diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index d90036c7b6..abd5e75a47 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -110,7 +110,7 @@ main_stm32.srcs = $(SRC_BETH)/main_stm32.c \
 main_stm32.CFLAGS += -DUSE_LED
 main_stm32.srcs += $(SRC_ARCH)/led_hw.c
 main_stm32.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+main_stm32.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -182,7 +182,7 @@ main_coders.srcs = $(SRC_BETH)/main_coders.c \
 main_coders.CFLAGS += -DUSE_LED
 main_coders.srcs += $(SRC_ARCH)/led_hw.c
 main_coders.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=7
-main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+main_coders.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
diff --git a/conf/airframes/Poine/bl_mc.xml b/conf/airframes/Poine/bl_mc.xml
index 02f00bb4d0..84a93893d8 100644
--- a/conf/airframes/Poine/bl_mc.xml
+++ b/conf/airframes/Poine/bl_mc.xml
@@ -23,8 +23,8 @@ LOCK_FUSE = ff
 main.CFLAGS += -DBOARD_CONFIG=\"conf_bl_mc.h\"
 main.srcs = main_bl_mc.c
 
-main.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1e-2)'
-main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+main.CFLAGS += -DPERIODIC_FREQUENCY='100.' -DUSE_SYS_TIME
+main.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 main.CFLAGS += -DUSE_LED
 #-DSYS_TIME_LED=1
diff --git a/conf/airframes/Poine/motor_bench.xml b/conf/airframes/Poine/motor_bench.xml
index 8e5c0051de..5f5036c767 100644
--- a/conf/airframes/Poine/motor_bench.xml
+++ b/conf/airframes/Poine/motor_bench.xml
@@ -13,8 +13,7 @@ main.ARCHDIR = $(ARCH)
 main.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
 main.srcs = $(MB)/main_motor_bench.c
 
-main.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
-main.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./PERIODIC_TASK_FREQ)'
+main.CFLAGS += -DPERIODIC_FREQUENCY='250.' -DUSE_SYS_TIME
 main.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 main.CFLAGS += -DUSE_LED
@@ -57,8 +56,7 @@ foo.ARCHDIR = $(ARCH)
 foo.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
 foo.srcs = $(MB)/main_foo.c
 
-foo.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
-foo.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./PERIODIC_TASK_FREQ)'
+foo.CFLAGS += -DPERIODIC_FREQUENCY='250.' -DUSE_SYS_TIME
 foo.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 foo.CFLAGS += -DUSE_LED
@@ -76,8 +74,7 @@ bar.ARCHDIR = $(ARCH)
 bar.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -I$(MB)
 bar.srcs = $(MB)/main_bar.c
 
-bar.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
-bar.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./PERIODIC_TASK_FREQ)'
+bar.CFLAGS += -DPERIODIC_FREQUENCY='250.' -DUSE_SYS_TIME
 bar.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 bar.CFLAGS += -DUSE_LED
diff --git a/conf/airframes/Poine/pt_ant.xml b/conf/airframes/Poine/pt_ant.xml
index 86e71c4fc4..6bc7224117 100644
--- a/conf/airframes/Poine/pt_ant.xml
+++ b/conf/airframes/Poine/pt_ant.xml
@@ -23,8 +23,8 @@ main.ARCHDIR = $(ARCH)
 main.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\" -I$(PT_ANT)
 main.srcs = $(PT_ANT)/pt_ant_main.c
 
-main.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1.66666667e-2)'
-main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+main.CFLAGS += -DPERIODIC_FREQUENCY='60.' -DUSE_SYS_TIME
+main.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 main.CFLAGS += -DUSE_LED
 
diff --git a/conf/airframes/Poine/turntable.xml b/conf/airframes/Poine/turntable.xml
index 7e9839f89b..9203b89dec 100644
--- a/conf/airframes/Poine/turntable.xml
+++ b/conf/airframes/Poine/turntable.xml
@@ -17,7 +17,7 @@ main.srcs += mcu.c
 main.srcs += $(SRC_ARCH)/mcu_arch.c
 
 main.CFLAGS += -DUSE_LED
-main.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+main.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 main.srcs += mcu_periph/sys_time.c $(MB)/turntable_systime.c
 
