diff --git a/conf/autopilot/rotorcraft.makefile b/conf/autopilot/rotorcraft.makefile
index 58d2468a6e..07274c0b94 100644
--- a/conf/autopilot/rotorcraft.makefile
+++ b/conf/autopilot/rotorcraft.makefile
@@ -92,7 +92,7 @@ endif
 #
 # Telemetry/Datalink
 #
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport
 ap.CFLAGS += -DDOWNLINK_DEVICE=$(MODEM_PORT)
 ap.srcs   += $(SRC_FIRMWARE)/telemetry.c \
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index 7bf9f40dc4..ddb5b7a617 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -130,7 +130,7 @@ ns_srcs 		+= $(SRC_ARCH)/sys_time_hw.c
 # UARTS
 #
 
-ns_srcs 		+= $(SRC_ARCH)/uart_hw.c
+ns_srcs 		+= $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 #
 # ANALOG
diff --git a/sw/airborne/arch/avr/uart_hw.c b/sw/airborne/arch/avr/mcu_periph/uart_arch.c
similarity index 99%
rename from sw/airborne/arch/avr/uart_hw.c
rename to sw/airborne/arch/avr/mcu_periph/uart_arch.c
index b1c8aac337..29ec68e656 100644
--- a/sw/airborne/arch/avr/uart_hw.c
+++ b/sw/airborne/arch/avr/mcu_periph/uart_arch.c
@@ -26,7 +26,7 @@
  *  \brief avr uart low level functions
  *
  */
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "sys_time.h"
 
 #define B2400  2400UL
diff --git a/sw/airborne/arch/avr/uart_hw.h b/sw/airborne/arch/avr/uart_hw.h
deleted file mode 100644
index e8ca0c1af7..0000000000
--- a/sw/airborne/arch/avr/uart_hw.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- * $Id$
- *
- * Copyright (C) 2005  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.
- *
- */
-
-/** \file uart_hw.h
- *  \brief avr uart low level headers
- *
- */
-
-#ifndef UART_HW_H
-#define UART_HW_H
-
-#include <avr/io.h>
-#if (__GNUC__ == 3)
-#include <avr/signal.h>
-#endif
-#include <avr/interrupt.h>
-#include "std.h"
-
-
-/************************************************************************/
-#if defined  (__AVR_ATmega8__)
-
-#define ReceiveUart(cb) \
-  SIGNAL( SIG_UART_RECV ) { \
-    uint8_t c = UDR; \
-    cb(c); \
-}
-
-#endif /* (__AVR_ATmega8__) */
-
-
-/************************************************************************/
-#if defined  (__AVR_ATmega128__)
-
-extern uint8_t           tx_buf0[256]; /** For debugging purpose */
-
-extern void uart0_init_tx(void);
-extern void uart0_init_rx(void);
-extern void uart1_init(void);
-
-extern void uart0_transmit(const uint8_t);
-extern void uart1_transmit(const uint8_t);
-
-#define UART0_RX_BUFFER_SIZE 32        // UART0 receive buffer size
-#define UART1_RX_BUFFER_SIZE 32        // UART1 receive buffer size
-#define UART0_RX_BUFFER_SIZE_MASK 0x1f
-#define UART1_RX_BUFFER_SIZE_MASK 0x1f
-
-#ifdef UART0_RX_BUFFER_SIZE_MASK
-#define Uart0RxBufferNext(_x) ((_x+1)&UART0_RX_BUFFER_SIZE_MASK)
-#else
-#define Uart0RxBufferNext(_x) ((_x+1)%UART0_RX_BUFFER_SIZE)
-#endif
-
-#ifdef UART1_RX_BUFFER_SIZE_MASK
-#define Uart1RxBufferNext(_x) ((_x+1)&UART1_RX_BUFFER_SIZE_MASK)
-#else
-#define Uart1RxBufferNext(_x) ((_x+1)%UART1_RX_BUFFER_SIZE)
-#endif
-
-
-extern uint16_t uart0_rx_insert_idx, uart0_rx_extract_idx;
-extern uint8_t uart0_rx_buffer[UART0_RX_BUFFER_SIZE];
-
-#define Uart0ChAvailable() (uart0_rx_insert_idx != uart0_rx_extract_idx)
-
-#define Uart0Getch() ({\
-   uint8_t ret = uart0_rx_buffer[uart0_rx_extract_idx]; \
-   uart0_rx_extract_idx = Uart0RxBufferNext(uart0_rx_extract_idx);        \
-   ret;                                                 \
-})
-
-
-extern uint16_t uart1_rx_insert_idx, uart1_rx_extract_idx;
-extern uint8_t uart1_rx_buffer[UART1_RX_BUFFER_SIZE];
-
-#define Uart1ChAvailable() (uart1_rx_insert_idx != uart1_rx_extract_idx)
-
-#define Uart1Getch() ({\
-   uint8_t ret = uart1_rx_buffer[uart1_rx_extract_idx]; \
-   uart1_rx_extract_idx = Uart1RxBufferNext(uart1_rx_extract_idx);        \
-   ret;                                                 \
-})
-
-#endif /* (__AVR_ATmega128__) */
-
-#endif /* UART_HW_H */
diff --git a/sw/airborne/arch/lpc21/uart_hw.c b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
similarity index 99%
rename from sw/airborne/arch/lpc21/uart_hw.c
rename to sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
index 722dbf411e..55d8df8c52 100644
--- a/sw/airborne/arch/lpc21/uart_hw.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.c
@@ -1,7 +1,7 @@
 /*
  * $Id$
  *
- * Copyright (C) 2008  Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2008-2010 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -26,7 +26,7 @@
  * Brief LPC21 uart code
  */
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "armVIC.h"
 
