diff --git a/bsp_q7s/boardconfig/busConf.h b/bsp_q7s/boardconfig/busConf.h
index 257883cd..f5b4a860 100644
--- a/bsp_q7s/boardconfig/busConf.h
+++ b/bsp_q7s/boardconfig/busConf.h
@@ -19,18 +19,18 @@ static constexpr char UART_GNSS_1_DEV[] = "/dev/ttyUL2";
 /**************************************************************/
 /** OBC1E                                                     */
 /**************************************************************/
-static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "gpiochip4";
-static const char* const GPIO_GYRO_ADIS_CHIP = GPIO_MULTIPURPOSE_1V8_OBC1D;
+static constexpr char GPIO_MULTIPURPOSE_1V8_OBC1D[] = "/amba_pl/gpio@42020000";
+static const char* const GPIO_GYRO_ADIS_LABEL = GPIO_MULTIPURPOSE_1V8_OBC1D;
 static constexpr uint32_t GPIO_GYRO_0_ADIS_CS = 0;      // Package Pin: W20
 static constexpr uint32_t GPIO_GYRO_2_ADIS_CS = 2;      // AA22
 
 /**************************************************************/
 /** OBC1F B0                                                  */
 /**************************************************************/
-static constexpr char GPIO_FLEX_OBC1F_B0[] = "gpiochip5";
-static const char* const GPIO_ACS_BOARD_DEFAULT_CHIP = GPIO_FLEX_OBC1F_B0;
-static const char* const GPIO_RW_DEFAULT_CHIP = GPIO_FLEX_OBC1F_B0;
-static const char* const GPIO_RAD_SENSOR_CHIP = GPIO_FLEX_OBC1F_B0;
+static constexpr char GPIO_FLEX_OBC1F_B0[] = "/amba_pl/gpio@42030000";
+static const char* const GPIO_ACS_BOARD_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RW_DEFAULT_LABEL = GPIO_FLEX_OBC1F_B0;
+static const char* const GPIO_RAD_SENSOR_LABEL = GPIO_FLEX_OBC1F_B0;
 
 static constexpr uint32_t GPIO_RW_0_CS = 7;             // B20
 static constexpr uint32_t GPIO_RW_1_CS = 3;             // G22
@@ -40,7 +40,6 @@ static constexpr uint32_t GPIO_RW_3_CS = 6;             // B19
 static constexpr uint32_t GPIO_GYRO_1_L3G_CS = 18;      // N22
 static constexpr uint32_t GPIO_GYRO_3_L3G_CS = 1;       // M21
 static constexpr uint32_t GPIO_MGM_0_LIS3_CS = 5;       // C18
-// MGM_2 is part of gpiochip6
 static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;    // A16
 static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;    // C17
 
@@ -56,16 +55,16 @@ static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19;      // R18
 /**************************************************************/
 /** OBC1F B1                                                  */
 /**************************************************************/
-static constexpr char GPIO_FLEX_OBC1F_B1[] = "gpiochip6";
-static const char* const GPIO_MGM2_LIS3_CHIP = GPIO_FLEX_OBC1F_B1;
+static constexpr char GPIO_FLEX_OBC1F_B1[] = "/amba_pl/gpio@42030000";
+static const char* const GPIO_MGM2_LIS3_LABEL = GPIO_FLEX_OBC1F_B1;
 static constexpr uint32_t GPIO_MGM_2_LIS3_CS = 0;       // D18
 
 /**************************************************************/
 /** OBC1C                                                     */
 /**************************************************************/
-static constexpr char GPIO_3V3_OBC1C[] = "gpiochip7";
-static const char* const GPIO_HEATER_CHIP = GPIO_3V3_OBC1C;
-static const char* const GPIO_SOLAR_ARR_DEPL_CHIP = GPIO_3V3_OBC1C;
+static constexpr char GPIO_3V3_OBC1C[] = "/amba_pl/gpio@42040000";
+static const char* const GPIO_HEATER_LABEL = GPIO_3V3_OBC1C;
+static const char* const GPIO_SOLAR_ARR_DEPL_LABEL = GPIO_3V3_OBC1C;
 static constexpr uint32_t GPIO_HEATER_0_PIN = 6;
 static constexpr uint32_t GPIO_HEATER_1_PIN = 12;
 static constexpr uint32_t GPIO_HEATER_2_PIN = 7;
@@ -79,10 +78,18 @@ static constexpr uint32_t GPIO_GYRO_2_ENABLE = 18;      // F22
 static constexpr uint32_t GPIO_SOL_DEPL_SA_0_PIN = 4;
 static constexpr uint32_t GPIO_SOL_DEPL_SA_1_PIN = 2;
 