 #main.CFLAGS += -DUSE_USB_SERIAL
diff --git a/conf/airframes/demo.xml b/conf/airframes/demo.xml
index a990d33dfd..f9924086b0 100644
--- a/conf/airframes/demo.xml
+++ b/conf/airframes/demo.xml
@@ -23,7 +23,7 @@ demo2.ARCHDIR = $(ARCH)
 demo2.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
 demo2.srcs = main_demo2.c
 
-demo2.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(10e-2)'
+demo2.CFLAGS += -DPERIODIC_FREQUENCY='100.' -DUSE_SYS_TIME
 demo2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 demo2.CFLAGS += -DUSE_LED
@@ -36,7 +36,7 @@ demo3.ARCHDIR = $(ARCH)
 demo3.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
 demo3.srcs = main_demo3.c
 
-demo3.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1e-1)'
+demo3.CFLAGS += -DPERIODIC_FREQUENCY='10.' -DUSE_SYS_TIME
 demo3.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 demo3.CFLAGS += -DUSE_LED
@@ -55,7 +55,7 @@ demo4.ARCHDIR = $(ARCH)
 demo4.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
 demo4.srcs = main_demo4.c
 
-demo4.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(10e-2)'
+demo4.CFLAGS += -DPERIODIC_FREQUENCY='100.' -DUSE_SYS_TIME
 demo4.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 demo4.CFLAGS += -DUSE_LED
@@ -78,7 +78,7 @@ demo5.ARCHDIR = $(ARCH)
 demo5.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
 demo5.srcs = main_demo5.c
 
-demo5.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(10e-2)'
+demo5.CFLAGS += -DPERIODIC_FREQUENCY='100.' -DUSE_SYS_TIME
 demo5.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 demo5.CFLAGS += -DUSE_LED
@@ -102,7 +102,7 @@ demo6.ARCHDIR = $(ARCH)
 demo6.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\"
 demo6.srcs = main_demo6.c
 
-demo6.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(10e-2)'
+demo6.CFLAGS += -DPERIODIC_FREQUENCY='100.'
 demo6.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 demo6.CFLAGS += -DUSE_LED
@@ -129,7 +129,7 @@ test_spk.ARCHDIR = $(ARCH)
 test_spk.CFLAGS += -DBOARD_CONFIG=\"booz2_board_usb.h\"
 test_spk.srcs = main_test_spk.c
 
-test_spk.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_spk.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_spk.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_spk.CFLAGS += -DUSE_LED
diff --git a/conf/airframes/fraser_lisa_m_rotorcraft.xml b/conf/airframes/fraser_lisa_m_rotorcraft.xml
index 2e8bfd6338..eed728e0b8 100644
--- a/conf/airframes/fraser_lisa_m_rotorcraft.xml
+++ b/conf/airframes/fraser_lisa_m_rotorcraft.xml
@@ -27,8 +27,11 @@
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
   </firmware>
 
+  <firmware name="setup">
+    <target name="tunnel" board="lisa_m_1.0"/>
+  </firmware>
+
   <firmware name="lisa_m_test_progs">
-    <target name="tunnel"              board="lisa_m_1.0"/>
     <target name="test_sys_time"       board="lisa_m_1.0"/>
     <target name="test_led"	           board="lisa_m_1.0"/>
     <target name="test_uart_lisam"     board="lisa_m_1.0"/>
diff --git a/conf/airframes/obsolete/autoplato.xml b/conf/airframes/obsolete/autoplato.xml
index f651ff31f7..ae76c8e4f6 100644
--- a/conf/airframes/obsolete/autoplato.xml
+++ b/conf/airframes/obsolete/autoplato.xml
@@ -14,7 +14,7 @@ test_usb.ARCHDIR = $(ARCH)
 
 test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_usb.srcs += $(SRC_BOOZ_TEST)/atpt_main.c
-test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_usb.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 # -DTIME_LED=1
 test_usb.CFLAGS += -DUSE_LED
 test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
diff --git a/conf/airframes/test_i2c.xml b/conf/airframes/obsolete/test_i2c.xml
similarity index 70%
rename from conf/airframes/test_i2c.xml
rename to conf/airframes/obsolete/test_i2c.xml
index 4c29a8f709..b57e6b9834 100644
--- a/conf/airframes/test_i2c.xml
+++ b/conf/airframes/obsolete/test_i2c.xml
@@ -11,8 +11,8 @@ LPC21ISP_XTAL = 12000
 #FLASH_MODE = IAP
 FLASH_MODE = ISP
 
