h
rename to unittests/mocks/PeriodicTaskIFMock.h
diff --git a/tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp b/unittests/mocks/PowerSwitcherMock.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.cpp
rename to unittests/mocks/PowerSwitcherMock.cpp
diff --git a/tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.h b/unittests/mocks/PowerSwitcherMock.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/mocks/PowerSwitcherMock.h
rename to unittests/mocks/PowerSwitcherMock.h
diff --git a/tests/src/fsfw_tests/unit/osal/CMakeLists.txt b/unittests/osal/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/osal/CMakeLists.txt
rename to unittests/osal/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/osal/TestClock.cpp b/unittests/osal/TestClock.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/osal/TestClock.cpp
rename to unittests/osal/TestClock.cpp
index 38ec3915..9979b28c 100644
--- a/tests/src/fsfw_tests/unit/osal/TestClock.cpp
+++ b/unittests/osal/TestClock.cpp
@@ -5,7 +5,7 @@
 #include <catch2/catch_approx.hpp>
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("OSAL::Clock Test", "[OSAL::Clock Test]") {
   SECTION("Test getClock") {
diff --git a/tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp b/unittests/osal/TestMessageQueue.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp
rename to unittests/osal/TestMessageQueue.cpp
index 11c0739b..df15b33d 100644
--- a/tests/src/fsfw_tests/unit/osal/TestMessageQueue.cpp
+++ b/unittests/osal/TestMessageQueue.cpp
@@ -4,7 +4,7 @@
 #include <array>
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("MessageQueue Basic Test", "[TestMq]") {
   MessageQueueIF* testSenderMq = QueueFactory::instance()->createMessageQueue(1);
diff --git a/tests/src/fsfw_tests/unit/osal/TestSemaphore.cpp b/unittests/osal/TestSemaphore.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/osal/TestSemaphore.cpp
rename to unittests/osal/TestSemaphore.cpp
diff --git a/tests/src/fsfw_tests/unit/power/CMakeLists.txt b/unittests/power/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/power/CMakeLists.txt
rename to unittests/power/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp b/unittests/power/testPowerSwitcher.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
rename to unittests/power/testPowerSwitcher.cpp
index 941055ac..f6a24583 100644
--- a/tests/src/fsfw_tests/unit/power/testPowerSwitcher.cpp
+++ b/unittests/power/testPowerSwitcher.cpp
@@ -1,9 +1,9 @@
 #include <fsfw/power/DummyPowerSwitcher.h>
 #include <fsfw/power/PowerSwitcher.h>
-#include <fsfw_tests/unit/mocks/PowerSwitcherMock.h>
 
 #include <catch2/catch_test_macros.hpp>
 
+#include "mocks/PowerSwitcherMock.h"
 #include "objects/systemObjectList.h"
 
