diff --git a/boards/bitcraze/crazyflie21/init/rc.board_sensors b/boards/bitcraze/crazyflie21/init/rc.board_sensors
index 75a6c1b10ad..60df800054e 100644
--- a/boards/bitcraze/crazyflie21/init/rc.board_sensors
+++ b/boards/bitcraze/crazyflie21/init/rc.board_sensors
@@ -6,7 +6,7 @@
 board_adc start
 
 # Internal I2C bus
-bmp388 -I -a 0x77 start
+bmp388 -I -a 0x77 -f 400 start
 bmi088_i2c -A -R 0 -I -a 0x18 start
 bmi088_i2c -G -R 0 -I -a 0x69 start
 
diff --git a/boards/bitcraze/crazyflie21/src/board_config.h b/boards/bitcraze/crazyflie21/src/board_config.h
index 0e6da91b132..72cf33cde07 100644
--- a/boards/bitcraze/crazyflie21/src/board_config.h
+++ b/boards/bitcraze/crazyflie21/src/board_config.h
@@ -95,7 +95,7 @@
 #define PX4_I2C_BUS_MTD	1
 
 #define BOARD_NUMBER_I2C_BUSES  3
-#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 100000, PX4_I2C_BUS_EXPANSION_HZ}
+#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 400000, PX4_I2C_BUS_EXPANSION_HZ}
 
 
 /* Devices on the onboard bus.
diff --git a/cmake/configs/uavcan_board_ident b/cmake/configs/uavcan_board_ident
new file mode 160000
index 00000000000..2e5f9d6768b
--- /dev/null
+++ b/cmake/configs/uavcan_board_ident
@@ -0,0 +1 @@
+Subproject commit 2e5f9d6768b1dbffc006dc2ceeb2bfe120f22163
diff --git a/msg/tools/gencpp b/msg/tools/gencpp
new file mode 160000
index 00000000000..7e446a99769
--- /dev/null
+++ b/msg/tools/gencpp
@@ -0,0 +1 @@
+Subproject commit 7e446a9976916a7b6fc7266098c67fc6f73a76e0
diff --git a/msg/tools/genmsg b/msg/tools/genmsg
new file mode 160000
index 00000000000..5736b1f7ad0
--- /dev/null
+++ b/msg/tools/genmsg
@@ -0,0 +1 @@
+Subproject commit 5736b1f7ad037fb5811a3100ba9da2db0ec1f20a
diff --git a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp
index 9a484995b7c..b6d9940ea6f 100644
--- a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp
+++ b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Accelerometer.cpp
@@ -192,8 +192,8 @@ void BMI088_Accelerometer::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			//FIFOReadTest(now);
-			NormalRead(now);
+			FIFOReadTest(now);
+			//NormalRead(now);
 		}
 		break;
 	}
@@ -875,7 +875,7 @@ bool BMI088_Accelerometer::FIFOReadTest(const hrt_abstime &timestamp_sample){
 		// empty
 		return false;
 	}
-	int n_frames_to_read = 5;
+	int n_frames_to_read = 6;
 	// don't read more than 8 frames at a time
 	if (fifo_fill_level > n_frames_to_read*7) {
 		fifo_fill_level = n_frames_to_read*7;
diff --git a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp
index e93f957601b..2fc29f0a2a0 100644
--- a/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp
+++ b/src/drivers/imu/bosch/bmi088/bmi088_i2c/BMI088_Gyroscope.cpp
@@ -170,8 +170,8 @@ void BMI088_Gyroscope::RunImpl()
 		break;
 
 	case STATE::FIFO_READ: {
-			//FIFOReadTest(now);
-			NormalRead(now);
+			FIFOReadTest(now);
+			//NormalRead(now);
 		}
 		break;
 	}
@@ -467,7 +467,7 @@ bool BMI088_Gyroscope::FIFOReadTest(const hrt_abstime &timestamp_sample)
 
     	n_frames &= 0x7F;
 
-	int n_frames_to_read = 5;
+	int n_frames_to_read = 6;
 	// don't read more than 8 frames at a time
 	if (n_frames > n_frames_to_read) {
 		n_frames = n_frames_to_read;
diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework
new file mode 160000
index 00000000000..06277ef49fb
--- /dev/null
+++ b/src/lib/DriverFramework
@@ -0,0 +1 @@
+Subproject commit 06277ef49fb8c9fad18d56ef40e8bc9fe1655a65