-mb.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(10e-3)'
-mb.srcs = $(SRC_ARCH)/main_test_i2c.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+mb.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -DPERIODIC_FREQUENCY='1000.' -DUSE_SYS_TIME
+mb.srcs = $(SRC_ARCH)/main_test_i2c.c mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 mb.CFLAGS += -DUSE_LED
 
diff --git a/conf/airframes/obsolete/vor.xml b/conf/airframes/obsolete/vor.xml
index fe4da5dd45..0cbeb72a48 100644
--- a/conf/airframes/obsolete/vor.xml
+++ b/conf/airframes/obsolete/vor.xml
@@ -11,7 +11,7 @@ main.ARCHDIR = $(ARCH)
 main.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\"
 main.srcs = firmwares/vor/lpc_vor_main.c
 
-main.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./29880.)'
+main.CFLAGS += -DPERIODIC_FREQUENCY='29880.'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main.CFLAGS += -DUSE_LED
diff --git a/conf/airframes/wind_tunnel.xml b/conf/airframes/wind_tunnel.xml
index 850333071f..1b083e4313 100644
--- a/conf/airframes/wind_tunnel.xml
+++ b/conf/airframes/wind_tunnel.xml
@@ -14,8 +14,8 @@ ap.ARCHDIR = $(ARCH)
 ap.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\" -I$(WIND_TUNNEL)
 ap.srcs = $(WIND_TUNNEL)/main.c
 
-ap.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1e-1)'
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+ap.CFLAGS += -DPERIODIC_FREQUENCY='10.' -DUSE_SYS_TIME
+ap.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 ap.CFLAGS += -DUSE_LED
 
@@ -44,8 +44,8 @@ mb.ARCHDIR = $(ARCH)
 mb.CFLAGS += -DBOARD_CONFIG=\"conf_demo.h\" -I$(WIND_TUNNEL) -I$(MB)
 mb.srcs = $(WIND_TUNNEL)/main_mb.c
 
-mb.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1e-2)'
-mb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+mb.CFLAGS += -DPERIODIC_FREQUENCY='100.' -DUSE_SYS_TIME
+mb.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 mb.CFLAGS += -DUSE_LED
 
diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/autopilot/booz2_test_progs.makefile
index d40fea50a8..d9c334b6a8 100644
--- a/conf/autopilot/booz2_test_progs.makefile
+++ b/conf/autopilot/booz2_test_progs.makefile
@@ -33,7 +33,7 @@ test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_led.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_led.srcs   += $(SRC_BOOZ_TEST)/booz2_test_led.c
 test_led.CFLAGS += -DUSE_LED
-test_led.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_led.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_led.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 #
@@ -45,7 +45,7 @@ test_downlink.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_downlink.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_downlink.srcs   += $(SRC_BOOZ_TEST)/booz2_test_subsystems/datalink/downlink.c
 test_downlink.CFLAGS += -DUSE_LED
-test_downlink.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./10.))' -DSYS_TIME_LED=1
+test_downlink.CFLAGS += -DPERIODIC_FREQUENCY='10.' -DSYS_TIME_LED=1
 test_downlink.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -65,7 +65,7 @@ test_max1168.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_AR
 test_max1168.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_max1168.srcs   += $(SRC_BOOZ_TEST)/booz2_test_max1168.c
 test_max1168.CFLAGS += -DUSE_LED
-test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_max1168.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_max1168.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -86,7 +86,7 @@ test_micromag.ARCHDIR = $(ARCH)
 
 test_micromag.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_micromag.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag.c
-test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_micromag.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_micromag.CFLAGS += -DUSE_LED
 test_micromag.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -112,7 +112,7 @@ tunnel.ARCHDIR = $(ARCH)
 
 tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 tunnel.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel.c
-tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+tunnel.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 tunnel.CFLAGS += -DUSE_LED
 tunnel.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
@@ -130,7 +130,7 @@ tunnel_bb.ARCHDIR = $(ARCH)
 
 tunnel_bb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 tunnel_bb.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel_bb.c
-tunnel_bb.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+tunnel_bb.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 tunnel_bb.CFLAGS += -DUSE_LED
 tunnel_bb.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -166,7 +166,7 @@ test_gps.ARCHDIR = $(ARCH)
 
