diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21e6005..b7961f3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,6 +29,10 @@ if(TGT_BSP MATCHES "arm/raspberrypi")
     set(FSFW_HAL_ADD_RASPBERRY_PI ON)
 endif()
 
+if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
+    set(FSFW_HAL_ADD_STM32H7 ON)
+endif()
+
 # Perform steps like loading toolchain files where applicable.
 include(${CMAKE_SCRIPT_PATH}/PreProjectConfig.cmake)
 pre_project_config()
@@ -37,7 +41,6 @@ pre_project_config()
 project(fsfw_example ASM C CXX)
 
 
-
 ################################################################################
 # Pre-Sources preparation
 ################################################################################
diff --git a/bsp_stm32_freertos/STM32CubeH7/Drivers/BSP/STM32H7xx_HAL_Driver/CMakeLists.txt b/bsp_stm32_freertos/STM32CubeH7/Drivers/BSP/STM32H7xx_HAL_Driver/CMakeLists.txt
index 3c64258..dd3b896 100644
--- a/bsp_stm32_freertos/STM32CubeH7/Drivers/BSP/STM32H7xx_HAL_Driver/CMakeLists.txt
+++ b/bsp_stm32_freertos/STM32CubeH7/Drivers/BSP/STM32H7xx_HAL_Driver/CMakeLists.txt
@@ -29,6 +29,7 @@ target_sources(${LIB_STM_HAL_NAME} PRIVATE
 	Src/stm32h7xx_hal_pwr.c 
 	Src/stm32h7xx_hal_pwr_ex.c 
 	Src/stm32h7xx_hal_i2c.c 
+	Src/stm32h7xx_hal_spi.c
 	Src/stm32h7xx_hal_i2c_ex.c 
 	Src/stm32h7xx_hal_uart.c 
 	Src/stm32h7xx_hal_uart_ex.c 
diff --git a/common/stm32_nucleo/STM32TestTask.cpp b/common/stm32_nucleo/STM32TestTask.cpp
index 6f3655f..09729dc 100644
--- a/common/stm32_nucleo/STM32TestTask.cpp
+++ b/common/stm32_nucleo/STM32TestTask.cpp
@@ -2,6 +2,9 @@
 #include "stm32h7xx_nucleo.h"
 #include "OBSWConfig.h"
 
+#include "fsfw_hal/stm32h7/devicetest/GyroL3GD20H.h"
+#include "fsfw/serviceinterface/ServiceInterface.h"
+
 STM32TestTask::STM32TestTask(object_id_t objectId, bool enablePrintout,
 		bool blinkyLed): TestTask(objectId, enablePrintout),
 		blinkyLed(blinkyLed) {
@@ -19,5 +22,11 @@ ReturnValue_t STM32TestTask::performPeriodicAction() {
 }
 
 ReturnValue_t STM32TestTask::performOneShotAction() {
+    performSpiL3gd20hTest();
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+void STM32TestTask::performSpiL3gd20hTest() {
+    SPI_HandleTypeDef spiHandle = {};
+    GyroL3GD20H gyroDevice(&spiHandle);
+}
diff --git a/common/stm32_nucleo/STM32TestTask.h b/common/stm32_nucleo/STM32TestTask.h
index 4f4a1b9..f00ec15 100644
--- a/common/stm32_nucleo/STM32TestTask.h
+++ b/common/stm32_nucleo/STM32TestTask.h
@@ -2,6 +2,10 @@
 #define BSP_STM32_BOARDTEST_STM32TESTTASK_H_
 
 #include <test/TestTask.h>
+#include "stm32h7xx_hal.h"
+#include "stm32h7xx_hal_spi.h"
+
+
 
 class STM32TestTask: public TestTask {
 public:
@@ -10,6 +14,7 @@ public:
 	ReturnValue_t performPeriodicAction() override;
 	ReturnValue_t performOneShotAction() override;
 
+	void performSpiL3gd20hTest();
 private:
 
 	bool blinkyLed = false;
diff --git a/doc/stm32_nucleo/stm32h743-rm0433-datasheet.pdf b/doc/stm32_nucleo/stm32h743-rm0433-datasheet.pdf
new file mode 100644
index 0000000..89fef2b
Binary files /dev/null and b/doc/stm32_nucleo/stm32h743-rm0433-datasheet.pdf differ
diff --git a/fsfw_hal b/fsfw_hal
index 4ba4e45..4c54682 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 4ba4e45789a9fc37c8ff45d09b7986ee1dbd53ca
+Subproject commit 4c546820fdb28bf46fae6606716ae34e2f4ba950