diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/autopilot/booz2_test_progs.makefile
index 42cb274d0c..4e25d5f0a7 100644
--- a/conf/autopilot/booz2_test_progs.makefile
+++ b/conf/autopilot/booz2_test_progs.makefile
@@ -34,7 +34,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_led.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_led.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 #
 # test_downlink : sends a TIME message
@@ -46,7 +46,7 @@ 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='SYS_TICS_OF_SEC((1./10.))' -DTIME_LED=1
-test_downlink.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+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
 test_downlink.srcs   += mcu_periph/uart.c
@@ -66,7 +66,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_max1168.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+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
 test_max1168.srcs   += mcu_periph/uart.c
@@ -88,7 +88,7 @@ test_micromag.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_A
 test_micromag.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag.c
 test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_micromag.CFLAGS += -DUSE_LED
-test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_micromag.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_micromag.srcs += mcu_periph/uart.c
@@ -114,7 +114,7 @@ tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 tunnel.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel.c
 tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 tunnel.CFLAGS += -DUSE_LED
-tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+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
 
 tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
@@ -132,7 +132,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 tunnel_bb.CFLAGS += -DUSE_LED
-tunnel_bb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+tunnel_bb.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 
 #
@@ -145,7 +145,7 @@ usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
 usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_0.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 
 usb_tunnel_1.ARCHDIR = $(ARCH)
@@ -155,7 +155,7 @@ usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
 usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 
 
@@ -168,7 +168,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_gps.CFLAGS += -DUSE_LED
-test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_gps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_gps.srcs += mcu_periph/uart.c
@@ -194,7 +194,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_modem.CFLAGS += -DUSE_LED
-test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_modem.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_modem.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_modem.srcs += mcu_periph/uart.c
@@ -217,7 +217,7 @@ test_usb.srcs += $(SRC_BOOZ_TEST)/booz2_test_usb.c
 test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./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
+test_usb.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 test_usb.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 
 #test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -247,7 +247,7 @@ 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='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1
 test_ami.CFLAGS += -DUSE_LED
-test_ami.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_ami.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_ami.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_ami.srcs += mcu_periph/uart.c
@@ -271,7 +271,7 @@ test_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARC
 test_crista.srcs += $(SRC_BOOZ_TEST)/booz2_test_crista.c
 test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_crista.CFLAGS += -DUSE_LED
-test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_crista.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
 test_crista.srcs += mcu_periph/uart.c
@@ -298,7 +298,7 @@ test_micromag2.CFLAGS += -DSSP_VIC_SLOT=9
 test_micromag2.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=8
 test_micromag2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1
 test_micromag2.CFLAGS += -DUSE_LED
-test_micromag2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_micromag2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_micromag2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_micromag2.srcs += mcu_periph/uart.c
@@ -321,7 +321,7 @@ test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARC
 test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz2_test_imu_b2.c
 test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_imu_b2.CFLAGS += -DUSE_LED
-test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_imu_b2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_imu_b2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_imu_b2.srcs += mcu_periph/uart.c
@@ -352,7 +352,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_rc_spektrum.CFLAGS += -DUSE_LED
-test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_rc_spektrum.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 #test_rc_spektrum.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 #test_rc_spektrum.srcs += mcu_periph/uart.c
@@ -386,7 +386,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_rc_ppm.CFLAGS += -DUSE_LED
-test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_rc_ppm.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 #test_rc_ppm.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 #test_rc_ppm.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -415,7 +415,7 @@ test_mc.CFLAGS += -DBOARD_CONFIG=$(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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_mc.CFLAGS += -DUSE_LED
-test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_mc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_mc.srcs += mcu_periph/uart.c
@@ -441,7 +441,7 @@ test_buss_bldc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_
 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_buss_bldc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+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
 test_buss_bldc.srcs += mcu_periph/uart.c
@@ -464,7 +464,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
 test_amc.CFLAGS += -DUSE_LED
-test_amc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_amc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_amc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_amc.srcs += mcu_periph/uart.c
@@ -495,7 +495,7 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_mkk_bldc.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+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
 
@@ -509,7 +509,7 @@ 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='SYS_TICS_OF_SEC((1./5.))' -DTIME_LED=1
 test_baro_24.CFLAGS += -DUSE_LED
-test_baro_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_baro_24.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 
 test_baro_24.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
@@ -533,4 +533,4 @@ 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='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_coder.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+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 0fda35f9fc..6817362804 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -91,7 +91,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 test_uart.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
@@ -119,7 +119,7 @@ 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='SYS_TICS_OF_SEC((1./512.))'
-test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 
@@ -144,7 +144,7 @@ test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry.CFLAGS += -DUSE_SYS_TIME
 test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_telemetry.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
 test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_telemetry.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
@@ -173,7 +173,7 @@ test_baro.srcs   += $(SRC_ARCH)/led_hw.c
 test_baro.CFLAGS += -DUSE_SYS_TIME
 test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_baro.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_baro.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -209,7 +209,7 @@ test_rc_spektrum.srcs   += $(SRC_ARCH)/led_hw.c
 test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
 test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_rc_spektrum.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_rc_spektrum.srcs   += mcu_periph/uart.c
 test_rc_spektrum.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -253,7 +253,7 @@ test_rc_ppm.srcs   += $(SRC_ARCH)/led_hw.c
 test_rc_ppm.CFLAGS += -DUSE_SYS_TIME
 test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_rc_ppm.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_rc_ppm.srcs   += mcu_periph/uart.c
 test_rc_ppm.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -292,7 +292,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_adc.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_adc.srcs   += mcu_periph/uart.c
@@ -330,7 +330,7 @@ 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='SYS_TICS_OF_SEC((1./$(PERIODIC_FREQUENCY).))'
 COMMON_TEST_CFLAGS += -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
-COMMON_TEST_SRCS   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 COMMON_TEST_SRCS   += mcu_periph/uart.c
 COMMON_TEST_SRCS   += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -497,7 +497,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_hmc5843.srcs += mcu_periph/uart.c
@@ -529,7 +529,7 @@ 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='SYS_TICS_OF_SEC((1./512.))'
-test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_itg3200.srcs += mcu_periph/uart.c
@@ -560,7 +560,7 @@ test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
 
 test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_adxl345.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_adxl345.srcs += mcu_periph/uart.c
@@ -589,7 +589,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_esc_mkk_simple.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c2
@@ -610,7 +610,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_esc_asctecv1_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 
@@ -632,7 +632,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 test_actuators_mkk.srcs += mcu_periph/uart.c
@@ -665,7 +665,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_actuators_asctecv1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 test_actuators_asctecv1.srcs += mcu_periph/uart.c
@@ -696,7 +696,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_bmp085.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_bmp085.srcs += mcu_periph/uart.c
@@ -728,7 +728,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_manual.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_manual.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -774,7 +774,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-tunnel_sw.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+tunnel_sw.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 
 #
@@ -792,7 +792,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-tunnel_hw.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 tunnel_hw.srcs   += mcu_periph/uart.c
@@ -820,7 +820,7 @@ test_settings.srcs   += $(SRC_ARCH)/led_hw.c
 test_settings.CFLAGS += -DUSE_SYS_TIME
 test_settings.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_settings.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_settings.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_settings.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_settings.CFLAGS += -DUSE_$(MODEM_PORT)
 test_settings.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_settings.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
diff --git a/conf/autopilot/lisa_m_test_progs.makefile b/conf/autopilot/lisa_m_test_progs.makefile
index 22ff900bfe..2d73842e6d 100644
--- a/conf/autopilot/lisa_m_test_progs.makefile
+++ b/conf/autopilot/lisa_m_test_progs.makefile
@@ -88,7 +88,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_uart_lisam.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 test_uart_lisam.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
@@ -116,7 +116,7 @@ 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='SYS_TICS_OF_SEC((1./512.))'
-test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 #
@@ -141,7 +141,7 @@ test_telemetry.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry.CFLAGS += -DUSE_SYS_TIME
 test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_telemetry.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
 test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_telemetry.srcs += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
@@ -171,7 +171,7 @@ test_baro.srcs   += $(SRC_ARCH)/led_hw.c
 test_baro.CFLAGS += -DUSE_SYS_TIME
 test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_baro.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_baro.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -207,7 +207,7 @@ test_rc_spektrum.srcs   += $(SRC_ARCH)/led_hw.c
 test_rc_spektrum.CFLAGS += -DUSE_SYS_TIME
 test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_rc_spektrum.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_rc_spektrum.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_rc_spektrum.srcs   += mcu_periph/uart.c
 test_rc_spektrum.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -253,7 +253,7 @@ test_rc_spektrum.srcs   += $(SRC_SUBSYSTEMS)/radio_control.c
 #test_rc_ppm.CFLAGS += -DUSE_SYS_TIME
 #test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 #test_rc_ppm.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-#test_rc_ppm.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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)
 #test_rc_ppm.srcs   += mcu_periph/uart.c
 #test_rc_ppm.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -292,7 +292,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-#test_adc.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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)
 #test_adc.srcs   += mcu_periph/uart.c
@@ -329,7 +329,7 @@ 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='SYS_TICS_OF_SEC((1./512.))'
-#test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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)
 #test_imu_b2.srcs += mcu_periph/uart.c
@@ -373,7 +373,7 @@ 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='SYS_TICS_OF_SEC((1./512.))'
-#test_imu_b2_2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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)
 #test_imu_b2_2.srcs += mcu_periph/uart.c
@@ -419,7 +419,7 @@ test_imu_aspirin.srcs   += $(SRC_ARCH)/led_hw.c
 test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME
 test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_imu_aspirin.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_imu_aspirin.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_imu_aspirin.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_imu_aspirin.CFLAGS += -DUSE_$(MODEM_PORT)
 test_imu_aspirin.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_imu_aspirin.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
@@ -455,7 +455,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #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='SYS_TICS_OF_SEC(1./512.)'
-#test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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)
 #test_hmc5843.srcs += mcu_periph/uart.c
@@ -487,7 +487,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #
 #test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
 #test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-#test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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)
 #test_itg3200.srcs += mcu_periph/uart.c
@@ -518,7 +518,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #
 #test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 #test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-#test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#test_adxl345.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 #test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 #test_adxl345.srcs += mcu_periph/uart.c
@@ -547,7 +547,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #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='SYS_TICS_OF_SEC(1./512.)'
-#test_esc_mkk_simple.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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
 #test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c2
@@ -568,7 +568,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #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='SYS_TICS_OF_SEC(1./512.)'
-#test_esc_asctecv1_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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
 #
@@ -590,7 +590,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #
 #test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 #test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-#test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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
 #test_actuators_mkk.srcs += mcu_periph/uart.c
@@ -623,7 +623,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #
 #test_actuators_asctecv1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 #test_actuators_asctecv1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-#test_actuators_asctecv1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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
 #test_actuators_asctecv1.srcs += mcu_periph/uart.c
@@ -654,7 +654,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #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='SYS_TICS_OF_SEC(1./512.)'
-#test_bmp085.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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)
 #test_bmp085.srcs += mcu_periph/uart.c
@@ -685,7 +685,7 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #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='SYS_TICS_OF_SEC(1./512.)'
-#test_manual.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+#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)
 #test_manual.srcs   += mcu_periph/uart.c
@@ -732,4 +732,4 @@ test_imu_aspirin.CFLAGS += -DUSE_DMA1_C4_IRQ    # SPI2 Rx DMA
 #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
+#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 3d0740fc99..cc8d04fa4b 100644
--- a/conf/autopilot/lisa_passthrough.makefile
+++ b/conf/autopilot/lisa_passthrough.makefile
@@ -35,7 +35,7 @@ stm_passthrough.srcs += $(SRC_ARCH)/led_hw.c
 stm_passthrough.CFLAGS += -DUSE_SYS_TIME
 stm_passthrough.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 stm_passthrough.CFLAGS += -DSYS_TIME_LED=1
-stm_passthrough.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+stm_passthrough.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 # Telemetry
 stm_passthrough.CFLAGS += -DDOWNLINK
diff --git a/conf/autopilot/logger.makefile b/conf/autopilot/logger.makefile
index 1845dd204b..95b3f1806e 100644
--- a/conf/autopilot/logger.makefile
+++ b/conf/autopilot/logger.makefile
@@ -32,7 +32,7 @@ ifeq ($(ARCH), lpc21)
 
 
 ap.CFLAGS += -DUSE_LED
-ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c $(SRC_FIRMWARE)/main_logger.c
+ap.srcs = mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c $(SRC_FIRMWARE)/main_logger.c
 