-static constexpr char GPIO_RW_SPI_MUX_CHIP[] = "gpiochip11";
+static constexpr char GPIO_RW_SPI_MUX_LABEL[] = "zynq_gpio";
 // Uses EMIO interface to PL, starts at 54
 static constexpr uint32_t GPIO_RW_SPI_MUX_CS = 54;
 
+static constexpr uint32_t SPI_MUX_BIT_1 = 13;
+static constexpr uint32_t SPI_MUX_BIT_2 = 14;
+static constexpr uint32_t SPI_MUX_BIT_3 = 15;
+static constexpr uint32_t SPI_MUX_BIT_4 = 16;
+static constexpr uint32_t SPI_MUX_BIT_5 = 17;
+static constexpr uint32_t SPI_MUX_BIT_6 = 9;
+static constexpr uint32_t EN_RW_CS = 17;
+
 }
 
 #endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */
diff --git a/bsp_q7s/core/InitMission.cpp b/bsp_q7s/core/InitMission.cpp
index 5ddb6b9b..e7d8779b 100644
--- a/bsp_q7s/core/InitMission.cpp
+++ b/bsp_q7s/core/InitMission.cpp
@@ -289,13 +289,17 @@ void initmission::createPusTasks(TaskFactory &factory,
 
 void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
         std::vector<PeriodicTaskIF*>& taskVec) {
+#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+#endif
     PeriodicTaskIF* testTask = factory.createPeriodicTask(
             "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
+#if OBSW_ADD_TEST_TASK == 1
     result = testTask->addComponent(objects::TEST_TASK);
     if(result != HasReturnvaluesIF::RETURN_OK) {
         initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
     }
+#endif /* OBSW_ADD_TEST_TASK == 1 */
 
 #if OBSW_ADD_SPI_TEST_CODE == 1
     result = testTask->addComponent(objects::SPI_TEST);
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 26c4df6d..e8be0ef1 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -109,7 +109,7 @@ void Factory::setStaticFrameworkObjectIds() {
     TmPacketBase::timeStamperId = objects::TIME_STAMPER;
 }
 
-void ObjectFactory::produce(void* args){
+void ObjectFactory::produce(void* args) {
     ObjectFactory::setStatics();
     ObjectFactory::produceGenericObjects();
     LinuxLibgpioIF* gpioComIF = nullptr;
@@ -137,8 +137,8 @@ void ObjectFactory::produce(void* args){
     createRtdComponents();
 #endif /* Q7S_ADD_RTD_DEVICES == 1 */
 
-    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ,
-            IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
+    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
+            q7s::I2C_DEFAULT_DEV);
     new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
     createReactionWheelComponents(gpioComIF);
 
@@ -175,13 +175,13 @@ void ObjectFactory::produce(void* args){
     auto udpBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
     new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
     sif::info << "Created UDP server for TMTC commanding with listener port " <<
-            udpBridge->getUdpPort() << std::endl;
+    udpBridge->getUdpPort() << std::endl;
 #else
     auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
     tmtcBridge->setMaxNumberOfPacketsStored(50);
     auto tcpServer = new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
-    sif::info << "Created TCP server for TMTC commanding with listener port " <<
-            tcpServer->getTcpPort() << std::endl;
+    sif::info << "Created TCP server for TMTC commanding with listener port "
+            << tcpServer->getTcpPort() << std::endl;
 #endif /* OBSW_USE_TMTC_TCP_BRIDGE == 0 */
 
     /* Test Task */
@@ -207,19 +207,17 @@ void ObjectFactory::createTmpComponents() {
 #endif
 
     /* Temperature sensors */
-    Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
-            objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
-            i2cCookieTmp1075tcs1);
+    Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(objects::TMP1075_HANDLER_1,
+            objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
     (void) tmp1075Handler_1;
-    Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
-            objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
-            i2cCookieTmp1075tcs2);
+    Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(objects::TMP1075_HANDLER_2,
+            objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
     (void) tmp1075Handler_2;
 }
 
