diff --git a/core/lib/init.c b/core/lib/init.c
index b20252945d..cdf7358a4e 100644
--- a/core/lib/init.c
+++ b/core/lib/init.c
@@ -60,7 +60,12 @@ static void *main_trampoline(void *arg)
         LOG_INFO(CONFIG_BOOT_MSG_STRING "\n");
     }
 
-    main();
+    int res = main();
+
+    if (IS_USED(MODULE_TEST_UTILS_MAIN_EXIT_CB)) {
+        void test_utils_main_exit_cb(int res);
+        test_utils_main_exit_cb(res);
+    }
 
 #ifdef MODULE_TEST_UTILS_PRINT_STACK_USAGE
     void print_stack_usage_metric(const char *name, void *stack, unsigned max_size);
diff --git a/makefiles/pseudomodules.inc.mk b/makefiles/pseudomodules.inc.mk
index 2516929079..17cb40b7de 100644
--- a/makefiles/pseudomodules.inc.mk
+++ b/makefiles/pseudomodules.inc.mk
@@ -581,6 +581,7 @@ PSEUDOMODULES += crypto_aes_unroll
 
 # declare shell version of test_utils_interactive_sync
 PSEUDOMODULES += test_utils_interactive_sync_shell
+PSEUDOMODULES += test_utils_main_exit_cb
 
 # All auto_init modules are pseudomodules
 PSEUDOMODULES += auto_init_%
diff --git a/pkg/libfixmath/Makefile b/pkg/libfixmath/Makefile
index 821da687d1..bb7164d0fb 100644
--- a/pkg/libfixmath/Makefile
+++ b/pkg/libfixmath/Makefile
@@ -1,5 +1,5 @@
 PKG_NAME     := libfixmath
-PKG_VERSION  := 24488b16cc0359daada0682a9bd3a11a801d0a01
+PKG_VERSION  := b987044c73dcaba496bb5bc86e69d134cd8790ec
 PKG_URL      := https://github.com/PetteriAimonen/libfixmath
 PKG_LICENSE  := MIT
 
@@ -9,4 +9,4 @@ all: $(filter libfixmath-unittests,$(USEMODULE))
 	$(QQ)"$(MAKE)" -C $(PKG_SOURCE_DIR)/$(PKG_NAME) -f $(CURDIR)/Makefile.$(PKG_NAME)
 
 libfixmath-unittests:
-	$(QQ)"$(MAKE)" -C $(PKG_SOURCE_DIR)/unittests -f $(CURDIR)/Makefile.$(PKG_NAME)-unittests
+	$(QQ)"$(MAKE)" -C $(PKG_SOURCE_DIR)/tests -f $(CURDIR)/Makefile.$(PKG_NAME)-unittests
diff --git a/pkg/libfixmath/Makefile.include b/pkg/libfixmath/Makefile.include
index c85b62aef4..c178d16777 100644
--- a/pkg/libfixmath/Makefile.include
+++ b/pkg/libfixmath/Makefile.include
@@ -14,5 +14,6 @@ CFLAGS += $(libfixmath_options:CONFIG_FIXMATH_%=-DFIXMATH_%)
 INCLUDES += -I$(PKG_SOURCE_DIR)/libfixmath
 
 ifneq (,$(filter libfixmath-unittests,$(USEMODULE)))
-  INCLUDES += -I$(PKG_SOURCE_DIR)/unittests
+  INCLUDES += -I$(PKG_SOURCE_DIR)
+  INCLUDES += -I$(PKG_SOURCE_DIR)/tests
 endif
diff --git a/pkg/libfixmath/patches/0001-Fix-warnings.patch b/pkg/libfixmath/patches/0001-Fix-warnings.patch
deleted file mode 100644
index f990c3d854..0000000000
Binary files a/pkg/libfixmath/patches/0001-Fix-warnings.patch and /dev/null differ
diff --git a/pkg/libfixmath/patches/0002-Adapt-unittests-for-RIOT.patch b/pkg/libfixmath/patches/0002-Adapt-unittests-for-RIOT.patch
deleted file mode 100644
index d85a42c465..0000000000
Binary files a/pkg/libfixmath/patches/0002-Adapt-unittests-for-RIOT.patch and /dev/null differ
diff --git a/pkg/tinydtls/Makefile b/pkg/tinydtls/Makefile
index 621dbf9615..973f44dbc1 100644
--- a/pkg/tinydtls/Makefile
+++ b/pkg/tinydtls/Makefile
@@ -1,6 +1,6 @@
 PKG_NAME=tinydtls
 PKG_URL=https://github.com/eclipse/tinydtls.git
-PKG_VERSION=297fced854b652591b78113f0ba8d57ad9f934d9
+PKG_VERSION=c58f484ac417afe036273d65506b63a0902c740c
 PKG_LICENSE=EPL-1.0,EDL-1.0
 