 #ifdef USE_UART0
diff --git a/sw/airborne/arch/lpc21/uart_hw.h b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
similarity index 97%
rename from sw/airborne/arch/lpc21/uart_hw.h
rename to sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
index 06ac5ff7f0..fbc1c6c991 100644
--- a/sw/airborne/arch/lpc21/uart_hw.h
+++ b/sw/airborne/arch/lpc21/mcu_periph/uart_arch.h
@@ -22,8 +22,8 @@
  *
  */
 
-#ifndef UART_HW_H
-#define UART_HW_H
+#ifndef LPC21_UART_ARCH_H
+#define LPC21_UART_ARCH_H
 
 #include "types.h"
 #include "LPC21xx.h"
@@ -93,4 +93,4 @@ extern void uart0_init_param( uint16_t baud, uint8_t mode, uint8_t fmode);
 extern uint8_t uart0_tx_running;
 extern uint8_t uart1_tx_running;
 
-#endif /* UART_HW_H */
+#endif /* LPC21_UART_ARCH_H */
diff --git a/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h b/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h
index f8ebd1d4e7..616354e976 100644
--- a/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h
+++ b/sw/airborne/arch/lpc21/subsystems/radio_control/spektrum_arch.h
@@ -26,7 +26,7 @@
 #define RADIO_CONTROL_SPEKTRUM_ARCH_H
 
 #include "std.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #include RADIO_CONTROL_SPEKTRUM_MODEL_H
 
diff --git a/sw/airborne/arch/lpc21/usb_tunnel.c b/sw/airborne/arch/lpc21/usb_tunnel.c
index 869caeabd3..d5140ddc0f 100644
--- a/sw/airborne/arch/lpc21/usb_tunnel.c
+++ b/sw/airborne/arch/lpc21/usb_tunnel.c
@@ -31,12 +31,10 @@
  */
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
-#include "interrupt_hw.h"
-#include "uart_hw.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "usb_serial.h"
 
 /* minimum LED blink on time 10Hz = 100ms */
@@ -46,21 +44,11 @@ int main( void ) {
   unsigned char inc;
   unsigned int rx_time=0, tx_time=0;
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   VCOM_allow_linecoding(1);
 
-#ifdef USE_UART0
-  Uart0Init();
-#else
-#ifdef USE_UART1
-  Uart1Init();
-#else
-#error no serial port defined
-#endif
-#endif
-
 #ifdef USE_USB_SERIAL
   VCOM_init();
 #endif
diff --git a/sw/airborne/arch/sim/uart_hw.h b/sw/airborne/arch/sim/uart_hw.h
deleted file mode 100644
index b1bcd0a89f..0000000000
--- a/sw/airborne/arch/sim/uart_hw.h
+++ /dev/null
@@ -1,40 +0,0 @@
-#include <stdbool.h>
-#include <inttypes.h>
-#include <stdio.h>
-#include <sys/select.h>
-#include <unistd.h>
-#include <assert.h>
-
-#define STDINOUT_BUFFER_SIZE 256
-#define FD_STDIN 0
-
-extern char stdinout_buffer[STDINOUT_BUFFER_SIZE];
-extern uint8_t stdinout_rx_insert_idx;
-extern uint8_t stdinout_rx_extract_idx;
-
-
-static inline bool StdInOutChAvailable(void) {
-  struct timeval tv;
-  fd_set fds;
-  tv.tv_sec = 0;
-  tv.tv_usec = 0;
-  FD_ZERO(&fds);
-  FD_SET(FD_STDIN, &fds);
-  select(1, &fds, NULL, NULL, &tv);
-  if (FD_ISSET(FD_STDIN, &fds)) {
-    char tmp_buf[STDINOUT_BUFFER_SIZE];
-    uint8_t n = read(FD_STDIN, tmp_buf, STDINOUT_BUFFER_SIZE);
-    unsigned int i;
-    for(i = 0; i < n; i++) {
-      stdinout_buffer[stdinout_rx_insert_idx] = tmp_buf[i];
-      stdinout_rx_insert_idx++; /* Auto overflow */
-    }
-  }
-  return (stdinout_rx_insert_idx != stdinout_rx_extract_idx);
-}
-
-#define StdInOutTransmit(_char) putchar(_char)
-#define StdInOutGetch() ({ \
-  assert(stdinout_rx_insert_idx != stdinout_rx_extract_idx); \
-  stdinout_buffer[stdinout_rx_extract_idx++]; \
-})
diff --git a/sw/airborne/arch/stm32/uart_hw.c b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
similarity index 99%
rename from sw/airborne/arch/stm32/uart_hw.c
rename to sw/airborne/arch/stm32/mcu_periph/uart_arch.c
index f1c1fd4743..3edce0c1d1 100644
--- a/sw/airborne/arch/stm32/uart_hw.c
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #include <stm32/rcc.h>
 #include <stm32/misc.h>
@@ -282,9 +282,6 @@ volatile uint16_t uart3_tx_insert_idx, uart3_tx_extract_idx;
 volatile bool_t uart3_tx_running;
 uint8_t  uart3_tx_buffer[UART3_TX_BUFFER_SIZE];
 
-#include "led.h"
-
-
 void uart3_init( void ) {
 
   /* init RCC */
diff --git a/sw/airborne/arch/stm32/uart_hw.h b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
similarity index 97%
rename from sw/airborne/arch/stm32/uart_hw.h
rename to sw/airborne/arch/stm32/mcu_periph/uart_arch.h
index 8679622711..e281700dba 100644
--- a/sw/airborne/arch/stm32/uart_hw.h
+++ b/sw/airborne/arch/stm32/mcu_periph/uart_arch.h
@@ -1,7 +1,7 @@
 /*
  * $Id$
  *
- * Copyright (C) 2009 Antoine Drouin <poinix@gmail.com>
+ * Copyright (C) 2009-2010 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -26,8 +26,8 @@
  *
  */
 
