diff --git a/.dockerignore b/.dockerignore
new file mode 100644
index 0000000..6dfa6b9
--- /dev/null
+++ b/.dockerignore
@@ -0,0 +1,6 @@
+/build*
+generators
+misc
+tmtc
+doc
+
diff --git a/bsp_hosted/Dockerfile b/bsp_hosted/Dockerfile
new file mode 100644
index 0000000..7a363e7
--- /dev/null
+++ b/bsp_hosted/Dockerfile
@@ -0,0 +1,18 @@
+FROM ubuntu:latest
+# FROM alpine:latest
+
+RUN apt-get update && apt-get install -y cmake g++
+# RUN apk add cmake make g++
+
+WORKDIR /usr/src/app
+COPY . .
+
+RUN set -ex; \
+    rm -rf build-hosted; \
+    mkdir build-hosted; \
+    cd build-hosted; \
+    cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=host ..;
+
+ENTRYPOINT ["cmake", "--build", "build-hosted"]
+CMD ["-j"]
+# CMD ["bash"]
diff --git a/bsp_linux/Dockerfile b/bsp_linux/Dockerfile
new file mode 100644
index 0000000..28105f4
--- /dev/null
+++ b/bsp_linux/Dockerfile
@@ -0,0 +1,18 @@
+FROM ubuntu:latest
+# FROM alpine:latest
+
+RUN apt-get update && apt-get install -y cmake g++
+# RUN apk add cmake make g++
+
+WORKDIR /usr/src/app
+COPY . .
+
+RUN set -ex; \
+    rm -rf build-linux; \
+    mkdir build-linux; \
+    cd build-linux; \
+    cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=linux ..;
+
+ENTRYPOINT ["cmake", "--build", "build-linux"]
+CMD ["-j"]
+# CMD ["bash"]
diff --git a/bsp_stm32_freertos/Dockerfile b/bsp_stm32_freertos/Dockerfile
new file mode 100644
index 0000000..ace9e4b
--- /dev/null
+++ b/bsp_stm32_freertos/Dockerfile
@@ -0,0 +1,41 @@
+# Specify the cross compiler version
+# See: https://github.com/xpack-dev-tools/arm-none-eabi-gcc-xpack
+ARG XPM_ARM_XCOMPILER_VERSION_DEFAULT="10.2.1-1.1.2"
+
+# Stage 0
+
+# FROM node:current-alpine3.13
+FROM node:latest
+# Issues with XPM cross-compiler on alpine..
+ARG XPM_ARM_XCOMPILER_VERSION_DEFAULT
+ENV XPM_ARM_XCOMPILER_VERSION=$XPM_ARM_XCOMPILER_VERSION_DEFAULT
+
+RUN npm install --global xpm@latest; \
+    xpm install --global @xpack-dev-tools/arm-none-eabi-gcc@${XPM_ARM_XCOMPILER_VERSION}
+
+# Stage 1
+
+FROM ubuntu:latest
+# FROM alpine:latest
+COPY --from=0 /root/.local/xPacks/@xpack-dev-tools /usr/tools/
+ARG XPM_ARM_XCOMPILER_VERSION_DEFAULT
+ENV XPM_ARM_XCOMPILER_VERSION=$XPM_ARM_XCOMPILER_VERSION_DEFAULT
+RUN echo ${XPM_ARM_XCOMPILER_VERSION}
+
+RUN apt-get update && apt-get install -y cmake g++
+# RUN apk add cmake make g++
+
+ENV PATH="/usr/tools/arm-none-eabi-gcc/${XPM_ARM_XCOMPILER_VERSION}/.content/bin:${PATH}"
+
+WORKDIR /usr/src/app
+COPY . .
+
+RUN set -ex; \
+    rm -rf build-freertos; \
+    mkdir build-freertos; \
+    cd build-freertos; \
+    cmake -DCMAKE_BUILD_TYPE=Release -DOS_FSFW=freertos -DTGT_BSP=arm/stm32h743zi-nucleo ..;
+
+ENTRYPOINT ["cmake", "--build", "build-freertos"]
+CMD ["-j"]
+# CMD ["bash"]
diff --git a/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_debug_cfg.sh b/cmake/scripts/BeagleBoneBlack/crosscompile/create_cmake_debug_cfg.sh
old mode 100644
new mode 100755
diff --git a/cmake/scripts/RPi/crosscompile/create_cmake_debug_cfg.sh b/cmake/scripts/RPi/crosscompile/create_cmake_debug_cfg.sh
old mode 100644
new mode 100755
diff --git a/doc/README-rpi.md b/doc/README-rpi.md
index 7374ed4..ebb7e38 100644
--- a/doc/README-rpi.md
+++ b/doc/README-rpi.md
@@ -84,6 +84,12 @@ toolchain binaries are added to the path accordingly.
     wget https://github.com/Pro/raspi-toolchain/releases/latest/download/raspi-toolchain.tar.gz
     ```
 
+   Then extract to the opt folder:
+   
+   ```sh
+   sudo tar xfz raspi-toolchain.tar.gz --strip-components=1 -C /opt
+   ```
+   
    Please note that this version of the toolchain might become obsolete in the future.
    If another toolchain installation is used, it is still recommended to unpack the toolchain in the 
    `/opt/cross-pi-gcc` folder so that the Eclipse configuration and helper 
@@ -123,7 +129,7 @@ toolchain binaries are added to the path accordingly.
    `$HOME/raspberrypi/rootfs`.
 
    ```sh
-   rsync -avHAXR --numeric-ids --info=progress2 <username>@<ip-address>:/{lib,usr} <rootfs-path>
+   rsync -avHAXR --numeric-ids --info=progress2 <username>@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
    ```
 
    On Linux, it is recommended to repair some symlinks which can be problematic:
diff --git a/docker-compose.yml b/docker-compose.yml
new file mode 100644
index 0000000..ce50fb9
--- /dev/null
+++ b/docker-compose.yml
@@ -0,0 +1,17 @@
+version: "3.8"
+
+services:
+    build-linux:
+        build:
+            context: .
+            dockerfile: bsp_linux/Dockerfile
+
+    build-host:
+        build:
+            context: .
+            dockerfile: bsp_hosted/Dockerfile
+
+    build-freertos:
+        build:
+            context: .
+            dockerfile: bsp_stm32_freertos/Dockerfile
diff --git a/fsfw b/fsfw
index ff6b413..f3d9fb6 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit ff6b4134a59d848ed21e7a7666e9da4f9207bca6
+Subproject commit f3d9fb645ea5f4dfdf8b1d8aafe542ff8bbbefd6
diff --git a/fsfw_hal b/fsfw_hal
index a85c014..d801319 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit a85c01465bc8687773676f05c5e7eb8af54b25ff
+Subproject commit d801319c12713d08cbdbc571ee2a922ce2f0c851
diff --git a/generators/modgen b/generators/modgen
index d56e04c..d9beb68 160000
--- a/generators/modgen
+++ b/generators/modgen
@@ -1 +1 @@
-Subproject commit d56e04c42676ae19783a2732306a260cd679773b
+Subproject commit d9beb68bd9d1a1e6015e4979d547a762d199bff7