diff --git a/.gitmodules b/.gitmodules
index 7d0815c..0228bdd 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -7,3 +7,6 @@
 [submodule "fsfw-example-common"]
 	path = example_common
 	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw-example-common.git
+[submodule "tmtc/tmtccmd"]
+	path = tmtc/tmtccmd
+	url = https://github.com/spacefisch/tmtccmd.git
diff --git a/cmake/BuildType.cmake b/cmake/BuildType.cmake
new file mode 100644
index 0000000..e078e5c
--- /dev/null
+++ b/cmake/BuildType.cmake
@@ -0,0 +1,45 @@
+function(set_build_type)
+
+message(STATUS "Used build generator: ${CMAKE_GENERATOR}")
+
+# Set a default build type if none was specified
+set(DEFAULT_BUILD_TYPE "RelWithDebInfo")
+if(EXISTS "${CMAKE_SOURCE_DIR}/.git")
+	set(DEFAULT_BUILD_TYPE "Debug")
+endif()
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+	message(STATUS 
+		"Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified."
+	)
+	set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE
+		STRING "Choose the type of build." FORCE
+	)
+	# Set the possible values of build type for cmake-gui
+	set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+		"Debug" "Release" "MinSizeRel" "RelWithDebInfo"
+	)
+endif()
+
+if(${CMAKE_BUILD_TYPE} MATCHES "Debug")
+	message(STATUS 
+		"Building Debug application with flags: ${CMAKE_C_FLAGS_DEBUG}"
+	)
+elseif(${CMAKE_BUILD_TYPE} MATCHES "RelWithDebInfo")
+	message(STATUS 
+		"Building Release (Debug) application with "
+		"flags: ${CMAKE_C_FLAGS_RELWITHDEBINFO}"
+	)
+elseif(${CMAKE_BUILD_TYPE} MATCHES "MinSizeRel")
+	message(STATUS 
+		"Building Release (Size) application with "
+		"flags: ${CMAKE_C_FLAGS_MINSIZEREL}"
+	)
+else()
+	message(STATUS 
+		"Building Release (Speed) application with "
+		"flags: ${CMAKE_C_FLAGS_RELEASE}"
+	)
+endif()
+
+endfunction()
diff --git a/cmake/scripts/Hosted/create_cmake_debug_cfg.sh b/cmake/scripts/Hosted/create_cmake_debug_cfg.sh
new file mode 100755
index 0000000..5acad0f
--- /dev/null
+++ b/cmake/scripts/Hosted/create_cmake_debug_cfg.sh
@@ -0,0 +1,27 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator=""
+os_fsfw="host"
+builddir="build-Debug"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
diff --git a/cmake/scripts/Hosted/create_cmake_release_cfg.sh b/cmake/scripts/Hosted/create_cmake_release_cfg.sh
new file mode 100755
index 0000000..1aaef15
--- /dev/null
+++ b/cmake/scripts/Hosted/create_cmake_release_cfg.sh
@@ -0,0 +1,27 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator=""
+os_fsfw="host"
+builddir="build-Release"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
diff --git a/cmake/scripts/Hosted/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/Hosted/create_cmake_relwithdeb_cfg.sh
new file mode 100755
index 0000000..5260f1e
--- /dev/null
+++ b/cmake/scripts/Hosted/create_cmake_relwithdeb_cfg.sh
@@ -0,0 +1,31 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator=""
+os_fsfw="host"
+builddir="build-Release"
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="MinGW Makefiles"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/Hosted/vs2019/create_cmake_debug_cfg.sh b/cmake/scripts/Hosted/vs2019/create_cmake_debug_cfg.sh
new file mode 100644
index 0000000..8b6aa92
--- /dev/null
+++ b/cmake/scripts/Hosted/vs2019/create_cmake_debug_cfg.sh
@@ -0,0 +1,28 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator=""
+os_fsfw="host"
+builddir="Debug-VS2019"
+
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="Visual Studio 16 2019"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
diff --git a/cmake/scripts/Hosted/vs2019/create_cmake_release_cfg.sh b/cmake/scripts/Hosted/vs2019/create_cmake_release_cfg.sh
new file mode 100644
index 0000000..9ac0f0a
--- /dev/null
+++ b/cmake/scripts/Hosted/vs2019/create_cmake_release_cfg.sh
@@ -0,0 +1,28 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator=""
+os_fsfw="host"
+builddir="Release-VS2019"
+
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="Visual Studio 16 2019"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" -l "${builddir}"
diff --git a/cmake/scripts/Hosted/vs2019/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/Hosted/vs2019/create_cmake_relwithdeb_cfg.sh
new file mode 100644
index 0000000..a0f7242
--- /dev/null
+++ b/cmake/scripts/Hosted/vs2019/create_cmake_relwithdeb_cfg.sh
@@ -0,0 +1,32 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator=""
+os_fsfw="host"
+builddir="RelWithDeb-VS2019"
+
+if [ "${OS}" = "Windows_NT" ]; then
+	build_generator="Visual Studio 16 2019"
+# Could be other OS but this works for now.
