new busConf file, cleaning up

bsp_linux_board/ObjectFactory.cpp

@@ -1,3 +1,4 @@
+#include <devConf.h>
 #include "ObjectFactory.h"
 
 #include "objects/systemObjectList.h"
@@ -6,8 +7,6 @@
 #include "OBSWConfig.h"
 #include "tmtc/apid.h"
 #include "tmtc/pusIds.h"
-#include "spiConf.h"
-
 #include "linux/boardtest/LibgpiodTest.h"
 #include "linux/boardtest/SpiTestClass.h"
 #include "linux/boardtest/UartTestClass.h"

bsp_q7s/boardconfig/busConf.h

@@ -0,0 +1,14 @@
+#ifndef BSP_Q7S_BOARDCONFIG_BUSCONF_H_
+#define BSP_Q7S_BOARDCONFIG_BUSCONF_H_
+
+namespace q7s {
+
+static constexpr char SPI_DEFAULT_FILE[] = "dev/spidev2.0";
+static constexpr char SPI_RW_FILE[] = "dev/spidev3.0";
+
+
+}
+
+
+
+#endif /* BSP_Q7S_BOARDCONFIG_BUSCONF_H_ */

bsp_q7s/core/ObjectFactory.cpp

@@ -1,12 +1,12 @@
 #include "ObjectFactory.h"
 #include "OBSWConfig.h"
+#include "devConf.h"
+#include "busConf.h"
 #include "tmtc/apid.h"
 #include "devices/addresses.h"
 #include "devices/gpioIds.h"
 #include "tmtc/pusIds.h"
 #include "devices/powerSwitcherList.h"
-#include "spiConf.h"
-
 #include "bsp_q7s/gpio/gpioCallbacks.h"
 #include "bsp_q7s/core/CoreController.h"
 #include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
@@ -45,6 +45,7 @@
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 #include "mission/devices/devicedefinitions/RwDefinitions.h"
 #include <mission/devices/devicedefinitions/StarTrackerDefinitions.h>
+#include <mission/devices/GPSHyperionHandler.h>
 #include "mission/utility/TmFunnel.h"
 #include "linux/obc/CCSDSIPCoreBridge.h"
 
@@ -105,7 +106,8 @@ void ObjectFactory::produce(void* args){
     ObjectFactory::produceGenericObjects();
     new CoreController(objects::CORE_CONTROLLER);
     LinuxLibgpioIF* gpioComIF = nullptr;
-    createCommunicationInterfaces(&gpioComIF);
+    UartComIF* uartComIF = nullptr;
+    createCommunicationInterfaces(&gpioComIF, &uartComIF);
     createTmpComponents();
 #if BOARD_TE0720 == 0
 
@@ -113,7 +115,7 @@ void ObjectFactory::produce(void* args){
     createRadSensorComponent(gpioComIF);
     createSunSensorComponents(gpioComIF);
 #if OBSW_ADD_ACS_BOARD == 1
-    createAcsBoardComponents(gpioComIF);
+    createAcsBoardComponents(gpioComIF, uartComIF);
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
     createHeaterComponents();
     createSolarArrayDeploymentComponents();
@@ -208,9 +210,10 @@ void ObjectFactory::createTmpComponents() {
     (void) tmp1075Handler_2;
 }
 
-void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
-    if(gpioComIF == nullptr) {
-        sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid GPIO ComIF"
+void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF,
+        UartComIF** uartComIF) {
+    if(gpioComIF == nullptr or uartComIF == nullptr) {
+        sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                 << std::endl;
     }
     *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);
@@ -218,7 +221,7 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF) {
     /* Communication interfaces */
     new CspComIF(objects::CSP_COM_IF);
     new I2cComIF(objects::I2C_COM_IF);
-    new UartComIF(objects::UART_COM_IF);
+    *uartComIF = new UartComIF(objects::UART_COM_IF);
 #if Q7S_ADD_SPI_TEST == 0
     new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
 #endif /* Q7S_ADD_SPI_TEST == 0 */
@@ -264,7 +267,7 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
     gpioComIF->addGpios(gpioCookieRadSensor);
 
     SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
-            std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
             spi::DEFAULT_MAX_1227_SPEED);
     new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
 }
@@ -315,43 +318,43 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
     gpioComIF->addGpios(gpioCookieSus);
 
     SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
     SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO,
-            std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
+            std::string(q7s::SPI_DEFAULT_FILE), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
             SUS::MAX1227_SPI_FREQ);
 
     new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
@@ -382,7 +385,7 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF) {
             gpioIds::CS_SUS_13);
 }
 
-void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
+void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
     GpioCookie* gpioCookieAcsBoard = new GpioCookie();
     GpiodRegular* gpio = nullptr;
     gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
@@ -413,7 +416,7 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
 
     gpioComIF->addGpios(gpioCookieAcsBoard);
 
-    std::string spiDev = "/dev/spidev2.0";
+    std::string spiDev = q7s::SPI_DEFAULT_FILE;
     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,
@@ -454,6 +457,14 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF) {
 //    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
 //            spiCookie);
 //    gyroL3gHandler->setStartUpImmediately();
+
+    // TODO: Add GPS device handlers
+//    auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
+//            maxReplyLen);
+//    auto uartCookieGps1 = new UartCookie(objects::GPS0_HANDLER, deviceFile, uartMode, baudrate,
+//            maxReplyLen);
+//    new GPSHyperionHandler(objects::GPS0_HANDLER, uartComIF);
+//    new GPSHyperionHandler(objects::GPS1_HANDLER, uartComIF);
 }
 
 void ObjectFactory::createHeaterComponents() {
@@ -578,52 +589,52 @@ void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
     gpioComIF->addGpios(rtdGpioCookie);
 
     SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_3, 2000000);
     SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 3900000);
     SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
     SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
-            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
+            std::string(q7s::SPI_DEFAULT_FILE), Max31865Definitions::MAX_REPLY_SIZE,
             spi::SpiModes::MODE_1, 2000000);
 
     Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3,
@@ -716,16 +727,16 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 
     gpioComIF->addGpios(gpioCookieRw);
 
-    auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0",
+    auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_FILE,
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
             nullptr);
-    auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev3.0",
+    auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_FILE,
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
             nullptr);
-    auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev3.0",
+    auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_FILE,
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
             nullptr);
-    auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev3.0",
+    auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_FILE,
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
             nullptr);
 

bsp_q7s/core/ObjectFactory.h

@@ -2,18 +2,19 @@
 #define BSP_Q7S_OBJECTFACTORY_H_
 
 class LinuxLibgpioIF;
+class UartComIF;
 
 namespace ObjectFactory {
 
 void setStatics();
 void produce(void* args);
 
-void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF);
+void createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF);
 void createTmpComponents();
 void createPcduComponents();
 void createRadSensorComponent(LinuxLibgpioIF* gpioComIF);
 void createSunSensorComponents(LinuxLibgpioIF* gpioComIF);
-void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF);
+void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF);
 void createHeaterComponents();
 void createSolarArrayDeploymentComponents();
 void createSyrlinksComponents();

common/config/devConf.h

@@ -1,5 +1,5 @@
-#ifndef COMMON_CONFIG_SPICONF_H_
-#define COMMON_CONFIG_SPICONF_H_
+#ifndef COMMON_CONFIG_DEVCONF_H_
+#define COMMON_CONFIG_DEVCONF_H_
 
 #include <cstdint>
 #include <fsfw_hal/linux/spi/spiDefinitions.h>
@@ -31,4 +31,8 @@ static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
 }
 
-#endif /* COMMON_CONFIG_SPICONF_H_ */
+namespace uart {
+
+}
+
+#endif /* COMMON_CONFIG_DEVCONF_H_ */

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -423,6 +423,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
 
+#if OBSW_ADD_ACS_BOARD == 1
     thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
@@ -491,6 +492,8 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
             DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
+#endif
+
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "SPI PST initialization failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;