-#ifndef UART_HW_H
-#define UART_HW_H
+#ifndef STM32_UART_ARCH_H
+#define STM32_UART_ARCH_H
 
 #include "std.h"
 
@@ -183,4 +183,4 @@ extern uint8_t  uart3_tx_buffer[UART3_TX_BUFFER_SIZE];
 
 void uart_init( void );
 
-#endif /* UART_HW_H */
+#endif /* STM32_UART_ARCH_H */
diff --git a/sw/airborne/arch/stm32/stm32_vector_table.c b/sw/airborne/arch/stm32/stm32_vector_table.c
index 40b187d87f..2848301865 100644
--- a/sw/airborne/arch/stm32/stm32_vector_table.c
+++ b/sw/airborne/arch/stm32/stm32_vector_table.c
@@ -1,7 +1,7 @@
 /*
  * $Id$
  *
- * Copyright (C) 2010 Antoine Drouin <poinix@gmail.com>
+ * Copyright (C) 2010 The Paparazzi Team
  *
  * This file is part of Paparazzi.
  *
@@ -35,28 +35,28 @@
 #endif
 
 #if defined USE_UART1 || OVERRIDE_UART1_IRQ_HANDLER
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #define USART1_IRQ_HANDLER usart1_irq_handler
 #else
 #define USART1_IRQ_HANDLER null_handler
 #endif
 
 #if defined USE_UART2 || OVERRIDE_UART2_IRQ_HANDLER
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #define USART2_IRQ_HANDLER usart2_irq_handler
 #else
 #define USART2_IRQ_HANDLER null_handler
 #endif
 
 #if defined USE_UART3 || OVERRIDE_UART3_IRQ_HANDLER
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #define USART3_IRQ_HANDLER usart3_irq_handler
 #else
 #define USART3_IRQ_HANDLER null_handler
 #endif
 
 #if defined USE_UART5 || OVERRIDE_UART5_IRQ_HANDLER
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #define USART5_IRQ_HANDLER usart5_irq_handler
 #else
 #define USART5_IRQ_HANDLER null_handler
diff --git a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
index 316122ebe4..91b609b63d 100644
--- a/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
+++ b/sw/airborne/arch/stm32/subsystems/radio_control/spektrum_arch.c
@@ -27,10 +27,9 @@
 #include <stm32/tim.h>
 #include <stm32/misc.h>
 #include <stm32/usart.h>
-#include "uart.h"
 #include "subsystems/radio_control.h"
 #include "subsystems/radio_control/spektrum_arch.h"
-#include "firmwares/rotorcraft/autopilot.h"
+#include "mcu_periph/uart.h"
 
 
 #define SPEKTRUM_CHANNELS_PER_FRAME 7
diff --git a/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c b/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c
index 93912efe1d..7ea2315a03 100644
--- a/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c
+++ b/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "i2c.h"
 
 void uart0_init( void ) {}
diff --git a/sw/airborne/booz/booz2_datalink.c b/sw/airborne/booz/booz2_datalink.c
index 2fae20a594..adb77a1825 100644
--- a/sw/airborne/booz/booz2_datalink.c
+++ b/sw/airborne/booz/booz2_datalink.c
@@ -32,7 +32,7 @@
 #include "downlink.h"
 #include "messages.h"
 #include "dl_protocol.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #ifdef BOOZ_FMS_TYPE
 #include "booz_fms.h"
diff --git a/sw/airborne/booz/booz_gps.h b/sw/airborne/booz/booz_gps.h
index addeb62043..7d30611baf 100644
--- a/sw/airborne/booz/booz_gps.h
+++ b/sw/airborne/booz/booz_gps.h
@@ -26,7 +26,7 @@
 
 #include "std.h"
 #include "math/pprz_geodetic_int.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 struct Booz_gps_state {
   struct EcefCoor_i ecef_pos;    /* pos ECEF in cm        */
diff --git a/sw/airborne/csc/csc_adc.c b/sw/airborne/csc/csc_adc.c
index be8f0197cf..2e85db12de 100644
--- a/sw/airborne/csc/csc_adc.c
+++ b/sw/airborne/csc/csc_adc.c
@@ -1,7 +1,7 @@
 #include "csc_adc.h"
 #include "csc_ap_link.h"
 #include <stdio.h>
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "print.h"
 
 #include "LPC21xx.h"
diff --git a/sw/airborne/csc/csc_main.c b/sw/airborne/csc/csc_main.c
index 1bae760ee7..90474cd2fc 100644
--- a/sw/airborne/csc/csc_main.c
+++ b/sw/airborne/csc/csc_main.c
@@ -28,11 +28,11 @@
 
 #include "std.h"
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "csc_telemetry.h"
 #include "generated/periodic.h"
 #include "downlink.h"
@@ -66,7 +66,7 @@ struct NedCoor_i booz_ins_gps_speed_cm_s_ned;
 
 static void csc_main_init( void ) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
@@ -100,7 +100,7 @@ static void csc_main_init( void ) {
 #ifdef USE_CSC_THROTTLE
   csc_throttle_init();
 #endif
-  int_enable();
+  mcu_int_enable();
 
 
 }
diff --git a/sw/airborne/csc/csc_throttle.c b/sw/airborne/csc/csc_throttle.c
index 20cbfcb3cf..008a269fe4 100644
--- a/sw/airborne/csc/csc_throttle.c
+++ b/sw/airborne/csc/csc_throttle.c
@@ -31,7 +31,7 @@
 
 //#include "downlink.h"
 //#include "messages.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "csc_ap_link.h"
 //#include "print.h"
 //#include "com_stats.h"
diff --git a/sw/airborne/datalink.c b/sw/airborne/datalink.c
index 86aa3b7c62..e505ed096b 100644
--- a/sw/airborne/datalink.c
+++ b/sw/airborne/datalink.c
@@ -64,7 +64,7 @@
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "downlink.h"
 #include "ap_downlink.h"
 
diff --git a/sw/airborne/estimator.c b/sw/airborne/estimator.c
index 589f558238..787c0e1f4e 100644
--- a/sw/airborne/estimator.c
+++ b/sw/airborne/estimator.c
@@ -30,7 +30,7 @@
 #include <math.h>
 