 #choose one
 ap.CFLAGS += -DLOG_XBEE
diff --git a/conf/autopilot/obsolete/booz_test_progs.makefile b/conf/autopilot/obsolete/booz_test_progs.makefile
index 51296e5d1b..acee7faec5 100644
--- a/conf/autopilot/obsolete/booz_test_progs.makefile
+++ b/conf/autopilot/obsolete/booz_test_progs.makefile
@@ -72,7 +72,7 @@ test_telemetry.CFLAGS += -DUSE_LED
 test_telemetry.CFLAGS += -DUSE_SYS_TIME
 test_telemetry.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_telemetry.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_telemetry.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
 test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
@@ -98,7 +98,7 @@ test_baro.CFLAGS += -DUSE_LED
 test_baro.CFLAGS += -DUSE_SYS_TIME
 test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_baro.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
-test_baro.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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)
 test_baro.srcs   += subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c
 test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
@@ -143,7 +143,7 @@ test_rc_ppm.srcs   += $(SRC_BOOZ)/test/booz2_test_radio_control.c
 test_rc_ppm.CFLAGS += -DUSE_LED
 test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_rc_ppm.CFLAGS += -DTIME_LED=$(SYS_TIME_LED)
-test_rc_ppm.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_rc_ppm.srcs   += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_rc_ppm.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -169,7 +169,7 @@ test_esc_mkk_simple.srcs = test/test_esc_mkk_simple.c		\
 test_esc_mkk_simple.CFLAGS += -DUSE_LED
 test_esc_mkk_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_esc_mkk_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_esc_mkk_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_esc_mkk_simple.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_esc_mkk_simple.CFLAGS += -DACTUATORS_MKK_DEV=i2c0
 test_esc_mkk_simple.CFLAGS += -DUSE_I2C0
 test_esc_mkk_simple.CFLAGS += -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
@@ -189,7 +189,7 @@ test_actuators_mkk.CFLAGS += -DUSE_LED
 
 test_actuators_mkk.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_actuators_mkk.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_actuators_mkk.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -220,7 +220,7 @@ test_ami601.CFLAGS += -DUSE_LED
 
 test_ami601.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
 test_ami601.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_ami601.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_ami601.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_ami601.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_ami601.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
diff --git a/conf/autopilot/obsolete/csc.makefile b/conf/autopilot/obsolete/csc.makefile
index a4dfe5892e..029f769915 100644
--- a/conf/autopilot/obsolete/csc.makefile
+++ b/conf/autopilot/obsolete/csc.makefile
@@ -51,7 +51,7 @@ ap.CFLAGS += -DUSE_LED -DTIME_LED=1
 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
 
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+ap.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -103,7 +103,7 @@ test_uart.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_uart.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
@@ -127,7 +127,7 @@ test_can1.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_can1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-test_can1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_can1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_can1.CFLAGS += -DUSE_CAN1 -DCAN1_BTR=CANBitrate125k_2MHz
 test_can1.CFLAGS +=  -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
diff --git a/conf/autopilot/obsolete/csc_ap.makefile b/conf/autopilot/obsolete/csc_ap.makefile
index 45b5f1d33c..1148a59e45 100644
--- a/conf/autopilot/obsolete/csc_ap.makefile
+++ b/conf/autopilot/obsolete/csc_ap.makefile
@@ -51,7 +51,7 @@ ap.CFLAGS += -DUSE_LED -DTIME_LED=1
 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
 
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./40.))' -DTIMER0_VIC_SLOT=1
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+ap.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -106,7 +106,7 @@ test_uart.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_uart.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
diff --git a/conf/autopilot/obsolete/lisa_test_progs.makefile b/conf/autopilot/obsolete/lisa_test_progs.makefile
index 3d60708f10..c66610b4fc 100644
--- a/conf/autopilot/obsolete/lisa_test_progs.makefile
+++ b/conf/autopilot/obsolete/lisa_test_progs.makefile
@@ -169,7 +169,7 @@ test_periodic.CFLAGS += -DUSE_LED
 test_periodic.srcs += $(SRC_ARCH)/led_hw.c
 test_periodic.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_periodic.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_periodic.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_periodic.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 
 #
@@ -184,7 +184,7 @@ test_uart.srcs = $(SRC_LISA)/test_uart.c         \
 test_uart.CFLAGS += -DUSE_LED
 test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_uart.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
@@ -203,7 +203,7 @@ test_telemetry1.CFLAGS += -DUSE_LED
 test_telemetry1.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_telemetry1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -223,7 +223,7 @@ test_telemetry2.CFLAGS += -DUSE_LED
 test_telemetry2.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_telemetry2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_telemetry2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -243,7 +243,7 @@ test_telemetry3.CFLAGS += -DUSE_LED
 test_telemetry3.srcs += $(SRC_ARCH)/led_hw.c
 test_telemetry3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_telemetry3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_telemetry3.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
 test_telemetry3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3
@@ -262,7 +262,7 @@ test_datalink.CFLAGS += -DUSE_LED
 test_datalink.srcs += $(SRC_ARCH)/led_hw.c
 test_datalink.CFLAGS += -DUSE_SYS_TIME  -DSYS_TIME_LED=1
 test_datalink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_datalink.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_datalink.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -283,7 +283,7 @@ tunnel.CFLAGS += -DUSE_LED
 tunnel.srcs += $(SRC_ARCH)/led_hw.c
 tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+tunnel.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 #tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600
 #tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B9600
@@ -313,7 +313,7 @@ test_float.CFLAGS += -DUSE_LED
 test_float.srcs += $(SRC_ARCH)/led_hw.c
 test_float.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_float.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_float.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_float.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -349,7 +349,7 @@ test_rc_24.srcs += $(SRC_ARCH)/led_hw.c
 
 test_rc_24.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_rc_24.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_rc_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_rc_24.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_rc_24.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -383,7 +383,7 @@ test_servos.CFLAGS += -DUSE_LED
 test_servos.srcs += $(SRC_ARCH)/led_hw.c
 test_servos.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_servos.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_servos.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 
@@ -413,7 +413,7 @@ test_imu_b2.srcs += $(SRC_ARCH)/led_hw.c
 
 test_imu_b2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_imu_b2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -447,7 +447,7 @@ test_imu_crista.srcs += $(SRC_ARCH)/led_hw.c
 
 test_imu_crista.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_imu_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_imu_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_imu_crista.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_imu_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_imu_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -479,7 +479,7 @@ test_imu_aspirin.srcs += $(SRC_ARCH)/led_hw.c
 
 test_imu_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_imu_aspirin.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -520,7 +520,7 @@ test_mc.CFLAGS += -DUSE_LED
 test_mc.srcs += $(SRC_ARCH)/led_hw.c
 test_mc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_mc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 
 #
@@ -536,7 +536,7 @@ test_mc2.CFLAGS += -DUSE_LED
 test_mc2.srcs += $(SRC_ARCH)/led_hw.c
 test_mc2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_mc2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_mc2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_mc2.CFLAGS += -DUSE_I2C1
 test_mc2.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
@@ -554,7 +554,7 @@ test_mc_asctec_v1_simple.CFLAGS += -DUSE_LED
 test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/led_hw.c
 test_mc_asctec_v1_simple.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_mc_asctec_v1_simple.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc_asctec_v1_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_mc_asctec_v1_simple.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_mc_asctec_v1_simple.CFLAGS += -DUSE_I2C1
 test_mc_asctec_v1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
@@ -577,7 +577,7 @@ test_mc5.CFLAGS += -DUSE_LED
 test_mc5.srcs += $(SRC_ARCH)/led_hw.c
 test_mc5.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_mc5.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc5.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_mc5.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_mc5.CFLAGS += -DUSE_I2C1
 test_mc5.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 
@@ -599,7 +599,7 @@ 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='SYS_TICS_OF_SEC(1./512.)'
-test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+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
 test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -632,7 +632,7 @@ test_actuators_asctec.srcs += $(SRC_ARCH)/led_hw.c
 
 test_actuators_asctec.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_actuators_asctec.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_actuators_asctec.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_actuators_asctec.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_actuators_asctec.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -665,7 +665,7 @@ test_mc3.srcs = $(SRC_LISA)/test_mc3.c      \
 test_mc3.CFLAGS += -DUSE_LED
 test_mc3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_mc3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_mc3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_mc3.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 
 
@@ -683,7 +683,7 @@ test_baro.CFLAGS += -DUSE_LED
 test_baro.srcs += $(SRC_ARCH)/led_hw.c
 test_baro.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_baro.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -705,7 +705,7 @@ test_baro2.CFLAGS += -DUSE_LED
 test_baro2.srcs += $(SRC_ARCH)/led_hw.c
 test_baro2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_baro2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_baro2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_baro2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_baro2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -731,7 +731,7 @@ test_baro3.CFLAGS += -DUSE_LED
 test_baro3.srcs += $(SRC_ARCH)/led_hw.c
 test_baro3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_baro3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_baro3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_baro3.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_baro3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -757,7 +757,7 @@ test_spi_slave.CFLAGS += -DUSE_LED
 test_spi_slave.srcs += $(SRC_ARCH)/led_hw.c
 test_spi_slave.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_spi_slave.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_spi_slave.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_spi_slave.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ
 test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_spi_slave.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -778,7 +778,7 @@ test_spi_slave2.CFLAGS += -DUSE_LED
 test_spi_slave2.srcs += $(SRC_ARCH)/led_hw.c
 test_spi_slave2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_spi_slave2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_spi_slave2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
 test_spi_slave2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
@@ -801,7 +801,7 @@ stm_test_spi_link.srcs += $(SRC_ARCH)/led_hw.c
 
 stm_test_spi_link.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 stm_test_spi_link.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-stm_test_spi_link.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+stm_test_spi_link.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 stm_test_spi_link.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 stm_test_spi_link.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -841,7 +841,7 @@ test_sc18is600.srcs += $(SRC_ARCH)/led_hw.c
 
 test_sc18is600.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_sc18is600.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./128.))'
-test_sc18is600.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_sc18is600.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_sc18is600.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_sc18is600.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -871,7 +871,7 @@ test_max1168.srcs += $(SRC_ARCH)/led_hw.c
 
 test_max1168.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_max1168.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_max1168.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_max1168.CFLAGS += -DUSE_SPI2 -DUSE_EXTI2_IRQ -DUSE_DMA1_C4_IRQ -DMAX1168_HANDLES_DMA_IRQ
 test_max1168.srcs   += peripherals/max1168.c \
@@ -898,7 +898,7 @@ test_ms2100.srcs += $(SRC_ARCH)/led_hw.c
 
 test_ms2100.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_ms2100.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_ms2100.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_ms2100.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_ms2100.CFLAGS += -DUSE_SPI2
 test_ms2100.CFLAGS += -DUSE_DMA1_C4_IRQ -DMS2100_HANDLES_DMA_IRQ
@@ -927,7 +927,7 @@ test_adxl345.srcs += $(SRC_ARCH)/led_hw.c
 
 test_adxl345.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_adxl345.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -952,7 +952,7 @@ test_adxl345_dma.srcs += $(SRC_ARCH)/led_hw.c
 
 test_adxl345_dma.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_adxl345_dma.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_adxl345_dma.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_adxl345_dma.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_adxl345_dma.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_adxl345_dma.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -981,7 +981,7 @@ test_itg3200.srcs += $(SRC_ARCH)/led_hw.c
 
 test_itg3200.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_itg3200.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_itg3200.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1007,7 +1007,7 @@ test_hmc5843.CFLAGS += -DUSE_LED
 test_hmc5843.srcs += $(SRC_ARCH)/led_hw.c
 test_hmc5843.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_hmc5843.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1039,7 +1039,7 @@ test_aspirin.srcs += $(SRC_ARCH)/led_hw.c
 
 test_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-test_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_aspirin.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1076,7 +1076,7 @@ ptw.srcs += $(SRC_ARCH)/led_hw.c
 # Sys time
 ptw.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 ptw.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-ptw.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+ptw.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 # Link Overo
 ptw.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UNION=AutopilotMessageTW
@@ -1135,7 +1135,7 @@ test_csc_servo.CFLAGS += -DUSE_LED
 test_csc_servo.srcs += $(SRC_ARCH)/led_hw.c
 test_csc_servo.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_csc_servo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_csc_servo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_csc_servo.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_csc_servo.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_csc_servo.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1173,7 +1173,7 @@ test_gps.CFLAGS += -DUSE_LED
 test_gps.srcs += $(SRC_ARCH)/led_hw.c
 test_gps.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_gps.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1204,7 +1204,7 @@ test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c
 # test_adc.srcs += $(SRC_ARCH)/led_hw.c
 # test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 # test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-# test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+# test_adc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 #
 # test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 # test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1228,7 +1228,7 @@ test_adc.CFLAGS += -DUSE_LED
 test_adc.srcs += $(SRC_ARCH)/led_hw.c
 test_adc.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_adc.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1256,7 +1256,7 @@ test_board.CFLAGS += -DUSE_LED
 test_board.srcs += $(SRC_ARCH)/led_hw.c
 test_board.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_board.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-test_board.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+test_board.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 test_board.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 test_board.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1302,7 +1302,7 @@ hs_gyro_aspirin.srcs += $(SRC_ARCH)/led_hw.c
 
 hs_gyro_aspirin.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 hs_gyro_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-hs_gyro_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+hs_gyro_aspirin.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 hs_gyro_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 hs_gyro_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1340,7 +1340,7 @@ hs_gyro_b2.srcs += $(SRC_ARCH)/led_hw.c
 
 hs_gyro_b2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 hs_gyro_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-hs_gyro_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+hs_gyro_b2.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 hs_gyro_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 hs_gyro_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
@@ -1373,7 +1373,7 @@ hs_gyro_crista.srcs += $(SRC_ARCH)/led_hw.c
 
 hs_gyro_crista.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 hs_gyro_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
-hs_gyro_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+hs_gyro_crista.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 hs_gyro_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 hs_gyro_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
diff --git a/conf/autopilot/obsolete/mercury.makefile b/conf/autopilot/obsolete/mercury.makefile
index 72f55aa2d8..c624d531ac 100644
--- a/conf/autopilot/obsolete/mercury.makefile
+++ b/conf/autopilot/obsolete/mercury.makefile
@@ -55,7 +55,7 @@ ap.CFLAGS += -DAHRS_ALIGNER_LED=2
 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
 