-void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
-        UartComIF** uartComIF, SpiComIF** spiComIF) {
-    if(gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, UartComIF** uartComIF,
+        SpiComIF** spiComIF) {
+    if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
         sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                 << std::endl;
     }
@@ -240,23 +238,19 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
 }
 
 void ObjectFactory::createPcduComponents() {
-    CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
-            addresses::P60DOCK);
-    CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
-            addresses::PDU1);
-    CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
-            addresses::PDU2);
-    CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
-            addresses::ACU);
+    CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
+    CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
+    CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
+    CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
     /* Device Handler */
     P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
             objects::CSP_COM_IF, p60DockCspCookie);
-    PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER,
-            objects::CSP_COM_IF, pdu1CspCookie);
-    PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER,
-            objects::CSP_COM_IF, pdu2CspCookie);
-    ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER,
-            objects::CSP_COM_IF, acuCspCookie);
+    PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
+            pdu1CspCookie);
+    PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
+            pdu2CspCookie);
+    ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
+            acuCspCookie);
     new PCDUHandler(objects::PCDU_HANDLER, 50);
 
     /**
@@ -271,8 +265,8 @@ void ObjectFactory::createPcduComponents() {
 
 void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRadSensor = new GpioCookie;
-    GpiodRegular* chipSelectRadSensor = new GpiodRegular(q7s::GPIO_RAD_SENSOR_CHIP,
-            q7s::GPIO_RAD_SENSOR_CS, "Chip Select Radiation Sensor", gpio::OUT, 1);
+    GpiodRegular* chipSelectRadSensor = new GpiodRegular("Chip Select Radiation Sensor", gpio::OUT,
+            1, q7s::GPIO_RAD_SENSOR_LABEL, q7s::GPIO_RAD_SENSOR_CS);
     gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
     gpioComIF->addGpios(gpioCookieRadSensor);
 
@@ -282,8 +276,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
 }
 
-void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
-        SpiComIF* spiComIF) {
+void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) {
     GpioCookie* gpioCookieSus = new GpioCookie();
     GpioCallback* susgpio = nullptr;
 
@@ -400,46 +393,46 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF,
 void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
     GpioCookie* gpioCookieAcsBoard = new GpioCookie();
     GpiodRegular* gpio = nullptr;
-    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_0_ADIS_CS,
-            "CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("CS_GYRO_0_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
+            q7s::GPIO_GYRO_0_ADIS_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_1_L3G_CS,
-            "CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("CS_GYRO_1_L3G", gpio::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_1_L3G_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, q7s::GPIO_GYRO_2_ADIS_CS,
-            "CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("CS_GYRO_2_ADIS", gpio::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
+            q7s::GPIO_GYRO_2_ADIS_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_GYRO_3_L3G_CS,
-            "CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("CS_GYRO_3_L3G", gpio::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_GYRO_3_L3G_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_0_LIS3_CS,
-            "CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("CS_MGM_0_LIS3_A", gpio::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_0_LIS3_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_1_RM3100_CS,
-            "CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("CS_MGM_1_RM3100_A", gpio::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_1_RM3100_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, q7s::GPIO_MGM_2_LIS3_CS,
-            "CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("CS_MGM_2_LIS3_B", gpio::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
+            q7s::GPIO_MGM_2_LIS3_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_MGM_3_RM3100_CS,
-            "CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("CS_MGM_3_RM3100_B", gpio::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_MGM_3_RM3100_CS);
     gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
     // GNSS reset pins are active low
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_0,
-            "GNSS_0_NRESET", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("GNSS_0_NRESET", gpio::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_0);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, q7s::GPIO_RESET_GNSS_1,
-            "GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("GNSS_1_NRESET", gpio::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, q7s::GPIO_RESET_GNSS_1);
     gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegular(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
-            "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
+    gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
+            q7s::GPIO_GYRO_0_ENABLE);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
-            "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
+    gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
+            q7s::GPIO_GYRO_2_ENABLE);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
 
     // TODO: Add enable pins for GPS as soon as new interface board design is finished
@@ -448,8 +441,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     std::string spiDev = q7s::SPI_DEFAULT_DEV;
     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 MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie, 0);
+    auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
     mgmLis3Handler->setStartUpImmediately();
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
     mgmLis3Handler->setToGoToNormalMode(true);
@@ -457,8 +450,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 
     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 MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER,
-            objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
+    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
+            spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_A);
     mgmRm3100Handler->setStartUpImmediately();
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     mgmRm3100Handler->setToGoToNormalMode(true);
@@ -466,8 +459,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 
     spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
             MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
-    auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER,
-            objects::SPI_COM_IF, spiCookie, 0);
+    auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
     mgmLis3Handler2->setStartUpImmediately();
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
     mgmLis3Handler2->setToGoToNormalMode(true);
@@ -475,8 +468,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
 
     spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
             RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
-    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER,
-            objects::SPI_COM_IF, spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
+    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
+            spiCookie, pcduSwitches::SwitcherList::ACS_BOARD_SIDE_B);
     mgmRm3100Handler->setStartUpImmediately();
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     mgmRm3100Handler->setToGoToNormalMode(true);
@@ -487,14 +480,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
             ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
             spi::DEFAULT_ADIS16507_SPEED);
-    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
+    auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
     adisHandler->setStartUpImmediately();
     // Gyro 1 Side A
     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, 0);
+    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
     gyroL3gHandler->setGoNormalModeAtStartup();
@@ -503,14 +496,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
             ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
             spi::DEFAULT_ADIS16507_SPEED);
-    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER,
-            objects::SPI_COM_IF, spiCookie);
+    adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
+            spiCookie);
     adisHandler->setStartUpImmediately();
     // Gyro 3 Side B
     spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
             L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
-    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER,
-            objects::SPI_COM_IF, spiCookie, 0);
+    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
+            spiCookie, 0);
     gyroL3gHandler->setStartUpImmediately();
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
     gyroL3gHandler->setGoNormalModeAtStartup();
@@ -549,38 +542,37 @@ void ObjectFactory::createHeaterComponents() {
     GpioCookie* heaterGpiosCookie = new GpioCookie;
 
     /* Pin H2-11 on stack connector */
-    GpiodRegular* gpioConfigHeater0 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            q7s::GPIO_HEATER_0_PIN, "Heater0", gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater0 = new GpiodRegular("Heater0", gpio::OUT, 0,
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_0_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);
-
     /* Pin H2-12 on stack connector */
-    GpiodRegular* gpioConfigHeater1 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            q7s::GPIO_HEATER_1_PIN, "Heater1", gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater1 = new GpiodRegular("Heater1", gpio::OUT, 0,
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_1_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);
 
     /* Pin H2-13 on stack connector */
-    GpiodRegular* gpioConfigHeater2 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            q7s::GPIO_HEATER_2_PIN, "Heater2", gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater2 = new GpiodRegular("Heater2", gpio::OUT, 0,
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_2_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);
 
-    GpiodRegular* gpioConfigHeater3 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            q7s::GPIO_HEATER_3_PIN, "Heater3", gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater3 = new GpiodRegular("Heater3", gpio::OUT, 0,
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_3_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);
 
-    GpiodRegular* gpioConfigHeater4 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            q7s::GPIO_HEATER_4_PIN, "Heater4", gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater4 = new GpiodRegular("Heater4", gpio::OUT, 0,
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_4_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);
 
-    GpiodRegular* gpioConfigHeater5 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            q7s::GPIO_HEATER_5_PIN, "Heater5", gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater5 = new GpiodRegular("Heater5", gpio::OUT, 0,
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_5_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);
 
-    GpiodRegular* gpioConfigHeater6 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            q7s::GPIO_HEATER_6_PIN, "Heater6", gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater6 = new GpiodRegular("Heater6", gpio::OUT, 0,
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_6_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);
 
-    GpiodRegular* gpioConfigHeater7 = new GpiodRegular(q7s::GPIO_HEATER_CHIP,
-            q7s::GPIO_HEATER_7_PIN, "Heater7", gpio::OUT, 0);
+    GpiodRegular* gpioConfigHeater7 = new GpiodRegular("Heater7", gpio::OUT, 0,
+            q7s::GPIO_HEATER_LABEL, q7s::GPIO_HEATER_7_PIN);
     heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);
 
     new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
@@ -590,11 +582,11 @@ void ObjectFactory::createHeaterComponents() {
 void ObjectFactory::createSolarArrayDeploymentComponents() {
     GpioCookie* solarArrayDeplCookie = new GpioCookie;
 
-    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
-            q7s::GPIO_SOL_DEPL_SA_0_PIN, "DeplSA0", gpio::OUT, 0);
+    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular("DeplSA0", gpio::OUT, 0,
+            q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_0_PIN);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
-    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(q7s::GPIO_SOLAR_ARR_DEPL_CHIP,
-            q7s::GPIO_SOL_DEPL_SA_1_PIN, "DeplSA1", gpio::OUT, 0);
+    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular("DeplSA1", gpio::OUT, 0,
+            q7s::GPIO_SOLAR_ARR_DEPL_LABEL, q7s::GPIO_SOL_DEPL_SA_1_PIN);
     solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);
 
     //TODO: Find out burn time. For now set to 1000 ms.
@@ -666,69 +658,62 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
 
     gpioComIF->addGpios(rtdGpioCookie);
 