 #include "estimator.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "ap_downlink.h"
 #include "gps.h"
 #include "nav.h"
diff --git a/sw/airborne/fbw_downlink.h b/sw/airborne/fbw_downlink.h
index d4280f8e4d..aeca720421 100644
--- a/sw/airborne/fbw_downlink.h
+++ b/sw/airborne/fbw_downlink.h
@@ -42,7 +42,7 @@
 #include "commands.h"
 #include "actuators.h"
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "firmwares/fixedwing/main_fbw.h"
 #include "subsystems/radio_control.h"
 #include "inter_mcu.h"
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index 92a9e53135..e9ead4b447 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -37,7 +37,6 @@
 #include "mcu.h"
 
 #include "led.h"
-#include "uart.h"
 #include "spi.h"
 #include "adc.h"
 
diff --git a/sw/airborne/firmwares/logger/main_logger.c b/sw/airborne/firmwares/logger/main_logger.c
index 8f5adf2df1..69a104dde1 100644
--- a/sw/airborne/firmwares/logger/main_logger.c
+++ b/sw/airborne/firmwares/logger/main_logger.c
@@ -78,12 +78,10 @@
   */
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
+#include "mcu_periph/uart.h"
 #include "sys_time.h"
 #include "led.h"
-#include "interrupt_hw.h"
-#include "uart_hw.h"
-#include "uart.h"
 
 #include "usb_msc_hw.h"
 
@@ -513,17 +511,10 @@ int main(void)
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
-#ifdef USE_UART0
-    Uart0Init();
-#endif
-#ifdef USE_UART1
-    Uart1Init();
-#endif
-
 #ifdef USE_MAX11040
   max11040_init_ssp();
   max11040_init();
diff --git a/sw/airborne/firmwares/motor_bench/main_motor_bench.c b/sw/airborne/firmwares/motor_bench/main_motor_bench.c
index 152fc6f1d3..8c45c24e10 100644
--- a/sw/airborne/firmwares/motor_bench/main_motor_bench.c
+++ b/sw/airborne/firmwares/motor_bench/main_motor_bench.c
@@ -1,9 +1,8 @@
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
-#include "interrupt_hw.h"
 #include "mb_tacho.h"
 #include "mb_servo.h"
 #include "i2c.h"
@@ -13,7 +12,7 @@
 #include "mb_scale.h"
 
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
@@ -42,7 +41,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
 
-  hw_init();
+  mcu_init();
   led_init();
   sys_time_init();
   mb_tacho_init();
@@ -62,7 +61,7 @@ static inline void main_init( void ) {
   uart0_init();
   mb_mode_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
index b742b5da7a..463927fe1e 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.c
+++ b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -306,7 +306,7 @@ void nav_periodic_task() {
 
 #include "downlink.h"
 #include "messages.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 void nav_move_waypoint(uint8_t wp_id, struct EnuCoor_i * new_pos) {
   if (wp_id < nb_waypoint) {
     INT32_VECT3_COPY(waypoints[wp_id],(*new_pos));
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index fddcc79b98..f6ea7583b5 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -26,7 +26,7 @@
 
 #include "std.h"
 #include "messages.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #include "downlink.h"
 
diff --git a/sw/airborne/firmwares/setup/setup_actuators.c b/sw/airborne/firmwares/setup/setup_actuators.c
index 9c8afa4f32..7404d02b18 100644
--- a/sw/airborne/firmwares/setup/setup_actuators.c
+++ b/sw/airborne/firmwares/setup/setup_actuators.c
@@ -1,6 +1,5 @@
 #include "std.h"
-#include "init_hw.h"
-#include "interrupt_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 #include "firmwares/fixedwing/actuators.h"
@@ -8,7 +7,7 @@
 #include "generated/airframe.h"
 #define DATALINK_C
 #include "datalink.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "pprz_transport.h"
 #include "firmwares/fixedwing/main_fbw.h"
 #include "downlink.h"
@@ -48,7 +47,7 @@ void dl_parse_msg( void ) {
 #define PprzUartInit() Link(Init())
 
 void init_fbw( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
@@ -63,7 +62,7 @@ void init_fbw( void ) {
 
   //  SetServo(SERVO_GAZ, SERVO_GAZ_MIN);
 
-  int_enable();
+  mcu_int_enable();
 }
 
 void periodic_task_fbw(void) {
diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c
index e1b2689e34..29ae419e12 100644
--- a/sw/airborne/firmwares/tutorial/main_demo3.c
+++ b/sw/airborne/firmwares/tutorial/main_demo3.c
@@ -1,10 +1,9 @@
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
-#include "interrupt_hw.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "print.h"
 
 static inline void main_init( void );
diff --git a/sw/airborne/firmwares/tutorial/main_demo4.c b/sw/airborne/firmwares/tutorial/main_demo4.c
index 1eb1e97e85..83352b5faf 100644
--- a/sw/airborne/firmwares/tutorial/main_demo4.c
+++ b/sw/airborne/firmwares/tutorial/main_demo4.c
@@ -1,9 +1,8 @@
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
-#include "interrupt_hw.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #include "messages.h"
 #include "downlink.h"
@@ -21,11 +20,11 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   uart0_init_tx();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/firmwares/tutorial/main_demo5.c b/sw/airborne/firmwares/tutorial/main_demo5.c
index 138fe63b0d..5cb2b2c430 100644
--- a/sw/airborne/firmwares/tutorial/main_demo5.c
+++ b/sw/airborne/firmwares/tutorial/main_demo5.c
@@ -1,9 +1,8 @@
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
-#include "interrupt_hw.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #include "messages.h"
 #include "downlink.h"
@@ -25,11 +24,11 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   uart0_init_tx();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/gps.h b/sw/airborne/gps.h
index 06ffadced9..b6c28317b8 100644
--- a/sw/airborne/gps.h
+++ b/sw/airborne/gps.h
@@ -106,7 +106,7 @@ struct svinfo {
 extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
 