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+ap.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.srcs += $(SRC_ARCH)/adc_hw.c
@@ -132,7 +132,7 @@ test_uart.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_uart.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
diff --git a/conf/autopilot/obsolete/mercury_csc.makefile b/conf/autopilot/obsolete/mercury_csc.makefile
index d5cc2e7159..b85f561a7b 100644
--- a/conf/autopilot/obsolete/mercury_csc.makefile
+++ b/conf/autopilot/obsolete/mercury_csc.makefile
@@ -58,7 +58,7 @@ ap.CFLAGS += -DUSE_VANE_SENSOR
 # ap.CFLAGS += -DUSE_BAT_MONITOR
 
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+ap.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 #ap.srcs += $(SRC_ARCH)/adc_hw.c
 #ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
@@ -102,7 +102,7 @@ test_uart.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_uart.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
@@ -126,7 +126,7 @@ test_can1.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_can1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
-test_can1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+test_can1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 test_can1.CFLAGS += -DUSE_CAN1 -DCAN1_BTR=CANBitrate125k_2MHz
 test_can1.CFLAGS +=  -DCAN1_VIC_SLOT=3 -DCAN1_ERR_VIC_SLOT=7
diff --git a/conf/autopilot/obsolete/sitl.makefile b/conf/autopilot/obsolete/sitl.makefile
index aab1e2308e..e651b01ae3 100644
--- a/conf/autopilot/obsolete/sitl.makefile
+++ b/conf/autopilot/obsolete/sitl.makefile
@@ -11,7 +11,7 @@ sim.srcs += latlong.c\
             $(SRC_FIRMWARE)/guidance/guidance_v.c                 \
             subsystems/nav.c\
             estimator.c\
-            sys_time.c\
+            mcu_periph/sys_time.c\
             $(SRC_FIRMWARE)/main_fbw.c \
             $(SRC_FIRMWARE)/main_ap.c \
             $(SRC_FIRMWARE)/datalink.c \
diff --git a/conf/autopilot/obsolete/sitl_jsbsim.makefile b/conf/autopilot/obsolete/sitl_jsbsim.makefile
index ca9ba0b01e..5b1fbc103e 100644
--- a/conf/autopilot/obsolete/sitl_jsbsim.makefile
+++ b/conf/autopilot/obsolete/sitl_jsbsim.makefile
@@ -29,7 +29,7 @@ jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsi
 jsbsim.srcs += latlong.c subsystems/datalink/downlink.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c \
                $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c \
                $(SRC_FIXEDWING)/guidance/guidance_v.c\
-               subsystems/nav.c estimator.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c $(SRC_FIRMWARE)/datalink.c
+               subsystems/nav.c estimator.c mcu_periph/sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c $(SRC_FIRMWARE)/datalink.c
 jsbsim.srcs += $(SIMDIR)/sim_ac_jsbsim.c
 # Choose in your airframe file type of airframe
 # jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
diff --git a/conf/autopilot/obsolete/sitl_link_pprz.makefile b/conf/autopilot/obsolete/sitl_link_pprz.makefile
index 59c200097e..856bd4cc7e 100644
--- a/conf/autopilot/obsolete/sitl_link_pprz.makefile
+++ b/conf/autopilot/obsolete/sitl_link_pprz.makefile
@@ -1,3 +1,3 @@
 sim.ARCHDIR = $(ARCH)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_INFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DDOWNLINK_AP_DEVICE=SimUart -DDOWNLINK_FBW_DEVICE=SimUart -DDATALINK=PPRZ
-sim.srcs = radio_control.c subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c $(SRC_FIRMWARE)/guidance/guidance_v.c nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/sim_uart.c $(SRC_FIRMWARE)/datalink.c
+sim.srcs = radio_control.c subsystems/datalink/downlink.c subsystems/datalink/pprz_transport.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c $(SRC_FIRMWARE)/stabilization/stabilization_attitude.c $(SRC_FIRMWARE)/guidance/guidance_v.c nav.c estimator.c cam.c mcu_periph/sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/sim_uart.c $(SRC_FIRMWARE)/datalink.c
diff --git a/conf/autopilot/obsolete/sitl_link_xbee.makefile b/conf/autopilot/obsolete/sitl_link_xbee.makefile
index 46a2c053ef..a9d8ebbe06 100644
--- a/conf/autopilot/obsolete/sitl_link_xbee.makefile
+++ b/conf/autopilot/obsolete/sitl_link_xbee.makefile
@@ -1,3 +1,3 @@
 sim.ARCHDIR = $(ARCH)
 sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=XBeeTransport -DUSE_INFRARED -DRADIO_CONTROL_SETTINGS -DSIM_UART -DSIM_XBEE -DXBEE_UART=SimUart
-sim.srcs = radio_control.c subsystems/datalink/downlink.c subsystems/datalink/xbee.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c $(SRC_FIXEDWING)/guidance/guidance_v.c nav.c estimator.c cam.c sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/sim_uart.c
+sim.srcs = radio_control.c subsystems/datalink/downlink.c subsystems/datalink/xbee.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c $(SRC_FIXEDWING)/guidance/guidance_v.c nav.c estimator.c cam.c mcu_periph/sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c rc_settings.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c  $(SRC_ARCH)/sim_uart.c
diff --git a/conf/autopilot/obsolete/testing.makefile b/conf/autopilot/obsolete/testing.makefile
index 8c53a15bed..0ddc0ebe0d 100644
--- a/conf/autopilot/obsolete/testing.makefile
+++ b/conf/autopilot/obsolete/testing.makefile
@@ -4,7 +4,7 @@
 setup_actuators.ARCHDIR = $(ARCH)
 
 setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
+setup_actuators.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
 
 
 # a test program to tunnel between both uart
@@ -21,7 +21,7 @@ test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_ADC -D
 test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 test_adcs.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/xbee.c
 
-test_adcs.srcs += sys_time.c $(SRC_ARCH)/mcu_periph/adc_arch.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.c
+test_adcs.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/adc_arch.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c test/test_adcs.c
 # subsystems/datalink/pprz_transport.c
 
 
@@ -32,7 +32,7 @@ usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
 usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_0.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 usb_tunnel_1.ARCHDIR = $(ARCH)
 usb_tunnel_1.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART1 -DUART1_BAUD=B115200
@@ -40,4 +40,4 @@ usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
 usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
diff --git a/conf/autopilot/obsolete/tiny.makefile b/conf/autopilot/obsolete/tiny.makefile
index 0fbd52906f..77c779cc30 100644
--- a/conf/autopilot/obsolete/tiny.makefile
+++ b/conf/autopilot/obsolete/tiny.makefile
@@ -33,7 +33,7 @@ ADC_GYRO_NB_SAMPLES = 16
 setup_actuators.ARCHDIR = $(ARCHI)
 
 setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
+setup_actuators.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
 
 
 # a test program to tunnel between both uart
@@ -50,7 +50,7 @@ test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DADC -DUSE_
 test_adcs.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 test_adcs.srcs += subsystems/datalink/downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c subsystems/datalink/xbee.c
 
-test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_adcs.c
+test_adcs.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c test_adcs.c
 # subsystems/datalink/pprz_transport.c
 
 
@@ -61,7 +61,7 @@ usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
 usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_0.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 
 usb_tunnel_1.ARCHDIR = $(ARCHI)
 usb_tunnel_1.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART1 -DUART1_BAUD=B115200
@@ -69,4 +69,4 @@ usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
 usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
diff --git a/conf/autopilot/obsolete/twin_mcu.makefile b/conf/autopilot/obsolete/twin_mcu.makefile
index f2aedd5292..4274b1782c 100644
--- a/conf/autopilot/obsolete/twin_mcu.makefile
+++ b/conf/autopilot/obsolete/twin_mcu.makefile
@@ -1,6 +1,6 @@
-ap.srcs += $(SRC_FIRMWARE)/main_ap.c sys_time.c $(SRC_FIRMWARE)/main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c cam.c spi.c rc_settings.c latlong.c subsystems/navigation/nav_survey_rectangle.c
+ap.srcs += $(SRC_FIRMWARE)/main_ap.c mcu_periph/sys_time.c $(SRC_FIRMWARE)/main.c inter_mcu.c link_mcu.c gps_ubx.c gps.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c cam.c spi.c rc_settings.c latlong.c subsystems/navigation/nav_survey_rectangle.c
 ap.CFLAGS += -DMCU_SPI_LINK -DUSE_GPS -DUBX -DUSE_INFRARED -DRADIO_CONTROL -DINTER_MCU -DSPI_MASTER -DUSE_SPI -DNAV -DRADIO_CONTROL_SETTINGS
 
-fbw.srcs +=  sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main.c commands.c radio_control.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c  inter_mcu.c spi.c link_mcu.c
+fbw.srcs +=  mcu_periph/sys_time.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main.c commands.c radio_control.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c  inter_mcu.c spi.c link_mcu.c
 fbw.CFLAGS += -DRADIO_CONTROL -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DINTER_MCU -DMCU_SPI_LINK -DUART0_BAUD=B38400 -DSPI_SLAVE -DUSE_SPI
 
diff --git a/conf/autopilot/obsolete/twin_mcu_avr.makefile b/conf/autopilot/obsolete/twin_mcu_avr.makefile
index 04ef99b046..fe6d47e186 100644
--- a/conf/autopilot/obsolete/twin_mcu_avr.makefile
+++ b/conf/autopilot/obsolete/twin_mcu_avr.makefile
@@ -1,8 +1,8 @@
 include $(PAPARAZZI_SRC)/conf/autopilot/twin_avr.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu.makefile
 
-ap.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c
+ap.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 ap.CFLAGS += -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 
 fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017 -DADC
-fbw.srcs += actuators.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/ppm_hw.c  $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c
+fbw.srcs += actuators.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/ppm_hw.c  $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
index c8e4b37502..18ddcb2bc3 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/autopilot/rotorcraft.makefile
@@ -82,7 +82,7 @@ $(TARGET).CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./$(PERIODIC_FREQU
 # Systime
 #
 ap.CFLAGS += -DUSE_SYS_TIME
-ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
+ap.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 ifeq ($(ARCH), stm32)
 ap.CFLAGS += -DSYS_TIME_LED=$(SYS_TIME_LED)
 endif
diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile
index 145c8562e2..7eeb4f5d4f 100644
--- a/conf/autopilot/setup.makefile
+++ b/conf/autopilot/setup.makefile
@@ -29,7 +29,7 @@ usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_US
 usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_0.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 
 usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200 -DPERIPHERALS_AUTO_INIT
@@ -37,7 +37,7 @@ usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_US
 usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
-usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_1.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c
 usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 else
 $(error usb_tunnel currently only implemented for the lpc21)
@@ -78,4 +78,4 @@ setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart
 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
 setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c $(SRC_FIRMWARE)/setup_actuators.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
+setup_actuators.srcs += mcu_periph/sys_time.c $(SRC_ARCH)/mcu_periph/sys_time_arch.c $(SRC_ARCH)/armVIC.c subsystems/datalink/pprz_transport.c subsystems/datalink/downlink.c $(SRC_FIRMWARE)/setup_actuators.c mcu_periph/uart.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index 1bd30cd939..6e947e620d 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -71,7 +71,7 @@ ifndef PERIODIC_FREQUENCY
 PERIODIC_FREQUENCY = 60
 endif
 $(TARGET).CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./$(PERIODIC_FREQUENCY).))' -DPERIODIC_FREQUENCY=$(PERIODIC_FREQUENCY)
-$(TARGET).srcs += sys_time.c
+$(TARGET).srcs += mcu_periph/sys_time.c
 
 #
 # InterMCU & Commands
@@ -129,7 +129,7 @@ endif
 # Sys-time
 #
 ns_CFLAGS 		+= -DUSE_SYS_TIME
-ns_srcs 		+= $(SRC_ARCH)/sys_time_hw.c
+ns_srcs 		+= $(SRC_ARCH)/mcu_periph/sys_time_arch.c
 
