diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp
index aa376dff..9c61b6ee 100644
--- a/bsp_q7s/ObjectFactory.cpp
+++ b/bsp_q7s/ObjectFactory.cpp
@@ -5,6 +5,7 @@
 #include <devices/gpioIds.h>
 #include <tmtc/pusIds.h>
 #include <devices/powerSwitcherList.h>
+#include <devices/spi.h>
 
 #include <bsp_q7s/devices/HeaterHandler.h>
 #include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
@@ -16,6 +17,10 @@
 #include <mission/devices/PCDUHandler.h>
 #include <mission/devices/P60DockHandler.h>
 #include <mission/devices/Tmp1075Handler.h>
+#include <mission/devices/MGMHandlerLIS3MDL.h>
+#include <mission/devices/MGMHandlerRM3100.h>
+#include <mission/devices/GyroL3GD20Handler.h>
+
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 #include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
 #include <mission/utility/TmFunnel.h>
@@ -24,6 +29,7 @@
 #include <linux/csp/CspComIF.h>
 #include <fsfw_hal/linux/i2c/I2cCookie.h>
 #include <fsfw_hal/linux/i2c/I2cComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
 #include <fsfw_hal/common/gpio/GpioCookie.h>
 
@@ -78,6 +84,7 @@ void ObjectFactory::produce(){
     new CspComIF(objects::CSP_COM_IF);
     new I2cComIF(objects::I2C_COM_IF);
 
+    auto gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
 #if TE0720 == 0
     CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
             addresses::P60DOCK);
@@ -112,20 +119,29 @@ void ObjectFactory::produce(){
     (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);
+    GpiodRegular gpioGyro1(std::string("gpiochip5"), 21, std::string("CS_GYRO_1_ADIS"),
+            gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpioGyro1);
+    GpiodRegular gpioGyro2(std::string("gpiochip5"), 7, std::string("CS_GYRO_2_L3G"),
+            gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpioGyro2);
+    GpiodRegular gpioGyro3(std::string("gpiochip5"), 3, std::string("CS_GYRO_3_L3G"),
+            gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpioGyro3);
+
+    GpiodRegular gpioMgm0(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"),
+            gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpioMgm0);
+    GpiodRegular gpioMgm1(std::string("gpiochip5"), 17, std::string("CS_MGM_1_RM3100_A"),
+            gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpioMgm1);
+    GpiodRegular gpioMgm2(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"),
+            gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpioMgm2);
+    GpiodRegular gpioMgm3(std::string("gpiochip5"), 23, std::string("CS_MGM_3_RM3100_B"),
+            gpio::OUT, gpio::HIGH);
+    gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpioMgm3);
+
     gpioIF->addGpios(gpioCookieAcsBoard);
 
     std::string spiDev = "/dev/spidev2.0";
@@ -158,7 +174,7 @@ void ObjectFactory::produce(){
     tmp1075Handler_2->setStartUpImmediately();
 
     GpioCookie* heaterGpiosCookie = new GpioCookie;
-    new LinuxLibgpioIF(objects::GPIO_IF);
+
 #if TE0720 == 0
     /* Pin H2-11 on stack connector */
     GpiodRegular gpioConfigHeater0(std::string("gpiochip7"), 18,
diff --git a/fsfw_hal b/fsfw_hal
index 7a3190e5..feee39a6 160000
--- a/fsfw_hal
+++ b/fsfw_hal
@@ -1 +1 @@
-Subproject commit 7a3190e5b6980ad2addc5e8a76d21994b542f0e0
+Subproject commit feee39a6c759f699a07dcde4a97d4b5f779ec50b
diff --git a/linux/archive/gpio/gpioDefinitions.h b/linux/archive/gpio/gpioDefinitions.h
index 3b0f70fd..66c0b005 100644
--- a/linux/archive/gpio/gpioDefinitions.h
+++ b/linux/archive/gpio/gpioDefinitions.h
@@ -7,6 +7,12 @@
 using gpioId_t = uint16_t;
 
 namespace gpio {
+
+enum Levels {
+    LOW = 0,
+    HIGH = 1
+};
+
 enum Direction {
     IN = 0,
     OUT = 1