 test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c
-test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_gps.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_gps.CFLAGS += -DUSE_LED
 test_gps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -192,7 +192,7 @@ test_modem.ARCHDIR = $(ARCH)
 
 test_modem.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_modem.srcs += $(SRC_BOOZ_TEST)/booz2_test_modem.c
-test_modem.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_modem.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_modem.CFLAGS += -DUSE_LED
 test_modem.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -214,7 +214,7 @@ test_usb.ARCHDIR = $(ARCH)
 
 test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_usb.srcs += $(SRC_BOOZ_TEST)/booz2_test_usb.c
-test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_usb.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 # -DSYS_TIME_LED=1
 test_usb.CFLAGS += -DUSE_LED
 test_usb.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
@@ -245,7 +245,7 @@ test_ami.ARCHDIR = $(ARCH)
 
 test_ami.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_ami.srcs += $(SRC_BOOZ_TEST)/booz2_test_ami.c
-test_ami.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./50.))' -DSYS_TIME_LED=1
+test_ami.CFLAGS += -DPERIODIC_FREQUENCY='50.' -DSYS_TIME_LED=1
 test_ami.CFLAGS += -DUSE_LED
 test_ami.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -269,7 +269,7 @@ test_crista.ARCHDIR = $(ARCH)
 
 test_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_crista.srcs += $(SRC_BOOZ_TEST)/booz2_test_crista.c
-test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_crista.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_crista.CFLAGS += -DUSE_LED
 test_crista.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -296,7 +296,7 @@ test_micromag2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_
 test_micromag2.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag_2.c
 test_micromag2.CFLAGS += -DSSP_VIC_SLOT=9
 test_micromag2.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=8
-test_micromag2.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./50.))' -DSYS_TIME_LED=1
+test_micromag2.CFLAGS += -DPERIODIC_FREQUENCY='50.' -DSYS_TIME_LED=1
 test_micromag2.CFLAGS += -DUSE_LED
 test_micromag2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -319,7 +319,7 @@ test_imu_b2.ARCHDIR = $(ARCH)
 
 test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz2_test_imu_b2.c
-test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_imu_b2.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_imu_b2.CFLAGS += -DUSE_LED
 test_imu_b2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -350,7 +350,7 @@ test_rc_spektrum.ARCHDIR = $(ARCH)
 test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLAGS)
 test_rc_spektrum.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c
-test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_rc_spektrum.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_rc_spektrum.CFLAGS += -DUSE_LED
 test_rc_spektrum.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -384,7 +384,7 @@ test_rc_ppm.ARCHDIR = $(ARCH)
 test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH) $(BOOZ_CFLAGS)
 test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_rc_ppm.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c
-test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_rc_ppm.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_rc_ppm.CFLAGS += -DUSE_LED
 test_rc_ppm.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -413,7 +413,7 @@ test_mc.ARCHDIR = $(ARCH)
 
 test_mc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_mc.srcs += $(SRC_BOOZ_TEST)/booz2_test_mc.c
-test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_mc.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_mc.CFLAGS += -DUSE_LED
 test_mc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -440,7 +440,7 @@ test_buss_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_buss_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_buss_bldc.srcs += $(SRC_BOOZ_TEST)/booz2_test_buss_bldc.c
 test_buss_bldc.CFLAGS += -DUSE_LED
-test_buss_bldc.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_buss_bldc.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_buss_bldc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_buss_bldc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -462,7 +462,7 @@ test_amc.ARCHDIR = $(ARCH)
 
 test_amc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_amc.srcs += $(SRC_BOOZ_TEST)/booz2_test_amc.c
-test_amc.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_amc.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_amc.CFLAGS += -DUSE_LED
 test_amc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -494,7 +494,7 @@ test_mkk_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_mkk_bldc.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_mkk_bldc.srcs   += $(SRC_BOOZ_TEST)/booz2_test_buss_bldc_hexa.c
 test_mkk_bldc.CFLAGS += -DUSE_LED
-test_mkk_bldc.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_mkk_bldc.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_mkk_bldc.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 test_mkk_bldc.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
 test_mkk_bldc.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
@@ -507,7 +507,7 @@ test_baro_24.ARCHDIR = $(ARCH)
 