 TEST_CASE("Power Switcher", "[power-switcher]") {
diff --git a/tests/src/fsfw_tests/unit/printChar.cpp b/unittests/printChar.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/printChar.cpp
rename to unittests/printChar.cpp
diff --git a/tests/src/fsfw_tests/unit/printChar.h b/unittests/printChar.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/printChar.h
rename to unittests/printChar.h
diff --git a/tests/src/fsfw_tests/unit/serialize/CMakeLists.txt b/unittests/serialize/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/serialize/CMakeLists.txt
rename to unittests/serialize/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/serialize/TestSerialBufferAdapter.cpp b/unittests/serialize/TestSerialBufferAdapter.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/serialize/TestSerialBufferAdapter.cpp
rename to unittests/serialize/TestSerialBufferAdapter.cpp
index 9b30427f..2aa76ec8 100644
--- a/tests/src/fsfw_tests/unit/serialize/TestSerialBufferAdapter.cpp
+++ b/unittests/serialize/TestSerialBufferAdapter.cpp
@@ -3,7 +3,7 @@
 #include <array>
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 static bool test_value_bool = true;
 static uint16_t tv_uint16{283};
diff --git a/tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.cpp b/unittests/serialize/TestSerialLinkedPacket.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.cpp
rename to unittests/serialize/TestSerialLinkedPacket.cpp
index e3bdf882..2d6e476f 100644
--- a/tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.cpp
+++ b/unittests/serialize/TestSerialLinkedPacket.cpp
@@ -5,7 +5,7 @@
 #include <array>
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("Serial Linked Packet", "[SerLinkPacket]") {
   // perform set-up here
diff --git a/tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.h b/unittests/serialize/TestSerialLinkedPacket.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/serialize/TestSerialLinkedPacket.h
rename to unittests/serialize/TestSerialLinkedPacket.h
diff --git a/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp b/unittests/serialize/TestSerialization.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp
rename to unittests/serialize/TestSerialization.cpp
index 52cb70f6..a3340a7d 100644
--- a/tests/src/fsfw_tests/unit/serialize/TestSerialization.cpp
+++ b/unittests/serialize/TestSerialization.cpp
@@ -5,7 +5,7 @@
 #include <catch2/catch_approx.hpp>
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 static bool testBool = true;
 static uint8_t tvUint8{5};
diff --git a/tests/src/fsfw_tests/unit/storagemanager/CMakeLists.txt b/unittests/storagemanager/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/storagemanager/CMakeLists.txt
rename to unittests/storagemanager/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp b/unittests/storagemanager/TestNewAccessor.cpp
similarity index 96%
rename from tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp
rename to unittests/storagemanager/TestNewAccessor.cpp
index 9631de38..2cc2e469 100644
--- a/tests/src/fsfw_tests/unit/storagemanager/TestNewAccessor.cpp
+++ b/unittests/storagemanager/TestNewAccessor.cpp
@@ -4,7 +4,7 @@
 #include <catch2/catch_test_macros.hpp>
 #include <cstring>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("New Accessor", "[NewAccessor]") {
   LocalPool::LocalPoolConfig poolCfg = {{1, 10}};
@@ -157,7 +157,7 @@ TEST_CASE("New Accessor", "[NewAccessor]") {
     }
   }
 
-  SECTION("Operators"){
+  SECTION("Operators") {
     result = SimplePool.addData(&testStoreId, testDataArray.data(), size);
     REQUIRE(result == retval::CATCH_OK);
     {
@@ -173,13 +173,13 @@ TEST_CASE("New Accessor", "[NewAccessor]") {
       REQUIRE(result == HasReturnvaluesIF::RETURN_OK);
       CHECK(accessor2.getId() == testStoreId);
       CHECK(accessor2.size() == 10);
-      
+
       std::array<uint8_t, 10> newData;
       // Expect data to be invalid so this must return RETURN_FAILED
-      result = accessor.getDataCopy(newData.data(),newData.size());
+      result = accessor.getDataCopy(newData.data(), newData.size());
       REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
-      // Expect data to be too small 
-      result = accessor2.getDataCopy(data.data(),data.size());
+      // Expect data to be too small
+      result = accessor2.getDataCopy(data.data(), data.size());
       REQUIRE(result == HasReturnvaluesIF::RETURN_FAILED);
     }
   }
diff --git a/tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp b/unittests/storagemanager/TestPool.cpp
similarity index 99%
rename from tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp
rename to unittests/storagemanager/TestPool.cpp
index ce1f8518..e37c6934 100644
--- a/tests/src/fsfw_tests/unit/storagemanager/TestPool.cpp
+++ b/unittests/storagemanager/TestPool.cpp
@@ -1,11 +1,11 @@
 #include <fsfw/objectmanager/ObjectManager.h>
 #include <fsfw/storagemanager/LocalPool.h>
 
+#include <array>
 #include <catch2/catch_test_macros.hpp>
 #include <cstring>
-#include <array>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("Local Pool Simple Tests [1 Pool]", "[TestPool]") {
   LocalPool::LocalPoolConfig config = {{1, 10}};
diff --git a/tests/src/fsfw_tests/unit/version.cpp b/unittests/testVersion.cpp
similarity index 97%
rename from tests/src/fsfw_tests/unit/version.cpp
rename to unittests/testVersion.cpp
index 662b1290..2f487031 100644
--- a/tests/src/fsfw_tests/unit/version.cpp
+++ b/unittests/testVersion.cpp
@@ -1,10 +1,9 @@
 