 #ifndef SITL
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #define __GpsLink(dev, _x) dev##_x
 #define _GpsLink(dev, _x)  __GpsLink(dev, _x)
@@ -128,7 +128,7 @@ extern struct svinfo gps_svinfos[GPS_NB_CHANNELS];
 #define GpsToggleLed() {}
 #endif
 
-#if defined(GPS) || defined(USE_GPS_XSENS) || defined(SITL)
+#if defined(USE_GPS) || defined(USE_GPS_XSENS) || defined(SITL)
 #  define GpsTimeoutError (cpu_time_sec - last_gps_msg_t > FAILSAFE_DELAY_WITHOUT_GPS)
 #else
 #  define GpsTimeoutError 1
diff --git a/sw/airborne/gps_nmea.c b/sw/airborne/gps_nmea.c
index a8b787551b..fe23a7f33e 100644
--- a/sw/airborne/gps_nmea.c
+++ b/sw/airborne/gps_nmea.c
@@ -43,9 +43,8 @@
 
 
 #include "generated/flight_plan.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "gps.h"
-//include "gps_ubx.h"
 #include "nav.h"
 #include "latlong.h"
 
@@ -98,8 +97,6 @@ void ubxsend_cfg_rst(uint16_t bbr , uint8_t reset_mode) {
 #ifdef GPS_CONFIGURE
 /* GPS dynamic configuration */
 
-#include "uart.h"
-
 void gps_configure_uart ( void ) {
   //UbxSend_CFG_PRT(0x01, 0x0, 0x0, 0x000008D0, GPS_BAUD, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
   //while (GpsUartRunning) ; /* FIXME */
diff --git a/sw/airborne/gps_ubx.c b/sw/airborne/gps_ubx.c
index 5a3a5e4192..f08507db48 100644
--- a/sw/airborne/gps_ubx.c
+++ b/sw/airborne/gps_ubx.c
@@ -35,10 +35,10 @@
 #include <stdio.h>
 //for baudrate
 #include "fms_serial_port.h"
-#endif
+#endif /* FMS_PERIODIC_FREQ */
 
 #include "generated/flight_plan.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "gps.h"
 #include "gps_ubx.h"
 #include "nav.h"
@@ -152,7 +152,6 @@ void gps_init( void ) {
 #ifdef GPS_CONFIGURE
 /* GPS dynamic configuration */
 
-#include "uart.h"
 
 #ifndef GPS_PORT_ID
 #define GPS_PORT_ID GPS_PORT_UART1
diff --git a/sw/airborne/gps_xsens.c b/sw/airborne/gps_xsens.c
index 3aae822ad6..077d2353af 100644
--- a/sw/airborne/gps_xsens.c
+++ b/sw/airborne/gps_xsens.c
@@ -33,7 +33,7 @@
 #include "sys_time.h"
 #include "generated/airframe.h"
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
index a8fc59c643..5a115a0c74 100644
--- a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
@@ -27,7 +27,7 @@
 #include "lisa/lisa_overo_link.h"
 #include "lisa/lisa_spistream.h"
 #include "generated/airframe.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 static inline void main_init(void);
 static inline void main_periodic(void);
diff --git a/sw/airborne/lisa/test/hs_gyro.c b/sw/airborne/lisa/test/hs_gyro.c
index c95e033358..e82e1dd4be 100644
--- a/sw/airborne/lisa/test/hs_gyro.c
+++ b/sw/airborne/lisa/test/hs_gyro.c
@@ -24,16 +24,15 @@
 #include <inttypes.h>
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
 #include "subsystems/imu.h"
 
-#include "interrupt_hw.h"
 
 #ifndef MEASURED_SENSOR
 #define MEASURED_SENSOR gyro_unscaled.p
@@ -60,11 +59,11 @@ int main( void ) {
 
 static inline void main_init( void ) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   imu_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/lisa/test/lisa_tunnel.c b/sw/airborne/lisa/test/lisa_tunnel.c
index e35a86630d..1a7bec287a 100644
--- a/sw/airborne/lisa/test/lisa_tunnel.c
+++ b/sw/airborne/lisa/test/lisa_tunnel.c
@@ -24,10 +24,10 @@
 #include <inttypes.h>
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
+#include "mcu_periph/uart.h"
 #include "sys_time.h"
 #include "led.h"
-#include "uart.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
diff --git a/sw/airborne/lisa/test/test_board.c b/sw/airborne/lisa/test/test_board.c
index efb4088ff1..292fb22bca 100644
--- a/sw/airborne/lisa/test/test_board.c
+++ b/sw/airborne/lisa/test/test_board.c
@@ -29,11 +29,11 @@
 #include "test_board.h"
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
+#include "mcu_periph/uart.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "led.h"
-#include "uart.h"
 