 test_baro_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLAGS)
 test_baro_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_baro_24.c
-test_baro_24.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./5.))' -DSYS_TIME_LED=1
+test_baro_24.CFLAGS += -DPERIODIC_FREQUENCY='5.' -DSYS_TIME_LED=1
 test_baro_24.CFLAGS += -DUSE_LED
 test_baro_24.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
@@ -532,5 +532,5 @@ test_coder.CFLAGS += -DBOARD_CONFIG=\"boards/olimex_lpc_h2148.h\" $(BOOZ_CFLAGS)
 test_coder.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_coder.srcs   += $(SRC_BOOZ_TEST)/booz2_test_coder.c
 test_coder.CFLAGS += -DUSE_LED
-test_coder.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))' -DSYS_TIME_LED=1
+test_coder.CFLAGS += -DPERIODIC_FREQUENCY='512.' -DSYS_TIME_LED=1
 test_coder.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index c09f79e087..4030f38e08 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -90,7 +90,7 @@ test_uart.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_uart.CFLAGS += -DUSE_LED -DUSE_UART
 test_uart.srcs += $(SRC_ARCH)/led_hw.c
 test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_uart.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_uart.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -118,7 +118,7 @@ test_servos.srcs += $(SRC_AIRBORNE)/mcu.c \
 test_servos.CFLAGS += -DUSE_LED
 test_servos.srcs += $(SRC_ARCH)/led_hw.c
 test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_servos.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_servos.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
@@ -142,7 +142,7 @@ test_telemetry.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_telemetry.CFLAGS += -DUSE_LED
 test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry.CFLAGS += -DUSE_SYS_TIME
-test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_telemetry.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_telemetry.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
@@ -171,7 +171,7 @@ test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_baro.CFLAGS += -DUSE_LED
 test_baro.srcs   += $(SRC_ARCH)/led_hw.c
 test_baro.CFLAGS += -DUSE_SYS_TIME
-test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_baro.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_baro.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -207,7 +207,7 @@ test_rc_spektrum.srcs   += $(SRC_AIRBORNE)/mcu.c                \
 test_rc_spektrum.CFLAGS += -DUSE_LED
 test_rc_spektrum.srcs   += $(SRC_ARCH)/led_hw.c
 test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
-test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_rc_spektrum.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_rc_spektrum.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -251,7 +251,7 @@ test_rc_ppm.srcs   += $(SRC_AIRBORNE)/mcu.c \
 test_rc_ppm.CFLAGS += -DUSE_LED
 test_rc_ppm.srcs   += $(SRC_ARCH)/led_hw.c
 test_rc_ppm.CFLAGS += -DUSE_SYS_TIME
-test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_rc_ppm.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_rc_ppm.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -291,7 +291,7 @@ test_adc.srcs   += $(SRC_ARCH)/led_hw.c
 
 test_adc.CFLAGS += -DUSE_SYS_TIME
 test_adc.CFLAGS +=-DSYS_TIME_LED=$(SYS_TIME_LED)
-test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_adc.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_adc.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -328,7 +328,6 @@ COMMON_TEST_SRCS    = $(SRC_AIRBORNE)/mcu.c            \
 COMMON_TEST_CFLAGS += -DUSE_LED
 COMMON_TEST_SRCS   += $(SRC_ARCH)/led_hw.c
 COMMON_TEST_CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-COMMON_TEST_CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./$(PERIODIC_FREQUENCY).))'
 COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
 COMMON_TEST_SRCS   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 COMMON_TEST_CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -496,7 +495,7 @@ test_hmc5843.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_hmc5843.CFLAGS += -DUSE_LED
 test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
 test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_hmc5843.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_hmc5843.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -527,7 +526,7 @@ test_itg3200.CFLAGS += -DUSE_LED
 test_itg3200.srcs += $(SRC_ARCH)/led_hw.c
 
 test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_itg3200.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_itg3200.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_itg3200.CFLAGS +=  -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -558,7 +557,7 @@ test_adxl345.CFLAGS += -DUSE_LED
 test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
 