 
 #
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
index 58feb0cf6a..07079454c4 100644
--- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
@@ -71,7 +71,7 @@ endif
 sim.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 # -DTIME_LED=1
 #sim.CFLAGS += -DUSE_LED
-sim.srcs += sys_time.c
+sim.srcs += mcu_periph/sys_time.c
 
 sim.srcs += subsystems/settings.c
 sim.srcs += $(SRC_ARCH)/subsystems/settings_arch.c
diff --git a/sw/airborne/arch/avr/mcu_periph/uart_arch.c b/sw/airborne/arch/avr/mcu_periph/uart_arch.c
index 29ec68e656..dc28cf09f1 100644
--- a/sw/airborne/arch/avr/mcu_periph/uart_arch.c
+++ b/sw/airborne/arch/avr/mcu_periph/uart_arch.c
@@ -27,7 +27,7 @@
  *
  */
 #include "mcu_periph/uart.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #define B2400  2400UL
 #define B9600  9600UL
diff --git a/sw/airborne/arch/avr/ppm_hw.c b/sw/airborne/arch/avr/ppm_hw.c
index f1f34b641f..ddaa179925 100644
--- a/sw/airborne/arch/avr/ppm_hw.c
+++ b/sw/airborne/arch/avr/ppm_hw.c
@@ -29,7 +29,7 @@
 
 #include <avr/interrupt.h>
 #include "ppm.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 /*
  * Pulse width is computed as the difference between now and the
diff --git a/sw/airborne/arch/avr/servos_4017.c b/sw/airborne/arch/avr/servos_4017.c
index 3a2b94388a..1c668a12c6 100644
--- a/sw/airborne/arch/avr/servos_4017.c
+++ b/sw/airborne/arch/avr/servos_4017.c
@@ -31,7 +31,7 @@
 #include <avr/interrupt.h>
 #include "servos_4017.h"
 #include "actuators.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include CONFIG
 
 
diff --git a/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h b/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h
index b191caf29f..7817ea59a8 100644
--- a/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h
+++ b/sw/airborne/arch/lpc21/modules/core/booz_pwm_arch.h
@@ -26,7 +26,7 @@
 #define BOOZ_PWM_ARCH_H
 
 #include "std.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 extern void booz_pwm_init_arch(void);
 
diff --git a/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c b/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c
index 614cfdf631..1ab35e8822 100644
--- a/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c
+++ b/sw/airborne/arch/lpc21/modules/core/trigger_ext_hw.c
@@ -25,7 +25,7 @@
 
 #include "core/trigger_ext_hw.h"
 #include "std.h"
-#include "sys_time_hw.h"
+#include "mcu_periph/sys_time.hw.h"
 #include "LPC21xx.h"
 #include BOARD_CONFIG
 
diff --git a/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c b/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c
index 8457bbb876..ba460de8d3 100644
--- a/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c
+++ b/sw/airborne/arch/lpc21/modules/sensors/trig_ext_hw.c
@@ -1,6 +1,6 @@
 
 #include "std.h"
-#include "sys_time_hw.h"
+#include "mcu_periph/sys_time.hw.h"
 #include "LPC21xx.h"
 #include "trig_ext_hw.h"
 #include BOARD_CONFIG
diff --git a/sw/airborne/arch/lpc21/servos_4015_MAT_hw.h b/sw/airborne/arch/lpc21/servos_4015_MAT_hw.h
index 4b68c59739..962da71ecb 100644
--- a/sw/airborne/arch/lpc21/servos_4015_MAT_hw.h
+++ b/sw/airborne/arch/lpc21/servos_4015_MAT_hw.h
@@ -33,7 +33,7 @@
 
 #include "std.h"
 #include "LPC21xx.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #include BOARD_CONFIG
 
diff --git a/sw/airborne/arch/lpc21/servos_4015_hw.c b/sw/airborne/arch/lpc21/servos_4015_hw.c
index f36b5e358f..60eeb6af5e 100644
--- a/sw/airborne/arch/lpc21/servos_4015_hw.c
+++ b/sw/airborne/arch/lpc21/servos_4015_hw.c
@@ -2,7 +2,7 @@
 #include "armVIC.h"
 
 #include "generated/airframe.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 
 uint16_t servos_values[_4015_NB_CHANNELS];
diff --git a/sw/airborne/arch/lpc21/servos_4015_hw.h b/sw/airborne/arch/lpc21/servos_4015_hw.h
index c463522eca..60fe1593a0 100644
--- a/sw/airborne/arch/lpc21/servos_4015_hw.h
+++ b/sw/airborne/arch/lpc21/servos_4015_hw.h
@@ -5,7 +5,7 @@
 #include "std.h"
 
 #include "LPC21xx.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #include BOARD_CONFIG
 
diff --git a/sw/airborne/arch/lpc21/servos_4015_hw_new.c b/sw/airborne/arch/lpc21/servos_4015_hw_new.c
index 7c25687e9a..8a31b359b5 100644
--- a/sw/airborne/arch/lpc21/servos_4015_hw_new.c
+++ b/sw/airborne/arch/lpc21/servos_4015_hw_new.c
@@ -2,7 +2,7 @@
 #include "armVIC.h"
 
 #include "generated/airframe.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 
 uint16_t servos_values[_4015_NB_CHANNELS];
diff --git a/sw/airborne/arch/lpc21/servos_4017_hw.h b/sw/airborne/arch/lpc21/servos_4017_hw.h
index e2e980c44b..9eaf920580 100644
--- a/sw/airborne/arch/lpc21/servos_4017_hw.h
+++ b/sw/airborne/arch/lpc21/servos_4017_hw.h
@@ -5,7 +5,7 @@
 #include "std.h"
 
 #include "LPC21xx.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #include BOARD_CONFIG
 
diff --git a/sw/airborne/arch/lpc21/servos_csc.h b/sw/airborne/arch/lpc21/servos_csc.h
index f0842a2f2c..268b2053b4 100644
--- a/sw/airborne/arch/lpc21/servos_csc.h
+++ b/sw/airborne/arch/lpc21/servos_csc.h
@@ -4,7 +4,7 @@
 #include "LPC21xx.h"
 #include "generated/airframe.h"
 #include "actuators.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)
 #define ChopServo(x,a,b) Chop(x, a, b)
diff --git a/sw/airborne/arch/lpc21/servos_direct_hw.h b/sw/airborne/arch/lpc21/servos_direct_hw.h
index 67c27be9a3..444f16e5e0 100644
--- a/sw/airborne/arch/lpc21/servos_direct_hw.h
+++ b/sw/airborne/arch/lpc21/servos_direct_hw.h
@@ -2,7 +2,7 @@
 #define SERVOS_DIRECT_HW_H
 
 #include "LPC21xx.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #define SERVOS_TICS_OF_USEC(s) SYS_TICS_OF_USEC(s)
 #define ChopServo(x,a,b) Chop(x, a, b)
diff --git a/sw/airborne/arch/lpc21/servos_ppm_hw.h b/sw/airborne/arch/lpc21/servos_ppm_hw.h
index b11b5169ae..05f297535b 100644
--- a/sw/airborne/arch/lpc21/servos_ppm_hw.h
+++ b/sw/airborne/arch/lpc21/servos_ppm_hw.h
@@ -31,7 +31,7 @@
 
 #include "std.h"
 #include "LPC21xx.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #include BOARD_CONFIG
 
diff --git a/sw/airborne/arch/lpc21/sys_time_hw.c b/sw/airborne/arch/lpc21/sys_time_hw.c
index 5b998e58b2..30718196f0 100644
--- a/sw/airborne/arch/lpc21/sys_time_hw.c
+++ b/sw/airborne/arch/lpc21/sys_time_hw.c
@@ -1,5 +1,5 @@
 #include "armVIC.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 uint32_t cpu_time_ticks;
 uint32_t last_periodic_event;
diff --git a/sw/airborne/arch/lpc21/sys_time_hw.h b/sw/airborne/arch/lpc21/sys_time_hw.h
index 9bbf444cce..b3c0ad3d3b 100644
--- a/sw/airborne/arch/lpc21/sys_time_hw.h
+++ b/sw/airborne/arch/lpc21/sys_time_hw.h
@@ -29,7 +29,7 @@
 
 #ifndef SYS_TIME_HW_H
 #define SYS_TIME_HW_H
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "std.h"
 #include "LPC21xx.h"
 #include BOARD_CONFIG
diff --git a/sw/airborne/arch/lpc21/usb_tunnel.c b/sw/airborne/arch/lpc21/usb_tunnel.c
index c2acef1e61..b8db271411 100644
--- a/sw/airborne/arch/lpc21/usb_tunnel.c
+++ b/sw/airborne/arch/lpc21/usb_tunnel.c
@@ -32,7 +32,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "mcu_periph/usb_serial.h"
diff --git a/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c b/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
index be462fc82b..762e0d1bca 100644
--- a/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
+++ b/sw/airborne/arch/sim/subsystems/radio_control/ppm_arch.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/radio_control.h"
 #include "subsystems/radio_control/ppm.h"
 
diff --git a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c
new file mode 100644
index 0000000000..323c5bade9
--- /dev/null
+++ b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.c
@@ -0,0 +1,77 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009-2011 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+#include "mcu_periph/sys_time.h"
+
+#include "stm32_vector_table.h"
+#ifdef SYS_TIME_LED
+#include "subsystems/led.h"
+#endif
+
+void sys_time_init( void ) {
+
+  /* Generate SysTick interrupt every SYS_TIME_RESOLUTION AHB_CLK */
+  (void)SysTick_Config(SYS_TIME_RESOLUTION);
+  /* Set SysTick handler priority                                  */
+  NVIC_SetPriority(SysTick_IRQn, 0x0);
+
+  sys_time.nb_sec     = 0;
+  sys_time.nb_sec_rem = 0;
+  sys_time.nb_tic     = 0;
+
+  for (unsigned int i=0; i<SYS_TIME_NB_TIMER; i++) {
+    sys_time.timer[i].in_use     = FALSE;
+    sys_time.timer[i].cb         = NULL;
+    sys_time.timer[i].elapsed    = FALSE;
+    sys_time.timer[i].end_time   = 0;
+    sys_time.timer[i].duration   = 0;
+  }
+
+}
+
+
+// FIXME : nb_tic rollover ???
+//
+// 97 days at 512hz
+// 12 hours at 100khz
+//
+void sys_tick_irq_handler(void) {
+
+  sys_time.nb_tic++;
+  sys_time.nb_sec_rem += SYS_TIME_RESOLUTION;
+  if (sys_time.nb_sec_rem >= SYS_TIME_TICS_PER_SEC) {
+    sys_time.nb_sec_rem -= SYS_TIME_TICS_PER_SEC;
+    sys_time.nb_sec++;
+#ifdef SYS_TIME_LED
+    LED_TOGGLE(SYS_TIME_LED);
+#endif
+  }
+  for (unsigned int i=0; i<SYS_TIME_NB_TIMER; i++) {
+    if (sys_time.timer[i].in_use &&
+    sys_time.nb_tic >= sys_time.timer[i].end_time) {
+      sys_time.timer[i].end_time += sys_time.timer[i].duration;
+      sys_time.timer[i].elapsed = TRUE;
+      if (sys_time.timer[i].cb) sys_time.timer[i].cb(i);
+    }
+  }
+}
diff --git a/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h
new file mode 100644
index 0000000000..aad8e7f812
--- /dev/null
+++ b/sw/airborne/arch/stm32/mcu_periph/sys_time_arch.h
@@ -0,0 +1,55 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009-2010 The Paparazzi Team
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/*
+ *\brief STM32 timing functions
+ *
+ */
+
+#ifndef SYS_TIME_HW_H
+#define SYS_TIME_HW_H
+
+#include "mcu_periph/sys_time.h"
+
+#include <stm32/gpio.h>
+#include <stm32/rcc.h>
+#include "std.h"
+
+#define InitSysTimePeriodic()
+
+#define SYS_TIME_TICS_OF_SEC(s)        (uint32_t)((s) * AHB_CLK + 0.5)
+#define SYS_TIME_SIGNED_TICS_OF_SEC(s)  (int32_t)((s) * AHB_CLK + 0.5)
+
+#define SysTimeTimerStart(_t) { _t = sys_time.nb_tic; }
+#define SysTimeTimer(_t) (sys_time.nb_tic - (_t)))
+#define SysTimeTimerStop(_t) { _t = (sys_time.nb_tic - (_t)); }
+
+
+/** Busy wait, in microseconds */
+/* for now empty shell */
+static inline void sys_time_usleep(uint32_t us) {
+
+}
+
+#endif /* SYS_TIME_HW_H */
diff --git a/sw/airborne/arch/stm32/stm32_vector_table.c b/sw/airborne/arch/stm32/stm32_vector_table.c
index a2cd4e7348..a3f0ca529e 100644
--- a/sw/airborne/arch/stm32/stm32_vector_table.c
+++ b/sw/airborne/arch/stm32/stm32_vector_table.c
@@ -28,7 +28,7 @@
 #include "stm32_exceptions.h"
 