 #include "datalink.h"
 #include "generated/settings.h"
diff --git a/sw/airborne/lisa/test_servos.c b/sw/airborne/lisa/test_servos.c
index d095c00319..4bf9235b67 100644
--- a/sw/airborne/lisa/test_servos.c
+++ b/sw/airborne/lisa/test_servos.c
@@ -50,6 +50,8 @@ static inline void main_periodic( void ) {
   static float foo = 0.;
   foo += 0.0025;
   int32_t bar = 1500 + 500. * sin(foo);
+  //  int32_t bar = 1450;
+  //  int32_t bar = 1950;
   actuators_pwm_values[0] = bar;
   actuators_pwm_values[1] = bar;
   actuators_pwm_values[2] = bar;
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
index 42fd01d03c..e329ca1e15 100644
--- a/sw/airborne/mcu.c
+++ b/sw/airborne/mcu.c
@@ -34,7 +34,7 @@
 #endif
 #endif
 #if defined USE_UART0 || defined USE_UART1  || defined USE_UART2 || defined USE_UART3 || defined USE_UART4  || defined USE_UART5
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #endif
 #if defined USE_I2C1 || defined USE_I2C2
 #include "i2c.h"
diff --git a/sw/airborne/uart.h b/sw/airborne/mcu_periph/uart.h
similarity index 94%
rename from sw/airborne/uart.h
rename to sw/airborne/mcu_periph/uart.h
index 03e043ae5f..32bc3588d2 100644
--- a/sw/airborne/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -1,7 +1,7 @@
 /*
  * Paparazzi $Id$
  *
- * Copyright (C) 2006 Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2010 The Paparazzi Team
  *
  * This file is part of paparazzi.
  *
@@ -22,15 +22,15 @@
  *
  */
 
-/** \file uart.h
+/** \file mcu_periph/uart.h
  *  \brief arch independant UART (Universal Asynchronous Receiver/Transmitter) API
  *
  */
 
-#ifndef UART_H
-#define UART_H
+#ifndef MCU_PERIPH_UART_H
+#define MCU_PERIPH_UART_H
 
-#include "uart_hw.h"
+#include "mcu_periph/uart_arch.h"
 #include "std.h"
 
 
@@ -121,4 +121,4 @@ extern bool_t uart3_check_free_space( uint8_t len);
 
 #endif /* USE_UART3 */
 
-#endif /* UART_H */
+#endif /* MCU_PERIPH_UART_H */
diff --git a/sw/airborne/modules/MPPT/MPPT.c b/sw/airborne/modules/MPPT/MPPT.c
index 389f997e9f..953bed6e64 100644
--- a/sw/airborne/modules/MPPT/MPPT.c
+++ b/sw/airborne/modules/MPPT/MPPT.c
@@ -53,7 +53,7 @@ struct i2c_transaction mppt_trans;
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/adcs/adc_generic.c b/sw/airborne/modules/adcs/adc_generic.c
index d7e8f26f52..5af66cd317 100644
--- a/sw/airborne/modules/adcs/adc_generic.c
+++ b/sw/airborne/modules/adcs/adc_generic.c
@@ -1,6 +1,6 @@
 #include "adc_generic.h"
 #include "adc.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 #include BOARD_CONFIG
diff --git a/sw/airborne/modules/adcs/max11040.c b/sw/airborne/modules/adcs/max11040.c
index 6ef76fd7e2..0cafe4993e 100644
--- a/sw/airborne/modules/adcs/max11040.c
+++ b/sw/airborne/modules/adcs/max11040.c
@@ -28,7 +28,7 @@
  */
 
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 #include "max11040.h"
diff --git a/sw/airborne/modules/cam_control/cam_track.h b/sw/airborne/modules/cam_control/cam_track.h
index 873e0324bf..0cfc6e6644 100644
--- a/sw/airborne/modules/cam_control/cam_track.h
+++ b/sw/airborne/modules/cam_control/cam_track.h
@@ -45,7 +45,7 @@ extern volatile uint8_t cam_msg_received;
 extern void parse_cam_msg( void );
 extern void parse_cam_buffer( uint8_t );
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #define __CamLink(dev, _x) dev##_x
 #define _CamLink(dev, _x)  __CamLink(dev, _x)
diff --git a/sw/airborne/modules/core/extra_pprz_dl.c b/sw/airborne/modules/core/extra_pprz_dl.c
index 231287f7d3..3e36b305e1 100644
--- a/sw/airborne/modules/core/extra_pprz_dl.c
+++ b/sw/airborne/modules/core/extra_pprz_dl.c
@@ -25,7 +25,7 @@
 
 #include <inttypes.h>
 #include "extra_pprz_dl.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 volatile bool_t extra_pprz_msg_received = FALSE;
 uint8_t extra_pprz_ovrn, extra_pprz_error;
diff --git a/sw/airborne/modules/core/sys_mon.c b/sw/airborne/modules/core/sys_mon.c
index 6999c6f6a1..35517029d9 100644
--- a/sw/airborne/modules/core/sys_mon.c
+++ b/sw/airborne/modules/core/sys_mon.c
@@ -57,7 +57,7 @@ void init_sysmon(void) {
   sum_n_event = 0;
 }
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
diff --git a/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c b/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
index 645cbe1294..769dae7f1b 100644
--- a/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
+++ b/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
@@ -36,7 +36,7 @@
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 #include "estimator.h"
diff --git a/sw/airborne/modules/digital_cam/dc.c b/sw/airborne/modules/digital_cam/dc.c
index 29543af74a..99543a6f56 100644
--- a/sw/airborne/modules/digital_cam/dc.c
+++ b/sw/airborne/modules/digital_cam/dc.c
@@ -38,7 +38,7 @@ uint16_t dc_photo_nr = 0;
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 #include "estimator.h"
diff --git a/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c b/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c
index c682e4ae37..12c3eeb5e4 100644
--- a/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c
+++ b/sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c
@@ -33,7 +33,7 @@
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 #include "estimator.h"
diff --git a/sw/airborne/modules/enose/enose.c b/sw/airborne/modules/enose/enose.c
index c3e816bb92..9619e05e74 100644
--- a/sw/airborne/modules/enose/enose.c
+++ b/sw/airborne/modules/enose/enose.c
@@ -47,7 +47,7 @@ void enose_set_heat(uint8_t no_sensor, uint8_t value) {
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/gsm/gsm.c b/sw/airborne/modules/gsm/gsm.c
index 7d4d4e26d5..301f13bb81 100644
--- a/sw/airborne/modules/gsm/gsm.c
+++ b/sw/airborne/modules/gsm/gsm.c
@@ -58,7 +58,7 @@ Receiving:
 #include <stdlib.h>
 
