diff --git a/CMakeLists.txt b/CMakeLists.txt
index b7961f3..ff37913 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -163,6 +163,12 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
             "-Wl,--gc-sections"
         )
     endif()
+
+    if(TGT_BSP MATCHES "arm/stm32h743zi-nucleo")
+        target_link_options(${TARGET_NAME} PRIVATE
+            -Wl,--undefined,_printf_float -Wl,--undefined,_scanf_float
+        )
+    endif()
 elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
 endif()
 
diff --git a/cmake/PreProjectConfig.cmake b/cmake/PreProjectConfig.cmake
index c42277b..1334884 100644
--- a/cmake/PreProjectConfig.cmake
+++ b/cmake/PreProjectConfig.cmake
@@ -26,7 +26,7 @@ if(${OS_FSFW} MATCHES freertos)
 		"${CMAKE_SCRIPT_PATH}/STM32FreeRTOSConfig.cmake"
 		PARENT_SCOPE
 	)
-	
+
 elseif(${OS_FSFW} MATCHES rtems)
 	
 	set(RTEMS_CONFIG_DIR 
diff --git a/common/stm32_nucleo/STM32TestTask.cpp b/common/stm32_nucleo/STM32TestTask.cpp
index 6c3feb2..b6b4447 100644
--- a/common/stm32_nucleo/STM32TestTask.cpp
+++ b/common/stm32_nucleo/STM32TestTask.cpp
@@ -28,7 +28,7 @@ ReturnValue_t STM32TestTask::performOneShotAction() {
 
 void STM32TestTask::performSpiL3gd20hTest() {
     SPI_HandleTypeDef spiHandle = {};
-    GyroL3GD20H gyroDevice(&spiHandle, spi::TransferModes::DMA);
+    GyroL3GD20H gyroDevice(&spiHandle, spi::TransferModes::INTERRUPT);
     gyroDevice.initialize();
     gyroDevice.performOperation();
 }
diff --git a/fsfw b/fsfw
index ad820fb..070c3f3 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit ad820fbe99d2fa0fb49eb71ed70611bfea7efa99
+Subproject commit 070c3f3bbfdbddbda54b18cdb5d1c9928640a0dd
diff --git a/fsfw_hal b/fsfw_hal
index cf8235c..895ba1b 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit cf8235cedeb1fa82e594daa67211d55a51c67b11
+Subproject commit 895ba1b455fc9e5c93f3ad6424174773584b5130