+else
+	build_generator="Unix Makefiles"
+fi
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
\ No newline at end of file
diff --git a/cmake/scripts/Linux/make_debug_cfg.sh b/cmake/scripts/Linux/make_debug_cfg.sh
new file mode 100755
index 0000000..39c9652
--- /dev/null
+++ b/cmake/scripts/Linux/make_debug_cfg.sh
@@ -0,0 +1,26 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator="Unix Makefiles"
+os_fsfw="linux"
+builddir="build-Debug"
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" \
+	-t "host/none" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/Linux/make_reldef_cfg.sh b/cmake/scripts/Linux/make_reldef_cfg.sh
new file mode 100755
index 0000000..228df8a
--- /dev/null
+++ b/cmake/scripts/Linux/make_reldef_cfg.sh
@@ -0,0 +1,26 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator="Unix Makefiles"
+os_fsfw="linux"
+builddir="build-Release"
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb" \
+	-t "host/none" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/Linux/make_release_cfg.sh b/cmake/scripts/Linux/make_release_cfg.sh
new file mode 100755
index 0000000..4003a98
--- /dev/null
+++ b/cmake/scripts/Linux/make_release_cfg.sh
@@ -0,0 +1,26 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator="Unix Makefiles"
+os_fsfw="linux"
+builddir="build-Release"
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release" \
+	-t "host/none" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/Linux/make_size_cfg.sh b/cmake/scripts/Linux/make_size_cfg.sh
new file mode 100755
index 0000000..7c5cc17
--- /dev/null
+++ b/cmake/scripts/Linux/make_size_cfg.sh
@@ -0,0 +1,26 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator="Unix Makefiles"
+os_fsfw="linux"
+builddir="build-Release"
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size"\
+	-t "host/none" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/Linux/ninja_debug_cfg.sh b/cmake/scripts/Linux/ninja_debug_cfg.sh
new file mode 100755
index 0000000..e8bd483
--- /dev/null
+++ b/cmake/scripts/Linux/ninja_debug_cfg.sh
@@ -0,0 +1,26 @@
+#!/bin/sh
+counter=0
+while [ ${counter} -lt 5 ]
+do
+	cd ..
+	if [ -f "cmake_build_config.py" ];then
+		break
+	fi
+	counter=$((counter=counter + 1))
+done
+
+if [ "${counter}" -ge 5 ];then
+	echo "create_cmake_cfg.sh not found in upper directories!"
+	exit 1
+fi
+
+build_generator="Ninja"
+os_fsfw="linux"
+builddir="build-Debug"
+
+echo "Running command (without the leading +):"
+set -x # Print command 
+python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" \
+	-t "host/none" -l "${builddir}"
+# Use this if commands are added which should not be printed
+# set +x
diff --git a/cmake/scripts/cmake_build_config.py b/cmake/scripts/cmake_build_config.py
new file mode 100755
index 0000000..6787a1b
--- /dev/null
+++ b/cmake/scripts/cmake_build_config.py
@@ -0,0 +1,247 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*
+"""
+@brief  CMake configuration helper
+@details
+This script was written to have a portable way to perform the CMake configuration with various parameters on
+different OSes. It was first written for the FSFW Example, but could be adapted to be more generic
+in the future.
+
+Run cmake_build_config.py --help to get more information.