 #include "gsm.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "std.h"
 #ifdef USE_USB_SERIAL
 #include "usb_serial.h"
@@ -66,7 +66,7 @@ Receiving:
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "downlink.h"
 #include "ap_downlink.h"
 #include "gps.h"
diff --git a/sw/airborne/modules/ins/fw_ins_vn100.c b/sw/airborne/modules/ins/fw_ins_vn100.c
index 06002880c2..5ec9cf2c62 100644
--- a/sw/airborne/modules/ins/fw_ins_vn100.c
+++ b/sw/airborne/modules/ins/fw_ins_vn100.c
@@ -92,7 +92,7 @@ void ins_periodic_task( void ) {
 
 }
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c
index 68db855b0d..05e5e63bf7 100644
--- a/sw/airborne/modules/ins/ins_arduimu.c
+++ b/sw/airborne/modules/ins/ins_arduimu.c
@@ -30,7 +30,7 @@ int32_t GPS_Data[14];
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/ins/ins_module.h b/sw/airborne/modules/ins/ins_module.h
index 0f2575d241..7c707d011e 100644
--- a/sw/airborne/modules/ins/ins_module.h
+++ b/sw/airborne/modules/ins/ins_module.h
@@ -71,7 +71,7 @@ void parse_ins_msg( void );
 void parse_ins_buffer( uint8_t );
 
 #ifndef SITL
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #define __InsLink(dev, _x) dev##_x
 #define _InsLink(dev, _x)  __InsLink(dev, _x)
diff --git a/sw/airborne/modules/ins/ins_vn100.c b/sw/airborne/modules/ins/ins_vn100.c
index ba36debbdd..d0670ca565 100644
--- a/sw/airborne/modules/ins/ins_vn100.c
+++ b/sw/airborne/modules/ins/ins_vn100.c
@@ -176,7 +176,7 @@ void parse_ins_msg( void ) {
 
 }
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/max3100/max3100_hw.c b/sw/airborne/modules/max3100/max3100_hw.c
index 00158e6f1a..af85b690cb 100644
--- a/sw/airborne/modules/max3100/max3100_hw.c
+++ b/sw/airborne/modules/max3100/max3100_hw.c
@@ -27,7 +27,7 @@
 #include "max3100_hw.h"
 
 #include "ap_downlink.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 
 uint8_t volatile max3100_status;
diff --git a/sw/airborne/modules/meteo/dust_gp2y.c b/sw/airborne/modules/meteo/dust_gp2y.c
index ad1be858c2..939082595b 100644
--- a/sw/airborne/modules/meteo/dust_gp2y.c
+++ b/sw/airborne/modules/meteo/dust_gp2y.c
@@ -33,7 +33,7 @@
 #include "dust_gp2y.h"
 #include "i2c.h"
 #include "sys_time.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/humid_dpicco.c b/sw/airborne/modules/meteo/humid_dpicco.c
index 99bbb9f97b..216fb4deaa 100644
--- a/sw/airborne/modules/meteo/humid_dpicco.c
+++ b/sw/airborne/modules/meteo/humid_dpicco.c
@@ -9,7 +9,7 @@
 
 #include "i2c.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/humid_hih.c b/sw/airborne/modules/meteo/humid_hih.c
index d07eb9fba4..e40fc5724b 100644
--- a/sw/airborne/modules/meteo/humid_hih.c
+++ b/sw/airborne/modules/meteo/humid_hih.c
@@ -32,7 +32,7 @@
 #include "humid_hih.h"
 #include "temp_tmp102.h"
 #include "adc.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/humid_sht.c b/sw/airborne/modules/meteo/humid_sht.c
index 6dd38cd44d..6b9128a40e 100644
--- a/sw/airborne/modules/meteo/humid_sht.c
+++ b/sw/airborne/modules/meteo/humid_sht.c
@@ -8,7 +8,7 @@
 
 #include "std.h"
 #include "LPC21xx.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 #include "humid_sht.h"
diff --git a/sw/airborne/modules/meteo/humid_sht_i2c.c b/sw/airborne/modules/meteo/humid_sht_i2c.c
index a1554d64bd..8f1762943b 100644
--- a/sw/airborne/modules/meteo/humid_sht_i2c.c
+++ b/sw/airborne/modules/meteo/humid_sht_i2c.c
@@ -31,7 +31,7 @@
 #include "humid_sht_i2c.h"
 
 #include "i2c.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/ir_mlx.c b/sw/airborne/modules/meteo/ir_mlx.c
index c1f02a9e3b..4524fc5784 100644
--- a/sw/airborne/modules/meteo/ir_mlx.c
+++ b/sw/airborne/modules/meteo/ir_mlx.c
@@ -34,7 +34,7 @@
 #include "sys_time.h"
 #include "i2c.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/light_temt.c b/sw/airborne/modules/meteo/light_temt.c
index 0a8d9fd7af..580fe11df6 100644
--- a/sw/airborne/modules/meteo/light_temt.c
+++ b/sw/airborne/modules/meteo/light_temt.c
@@ -31,7 +31,7 @@
 
 #include "light_temt.h"
 #include "adc.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/temp_lm75.c b/sw/airborne/modules/meteo/temp_lm75.c
index 0690536f4c..6dc81a3c00 100644
--- a/sw/airborne/modules/meteo/temp_lm75.c
+++ b/sw/airborne/modules/meteo/temp_lm75.c
@@ -33,7 +33,7 @@
 