-    SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
-    SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3, q7s::SPI_DEFAULT_DEV,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4, q7s::SPI_DEFAULT_DEV,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5, q7s::SPI_DEFAULT_DEV,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6, q7s::SPI_DEFAULT_DEV,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7, q7s::SPI_DEFAULT_DEV,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8, q7s::SPI_DEFAULT_DEV,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
+    SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9, q7s::SPI_DEFAULT_DEV,
+            Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
             std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, spi::RTD_SPEED);
     SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            spi::RTD_SPEED);
     SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
-            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE,
-            spi::SpiModes::MODE_1, spi::RTD_SPEED);
+            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::SpiModes::MODE_1,
+            spi::RTD_SPEED);
 
-    Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
-            objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
-    Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4,
-            objects::SPI_COM_IF, spiRtdIc4, 0);
-    Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5,
-            objects::SPI_COM_IF, spiRtdIc5, 0);
-    Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6,
-            objects::SPI_COM_IF, spiRtdIc6, 0);
-    Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7,
-            objects::SPI_COM_IF, spiRtdIc7, 0);
-    Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8,
-            objects::SPI_COM_IF, spiRtdIc8, 0);
-    Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9,
-            objects::SPI_COM_IF, spiRtdIc9, 0);
+    Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF,
+            spiRtdIc3, 0); // 0 is switchId
+    Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF,
+            spiRtdIc4, 0);
+    Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF,
+            spiRtdIc5, 0);
+    Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF,
+            spiRtdIc6, 0);
+    Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF,
+            spiRtdIc7, 0);
+    Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF,
+            spiRtdIc8, 0);
+    Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF,
+            spiRtdIc9, 0);
     Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10,
             objects::SPI_COM_IF, spiRtdIc10, 0);
     Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11,
@@ -768,30 +753,30 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
 
 void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
     GpioCookie* gpioCookieRw = new GpioCookie;
-    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT,
-            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::OUT, gpio::HIGH,
+            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
-    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT,
-            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::OUT, gpio::HIGH,
+            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
-    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT,
-            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::OUT, gpio::HIGH,
+            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
-    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT,
-            gpio::HIGH, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
+    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::OUT, gpio::HIGH,
+            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);
 
-    GpiodRegular* enRw1 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_0_CS,
-            "Enable reaction wheel 1", gpio::OUT, 0);
+    GpiodRegular* enRw1 = new GpiodRegular("Enable reaction wheel 1", gpio::OUT, 0,
+            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_0_CS);
     gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1);
-    GpiodRegular* enRw2 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_1_CS,
-            "Enable reaction wheel 2", gpio::OUT, 0);
+    GpiodRegular* enRw2 = new GpiodRegular("Enable reaction wheel 2", gpio::OUT, 0,
+            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_1_CS);
     gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2);
-    GpiodRegular* enRw3 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_2_CS,
-            "Enable reaction wheel 3", gpio::OUT, 0);
+    GpiodRegular* enRw3 = new GpiodRegular("Enable reaction wheel 3", gpio::OUT, 0,
+            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_2_CS);
     gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3);
-    GpiodRegular* enRw4 = new GpiodRegular(q7s::GPIO_RW_DEFAULT_CHIP, q7s::GPIO_RW_3_CS,
-            "Enable reaction wheel 4", gpio::OUT, 0);
+    GpiodRegular* enRw4 = new GpiodRegular("Enable reaction wheel 4", gpio::OUT, 0,
+            q7s::GPIO_RW_DEFAULT_LABEL, q7s::GPIO_RW_3_CS);
     gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
 
     /**
@@ -799,8 +784,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
      * the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
      * Per default the PS SPI is selected (EMIO = 0).
      */
-    GpiodRegular* spiMux = new GpiodRegular(q7s::GPIO_RW_SPI_MUX_CHIP, q7s::GPIO_RW_SPI_MUX_CS,
-            "EMIO 0 SPI Mux", gpio::OUT, 0);
+    GpiodRegular* spiMux = new GpiodRegular("EMIO 0 SPI Mux", gpio::OUT, 0,
+            q7s::GPIO_RW_SPI_MUX_LABEL, q7s::GPIO_RW_SPI_MUX_CS);
     gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
 
     gpioComIF->addGpios(gpioCookieRw);
@@ -842,11 +827,15 @@ void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
 #endif
 