-#include "fsfw/version.h"
-
 #include <catch2/catch_test_macros.hpp>
 
+#include "CatchDefinitions.h"
 #include "fsfw/serviceinterface.h"
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "fsfw/version.h"
 
 TEST_CASE("Version API Tests", "[TestVersionAPI]") {
   // Check that major version is non-zero
diff --git a/tests/src/fsfw_tests/unit/testcfg/CMakeLists.txt b/unittests/testcfg/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/CMakeLists.txt
rename to unittests/testcfg/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in b/unittests/testcfg/FSFWConfig.h.in
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/FSFWConfig.h.in
rename to unittests/testcfg/FSFWConfig.h.in
diff --git a/tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in b/unittests/testcfg/OBSWConfig.h.in
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/OBSWConfig.h.in
rename to unittests/testcfg/OBSWConfig.h.in
diff --git a/tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in b/unittests/testcfg/TestsConfig.h.in
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/TestsConfig.h.in
rename to unittests/testcfg/TestsConfig.h.in
diff --git a/tests/src/fsfw_tests/unit/testcfg/devices/logicalAddresses.cpp b/unittests/testcfg/devices/logicalAddresses.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/devices/logicalAddresses.cpp
rename to unittests/testcfg/devices/logicalAddresses.cpp
diff --git a/tests/src/fsfw_tests/unit/testcfg/devices/logicalAddresses.h b/unittests/testcfg/devices/logicalAddresses.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/devices/logicalAddresses.h
rename to unittests/testcfg/devices/logicalAddresses.h
diff --git a/tests/src/fsfw_tests/unit/testcfg/devices/powerSwitcherList.cpp b/unittests/testcfg/devices/powerSwitcherList.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/devices/powerSwitcherList.cpp
rename to unittests/testcfg/devices/powerSwitcherList.cpp
diff --git a/tests/src/fsfw_tests/unit/testcfg/devices/powerSwitcherList.h b/unittests/testcfg/devices/powerSwitcherList.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/devices/powerSwitcherList.h
rename to unittests/testcfg/devices/powerSwitcherList.h
diff --git a/tests/src/fsfw_tests/unit/testcfg/events/subsystemIdRanges.h b/unittests/testcfg/events/subsystemIdRanges.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/events/subsystemIdRanges.h
rename to unittests/testcfg/events/subsystemIdRanges.h
diff --git a/tests/src/fsfw_tests/unit/testcfg/ipc/MissionMessageTypes.cpp b/unittests/testcfg/ipc/MissionMessageTypes.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/ipc/MissionMessageTypes.cpp
rename to unittests/testcfg/ipc/MissionMessageTypes.cpp
diff --git a/tests/src/fsfw_tests/unit/testcfg/ipc/MissionMessageTypes.h b/unittests/testcfg/ipc/MissionMessageTypes.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/ipc/MissionMessageTypes.h
rename to unittests/testcfg/ipc/MissionMessageTypes.h
diff --git a/tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h b/unittests/testcfg/objects/systemObjectList.h
similarity index 85%
rename from tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h
rename to unittests/testcfg/objects/systemObjectList.h
index 3fcd8368..7d12e5c6 100644
--- a/tests/src/fsfw_tests/unit/testcfg/objects/systemObjectList.h
+++ b/unittests/testcfg/objects/systemObjectList.h
@@ -23,7 +23,11 @@ enum sourceObjects : uint32_t {
 
   SHARED_SET_ID = 26,
 
-  DUMMY_POWER_SWITCHER = 27
+  DUMMY_POWER_SWITCHER = 28,
+
+  DEVICE_HANDLER_MOCK = 29,
+  COM_IF_MOCK = 30,
+  DEVICE_HANDLER_COMMANDER = 40,
 };
 }
 