 #ifdef USE_SYS_TIME
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #define SYS_TICK_IRQ_HANDLER sys_tick_irq_handler
 #else
 #define SYS_TICK_IRQ_HANDLER null_handler
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
index 8fbdf57974..97059d8bbc 100644
--- a/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
+++ b/sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c
@@ -29,7 +29,7 @@
 #include <stm32/tim.h>
 #include <stm32/misc.h>
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 /*
  *
diff --git a/sw/airborne/arch/stm32/sys_time_hw.c b/sw/airborne/arch/stm32/sys_time_hw.c
index 9cc895acc7..e05c251ab4 100644
--- a/sw/airborne/arch/stm32/sys_time_hw.c
+++ b/sw/airborne/arch/stm32/sys_time_hw.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 volatile bool_t sys_time_period_elapsed;
 uint32_t cpu_time_ticks;
diff --git a/sw/airborne/arch/stm32/sys_time_hw.h b/sw/airborne/arch/stm32/sys_time_hw.h
index 68146d1318..5d8a36daa3 100644
--- a/sw/airborne/arch/stm32/sys_time_hw.h
+++ b/sw/airborne/arch/stm32/sys_time_hw.h
@@ -30,7 +30,7 @@
 #ifndef SYS_TIME_HW_H
 #define SYS_TIME_HW_H
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #include <stm32/gpio.h>
 #include <stm32/rcc.h>
diff --git a/sw/airborne/boards/booz/test_baro.c b/sw/airborne/boards/booz/test_baro.c
index 51fc4716b0..85371552bc 100644
--- a/sw/airborne/boards/booz/test_baro.c
+++ b/sw/airborne/boards/booz/test_baro.c
@@ -31,7 +31,7 @@
 
 #include "mcu.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "subsystems/sensors/baro.h"
 
diff --git a/sw/airborne/boards/lisa_l/test_baro.c b/sw/airborne/boards/lisa_l/test_baro.c
index 0010ad56bb..46ab0bc158 100644
--- a/sw/airborne/boards/lisa_l/test_baro.c
+++ b/sw/airborne/boards/lisa_l/test_baro.c
@@ -30,7 +30,7 @@
 #include BOARD_CONFIG
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/uart.h"
 
 #include "subsystems/datalink/downlink.h"
diff --git a/sw/airborne/boards/lisa_m/test_baro.c b/sw/airborne/boards/lisa_m/test_baro.c
index 0010ad56bb..46ab0bc158 100644
--- a/sw/airborne/boards/lisa_m/test_baro.c
+++ b/sw/airborne/boards/lisa_m/test_baro.c
@@ -30,7 +30,7 @@
 #include BOARD_CONFIG
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/uart.h"
 
 #include "subsystems/datalink/downlink.h"
diff --git a/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c b/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
index 51dd1c623d..296b305086 100644
--- a/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
+++ b/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "interrupt_hw.h"
 #include "subsystems/datalink/downlink.h"
 #include "subsystems/datalink/datalink.h"
diff --git a/sw/airborne/booz/test/booz2_test_crista.c b/sw/airborne/booz/test/booz2_test_crista.c
index 5d85c36be1..05cc0a0895 100644
--- a/sw/airborne/booz/test/booz2_test_crista.c
+++ b/sw/airborne/booz/test/booz2_test_crista.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/booz/test/booz2_test_gps.c b/sw/airborne/booz/test/booz2_test_gps.c
index b574327ce3..b712c995c7 100644
--- a/sw/airborne/booz/test/booz2_test_gps.c
+++ b/sw/airborne/booz/test/booz2_test_gps.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "subsystems/gps.h"
 #include "interrupt_hw.h"
diff --git a/sw/airborne/booz/test/booz2_test_led.c b/sw/airborne/booz/test/booz2_test_led.c
index 4986fb2a6d..94273b6074 100644
--- a/sw/airborne/booz/test/booz2_test_led.c
+++ b/sw/airborne/booz/test/booz2_test_led.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "interrupt_hw.h"
 
 static inline void main_init( void );
diff --git a/sw/airborne/booz/test/booz2_test_max1168.c b/sw/airborne/booz/test/booz2_test_max1168.c
index fd737e1b02..2bba5614b7 100644
--- a/sw/airborne/booz/test/booz2_test_max1168.c
+++ b/sw/airborne/booz/test/booz2_test_max1168.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "interrupt_hw.h"
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
diff --git a/sw/airborne/booz/test/booz2_test_mc.c b/sw/airborne/booz/test/booz2_test_mc.c
index 9b1fb96277..0af02ee651 100644
--- a/sw/airborne/booz/test/booz2_test_mc.c
+++ b/sw/airborne/booz/test/booz2_test_mc.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/booz/test/booz2_test_micromag.c b/sw/airborne/booz/test/booz2_test_micromag.c
index bbc1aaae51..ef97368aeb 100644
--- a/sw/airborne/booz/test/booz2_test_micromag.c
+++ b/sw/airborne/booz/test/booz2_test_micromag.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/booz/test/booz2_test_modem.c b/sw/airborne/booz/test/booz2_test_modem.c
index e4fa59f95f..70a03afe6a 100644
--- a/sw/airborne/booz/test/booz2_test_modem.c
+++ b/sw/airborne/booz/test/booz2_test_modem.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/booz/test/booz2_test_radio_control.c b/sw/airborne/booz/test/booz2_test_radio_control.c
index c467df0ab7..32193487ba 100644
--- a/sw/airborne/booz/test/booz2_test_radio_control.c
+++ b/sw/airborne/booz/test/booz2_test_radio_control.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/booz/test/booz2_test_rc.c b/sw/airborne/booz/test/booz2_test_rc.c
index 65a9f2a0f4..b80c306af5 100644
--- a/sw/airborne/booz/test/booz2_test_rc.c
+++ b/sw/airborne/booz/test/booz2_test_rc.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/booz/test/booz2_test_usb.c b/sw/airborne/booz/test/booz2_test_usb.c
index 8fe1805101..46d61ddf50 100644
--- a/sw/airborne/booz/test/booz2_test_usb.c
+++ b/sw/airborne/booz/test/booz2_test_usb.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #include "mcu_periph/usb_serial.h"
diff --git a/sw/airborne/booz/test/booz2_tunnel.c b/sw/airborne/booz/test/booz2_tunnel.c
index 6bf2379e9d..a749644467 100644
--- a/sw/airborne/booz/test/booz2_tunnel.c
+++ b/sw/airborne/booz/test/booz2_tunnel.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/booz/test/booz_test_imu.c b/sw/airborne/booz/test/booz_test_imu.c
index 160d1b3e9c..cfad2afac1 100644
--- a/sw/airborne/booz/test/booz_test_imu.c
+++ b/sw/airborne/booz/test/booz_test_imu.c
@@ -28,7 +28,7 @@
 #endif
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/booz/test/booz_test_telemetry.c b/sw/airborne/booz/test/booz_test_telemetry.c
index 4d52ee11e1..64d9c96933 100644
--- a/sw/airborne/booz/test/booz_test_telemetry.c
+++ b/sw/airborne/booz/test/booz_test_telemetry.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "interrupt_hw.h"
 
 #include "messages.h"
diff --git a/sw/airborne/csc/arm7/props_csc.h b/sw/airborne/csc/arm7/props_csc.h
index 3fafdef242..3dce09844f 100644
--- a/sw/airborne/csc/arm7/props_csc.h
+++ b/sw/airborne/csc/arm7/props_csc.h
@@ -3,7 +3,7 @@
 
 #include "generated/airframe.h"
 #include "firmwares/rotorcraft/actuators.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "csc_ap_link.h"
 #include "csc_msg_def.h"
 
diff --git a/sw/airborne/csc/csc_adc.c b/sw/airborne/csc/csc_adc.c
index d81fa19d8a..ca4d2db9b4 100644
--- a/sw/airborne/csc/csc_adc.c
+++ b/sw/airborne/csc/csc_adc.c
@@ -9,7 +9,7 @@
 #include "mcu_periph/adc.h"
 #include ACTUATORS
 #include "csc_servos.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #define ADC_NB_CSC 4
 
diff --git a/sw/airborne/csc/csc_ap_main.c b/sw/airborne/csc/csc_ap_main.c
index 729b872b57..1e506411c7 100644
--- a/sw/airborne/csc/csc_ap_main.c
+++ b/sw/airborne/csc/csc_ap_main.c
@@ -29,7 +29,7 @@
 #include "std.h"
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/csc/csc_baro.c b/sw/airborne/csc/csc_baro.c
index 50a33a648f..08c7edbe21 100644
--- a/sw/airborne/csc/csc_baro.c
+++ b/sw/airborne/csc/csc_baro.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 
diff --git a/sw/airborne/csc/csc_main.c b/sw/airborne/csc/csc_main.c
index 0a0b75ad27..6300e0316e 100644
--- a/sw/airborne/csc/csc_main.c
+++ b/sw/airborne/csc/csc_main.c
@@ -29,7 +29,7 @@
 #include "std.h"
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/csc/csc_protocol.c b/sw/airborne/csc/csc_protocol.c
index f5ea8f5fae..5acc9fee53 100644
--- a/sw/airborne/csc/csc_protocol.c
+++ b/sw/airborne/csc/csc_protocol.c
@@ -30,7 +30,7 @@
 #include "csc_msg_def.h"
 
 // #include "mcu.h"
-// #include "sys_time.h"
+// #include "mcu_periph/sys_time.h"
 // #include "subsystems/datalink/downlink.h"
 
 #define CSCP_QUEUE_LEN 8
diff --git a/sw/airborne/csc/csc_servos.c b/sw/airborne/csc/csc_servos.c
index 1c26a5c95d..b8e8c51330 100644
--- a/sw/airborne/csc/csc_servos.c
+++ b/sw/airborne/csc/csc_servos.c
@@ -2,7 +2,7 @@
 
 #include "LPC21xx.h"
 #include "std.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "firmwares/rotorcraft/actuators.h"
 #include "generated/airframe.h"
 #include ACTUATORS
diff --git a/sw/airborne/csc/mercury_csc_main.c b/sw/airborne/csc/mercury_csc_main.c
index 52c5953f26..0a3b93f291 100644
--- a/sw/airborne/csc/mercury_csc_main.c
+++ b/sw/airborne/csc/mercury_csc_main.c
@@ -29,7 +29,7 @@
 #include "std.h"
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #include "csc_vane.h"
diff --git a/sw/airborne/csc/mercury_main.c b/sw/airborne/csc/mercury_main.c
index 3467d55310..441d52de0e 100644
--- a/sw/airborne/csc/mercury_main.c
+++ b/sw/airborne/csc/mercury_main.c
@@ -29,7 +29,7 @@
 #include "std.h"
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/csc/ppm_bridge_main.c b/sw/airborne/csc/ppm_bridge_main.c
index 02f854df06..3a73086901 100644
--- a/sw/airborne/csc/ppm_bridge_main.c
+++ b/sw/airborne/csc/ppm_bridge_main.c
@@ -29,7 +29,7 @@
 #include "std.h"
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/firmwares/beth/main_beth.c b/sw/airborne/firmwares/beth/main_beth.c
index e1964ba8b4..4ae748aa4a 100644
--- a/sw/airborne/firmwares/beth/main_beth.c
+++ b/sw/airborne/firmwares/beth/main_beth.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "interrupt_hw.h"
 
 #include "subsystems/datalink/downlink.h"
diff --git a/sw/airborne/firmwares/beth/main_coders.c b/sw/airborne/firmwares/beth/main_coders.c
index 2e8d970b5d..bf615dc328 100644
--- a/sw/airborne/firmwares/beth/main_coders.c
+++ b/sw/airborne/firmwares/beth/main_coders.c
@@ -1,7 +1,7 @@
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/can.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 
 #include <stm32/rcc.h>
diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c
index 551d43477e..5fb4667990 100644
--- a/sw/airborne/firmwares/beth/main_stm32.c
+++ b/sw/airborne/firmwares/beth/main_stm32.c
@@ -26,7 +26,7 @@
 #include "std.h"
 #include "mcu.h"
 #include "mcu_periph/can.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "firmwares/rotorcraft/commands.h"
 #include "firmwares/rotorcraft/actuators.h"
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.h b/sw/airborne/firmwares/fixedwing/autopilot.h
index 68f2a08bcc..d1d55a814a 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot.h
+++ b/sw/airborne/firmwares/fixedwing/autopilot.h
@@ -32,7 +32,7 @@
 
 #include <inttypes.h>
 #include "std.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "estimator.h"
 
 #define TRESHOLD_MANUAL_PPRZ (MIN_PPRZ / 2)
diff --git a/sw/airborne/firmwares/fixedwing/main.c b/sw/airborne/firmwares/fixedwing/main.c
index 3ceb672369..7bc2ecf750 100644
--- a/sw/airborne/firmwares/fixedwing/main.c
+++ b/sw/airborne/firmwares/fixedwing/main.c
@@ -25,7 +25,7 @@
  * \brief main loop used both on single and dual MCU configuration */
 
