diff --git a/bsp_stm32_freertos/core/ObjectFactory.cpp b/bsp_stm32_freertos/core/ObjectFactory.cpp
index 5a4aac3..ecad8e2 100644
--- a/bsp_stm32_freertos/core/ObjectFactory.cpp
+++ b/bsp_stm32_freertos/core/ObjectFactory.cpp
@@ -24,11 +24,6 @@
 #include "fsfw_hal/stm32h7/spi/SpiComIF.h"
 #include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
 
-namespace spi {
-SPI_TypeDef spiDriver = {};
-SPI_HandleTypeDef spiHandle = {};
-}
-
 #endif
 
 void ObjectFactory::produce(void* args) {
@@ -70,9 +65,8 @@ void ObjectFactory::produce(void* args) {
 
 #if OBSW_PERFORM_L3GD20H_TEST == 1
 
-    new SpiComIF(objects::SPI_COM_IF, &spi::spiDriver, &spi::spiHandle,
-            spi::TransferModes::POLLING);
-    auto spiCookie = new SpiCookie(0, spi::SpiBus::SPI_1, 3900000, spi::SpiModes::MODE_3,
+    new SpiComIF(objects::SPI_COM_IF, spi::TransferModes::POLLING);
+    auto spiCookie = new SpiCookie(0, spi::SpiBus::SPI_1, SPI1, 3900000, spi::SpiModes::MODE_3,
             GPIO_PIN_14, GPIOD, 32);
     auto gyroDevice = new GyroHandlerL3GD20H(objects::SPI_DEVICE_TEST, objects::SPI_COM_IF,
             spiCookie);
diff --git a/common/stm32_nucleo/STM32TestTask.cpp b/common/stm32_nucleo/STM32TestTask.cpp
index 780034e..91b49a6 100644
--- a/common/stm32_nucleo/STM32TestTask.cpp
+++ b/common/stm32_nucleo/STM32TestTask.cpp
@@ -22,13 +22,17 @@ ReturnValue_t STM32TestTask::performPeriodicAction() {
 }
 
 ReturnValue_t STM32TestTask::performOneShotAction() {
-    // performSpiL3gd20hTest();
+    // Might be confusing but if this is defined to 1, the real device handler is tested and we
+    // should not mess with the SPI bus
+#if OBSW_PERFORM_L3GD20H_TEST == 0
+    performSpiL3gd20hTest();
+#endif
     return HasReturnvaluesIF::RETURN_OK;
 }
 
 void STM32TestTask::performSpiL3gd20hTest() {
     SPI_HandleTypeDef spiHandle = {};
-    GyroL3GD20H gyroDevice(&spiHandle, spi::TransferModes::DMA);
+    GyroL3GD20H gyroDevice(&spiHandle, spi::TransferModes::POLLING);
     gyroDevice.initialize();
     gyroDevice.performOperation();
 }
diff --git a/fsfw_hal b/fsfw_hal
index 04166f8..5c40ca9 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 04166f87d82f3729b4462437677bae9105c1c88e
+Subproject commit 5c40ca9ae85b59fd1f19115e2d02bae6df03dde7