diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp
index 6b4e94e1..31ed8058 100644
--- a/bsp_q7s/ObjectFactory.cpp
+++ b/bsp_q7s/ObjectFactory.cpp
@@ -106,6 +106,46 @@ void ObjectFactory::produce(){
     //pdu1handler->setModeNormal();
     //pdu2handler->setModeNormal();
     //acuhandler->setModeNormal();
+    (void) p60dockhandler;
+    (void) pdu1handler;
+    (void) pdu2handler;
+    (void) acuhandler;
+
+    GpioCookie* gpioCookieAcsBoard = new GpioCookie();
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
+            "MGM_0_LIS3", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
+            "MGM_1_RM3100", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
+            "MGM_2_LIS3", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
+            "MGM_3_RM3100", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
+            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
+            "GYRO_1_L3G", gpio::Direction::OUT, 1);
+    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
+            "GYRO_2_L3G", gpio::Direction::OUT, 1);
+    gpioIF->addGpios(gpioCookieAcsBoard);
+
+    std::string spiDev = "/dev/spidev0.0";
+    SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
+            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
+    auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
+            objects::SPI_COM_IF, spiCookie);
+    mgmLis3Handler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
+            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
+    auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
+            objects::SPI_COM_IF, spiCookie);
+    mgmRm3100Handler->setStartUpImmediately();
+
+    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
+            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
+    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
+    gyroL3gHandler->setStartUpImmediately();
 #endif
     /* Temperature sensors */
     Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
diff --git a/linux/CMakeLists.txt b/linux/CMakeLists.txt
index 13748f41..dfc3b086 100644
--- a/linux/CMakeLists.txt
+++ b/linux/CMakeLists.txt
@@ -1,7 +1,5 @@
 # add_subdirectory(gpio)
-add_subdirectory(i2c)
 add_subdirectory(csp)
-add_subdirectory(spi)
 add_subdirectory(utility)
 add_subdirectory(boardtest)