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #ifdef FBW
 #include "firmwares/fixedwing/main_fbw.h"
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index d71447e30e..a00cdae0d4 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -45,7 +45,7 @@
 #include "estimator.h"
 #include "generated/settings.h"
 #include "link_mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "generated/flight_plan.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/settings.h"
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index c8d642caef..9ba4b265f8 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -35,7 +35,7 @@
 
 #include "firmwares/fixedwing/main_fbw.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "commands.h"
 #include "firmwares/fixedwing/actuators.h"
 #include "subsystems/electrical.h"
diff --git a/sw/airborne/firmwares/logger/main_logger.c b/sw/airborne/firmwares/logger/main_logger.c
index 8f3eea1406..13aa13c3e2 100644
--- a/sw/airborne/firmwares/logger/main_logger.c
+++ b/sw/airborne/firmwares/logger/main_logger.c
@@ -80,7 +80,7 @@
 #include "std.h"
 #include "mcu.h"
 #include "mcu_periph/uart.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #include "usb_msc_hw.h"
diff --git a/sw/airborne/firmwares/motor_bench/main_motor_bench.c b/sw/airborne/firmwares/motor_bench/main_motor_bench.c
index 013f661632..55a3acc63c 100644
--- a/sw/airborne/firmwares/motor_bench/main_motor_bench.c
+++ b/sw/airborne/firmwares/motor_bench/main_motor_bench.c
@@ -1,7 +1,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mb_tacho.h"
 #include "mb_servo.h"
diff --git a/sw/airborne/firmwares/motor_bench/main_turntable.c b/sw/airborne/firmwares/motor_bench/main_turntable.c
index a6570ef8c2..81aa66c9e1 100644
--- a/sw/airborne/firmwares/motor_bench/main_turntable.c
+++ b/sw/airborne/firmwares/motor_bench/main_turntable.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/usb_serial.h"
@@ -76,7 +76,7 @@ static inline void main_init_tacho(void) {
 
 
 //
-//  trimed version of arm7/sys_time_hw.c
+//  trimed version of arm7/mcu_periph/sys_time.hw.c
 //
 
 uint32_t cpu_time_ticks;
diff --git a/sw/airborne/firmwares/motor_bench/mb_modes.c b/sw/airborne/firmwares/motor_bench/mb_modes.c
index 650736de0e..0a0b05b36b 100644
--- a/sw/airborne/firmwares/motor_bench/mb_modes.c
+++ b/sw/airborne/firmwares/motor_bench/mb_modes.c
@@ -3,7 +3,7 @@
 //#include "mb_static.h"
 
 #include "mcu_periph/adc.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 
 uint8_t mb_modes_mode;
diff --git a/sw/airborne/firmwares/motor_bench/mb_servo.c b/sw/airborne/firmwares/motor_bench/mb_servo.c
index ed345495a9..79ce659fed 100644
--- a/sw/airborne/firmwares/motor_bench/mb_servo.c
+++ b/sw/airborne/firmwares/motor_bench/mb_servo.c
@@ -1,6 +1,6 @@
 #include "mb_servo.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #define MY_NB_CLOCK_TIMER_PWM(time_us) SYS_TICS_OF_USEC(time_us)
 
 uint32_t mb_servo_max_pulse_ns, mb_servo_min_pulse_ns;
diff --git a/sw/airborne/firmwares/motor_bench/turntable_systime.c b/sw/airborne/firmwares/motor_bench/turntable_systime.c
index b37347dcee..fac292f1e8 100644
--- a/sw/airborne/firmwares/motor_bench/turntable_systime.c
+++ b/sw/airborne/firmwares/motor_bench/turntable_systime.c
@@ -1,3 +1,3 @@
 #include "armVIC.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
index 8b11977485..2adc365c3b 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
@@ -7,7 +7,7 @@
 
 #include "firmwares/rotorcraft/commands.h"
 #include "mcu_periph/i2c.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 
 struct ActuatorsAsctec actuators_asctec;
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
index b9c3dc8211..03ef70b1f6 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
@@ -26,7 +26,7 @@
 
 #include "firmwares/rotorcraft/commands.h"
 #include "mcu_periph/i2c.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 
 struct ActuatorsMkk actuators_mkk;
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
index c46397e251..3a8e556d63 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_skiron.c
@@ -24,7 +24,7 @@
 
 #include "firmwares/rotorcraft/commands.h"
 #include "mcu_periph/i2c.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 
 struct ActuatorsSkiron actuators_skiron;
diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
index 4f32257b85..b2a048c290 100644
--- a/sw/airborne/firmwares/rotorcraft/main.c
+++ b/sw/airborne/firmwares/rotorcraft/main.c
@@ -26,7 +26,7 @@
 
 #include <inttypes.h>
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #include "subsystems/datalink/downlink.h"
diff --git a/sw/airborne/firmwares/setup/setup_actuators.c b/sw/airborne/firmwares/setup/setup_actuators.c
index b4aa95af75..e563122788 100644
--- a/sw/airborne/firmwares/setup/setup_actuators.c
+++ b/sw/airborne/firmwares/setup/setup_actuators.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "firmwares/fixedwing/actuators.h"
 //#include "actuators.h"
diff --git a/sw/airborne/firmwares/tutorial/main_demo2.c b/sw/airborne/firmwares/tutorial/main_demo2.c
index 0ced604473..c077a99ef8 100644
--- a/sw/airborne/firmwares/tutorial/main_demo2.c
+++ b/sw/airborne/firmwares/tutorial/main_demo2.c
@@ -1,7 +1,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 static inline void main_init( void );
diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c
index 5699adefe5..94fc483529 100644
--- a/sw/airborne/firmwares/tutorial/main_demo3.c
+++ b/sw/airborne/firmwares/tutorial/main_demo3.c
@@ -1,7 +1,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "print.h"
diff --git a/sw/airborne/firmwares/tutorial/main_demo4.c b/sw/airborne/firmwares/tutorial/main_demo4.c
index 8f61cd312f..69696a9252 100644
--- a/sw/airborne/firmwares/tutorial/main_demo4.c
+++ b/sw/airborne/firmwares/tutorial/main_demo4.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/firmwares/tutorial/main_demo5.c b/sw/airborne/firmwares/tutorial/main_demo5.c
index 52754d2849..c655e84917 100644
--- a/sw/airborne/firmwares/tutorial/main_demo5.c
+++ b/sw/airborne/firmwares/tutorial/main_demo5.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/firmwares/tutorial/main_demo6.c b/sw/airborne/firmwares/tutorial/main_demo6.c
index 68b18be2cc..6ca258c013 100644
--- a/sw/airborne/firmwares/tutorial/main_demo6.c
+++ b/sw/airborne/firmwares/tutorial/main_demo6.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/usb_serial.h"
diff --git a/sw/airborne/firmwares/vor/lpc_vor_convertions.c b/sw/airborne/firmwares/vor/lpc_vor_convertions.c
index 3359bfef42..c5c805f449 100644
--- a/sw/airborne/firmwares/vor/lpc_vor_convertions.c
+++ b/sw/airborne/firmwares/vor/lpc_vor_convertions.c
@@ -3,7 +3,7 @@
 #include "LPC21xx.h"
 #include "armVIC.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #include "led.h"
 
diff --git a/sw/airborne/firmwares/vor/lpc_vor_main.c b/sw/airborne/firmwares/vor/lpc_vor_main.c
index 418e5dbc7e..cef359dd64 100644
--- a/sw/airborne/firmwares/vor/lpc_vor_main.c
+++ b/sw/airborne/firmwares/vor/lpc_vor_main.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/firmwares/wind_tunnel/main.c b/sw/airborne/firmwares/wind_tunnel/main.c
index 1d40c231ba..936c5b1a44 100644
--- a/sw/airborne/firmwares/wind_tunnel/main.c
+++ b/sw/airborne/firmwares/wind_tunnel/main.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/firmwares/wind_tunnel/main_mb.c b/sw/airborne/firmwares/wind_tunnel/main_mb.c
index f9b221842a..7c1830154f 100644
--- a/sw/airborne/firmwares/wind_tunnel/main_mb.c
+++ b/sw/airborne/firmwares/wind_tunnel/main_mb.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/firmwares/wind_tunnel/wt_servo.c b/sw/airborne/firmwares/wind_tunnel/wt_servo.c
index b6d6e7e9b7..16eb905153 100644
--- a/sw/airborne/firmwares/wind_tunnel/wt_servo.c
+++ b/sw/airborne/firmwares/wind_tunnel/wt_servo.c
@@ -2,7 +2,7 @@
 
 #include "LPC21xx.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 uint16_t wt_servo_motor_power;
 
diff --git a/sw/airborne/fms/lpc_test_spi.c b/sw/airborne/fms/lpc_test_spi.c
index 97a0de0407..481fa3505c 100644
--- a/sw/airborne/fms/lpc_test_spi.c
+++ b/sw/airborne/fms/lpc_test_spi.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "interrupt_hw.h"
 #include "armVIC.h"
 #include "LPC21xx.h"
diff --git a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
index a718ad9a7c..db07812097 100644
--- a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
@@ -23,7 +23,7 @@
  */
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "lisa/lisa_overo_link.h"
 #include "lisa/lisa_spistream.h"
 #include "generated/airframe.h"
diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c
index cc92c44777..d4a738c8bd 100644
--- a/sw/airborne/lisa/lisa_stm_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c
@@ -24,7 +24,7 @@
 
 #include "mcu.h"
 #include "mcu_periph/uart.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "firmwares/rotorcraft/commands.h"
 #include "actuators.h"
diff --git a/sw/airborne/lisa/stm_test_spi_link.c b/sw/airborne/lisa/stm_test_spi_link.c
index 6aed277afc..f1aa647767 100644
--- a/sw/airborne/lisa/stm_test_spi_link.c
+++ b/sw/airborne/lisa/stm_test_spi_link.c
@@ -28,7 +28,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "lisa/lisa_overo_link.h"
 
 #include "my_debug_servo.h"
diff --git a/sw/airborne/lisa/test/hs_gyro.c b/sw/airborne/lisa/test/hs_gyro.c
index a678b56710..f453081c49 100644
--- a/sw/airborne/lisa/test/hs_gyro.c
+++ b/sw/airborne/lisa/test/hs_gyro.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
index 5ff088262b..28eac7fec8 100644
--- a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+++ b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
@@ -23,7 +23,7 @@
 
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "firmwares/rotorcraft/commands.h"
 #include "actuators.h"
 #include "subsystems/datalink/downlink.h"
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345.c b/sw/airborne/lisa/test/lisa_test_adxl345.c
index 58848df507..95440c984b 100644
--- a/sw/airborne/lisa/test/lisa_test_adxl345.c
+++ b/sw/airborne/lisa/test/lisa_test_adxl345.c
@@ -36,7 +36,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "peripherals/adxl345.h"
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
index 011d7a4020..d78371bf5c 100644
--- a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
+++ b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
@@ -30,7 +30,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "peripherals/adxl345.h"
diff --git a/sw/airborne/lisa/test/lisa_test_aspirin.c b/sw/airborne/lisa/test/lisa_test_aspirin.c
index a71e9b57f5..9d48810e57 100644
--- a/sw/airborne/lisa/test/lisa_test_aspirin.c
+++ b/sw/airborne/lisa/test/lisa_test_aspirin.c
@@ -29,7 +29,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "peripherals/itg3200.h"
diff --git a/sw/airborne/lisa/test/lisa_test_hmc5843.c b/sw/airborne/lisa/test/lisa_test_hmc5843.c
index 3eb7c65fef..acbff25e6f 100644
--- a/sw/airborne/lisa/test/lisa_test_hmc5843.c
+++ b/sw/airborne/lisa/test/lisa_test_hmc5843.c
@@ -35,7 +35,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "std.h"
 
diff --git a/sw/airborne/lisa/test/lisa_test_itg3200.c b/sw/airborne/lisa/test/lisa_test_itg3200.c
index 75c0ef9e1e..c322545ca6 100644
--- a/sw/airborne/lisa/test/lisa_test_itg3200.c
+++ b/sw/airborne/lisa/test/lisa_test_itg3200.c
@@ -38,7 +38,7 @@
 #include "mcu.h"
 #include "mcu_periph/uart.h"
 #include "mcu_periph/i2c.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "std.h"
 #include "math/pprz_algebra_int.h"
diff --git a/sw/airborne/lisa/test/lisa_test_max1168.c b/sw/airborne/lisa/test/lisa_test_max1168.c
index 186892f1b5..ebf91d33f5 100644
--- a/sw/airborne/lisa/test/lisa_test_max1168.c
+++ b/sw/airborne/lisa/test/lisa_test_max1168.c
@@ -30,7 +30,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "peripherals/max1168.h"
 
diff --git a/sw/airborne/lisa/test/lisa_test_ms2100.c b/sw/airborne/lisa/test/lisa_test_ms2100.c
index 43329cf892..fdf39fba58 100644
--- a/sw/airborne/lisa/test/lisa_test_ms2100.c
+++ b/sw/airborne/lisa/test/lisa_test_ms2100.c
@@ -30,7 +30,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "peripherals/ms2100.h"
 
diff --git a/sw/airborne/lisa/test/lisa_test_sc18is600.c b/sw/airborne/lisa/test/lisa_test_sc18is600.c
index 2943831401..98385db9fd 100644
--- a/sw/airborne/lisa/test/lisa_test_sc18is600.c
+++ b/sw/airborne/lisa/test/lisa_test_sc18is600.c
@@ -27,7 +27,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "peripherals/sc18is600.h"
 
diff --git a/sw/airborne/lisa/test/lisa_tunnel.c b/sw/airborne/lisa/test/lisa_tunnel.c
index d50839ffa0..c4d27fdbb3 100644
--- a/sw/airborne/lisa/test/lisa_tunnel.c
+++ b/sw/airborne/lisa/test/lisa_tunnel.c
@@ -26,7 +26,7 @@
 #include "std.h"
 #include "mcu.h"
 #include "mcu_periph/uart.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 static inline void main_init( void );
diff --git a/sw/airborne/lisa/test/test_board.c b/sw/airborne/lisa/test/test_board.c
index a697cae7b2..ea7e6bd579 100644
--- a/sw/airborne/lisa/test/test_board.c
+++ b/sw/airborne/lisa/test/test_board.c
@@ -31,7 +31,7 @@
 #include "std.h"
 #include "mcu.h"
 #include "mcu_periph/uart.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "led.h"
 
diff --git a/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c b/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c
index 0a5a650792..b25b8c4154 100644
--- a/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c
+++ b/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c
@@ -29,7 +29,7 @@
 