+"""
+import os
+import platform
+import sys
+import argparse
+import shutil
+
+
+def main():
+    print("-- Python CMake build configurator utility --")
+
+    print("Parsing command line arguments..")
+    parser = argparse.ArgumentParser(description="Processing arguments for CMake build configuration.")
+    parser.add_argument(
+        "-o", "--osal", type=str, choices=["freertos", "linux", "rtems", "host"],
+        help="FSFW OSAL. Valid arguments: host, linux, rtems, freertos"
+    )
+    parser.add_argument(
+        "-b", "--buildtype", type=str, choices=["debug", "release", "size", "reldeb"],
+        help="CMake build type. Valid arguments: debug, release, size, reldeb (Release with Debug Information)", 
+        default="debug"
+    )
+    parser.add_argument("-l", "--builddir", type=str, help="Specify build directory.")
+    parser.add_argument("-g", "--generator", type=str, help="CMake Generator")
+    parser.add_argument(
+        "-t", "--target-bsp", type=str, help="Target BSP, combination of architecture and machine"
+    )
+    parser.add_argument(
+        "-d", "--defines", 
+        help="Additional custom defines passed to CMake (supply without -D prefix!)",
+        nargs="*", type=str
+    )
+
+    args = parser.parse_args()
+
+    print("Determining source location..")
+    source_location = determine_source_location()
+    print(f"Determined source location: {source_location}")
+
+    print("Building cmake configuration command..")
+
+    if args.generator is None:
+        generator = determine_build_generator()
+        generator_cmake_arg = f"-G \"{generator}\""
+    else:
+        generator_cmake_arg = f"-G \"{args.generator}\""
+
+    if args.osal is None:
+        print("No FSFW OSAL specified.")
+        cmake_fsfw_osal = determine_fsfw_osal()
+    else:
+        cmake_fsfw_osal = args.osal
+
+    cmake_build_type = determine_build_type(args.buildtype)
+
+    if args.target_bsp is not None:
+        cmake_target_cfg_cmd = f"-DTGT_BSP=\"{args.target_bsp}\""
+    else:
+        cmake_target_cfg_cmd = determine_tgt_bsp(cmake_fsfw_osal)
+
+    define_string = ""
+    if args.defines is not None:
+        define_list = args.defines[0].split()
+        for define in define_list:
+            define_string += f"-D{define} "
+            
+    if args.builddir is None:
+        cmake_build_folder = determine_build_folder(cmake_build_type)
+    else:
+        cmake_build_folder = args.builddir
+
+    build_path = source_location + os.path.sep + cmake_build_folder
+    if os.path.isdir(build_path):
+        remove_old_dir = input(f"{cmake_build_folder} folder already exists. "
+                               f"Remove old directory? [y/n]: ")
+        if str(remove_old_dir).lower() in ["yes", "y", 1]:
+            remove_old_dir = True
+        else:
+            cmake_build_folder = determine_new_folder()
+            build_path = source_location + os.path.sep + cmake_build_folder
+            remove_old_dir = False
+        if remove_old_dir:
+            try:
+                shutil.rmtree(build_path)
+            except PermissionError as error:
+                print(error)
+                print("File might still be opened!")
+                sys.exit(0)
+    os.chdir(source_location)
+    os.mkdir(cmake_build_folder)
+    print(f"Navigating into build directory: {build_path}")
+    os.chdir(cmake_build_folder)
+
+    cmake_command = f"cmake {generator_cmake_arg} -DOS_FSFW=\"{cmake_fsfw_osal}\" " \
+                    f"-DCMAKE_BUILD_TYPE=\"{cmake_build_type}\" {cmake_target_cfg_cmd} " \
+                    f"{define_string} {source_location}"
+    # Remove redundant spaces
+    cmake_command = ' '.join(cmake_command.split())
+    print("Running CMake command (without +): ")
+    print(f"+ {cmake_command}")
+    os.system(cmake_command)
+    print("-- CMake configuration done. --")
+
+
+def determine_build_generator() -> str:
+    print("No generator specified. ")
+    print("Please select from the following list of build types or type "
+          "in desired system directly [h for help]: ")
+    while True:
+        user_input = input("Enter your selection: ")
+        if user_input == "h":
+            os.system("cmake --help")
+        else:
+            build_generator = user_input
+            confirmation = input(f"Confirm your generator: {build_generator} [y/n]: ")
+            if confirmation in ["y", "yes", 1]:
+                break
+    return build_generator
+
+
+def determine_build_folder(cmake_build_type: str) -> str:
+    confirm = input(f"No build folder specified. Set to build type name {cmake_build_type}? [y/n]: ")
+    if confirm in ["yes", "y", 1]:
+        return cmake_build_type
+    else:
+        new_folder_name = input("Please enter folder name, will be created in source folder: ")
+        return new_folder_name
+
+
+def determine_source_location() -> str:
+    index = 0
+    while not os.path.isdir("fsfw"):
+        index += 1
+        os.chdir("..")