 test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_adxl345.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_adxl345.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -587,7 +586,7 @@ test_esc_mkk_simple.srcs    = $(SRC_AIRBORNE)/mcu.c \
 test_esc_mkk_simple.CFLAGS += -DUSE_LED
 test_esc_mkk_simple.srcs   += $(SRC_ARCH)/led_hw.c
 test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_esc_mkk_simple.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_esc_mkk_simple.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_esc_mkk_simple.CFLAGS += -DUSE_I2C2
 test_esc_mkk_simple.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
@@ -608,7 +607,7 @@ test_esc_asctecv1_simple.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_esc_asctecv1_simple.CFLAGS += -DUSE_LED
 test_esc_asctecv1_simple.srcs += $(SRC_ARCH)/led_hw.c
 test_esc_asctecv1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_esc_asctecv1_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_esc_asctecv1_simple.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_esc_asctecv1_simple.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_esc_asctecv1_simple.CFLAGS += -DUSE_I2C1
 test_esc_asctecv1_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
@@ -630,7 +629,7 @@ test_actuators_mkk.CFLAGS += -DUSE_LED
 test_actuators_mkk.srcs += $(SRC_ARCH)/led_hw.c
 
 test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_actuators_mkk.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_actuators_mkk.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -663,7 +662,7 @@ test_actuators_asctecv1.CFLAGS += -DUSE_LED
 test_actuators_asctecv1.srcs += $(SRC_ARCH)/led_hw.c
 