 #if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
+#if OBSW_TEST_GPIO_LABEL == 1
     /* Configure MIO0 as input */
-    GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
-            std::string("MIO0"), gpio::IN, 0);
+    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::OUT, 0, "/amba_pl/gpio@41200000", 0);
+#else
+    /* Configure MIO0 as input */
+    GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
+#endif /* OBSW_TEST_GPIO_LABEL == 1 */
     GpioCookie* gpioCookie = new GpioCookie;
-    gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
+    gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
     new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
 #endif
 
diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp
index 34c927ed..da3678c6 100644
--- a/bsp_q7s/gpio/gpioCallbacks.cpp
+++ b/bsp_q7s/gpio/gpioCallbacks.cpp
@@ -1,4 +1,5 @@
 #include "gpioCallbacks.h"
+#include "busConf.h"
 #include <devices/gpioIds.h>
 
 #include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
@@ -24,29 +25,29 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
     GpioCookie* spiMuxGpios = new GpioCookie;
 
     /** Setting mux bit 1 to low will disable IC21 on the interface board */
-    GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("gpiochip7"), 13,
-            std::string("SPI Mux Bit 1"), gpio::OUT, 0);
+    GpiodRegular* spiMuxBit1 = new GpiodRegular(std::string("SPI Mux Bit 1"), gpio::OUT, 0,
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_1);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_1, spiMuxBit1);
     /** Setting mux bit 2 to low disables IC1 on the TCS board */
-    GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("gpiochip7"), 14,
-            std::string("SPI Mux Bit 2"), gpio::OUT, 0);
+    GpiodRegular* spiMuxBit2 = new GpiodRegular(std::string("SPI Mux Bit 2"), gpio::OUT, 0,
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_2);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_2, spiMuxBit2);
     /** Setting mux bit 3 to low disables IC2 on the TCS board and IC22 on the interface board */
-    GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("gpiochip7"), 15,
-            std::string("SPI Mux Bit 3"), gpio::OUT, 0);
+    GpiodRegular* spiMuxBit3 = new GpiodRegular(std::string("SPI Mux Bit 3"), gpio::OUT, 0,
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_3);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_3, spiMuxBit3);
     /** The following gpios can take arbitrary initial values */
-    GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("gpiochip7"), 16,
-            std::string("SPI Mux Bit 4"), gpio::OUT, 0);
+    GpiodRegular* spiMuxBit4 = new GpiodRegular(std::string("SPI Mux Bit 4"), gpio::OUT, 0,
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_4);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_4, spiMuxBit4);
-    GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("gpiochip7"), 17,
-            std::string("SPI Mux Bit 5"), gpio::OUT, 0);
+    GpiodRegular* spiMuxBit5 = new GpiodRegular(std::string("SPI Mux Bit 5"), gpio::OUT, 0,
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_5);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_5, spiMuxBit5);
-    GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 9,
-            std::string("SPI Mux Bit 6"), gpio::OUT, 0);
+    GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("SPI Mux Bit 6"), gpio::OUT, 0,
+            q7s::GPIO_3V3_OBC1C, q7s::SPI_MUX_BIT_6);
     spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6);
-    GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17,
-            std::string("EN_RW_CS"), gpio::OUT, 1);
+    GpiodRegular* enRwDecoder = new GpiodRegular(std::string("EN_RW_CS"), gpio::OUT, 1,
+            q7s::GPIO_FLEX_OBC1F_B1, q7s::EN_RW_CS);
     spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder);
 
     result = gpioComInterface->addGpios(spiMuxGpios);
diff --git a/bsp_q7s/simple/simple.cpp b/bsp_q7s/simple/simple.cpp
index a6bb9fdf..960aa7db 100644
--- a/bsp_q7s/simple/simple.cpp
+++ b/bsp_q7s/simple/simple.cpp
@@ -11,6 +11,10 @@ int simple::simple() {
     {
         FileSystemTest fileSystemTest;
     }
+#endif
+
+#if TE0720_GPIO_TEST
+
 #endif
     return 0;
 }
diff --git a/fsfw b/fsfw
index 87b68e84..8374d495 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 87b68e84bef1b77ad87ccd189c12b5a49a8f5955
+Subproject commit 8374d495fa4ca7208af5fd6e2273d9b52e7d9ee0
diff --git a/linux/boardtest/LibgpiodTest.cpp b/linux/boardtest/LibgpiodTest.cpp
index 39e863b4..8eb9b536 100644
--- a/linux/boardtest/LibgpiodTest.cpp
+++ b/linux/boardtest/LibgpiodTest.cpp
@@ -15,7 +15,7 @@ LibgpiodTest::LibgpiodTest(object_id_t objectId, object_id_t gpioIfobjectId,
         sif::error << "LibgpiodTest::LibgpiodTest: Invalid Gpio interface." << std::endl;
     }
     gpioInterface->addGpios(gpioCookie);
-    testCase = TestCases::LOOPBACK;
+    testCase = TestCases::BLINK;
 }
 
