diff --git a/hal/build.gradle b/hal/build.gradle
index a01638634e..ca122681fd 100644
--- a/hal/build.gradle
+++ b/hal/build.gradle
@@ -4,6 +4,8 @@
 
 apply plugin: 'cpp'
 
+defineWpiUtilProperties()
+
 model {
     components {
         HALAthena(NativeLibrarySpec) {
@@ -11,6 +13,7 @@ model {
             binaries.all {
                 tasks.withType(CppCompile) {
                     addNiLibraryLinks(linker, targetPlatform)
+                    addWpiUtilLibraryLinks(it, linker, targetPlatform)
                 }
             }
             sources {
@@ -20,7 +23,7 @@ model {
                         includes = ["**/*.cpp"]
                     }
                     exportedHeaders {
-                        srcDirs = ["include", "lib/athena/FRC_FPGA_ChipObject"]
+                        srcDirs = ["include", "lib/athena/FRC_FPGA_ChipObject", wpiUtilInclude]
                     }
                 }
             }
diff --git a/wpilibj/athena.gradle b/wpilibj/athena.gradle
index e99692705f..e61851c868 100644
--- a/wpilibj/athena.gradle
+++ b/wpilibj/athena.gradle
@@ -14,6 +14,8 @@ dependencies {
     athenaRuntime 'edu.wpi.first.wpilib.networktables.java:NetworkTables:+:arm'
 }
 
+defineWpiUtilProperties()
+
 // Configuration for the HAL bindings
 model {
     components {
@@ -23,6 +25,7 @@ model {
                 tasks.withType(CppCompile) {
                     dependsOn jniHeaders
                     addNiLibraryLinks(linker, targetPlatform)
+                    addWpiUtilLibraryLinks(it, linker, targetPlatform)
                 }
             }
             sources {
@@ -35,7 +38,7 @@ model {
                         // JDK is included for jni.h. We also need the arm-linux specific headers. This does not need to change
                         // when compiling on Windows
                         // The JNI headers are put into the build/include directory by the jniHeaders task on wpilibJavaDevices
-                        srcDirs = ["$jniDir/include", "$jniDir/include/linux"]
+                        srcDirs = ["$jniDir/include", "$jniDir/include/linux", wpiUtilInclude]
                         jniHeaders.outputs.files.each { file ->
                             srcDirs file.getPath()
                         }