 test_actuators_asctecv1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-test_actuators_asctecv1.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_actuators_asctecv1.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_actuators_asctecv1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_actuators_asctecv1.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -694,7 +693,7 @@ test_bmp085.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_bmp085.CFLAGS += -DUSE_LED
 test_bmp085.srcs += $(SRC_ARCH)/led_hw.c
 test_bmp085.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_bmp085.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_bmp085.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_bmp085.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -725,7 +724,7 @@ test_manual.srcs    = $(SRC_AIRBORNE)/mcu.c \
 test_manual.CFLAGS += -DUSE_LED
 test_manual.srcs   += $(SRC_ARCH)/led_hw.c
 test_manual.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_manual.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_manual.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_manual.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_manual.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -771,7 +770,7 @@ tunnel_sw.srcs   += $(SRC_AIRBORNE)/mcu.c            \
 tunnel_sw.CFLAGS += -DUSE_LED
 tunnel_sw.srcs   += $(SRC_ARCH)/led_hw.c
 tunnel_sw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-tunnel_sw.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+tunnel_sw.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 tunnel_sw.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 
@@ -789,7 +788,7 @@ tunnel_hw.srcs   += lisa/test/lisa_tunnel.c          \
 tunnel_hw.CFLAGS += -DUSE_LED
 tunnel_hw.srcs   += $(SRC_ARCH)/led_hw.c
 tunnel_hw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-tunnel_hw.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+tunnel_hw.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 tunnel_hw.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 tunnel_hw.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 tunnel_hw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -816,7 +815,7 @@ test_settings.srcs =  test/subsystems/test_settings.c  \
 test_settings.CFLAGS += -DUSE_LED
 test_settings.srcs   += $(SRC_ARCH)/led_hw.c
 test_settings.CFLAGS += -DUSE_SYS_TIME
-test_settings.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_settings.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_settings.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_settings.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_settings.CFLAGS += -DUSE_$(MODEM_PORT)
diff --git a/conf/autopilot/lisa_m_test_progs.makefile b/conf/autopilot/lisa_m_test_progs.makefile
index 823bd899d9..219dd16056 100644
--- a/conf/autopilot/lisa_m_test_progs.makefile
+++ b/conf/autopilot/lisa_m_test_progs.makefile
@@ -67,6 +67,8 @@ test_led.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
 test_led.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_led.srcs += $(SRC_AIRBORNE)/mcu.c \
                  $(SRC_ARCH)/mcu_arch.c \
+                 $(SRC_AIRBORNE)/mcu_periph/sys_time.c \
+                 $(SRC_ARCH)/mcu_periph/sys_time_arch.c \
                  $(SRC_LISA)/test_led.c           \
                  $(SRC_ARCH)/stm32_exceptions.c   \
                  $(SRC_ARCH)/stm32_vector_table.c
@@ -81,8 +83,8 @@ test_sys_time.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
 test_sys_time.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_sys_time.srcs += $(SRC_AIRBORNE)/mcu.c \
                  $(SRC_ARCH)/mcu_arch.c \
-                 test/mcu_periph/test_sys_time.c           \
-                 mcu_periph/sys_time.c \
+                 $(SRC_AIRBORNE)/test/mcu_periph/test_sys_time.c           \
+                 $(SRC_AIRBORNE)/mcu_periph/sys_time.c \
                  $(SRC_ARCH)/mcu_periph/sys_time_arch.c \
                  $(SRC_ARCH)/stm32_exceptions.c   \
                  $(SRC_ARCH)/stm32_vector_table.c
@@ -103,7 +105,7 @@ test_uart_lisam.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_uart_lisam.CFLAGS += -DUSE_LED -DUSE_UART
 test_uart_lisam.srcs += $(SRC_ARCH)/led_hw.c
 test_uart_lisam.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_uart_lisam.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_uart_lisam.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_uart_lisam.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_uart_lisam.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_uart_lisam.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -131,7 +133,7 @@ test_servos.srcs += $(SRC_AIRBORNE)/mcu.c \
 test_servos.CFLAGS += -DUSE_LED
 test_servos.srcs += $(SRC_ARCH)/led_hw.c
 test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED) -DUSE_SERVOS_7AND8
-test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_servos.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_servos.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
@@ -155,7 +157,7 @@ test_telemetry.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_telemetry.CFLAGS += -DUSE_LED
 test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry.CFLAGS += -DUSE_SYS_TIME
-test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_telemetry.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_telemetry.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
@@ -185,7 +187,7 @@ test_baro.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_baro.CFLAGS += -DUSE_LED
 test_baro.srcs   += $(SRC_ARCH)/led_hw.c
 test_baro.CFLAGS += -DUSE_SYS_TIME
-test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_baro.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_baro.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -221,7 +223,7 @@ test_rc_spektrum.srcs   += $(SRC_AIRBORNE)/mcu.c \
 test_rc_spektrum.CFLAGS += -DUSE_LED
 test_rc_spektrum.srcs   += $(SRC_ARCH)/led_hw.c
 test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
-test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+test_rc_spektrum.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_rc_spektrum.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_rc_spektrum.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -267,7 +269,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #test_rc_ppm.CFLAGS += -DUSE_LED
 #test_rc_ppm.srcs   += $(SRC_ARCH)/led_hw.c
 #test_rc_ppm.CFLAGS += -DUSE_SYS_TIME
-#test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+#test_rc_ppm.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 #test_rc_ppm.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -307,7 +309,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #
 #test_adc.CFLAGS += -DUSE_SYS_TIME
 #test_adc.CFLAGS +=-DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+#test_adc.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_adc.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_adc.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -344,7 +346,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #
 #test_imu_b2.CFLAGS += -DUSE_SYS_TIME
 #test_imu_b2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+#test_imu_b2.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_imu_b2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_imu_b2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -388,7 +390,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #
 #test_imu_b2_2.CFLAGS += -DUSE_SYS_TIME
 #test_imu_b2_2.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_imu_b2_2.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+#test_imu_b2_2.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_imu_b2_2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_imu_b2_2.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -433,7 +435,7 @@ test_imu_aspirin.srcs = $(SRC_AIRBORNE)/mcu.c \
 test_imu_aspirin.CFLAGS += -DUSE_LED
 test_imu_aspirin.srcs   += $(SRC_ARCH)/led_hw.c
 test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME
-test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+test_imu_aspirin.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 test_imu_aspirin.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_imu_aspirin.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_imu_aspirin.CFLAGS += -DUSE_$(MODEM_PORT)
@@ -471,7 +473,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_hmc5843.CFLAGS += -DUSE_LED
 #test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
 #test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+#test_hmc5843.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_hmc5843.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_hmc5843.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -502,7 +504,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_itg3200.srcs += $(SRC_ARCH)/led_hw.c
 #
 #test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+#test_itg3200.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_itg3200.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_itg3200.CFLAGS +=  -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -533,7 +535,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
 #
 #test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-#test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+#test_adxl345.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_adxl345.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -562,7 +564,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_esc_mkk_simple.CFLAGS += -DUSE_LED
 #test_esc_mkk_simple.srcs   += $(SRC_ARCH)/led_hw.c
 #test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+#test_esc_mkk_simple.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_esc_mkk_simple.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #test_esc_mkk_simple.CFLAGS += -DUSE_I2C2
 #test_esc_mkk_simple.srcs   += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
@@ -583,7 +585,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_esc_asctecv1_simple.CFLAGS += -DUSE_LED
 #test_esc_asctecv1_simple.srcs += $(SRC_ARCH)/led_hw.c
 #test_esc_asctecv1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-#test_esc_asctecv1_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+#test_esc_asctecv1_simple.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_esc_asctecv1_simple.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #test_esc_asctecv1_simple.CFLAGS += -DUSE_I2C1
 #test_esc_asctecv1_simple.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
@@ -605,7 +607,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_actuators_mkk.srcs += $(SRC_ARCH)/led_hw.c
 #
 #test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-#test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+#test_actuators_mkk.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_actuators_mkk.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -638,7 +640,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_actuators_asctecv1.srcs += $(SRC_ARCH)/led_hw.c
 #
 #test_actuators_asctecv1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
-#test_actuators_asctecv1.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+#test_actuators_asctecv1.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_actuators_asctecv1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_actuators_asctecv1.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -669,7 +671,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_bmp085.CFLAGS += -DUSE_LED
 #test_bmp085.srcs += $(SRC_ARCH)/led_hw.c
 #test_bmp085.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_bmp085.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+#test_bmp085.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_bmp085.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_bmp085.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -699,7 +701,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #test_manual.CFLAGS += -DUSE_LED
 #test_manual.srcs   += $(SRC_ARCH)/led_hw.c
 #test_manual.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_manual.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+#test_manual.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #test_manual.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_manual.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -730,21 +732,3 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #                  subsystems/radio_control/spektrum.c          \
 #                  $(SRC_ARCH)/subsystems/radio_control/spektrum_arch.c
 