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 
 static inline void main_init( void );
diff --git a/sw/airborne/lisa/test_adc.c b/sw/airborne/lisa/test_adc.c
index f62021ab24..8c77dc0376 100644
--- a/sw/airborne/lisa/test_adc.c
+++ b/sw/airborne/lisa/test_adc.c
@@ -27,7 +27,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/adc.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/lisa/test_csc_servo.c b/sw/airborne/lisa/test_csc_servo.c
index 689deec23f..8088d35b3c 100644
--- a/sw/airborne/lisa/test_csc_servo.c
+++ b/sw/airborne/lisa/test_csc_servo.c
@@ -23,7 +23,7 @@
 
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "csc_msg_def.h"
 #include "csc_protocol.h"
 #include "stm32/can.h"
diff --git a/sw/airborne/lisa/test_datalink.c b/sw/airborne/lisa/test_datalink.c
index 606627bc07..6420620142 100644
--- a/sw/airborne/lisa/test_datalink.c
+++ b/sw/airborne/lisa/test_datalink.c
@@ -25,7 +25,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 
 #include "subsystems/datalink/datalink.h"
diff --git a/sw/airborne/lisa/test_float.c b/sw/airborne/lisa/test_float.c
index 48c662d727..9502f85b56 100644
--- a/sw/airborne/lisa/test_float.c
+++ b/sw/airborne/lisa/test_float.c
@@ -25,7 +25,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 static inline void main_init( void );
 static inline void main_periodic( void );
diff --git a/sw/airborne/lisa/test_mc.c b/sw/airborne/lisa/test_mc.c
index 978c2857d1..6cd1ed0d3d 100644
--- a/sw/airborne/lisa/test_mc.c
+++ b/sw/airborne/lisa/test_mc.c
@@ -31,7 +31,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
diff --git a/sw/airborne/lisa/test_periodic.c b/sw/airborne/lisa/test_periodic.c
index 6104c4ad3e..453c23016d 100644
--- a/sw/airborne/lisa/test_periodic.c
+++ b/sw/airborne/lisa/test_periodic.c
@@ -26,7 +26,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 static inline void main_init( void );
 static inline void main_periodic( void );
diff --git a/sw/airborne/lisa/test_servos.c b/sw/airborne/lisa/test_servos.c
index 98ae30c1f2..5d177f295a 100644
--- a/sw/airborne/lisa/test_servos.c
+++ b/sw/airborne/lisa/test_servos.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "firmwares/rotorcraft/actuators/actuators_pwm.h"
 
 static inline void main_init( void );
diff --git a/sw/airborne/lisa/test_spi_slave.c b/sw/airborne/lisa/test_spi_slave.c
index 526e7025c8..45b41e25d5 100644
--- a/sw/airborne/lisa/test_spi_slave.c
+++ b/sw/airborne/lisa/test_spi_slave.c
@@ -27,7 +27,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 
 static inline void main_init( void );
diff --git a/sw/airborne/lisa/test_spi_slave2.c b/sw/airborne/lisa/test_spi_slave2.c
index cfdafbc48f..ca274a0282 100644
--- a/sw/airborne/lisa/test_spi_slave2.c
+++ b/sw/airborne/lisa/test_spi_slave2.c
@@ -28,7 +28,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "fms/fms_autopilot_msg.h"
 
diff --git a/sw/airborne/lisa/test_uart.c b/sw/airborne/lisa/test_uart.c
index 599c9581d2..8224ef6111 100644
--- a/sw/airborne/lisa/test_uart.c
+++ b/sw/airborne/lisa/test_uart.c
@@ -30,7 +30,7 @@
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/uart.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 static inline void main_init( void );
 static inline void main_periodic( void );
diff --git a/sw/airborne/lisa/test_uart_lisam.c b/sw/airborne/lisa/test_uart_lisam.c
index 368b31bed5..664f3efe83 100644
--- a/sw/airborne/lisa/test_uart_lisam.c
+++ b/sw/airborne/lisa/test_uart_lisam.c
@@ -30,7 +30,7 @@
 #include BOARD_CONFIG
 #include "mcu.h"
 #include "mcu_periph/uart.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 static inline void main_init( void );
 static inline void main_periodic( void );
diff --git a/sw/airborne/lisa/tunnel_hw.c b/sw/airborne/lisa/tunnel_hw.c
index 10741ff5ae..5f918ab220 100644
--- a/sw/airborne/lisa/tunnel_hw.c
+++ b/sw/airborne/lisa/tunnel_hw.c
@@ -28,7 +28,7 @@
 
 #include BOARD_CONFIG
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #define A_PERIPH   RCC_APB2Periph_GPIOA
diff --git a/sw/airborne/mcu_periph/sys_time.c b/sw/airborne/mcu_periph/sys_time.c
new file mode 100644
index 0000000000..06ef866d1b
--- /dev/null
+++ b/sw/airborne/mcu_periph/sys_time.c
@@ -0,0 +1,40 @@
+#include "mcu_periph/sys_time.h"
+
+
+#include "mcu.h"
+
+struct sys_time sys_time;
+
+uint8_t sys_time_register_timer(uint32_t duration, sys_time_cb cb) {
+
+  uint32_t start_time = sys_time.nb_tic;
+  for (int i = 0; i< SYS_TIME_NB_TIMER; i++) {
+    if (!sys_time.timer[i].in_use) {
+      sys_time.timer[i].cb         = cb;
+      sys_time.timer[i].elapsed    = FALSE;
+      sys_time.timer[i].end_time   = start_time + duration;
+      sys_time.timer[i].duration   = duration;
+      sys_time.timer[i].in_use     = TRUE;
+      return i;
+    }
+  }
+  return -1;
+}
+
+void sys_time_cancel_timer(uint8_t id) {
+  sys_time.timer[id].in_use     = FALSE;
+#if 0
+  sys_time.timer[id].cb         = NULL;
+  sys_time.timer[id].elapsed    = FALSE;
+  sys_time.timer[id].end_time   = 0;
+  sys_time.timer[id].duration   = 0;
+#endif
+}
+
+// FIXME: race condition ??
+void sys_time_update_timer(uint8_t id, uint32_t duration) {
+  mcu_int_disable();
+  sys_time.timer[id].end_time -= (sys_time.timer[id].duration - duration);
+  sys_time.timer[id].duration = duration;
+  mcu_int_enable();
+}
diff --git a/sw/airborne/mcu_periph/sys_time.h b/sw/airborne/mcu_periph/sys_time.h
new file mode 100644
index 0000000000..a22c4b0a47
--- /dev/null
+++ b/sw/airborne/mcu_periph/sys_time.h
@@ -0,0 +1,90 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2009 Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+/*
+ *\brief architecture independant timing functions
+ *
+ */
+
+#ifndef SYS_TIME_H
+#define SYS_TIME_H
+
+#include <inttypes.h>
+#include "std.h"
+
+#include BOARD_CONFIG
+
+#ifndef SYS_TIME_NB_TIMER
+#define  SYS_TIME_NB_TIMER 5
+#endif
+
+typedef void (*sys_time_cb) (uint8_t id);
+
+struct sys_time_timer {
+  bool_t          in_use;
+  sys_time_cb     cb;
+  volatile bool_t elapsed;
+  uint32_t        end_time;
+  uint32_t        duration;
+};
+
+struct sys_time {
+  uint32_t nb_sec;
+  uint32_t nb_sec_rem;
+  uint32_t nb_tic;
+  struct sys_time_timer timer[SYS_TIME_NB_TIMER];
+};
+
+extern struct sys_time sys_time;
+
+extern void sys_time_init(void);
+extern uint8_t sys_time_register_timer(uint32_t duration, sys_time_cb cb);
+extern void    sys_time_cancel_timer(uint8_t id);
+extern void    sys_time_update_timer(uint8_t id, uint32_t duration);
+
+static inline bool_t sys_time_check_and_ack_timer( uint8_t id ) {
+  if (sys_time.timer[id].elapsed) {
+    sys_time.timer[id].elapsed = FALSE;
+    return TRUE;
+  }
+  return FALSE;
+}
+
+#ifndef SYS_TIME_RESOLUTION
+#define SYS_TIME_RESOLUTION SYS_TIME_TICS_OF_SEC( 1./1048576.)
+#endif
+
+#define SYS_TIME_TIMER_S(_s) (SYS_TIME_TICS_OF_SEC(_s)/SYS_TIME_RESOLUTION)
+
+#define SYS_TIME_TICS_OF_USEC(us) SYS_TIME_TICS_OF_SEC((us) * 1e-6)
+#define SYS_TIME_TICS_OF_NSEC(ns) SYS_TIME_TICS_OF_SEC((ns) * 1e-9)
+#define SYS_TIME_SIGNED_TICS_OF_USEC(us) SYS_TIME_SIGNED_TICS_OF_SEC((us) * 1e-6)
+#define SYS_TIME_SIGNED_TICS_OF_NSEC(us) SYS_TIME_SIGNED_TICS_OF_SEC((us) * 1e-9)
+
+#define SYS_TIME_TICS_PER_SEC SYS_TIME_TICS_OF_SEC( 1.)
+
+#include "mcu_periph/sys_time_arch.h"
+
+
+#endif /* SYS_TIME_H */
diff --git a/sw/airborne/modules/core/pwm_meas.c b/sw/airborne/modules/core/pwm_meas.c
index c8252cb69b..49dd8a28d1 100644
--- a/sw/airborne/modules/core/pwm_meas.c
+++ b/sw/airborne/modules/core/pwm_meas.c
@@ -30,7 +30,7 @@
 
 #include "modules/core/pwm_meas.h"
 #include "mcu_periph/pwm_input.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 void pwm_meas_init( void )
 {
diff --git a/sw/airborne/modules/core/sys_mon.c b/sw/airborne/modules/core/sys_mon.c
index 118aa9cc41..0b30b47686 100644
--- a/sw/airborne/modules/core/sys_mon.c
+++ b/sw/airborne/modules/core/sys_mon.c
@@ -23,7 +23,7 @@
  */
 
 #include "core/sys_mon.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #ifdef USE_USB_SERIAL
 #include "mcu_periph/usb_serial.h"
diff --git a/sw/airborne/modules/datalink/xtend_rssi.c b/sw/airborne/modules/datalink/xtend_rssi.c
index a3549bb34d..07e46c473e 100644
--- a/sw/airborne/modules/datalink/xtend_rssi.c
+++ b/sw/airborne/modules/datalink/xtend_rssi.c
@@ -31,7 +31,7 @@
 
 #include "modules/datalink/xtend_rssi.h"
 #include "mcu_periph/pwm_input.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
index d7b4228356..15ff2b39d7 100644
--- a/sw/airborne/modules/ins/ins_xsens.c
+++ b/sw/airborne/modules/ins/ins_xsens.c
@@ -33,7 +33,7 @@
 
 #include "generated/airframe.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "messages.h"
 
diff --git a/sw/airborne/modules/meteo/dust_gp2y.c b/sw/airborne/modules/meteo/dust_gp2y.c
index 4c77d288d0..4c43df8724 100644
--- a/sw/airborne/modules/meteo/dust_gp2y.c
+++ b/sw/airborne/modules/meteo/dust_gp2y.c
@@ -32,7 +32,7 @@
 