 LibgpiodTest::~LibgpiodTest() {
@@ -29,7 +29,7 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
     case(TestCases::READ): {
         result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
         if (result != RETURN_OK) {
-            sif::debug << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
+            sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
                     << std::endl;
             return RETURN_FAILED;
         }
@@ -42,6 +42,38 @@ ReturnValue_t LibgpiodTest::performPeriodicAction() {
     case(TestCases::LOOPBACK): {
         break;
     }
+    case(TestCases::BLINK): {
+        result = gpioInterface->readGpio(gpioIds::TEST_ID_0, &gpioState);
+        if (result != HasReturnvaluesIF::RETURN_OK) {
+            sif::warning << "LibgpiodTest::performPeriodicAction: Failed to read gpio "
+                    << std::endl;
+            return RETURN_FAILED;
+        }
+        if (gpioState == 1) {
+            result = gpioInterface->pullLow(gpioIds::TEST_ID_0);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO low!"
+                        << std::endl;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+        }
+        else if (gpioState == 0) {
+            result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                sif::warning << "LibgpiodTest::performPeriodicAction: Could not pull GPIO high!"
+                        << std::endl;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+        }
+        else {
+            sif::warning << "LibgpiodTest::performPeriodicAction: Invalid GPIO state" << std::endl;
+        }
+
+        break;
+    }
+    default:
+        sif::debug << "LibgpiodTest::performPeriodicAction: Invalid test case" << std::endl;
+        break;
     }
 
 
@@ -56,6 +88,9 @@ ReturnValue_t LibgpiodTest::performOneShotAction() {
     case(TestCases::READ): {
         break;
     }
+    case(TestCases::BLINK): {
+        break;
+    }
     case(TestCases::LOOPBACK): {
         result = gpioInterface->pullHigh(gpioIds::TEST_ID_0);
         if(result == HasReturnvaluesIF::RETURN_OK) {
diff --git a/linux/boardtest/LibgpiodTest.h b/linux/boardtest/LibgpiodTest.h
index a18c618e..718d0209 100644
--- a/linux/boardtest/LibgpiodTest.h
+++ b/linux/boardtest/LibgpiodTest.h
@@ -14,7 +14,8 @@ class LibgpiodTest: public TestTask {
 public:
     enum TestCases {
         READ = 0,
-        LOOPBACK = 1
+        LOOPBACK = 1,
+        BLINK
     };
 
     TestCases testCase;
diff --git a/linux/boardtest/SpiTestClass.cpp b/linux/boardtest/SpiTestClass.cpp
index bdd9a2dd..e69c63e5 100644
--- a/linux/boardtest/SpiTestClass.cpp
+++ b/linux/boardtest/SpiTestClass.cpp
@@ -299,7 +299,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
 void SpiTestClass::acsInit() {
     GpioCookie* gpioCookie = new GpioCookie();
     GpiodRegular* gpio = nullptr;
-#ifdef RASPBERRY_PI
+    #ifdef RASPBERRY_PI
     std::string rpiGpioName = "gpiochip0";
     gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
             gpio::Direction::OUT, 1);
@@ -328,43 +328,43 @@ void SpiTestClass::acsInit() {
     gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
             gpio::Direction::OUT, 1);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
-#elif defined(XIPHOS_Q7S)
+    #elif defined(XIPHOS_Q7S)
 
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm0Lis3mdlChipSelect,
-            "MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH);
+gpio = new GpiodRegular("MGM_0_LIS3", gpio::Direction::OUT, gpio::HIGH,
+        q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm0Lis3mdlChipSelect);
     gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm1Rm3100ChipSelect,
-            "MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("MGM_1_RM3100", gpio::Direction::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm1Rm3100ChipSelect);
     gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_MGM2_LIS3_CHIP, mgm2Lis3mdlChipSelect,
-            "MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("MGM_2_LIS3", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_MGM2_LIS3_LABEL,
+            mgm2Lis3mdlChipSelect);
     gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, mgm3Rm3100ChipSelect,
-            "MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("MGM_3_RM3100", gpio::Direction::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, mgm3Rm3100ChipSelect);
     gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
 