-
-
-#
-# tunnel
-#
-tunnel.ARCHDIR = $(ARCH)
-tunnel.CFLAGS += -I$(SRC_LISA) -I$(ARCH) -DPERIPHERALS_AUTO_INIT
-tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-tunnel.srcs   += $(SRC_AIRBORNE)/mcu.c \
-                 $(SRC_ARCH)/mcu_arch.c \
-                 $(SRC_LISA)/tunnel_hw.c          \
-                 $(SRC_ARCH)/stm32_exceptions.c   \
-                 $(SRC_ARCH)/stm32_vector_table.c
-tunnel.CFLAGS += -DUSE_LED
-tunnel.srcs   += $(SRC_ARCH)/led_hw.c
-tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
-tunnel.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile
index db6d59c17e..e4e7b33704 100644
--- a/conf/autopilot/lisa_passthrough.makefile
+++ b/conf/autopilot/lisa_passthrough.makefile
@@ -33,7 +33,7 @@ stm_passthrough.srcs += $(SRC_ARCH)/led_hw.c
 
 # Sys time
 stm_passthrough.CFLAGS += -DUSE_SYS_TIME
-stm_passthrough.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC(1./512.)'
+stm_passthrough.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 stm_passthrough.CFLAGS += -DSYS_TIME_LED=1
 stm_passthrough.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
index 14c4c3bd70..cd08e426e4 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/autopilot/rotorcraft.makefile
@@ -77,7 +77,7 @@ endif
 ifndef PERIODIC_FREQUENCY
 PERIODIC_FREQUENCY = 512
 endif
-$(TARGET).CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./$(PERIODIC_FREQUENCY).))' -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
+$(TARGET).CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
 #
 # Systime
 #
diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile
index 8b83ca87d0..6a95864cde 100644
--- a/conf/autopilot/setup.makefile
+++ b/conf/autopilot/setup.makefile
@@ -30,9 +30,12 @@ tunnel.srcs   += mcu.c \
                  $(SRC_ARCH)/stm32_vector_table.c
 tunnel.CFLAGS += -DUSE_LED
 tunnel.srcs   += $(SRC_ARCH)/led_hw.c
-tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
-tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-tunnel.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+ifneq ($(SYS_TIME_LED),none)
+tunnel.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
+endif
+tunnel.CFLAGS += -DPERIODIC_FREQUENCY='512.'
+tunnel.CFLAGS += -DUSE_SYS_TIME
+tunnel.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 endif
 
 
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
index 8e0ae66853..a40b082b65 100644
--- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
@@ -68,7 +68,7 @@ ifeq ($(TARGET), sim)
 endif
 
 
-sim.CFLAGS += -DPERIODIC_TASK_PERIOD='CPU_TICKS_OF_SEC((1./512.))'
+sim.CFLAGS += -DPERIODIC_FREQUENCY='512.'
 #sim.CFLAGS += -DUSE_LED
 sim.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c