 include $(RIOTBASE)/pkg/pkg.mk
diff --git a/pkg/tinydtls/Makefile.include b/pkg/tinydtls/Makefile.include
index aebc670325..fda2825bd6 100644
--- a/pkg/tinydtls/Makefile.include
+++ b/pkg/tinydtls/Makefile.include
@@ -39,12 +39,6 @@ ifeq (,$(CONFIG_KCONFIG_USEPKG_TINYDTLS))
   endif
 endif
 
-ifneq (,$(or $(CONFIG_DTLS_DEBUG),$(filter -DCONFIG_DTLS_DEBUG,$(CFLAGS))))
-  CFLAGS += -DTINYDTLS_LOG_LVL=6
-else
-  CFLAGS += -DTINYDTLS_LOG_LVL=0
-endif
-
 # For now contrib only contains sock_dtls adaption
 ifneq (,$(filter tinydtls_sock_dtls,$(USEMODULE)))
   DIRS += $(RIOTBASE)/pkg/tinydtls/contrib
diff --git a/pkg/tinydtls/contrib/sock_dtls.c b/pkg/tinydtls/contrib/sock_dtls.c
index 124a0a07bd..cab2941557 100644
--- a/pkg/tinydtls/contrib/sock_dtls.c
+++ b/pkg/tinydtls/contrib/sock_dtls.c
@@ -887,7 +887,6 @@ void sock_dtls_close(sock_dtls_t *sock)
 void sock_dtls_init(void)
 {
     dtls_init();
-    dtls_set_log_level(TINYDTLS_LOG_LVL);
 }
 
 static void _ep_to_session(const sock_udp_ep_t *ep, session_t *session)
diff --git a/tests/pkg_libfixmath_unittests/Makefile b/tests/pkg_libfixmath_unittests/Makefile
index 0472e5e238..dfbe881e7a 100644
--- a/tests/pkg_libfixmath_unittests/Makefile
+++ b/tests/pkg_libfixmath_unittests/Makefile
@@ -7,6 +7,11 @@ ifneq (,$(filter native,$(BOARD)))
 endif
 
 USEMODULE += printf_float
+USEMODULE += test_utils_main_exit_cb
+
+CFLAGS += -Wno-error=strict-prototypes
+CFLAGS += -Wno-error=old-style-definition
+CFLAGS += -Wno-error=format
 
 TEST_ON_CI_WHITELIST += native
 
diff --git a/tests/pkg_libfixmath_unittests/main.c b/tests/pkg_libfixmath_unittests/main.c
index d401275d7f..032e70d132 100644
--- a/tests/pkg_libfixmath_unittests/main.c
+++ b/tests/pkg_libfixmath_unittests/main.c
@@ -29,17 +29,12 @@
  */
 
 #include <stdio.h>
-#include "libfixmath-unittests.h"
 
-#define RUN(x)  if (x() != 0) { return 1; }
-
-int main(void)
+void test_utils_main_exit_cb(int res)
 {
-    RUN(fix16_exp_unittests);
-    RUN(fix16_macros_unittests);
-    RUN(fix16_str_unittests);
-    RUN(fix16_unittests);
-
-    puts("SUCCESS");
-    return 0;
+    if (res) {
+        puts("FAILED");
+    } else {
+        puts("SUCCESS");
+    }
 }