-    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, gyro0AdisChipSelect,
-            "GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("GYRO_0_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
+            gyro0AdisChipSelect);
     gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, gyro1L3gd20ChipSelect,
-            "GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("GYRO_1_L3G", gpio::Direction::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro1L3gd20ChipSelect);
     gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_GYRO_ADIS_CHIP, gyro2AdisChipSelect,
-            "GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("GYRO_2_ADIS", gpio::Direction::OUT, gpio::HIGH, q7s::GPIO_GYRO_ADIS_LABEL,
+            gyro2AdisChipSelect);
     gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_ACS_BOARD_DEFAULT_CHIP, gyro3L3gd20ChipSelect,
-            "GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH);
+    gpio = new GpiodRegular("GYRO_3_L3G", gpio::Direction::OUT, gpio::HIGH,
+            q7s::GPIO_ACS_BOARD_DEFAULT_LABEL, gyro3L3gd20ChipSelect);
     gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
 
     // Enable pins must be pulled low for regular operations
-    gpio = new GpiodRegular(q7s::GPIO_FLEX_OBC1F_B0, q7s::GPIO_GYRO_0_ENABLE,
-            "GYRO_0_ENABLE", gpio::OUT, gpio::LOW);
+    gpio = new GpiodRegular("GYRO_0_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_FLEX_OBC1F_B0,
+            q7s::GPIO_GYRO_0_ENABLE);
     gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
-    gpio = new GpiodRegular(q7s::GPIO_3V3_OBC1C, q7s::GPIO_GYRO_2_ENABLE,
-            "GYRO_2_ENABLE", gpio::OUT, gpio::LOW);
+    gpio = new GpiodRegular("GYRO_2_ENABLE", gpio::OUT, gpio::LOW, q7s::GPIO_3V3_OBC1C,
+            q7s::GPIO_GYRO_2_ENABLE);
     gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
-#endif
-    if(gpioIF != nullptr) {
+    #endif
+    if (gpioIF != nullptr) {
         gpioIF->addGpios(gpioCookie);
     }
 }
diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index 58797c2d..7abe1ea8 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -48,7 +48,7 @@ debugging. */
 #define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
 #define OBSW_PRINT_MISSED_DEADLINES                 1
 // If this is enabled, all other SPI code should be disabled
-#define OBSW_ADD_TEST_CODE                          1
+#define OBSW_ADD_TEST_CODE                          0
 #define OBSW_ADD_SPI_TEST_CODE                      0
 #define OBSW_ADD_TEST_PST                           0
 #define OBSW_ADD_TEST_TASK                          0
@@ -59,6 +59,7 @@ debugging. */
 #define OBSW_TEST_CCSDS_BRIDGE                      0
 #define OBSW_TEST_CCSDS_PTME                        0
 #define OBSW_TEST_TE7020_HEATER                     0
+#define OBSW_TEST_GPIO_LABEL                        0
 
 #define OBSW_DEBUG_P60DOCK                          0
 #define OBSW_DEBUG_PDU1                             0
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 727334d2..8a756a56 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -425,20 +425,20 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
 
 #if OBSW_ADD_ACS_BOARD == 1
-    bool enableAside = false;
-    bool enableBside = true;
+    bool enableAside = true;
+    bool enableBside = false;
     if(enableAside) {
         // A side
-        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
-                DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
-                DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
-        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
-                DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
-                DeviceHandlerIF::GET_READ);
+//        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
+//                DeviceHandlerIF::PERFORM_OPERATION);
+//        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
+//                DeviceHandlerIF::SEND_WRITE);
+//        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
+//                DeviceHandlerIF::GET_WRITE);
+//        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
+//                DeviceHandlerIF::SEND_READ);
+//        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
+//                DeviceHandlerIF::GET_READ);
 
         thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
                 DeviceHandlerIF::PERFORM_OPERATION);
@@ -462,16 +462,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
         //    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8,
         //            DeviceHandlerIF::GET_READ);
 
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
-                DeviceHandlerIF::PERFORM_OPERATION);
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
-                DeviceHandlerIF::SEND_WRITE);
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
-                DeviceHandlerIF::GET_WRITE);
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
-                DeviceHandlerIF::SEND_READ);
-        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
-                DeviceHandlerIF::GET_READ);
+//        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
+//                DeviceHandlerIF::PERFORM_OPERATION);
+//        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
+//                DeviceHandlerIF::SEND_WRITE);
+//        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
+//                DeviceHandlerIF::GET_WRITE);
+//        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
+//                DeviceHandlerIF::SEND_READ);
+//        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
+//                DeviceHandlerIF::GET_READ);
     }
 
     if(enableBside) {