diff --git a/tests/src/fsfw_tests/unit/testcfg/pollingsequence/PollingSequenceFactory.cpp b/unittests/testcfg/pollingsequence/PollingSequenceFactory.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/pollingsequence/PollingSequenceFactory.cpp
rename to unittests/testcfg/pollingsequence/PollingSequenceFactory.cpp
diff --git a/tests/src/fsfw_tests/unit/testcfg/pollingsequence/PollingSequenceFactory.h b/unittests/testcfg/pollingsequence/PollingSequenceFactory.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/pollingsequence/PollingSequenceFactory.h
rename to unittests/testcfg/pollingsequence/PollingSequenceFactory.h
diff --git a/tests/src/fsfw_tests/unit/testcfg/returnvalues/classIds.h b/unittests/testcfg/returnvalues/classIds.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/returnvalues/classIds.h
rename to unittests/testcfg/returnvalues/classIds.h
diff --git a/tests/src/fsfw_tests/unit/testcfg/tmtc/apid.h b/unittests/testcfg/tmtc/apid.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/tmtc/apid.h
rename to unittests/testcfg/tmtc/apid.h
diff --git a/tests/src/fsfw_tests/unit/testcfg/tmtc/pusIds.h b/unittests/testcfg/tmtc/pusIds.h
similarity index 100%
rename from tests/src/fsfw_tests/unit/testcfg/tmtc/pusIds.h
rename to unittests/testcfg/tmtc/pusIds.h
diff --git a/tests/src/fsfw_tests/unit/testtemplate/TestTemplate.cpp b/unittests/testtemplate/TestTemplate.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/testtemplate/TestTemplate.cpp
rename to unittests/testtemplate/TestTemplate.cpp
diff --git a/tests/src/fsfw_tests/unit/timemanager/CMakeLists.txt b/unittests/timemanager/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/timemanager/CMakeLists.txt
rename to unittests/timemanager/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp b/unittests/timemanager/TestCCSDSTime.cpp
similarity index 98%
rename from tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp
rename to unittests/timemanager/TestCCSDSTime.cpp
index e96ddfc9..9c457dda 100644
--- a/tests/src/fsfw_tests/unit/timemanager/TestCCSDSTime.cpp
+++ b/unittests/timemanager/TestCCSDSTime.cpp
@@ -5,11 +5,11 @@
 #include <catch2/catch_approx.hpp>
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("CCSDSTime Tests", "[TestCCSDSTime]") {
   INFO("CCSDSTime Tests");
-  CCSDSTime::Ccs_mseconds cssMilliSecconds;
+  CCSDSTime::Ccs_mseconds cssMilliSecconds{};
   Clock::TimeOfDay_t time;
   time.year = 2020;
   time.month = 2;
diff --git a/tests/src/fsfw_tests/unit/timemanager/TestCountdown.cpp b/unittests/timemanager/TestCountdown.cpp
similarity index 94%
rename from tests/src/fsfw_tests/unit/timemanager/TestCountdown.cpp
rename to unittests/timemanager/TestCountdown.cpp
index bc39b02e..d0af659d 100644
--- a/tests/src/fsfw_tests/unit/timemanager/TestCountdown.cpp
+++ b/unittests/timemanager/TestCountdown.cpp
@@ -2,7 +2,7 @@
 
 #include <catch2/catch_test_macros.hpp>
 
-#include "fsfw_tests/unit/CatchDefinitions.h"
+#include "CatchDefinitions.h"
 
 TEST_CASE("Countdown Tests", "[TestCountdown]") {
   INFO("Countdown Tests");
diff --git a/tests/src/fsfw_tests/unit/tmtcpacket/CMakeLists.txt b/unittests/tmtcpacket/CMakeLists.txt
similarity index 100%
rename from tests/src/fsfw_tests/unit/tmtcpacket/CMakeLists.txt
rename to unittests/tmtcpacket/CMakeLists.txt
diff --git a/tests/src/fsfw_tests/unit/tmtcpacket/PusTmTest.cpp b/unittests/tmtcpacket/PusTmTest.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/tmtcpacket/PusTmTest.cpp
rename to unittests/tmtcpacket/PusTmTest.cpp
diff --git a/tests/src/fsfw_tests/unit/tmtcpacket/testCcsds.cpp b/unittests/tmtcpacket/testCcsds.cpp
similarity index 100%
rename from tests/src/fsfw_tests/unit/tmtcpacket/testCcsds.cpp
rename to unittests/tmtcpacket/testCcsds.cpp