 #include "modules/meteo/dust_gp2y.h"
 #include "mcu_periph/i2c.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
diff --git a/sw/airborne/modules/meteo/humid_htm_b71.c b/sw/airborne/modules/meteo/humid_htm_b71.c
index 0428145a1f..f3b66259aa 100644
--- a/sw/airborne/modules/meteo/humid_htm_b71.c
+++ b/sw/airborne/modules/meteo/humid_htm_b71.c
@@ -32,7 +32,7 @@
 
 #include "modules/meteo/humid_htm_b71.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/meteo/humid_pcap01.c b/sw/airborne/modules/meteo/humid_pcap01.c
index f71015a0e6..cc9b09d37b 100644
--- a/sw/airborne/modules/meteo/humid_pcap01.c
+++ b/sw/airborne/modules/meteo/humid_pcap01.c
@@ -30,7 +30,7 @@
  */
 
 #include "led.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/meteo/ir_mlx.c b/sw/airborne/modules/meteo/ir_mlx.c
index 40f9739549..13f3653709 100644
--- a/sw/airborne/modules/meteo/ir_mlx.c
+++ b/sw/airborne/modules/meteo/ir_mlx.c
@@ -31,7 +31,7 @@
 
 #include "modules/meteo/ir_mlx.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/modules/meteo/windturbine.c b/sw/airborne/modules/meteo/windturbine.c
index 9d1293115a..91b669ce7e 100644
--- a/sw/airborne/modules/meteo/windturbine.c
+++ b/sw/airborne/modules/meteo/windturbine.c
@@ -32,7 +32,7 @@
 #include "meteo/windturbine.h"
 #include "core/trigger_ext.h"
 #include "subsystems/gps.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c
index fdfff416b4..a3f17a3ccf 100644
--- a/sw/airborne/modules/sensors/baro_bmp.c
+++ b/sw/airborne/modules/sensors/baro_bmp.c
@@ -31,7 +31,7 @@
 
 #include "baro_bmp.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/modules/sensors/baro_ms5611_i2c.c b/sw/airborne/modules/sensors/baro_ms5611_i2c.c
index a60e7604f9..6c3b39369e 100644
--- a/sw/airborne/modules/sensors/baro_ms5611_i2c.c
+++ b/sw/airborne/modules/sensors/baro_ms5611_i2c.c
@@ -30,7 +30,7 @@
 
 #include "modules/sensors/baro_ms5611_i2c.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/i2c.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/sensors/baro_scp.c b/sw/airborne/modules/sensors/baro_scp.c
index 4b974b367e..43d838beaf 100644
--- a/sw/airborne/modules/sensors/baro_scp.c
+++ b/sw/airborne/modules/sensors/baro_scp.c
@@ -1,5 +1,5 @@
 #include "std.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu.h"
 
diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c
index 6e78c63b9a..c1e4d461e8 100644
--- a/sw/airborne/modules/sensors/baro_scp_i2c.c
+++ b/sw/airborne/modules/sensors/baro_scp_i2c.c
@@ -7,7 +7,7 @@
 
 #include "baro_scp_i2c.h"
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/i2c.h"
 #include "led.h"
 
diff --git a/sw/airborne/modules/sensors/trigger_ext.c b/sw/airborne/modules/sensors/trigger_ext.c
index 066d173603..1f35c4547f 100644
--- a/sw/airborne/modules/sensors/trigger_ext.c
+++ b/sw/airborne/modules/sensors/trigger_ext.c
@@ -33,7 +33,7 @@
 #include "trigger_ext.h"
 #include "modules/sensors/trig_ext_hw.h"
 #include "subsystems/gps.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
 #include "subsystems/datalink/downlink.h"
diff --git a/sw/airborne/obsolete/gps.c b/sw/airborne/obsolete/gps.c
index 1f67c16b0d..3d8028f99a 100644
--- a/sw/airborne/obsolete/gps.c
+++ b/sw/airborne/obsolete/gps.c
@@ -32,7 +32,7 @@
 #include "gps.h"
 #include "latlong.h"
 #ifndef FMS_PERIODIC_FREQ
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #endif
 #include "generated/airframe.h"
 #include "generated/periodic.h"
diff --git a/sw/airborne/obsolete/gps_ubx.c b/sw/airborne/obsolete/gps_ubx.c
index d351c1c26b..9a5ab72c76 100644
--- a/sw/airborne/obsolete/gps_ubx.c
+++ b/sw/airborne/obsolete/gps_ubx.c
@@ -45,7 +45,7 @@
 #include "latlong.h"
 
 #ifdef GPS_TIMESTAMP
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #define MSEC_PER_WEEK (1000*60*60*24*7)
 #endif
 
diff --git a/sw/airborne/obsolete/ins_osam_ugear.c b/sw/airborne/obsolete/ins_osam_ugear.c
index adc3bdd00c..d64b870c9e 100644
--- a/sw/airborne/obsolete/ins_osam_ugear.c
+++ b/sw/airborne/obsolete/ins_osam_ugear.c
@@ -34,7 +34,7 @@
 #include "gps.h"
 #include "gps_ubx.h"
 #include "latlong.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "airframe.h"
 #include "generated/subsystems/nav.h"
 #include "estimator.h"
diff --git a/sw/airborne/sd_card/main.c b/sw/airborne/sd_card/main.c
index c20aee6910..2c7d130d2e 100644
--- a/sw/airborne/sd_card/main.c
+++ b/sw/airborne/sd_card/main.c
@@ -1,6 +1,6 @@
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
index 4adb3ac062..169bef4164 100644
--- a/sw/airborne/subsystems/datalink/xbee.c
+++ b/sw/airborne/subsystems/datalink/xbee.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "print.h"
 #include "subsystems/datalink/xbee.h"
 
diff --git a/sw/airborne/subsystems/gps/gps_mtk.c b/sw/airborne/subsystems/gps/gps_mtk.c
index 79a157db86..8f522e92ca 100644
--- a/sw/airborne/subsystems/gps/gps_mtk.c
+++ b/sw/airborne/subsystems/gps/gps_mtk.c
@@ -37,7 +37,7 @@
 
 #include "subsystems/nav.h"
 #include "math/pprz_geodetic_float.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 #define MTK_DIY_OUTPUT_RATE	MTK_DIY_OUTPUT_4HZ
 #define OUTPUT_RATE			4
diff --git a/sw/airborne/sys_time.c b/sw/airborne/sys_time.c
index 7867019a7f..eb3eb8056b 100644
--- a/sw/airborne/sys_time.c
+++ b/sw/airborne/sys_time.c
@@ -1,3 +1,3 @@
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 
 uint16_t cpu_time_sec;
diff --git a/sw/airborne/sys_time.h b/sw/airborne/sys_time.h
index a665e88c5c..1f1759ac54 100644
--- a/sw/airborne/sys_time.h
+++ b/sw/airborne/sys_time.h
@@ -44,7 +44,7 @@ extern uint16_t cpu_time_sec;
 #define FIFTY_MS           SYS_TICS_OF_SEC( 50e-3 )
 #define AVR_PERIOD_MS      SYS_TICS_OF_SEC( 16.666e-3 )
 
-#include "sys_time_hw.h"
+#include "mcu_periph/sys_time.hw.h"
 
 
 #endif /* SYS_TIME_H */
diff --git a/sw/airborne/test/mcu_periph/test_systime.c b/sw/airborne/test/mcu_periph/test_systime.c
new file mode 100644
index 0000000000..922b282072
--- /dev/null
+++ b/sw/airborne/test/mcu_periph/test_systime.c
@@ -0,0 +1,50 @@
+#include "std_pprz.h"
+#include "mcu.h"
+#include "subsystems/led.h"
+
+static inline void main_periodic_02( void );
+static inline void main_periodic_03( void );
+static inline void main_periodic_05( uint8_t id );
+static inline void main_event( void );
+
+int main(void) {
+  
+  mcu_init();
+  led_init();
+  unsigned int tmr_02 = sys_time_register_timer(SYS_TIME_TIMER_S(0.2), NULL);
+  unsigned int tmr_03 = sys_time_register_timer(SYS_TIME_TIMER_S(0.3), NULL);
+  sys_time_register_timer(SYS_TIME_TIMER_S(0.5), main_periodic_05);
+
+  while(1) {
+    if (sys_time_check_and_ack_timer(tmr_02))
+      main_periodic_02();
+    if (sys_time_check_and_ack_timer(tmr_03))
+      main_periodic_03();
+    main_event();
+  }
+
+  return 0;
+}
+
+/* 
+   Called from main loop polling 
+*/
+static inline void main_periodic_02( void ) {
+      LED_TOGGLE(LED_GREEN);
+}
+
+static inline void main_periodic_03( void ) {
+      LED_TOGGLE(LED_BLUE);
+}
+
+/* 
+   Called from the systime interrupt handler
+*/
+static inline void main_periodic_05( uint8_t id ) {
+      LED_TOGGLE(LED_RED);
+}
+
+
+static inline void main_event( void ) {
+}
+
diff --git a/sw/airborne/test/nova_test_imu.c b/sw/airborne/test/nova_test_imu.c
index 743a589cfa..73fcdbee94 100644
--- a/sw/airborne/test/nova_test_imu.c
+++ b/sw/airborne/test/nova_test_imu.c
@@ -1,7 +1,7 @@
 #include "std.h"
 #include "mcu.h"
 #include "interrupt_hw.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #include "mcu_periph/uart.h"
diff --git a/sw/airborne/test/peripherals/test_ami601.c b/sw/airborne/test/peripherals/test_ami601.c
index d003b28e0c..9c6e43ed7b 100644
--- a/sw/airborne/test/peripherals/test_ami601.c
+++ b/sw/airborne/test/peripherals/test_ami601.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/test/subsystems/test_ahrs.c b/sw/airborne/test/subsystems/test_ahrs.c
index 91c9a1ce92..0313daf591 100644
--- a/sw/airborne/test/subsystems/test_ahrs.c
+++ b/sw/airborne/test/subsystems/test_ahrs.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/test/subsystems/test_imu.c b/sw/airborne/test/subsystems/test_imu.c
index 0cefac6fbd..58b03cf569 100644
--- a/sw/airborne/test/subsystems/test_imu.c
+++ b/sw/airborne/test/subsystems/test_imu.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/test/subsystems/test_radio_control.c b/sw/airborne/test/subsystems/test_radio_control.c
index c467df0ab7..32193487ba 100644
--- a/sw/airborne/test/subsystems/test_radio_control.c
+++ b/sw/airborne/test/subsystems/test_radio_control.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "interrupt_hw.h"
 #include "mcu_periph/uart.h"
 
diff --git a/sw/airborne/test/subsystems/test_settings.c b/sw/airborne/test/subsystems/test_settings.c
index 9a84d4435d..a3653d5f98 100644
--- a/sw/airborne/test/subsystems/test_settings.c
+++ b/sw/airborne/test/subsystems/test_settings.c
@@ -26,7 +26,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 #include "subsystems/datalink/datalink.h"
 #include "subsystems/settings.h"
diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c
index 567e227433..1017865f81 100644
--- a/sw/airborne/test/test_actuators.c
+++ b/sw/airborne/test/test_actuators.c
@@ -23,7 +23,7 @@
 
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #include "mcu_periph/i2c.h"
diff --git a/sw/airborne/test/test_adcs.c b/sw/airborne/test/test_adcs.c
index 11eb994388..e715655592 100644
--- a/sw/airborne/test/test_adcs.c
+++ b/sw/airborne/test/test_adcs.c
@@ -5,7 +5,7 @@
 
 #include "std.h"
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "mcu_periph/adc.h"
 #include "messages.h"
 #include "led.h"
diff --git a/sw/airborne/test/test_esc_asctecv1_simple.c b/sw/airborne/test/test_esc_asctecv1_simple.c
index 33e9957a1c..dc2777c182 100644
--- a/sw/airborne/test/test_esc_asctecv1_simple.c
+++ b/sw/airborne/test/test_esc_asctecv1_simple.c
@@ -23,7 +23,7 @@
 
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #include "mcu_periph/i2c.h"
diff --git a/sw/airborne/test/test_esc_mkk_simple.c b/sw/airborne/test/test_esc_mkk_simple.c
index 983f19564b..f3eb0de760 100644
--- a/sw/airborne/test/test_esc_mkk_simple.c
+++ b/sw/airborne/test/test_esc_mkk_simple.c
@@ -23,7 +23,7 @@
 
 
 #include "mcu.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "led.h"
 
 #include "mcu_periph/i2c.h"
diff --git a/sw/airborne/test/test_telemetry.c b/sw/airborne/test/test_telemetry.c
index 4ad33cc7f5..55b270b442 100644
--- a/sw/airborne/test/test_telemetry.c
+++ b/sw/airborne/test/test_telemetry.c
@@ -25,7 +25,7 @@
 #include "mcu.h"
 #include "mcu_periph/uart.h"
 #include "interrupt_hw.h"
-#include "sys_time.h"
+#include "mcu_periph/sys_time.h"
 #include "subsystems/datalink/downlink.h"
 static inline void main_init( void );
 static inline void main_periodic( void );