+        if index >= 5:
+            print("Error: Could not find source directory (determined by looking for fsfw folder!)")
+            sys.exit(1)
+    return os.getcwd()
+
+
+def determine_fsfw_osal() -> str:
+    select_dict = dict({
+        1: "host",
+        2: "linux",
+        3: "freertos",
+        4: "rtems"
+    })
+    print("No build type specified. Please select from the following list of build types: ")
+    for key, item in select_dict.items():
+        print(f"{key}: {item}")
+    select = input("Enter your selection: ")
+    while True:
+        if select.isdigit():
+            select_num = int(select)
+            if select_num >= 1 or select_num <= 4:
+                return select_dict[select_num]
+            else:
+                print("Input digit is invalid!")
+        else:
+            print("Input is not a digit!")
+
+
+def determine_build_type(build_type_arg) -> str:
+    if build_type_arg is None:
+        select_dict = dict({
+            1: "Debug",
+            2: "Release",
+            3: "Release with Debug Information",
+            4: "Size"
+        })
+        print("No build type specified. Please select from the following list of build types")
+        for key, item in select_dict.items():
+            print(f"{key}: {item}")
+        select = input("Enter your selection: ")
+        while True:
+            if select.isdigit():
+                select_num = int(select)
+                if select_num >= 1 or select_num <= 4:
+                    cmake_build_type = select_dict[select_num]
+                    break
+                else:
+                    print("Input digit is invalid!")
+            else:
+                print("Input is not a digit!")
+    else:
+        if build_type_arg == "debug":
+            cmake_build_type = "Debug"
+        elif build_type_arg == "release":
+            cmake_build_type = "Release"
+        elif build_type_arg == "size":
+            cmake_build_type = "MinSizeRel"
+        elif build_type_arg == "reldeb":
+            cmake_build_type = "RelWithDebInfo"
+        else:
+            print("Unknown buildtype.")
+            cmake_build_type = determine_build_type(None)
+    return cmake_build_type
+
+
+def determine_new_folder() -> str:
+    new_folder = input(f"Use different folder name? [y/n]: ")
+    if str(new_folder).lower() in ["yes", "y", 1]:
+        new_folder_name = input("New folder name: ")
+        return new_folder_name
+    else:
+        print("Aborting configuration.")
+        sys.exit(0)
+
+
+def determine_tgt_bsp(osal: str) -> str:
+    if osal == "freertos":
+        print("Target BSP set to arm/stm32h743zi-nucleo")
+        osal = "arm/stm32h743zi-nucleo"
+    elif osal == "linux":
+        print("No target BSP specified. Please select from the following list of build types.")
+        select_dict = dict({
+            1: "arm/raspberrypi",
+            2: "none/hosted"
+        })
+        for key, item in select_dict.items():
+            print(f"{key}: {item}")
+        select = input("Enter your selection: ")
+        while True:
+            if select.isdigit():
+                select_num = int(select)
+                if select_num >= 1 or select_num <= 2:
+                    osal = select_dict[select_num]
+                    break
+                else:
+                    print("Input digit is invalid!")
+            else:
+                print("Input is not a digit!")
+    return osal
+
+
+if __name__ == "__main__":
+    main()
diff --git a/tmtc/tmtccmd b/tmtc/tmtccmd
new file mode 160000
index 0000000..c4ab098
--- /dev/null
+++ b/tmtc/tmtccmd
@@ -0,0 +1 @@
+Subproject commit c4ab0988f83a2754d5c18e1f3e939659c1156e30