 #include "i2c.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/temp_temod.c b/sw/airborne/modules/meteo/temp_temod.c
index 6d34906f38..1d6bfb593b 100644
--- a/sw/airborne/modules/meteo/temp_temod.c
+++ b/sw/airborne/modules/meteo/temp_temod.c
@@ -31,7 +31,7 @@
 #include "temp_temod.h"
 #include "i2c.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/temp_tmp102.c b/sw/airborne/modules/meteo/temp_tmp102.c
index b0acba7ec7..f84965d25c 100644
--- a/sw/airborne/modules/meteo/temp_tmp102.c
+++ b/sw/airborne/modules/meteo/temp_tmp102.c
@@ -33,7 +33,7 @@
 
 #include "i2c.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/wind_gfi.c b/sw/airborne/modules/meteo/wind_gfi.c
index 32c8f6b415..a6d049acbc 100644
--- a/sw/airborne/modules/meteo/wind_gfi.c
+++ b/sw/airborne/modules/meteo/wind_gfi.c
@@ -33,7 +33,7 @@
 
 #include "i2c.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/meteo/windturbine.c b/sw/airborne/modules/meteo/windturbine.c
index c482cb9cda..5e356d5536 100644
--- a/sw/airborne/modules/meteo/windturbine.c
+++ b/sw/airborne/modules/meteo/windturbine.c
@@ -38,7 +38,7 @@
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
index e00164cb96..feff4b06b1 100644
--- a/sw/airborne/modules/sensors/airspeed_ets.c
+++ b/sw/airborne/modules/sensors/airspeed_ets.c
@@ -37,7 +37,7 @@
 #include "sensors/airspeed_ets.h"
 #include "estimator.h"
 #include "i2c.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 #include <math.h>
diff --git a/sw/airborne/modules/sensors/alt_srf08.c b/sw/airborne/modules/sensors/alt_srf08.c
index fca3474dda..8d4579fc35 100644
--- a/sw/airborne/modules/sensors/alt_srf08.c
+++ b/sw/airborne/modules/sensors/alt_srf08.c
@@ -29,7 +29,7 @@
 
 #include "i2c.h"
 #include "alt_srf08.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 #include "led.h"
diff --git a/sw/airborne/modules/sensors/baro_MS5534A.c b/sw/airborne/modules/sensors/baro_MS5534A.c
index d44dde9dc9..5d931dec48 100644
--- a/sw/airborne/modules/sensors/baro_MS5534A.c
+++ b/sw/airborne/modules/sensors/baro_MS5534A.c
@@ -30,7 +30,7 @@
 
 #include "baro_MS5534A.h"
 #include "spi.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #ifndef BARO_NO_DOWNLINK
 #include "ap_downlink.h"
 #endif
diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c
index 34860b1ca0..c45804adbf 100644
--- a/sw/airborne/modules/sensors/baro_bmp.c
+++ b/sw/airborne/modules/sensors/baro_bmp.c
@@ -34,7 +34,7 @@
 #include "sys_time.h"
 #include "i2c.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/sensors/baro_scp.c b/sw/airborne/modules/sensors/baro_scp.c
index 80808ee28e..1698a77f3e 100644
--- a/sw/airborne/modules/sensors/baro_scp.c
+++ b/sw/airborne/modules/sensors/baro_scp.c
@@ -4,7 +4,7 @@
 #include "led.h"
 #include "interrupt_hw.h"
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c
index f45f89abd0..f5023f73d9 100644
--- a/sw/airborne/modules/sensors/baro_scp_i2c.c
+++ b/sw/airborne/modules/sensors/baro_scp_i2c.c
@@ -10,7 +10,7 @@
 #include "sys_time.h"
 #include "i2c.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/sensors/mag_micromag_fw.c b/sw/airborne/modules/sensors/mag_micromag_fw.c
index a1544a698a..663845e00a 100644
--- a/sw/airborne/modules/sensors/mag_micromag_fw.c
+++ b/sw/airborne/modules/sensors/mag_micromag_fw.c
@@ -1,7 +1,7 @@
 #include "mag_micromag_fw.h"
 #include "sensors/mag_micromag_fw_hw.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/modules/sensors/trigger_ext.c b/sw/airborne/modules/sensors/trigger_ext.c
index 74205b8e76..635ff50df6 100644
--- a/sw/airborne/modules/sensors/trigger_ext.c
+++ b/sw/airborne/modules/sensors/trigger_ext.c
@@ -34,7 +34,7 @@
 #include "modules/sensors/trig_ext_hw.h"
 #include "gps.h"
 #include "sys_time.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/obsolete/3dmg.h b/sw/airborne/obsolete/3dmg.h
new file mode 100644
index 0000000000..d5a8ca8310
--- /dev/null
+++ b/sw/airborne/obsolete/3dmg.h
@@ -0,0 +1,15 @@
+#ifndef _3DMG_H
+#define _3DMG_H
+
+#include <inttypes.h>
+#include "std.h"
+
+void _3dmg_capture_gyro_bias ( void );
+void _3dmg_set_continuous_mode ( void );
+void _3dmg_capture_neutral ( void );
+
+extern volatile bool_t _3dmg_data_ready;
+extern int16_t         _3dmg_roll, _3dmg_pitch, _3dmg_yaw;
+extern int16_t         _3dmg_roll_dot, _3dmg_pitch_dot, _3dmg_yaw_dot;
+
+#endif /* _3DMG_H */
diff --git a/sw/airborne/pprz_debug.h b/sw/airborne/pprz_debug.h
index 966a004c19..79d764b26f 100644
--- a/sw/airborne/pprz_debug.h
+++ b/sw/airborne/pprz_debug.h
@@ -31,7 +31,7 @@
 #ifdef PPRZ_DEBUG
 
 #include "std.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/pprz_transport.c b/sw/airborne/pprz_transport.c
index 7985e6decd..90b4a93e06 100644
--- a/sw/airborne/pprz_transport.c
+++ b/sw/airborne/pprz_transport.c
@@ -24,7 +24,7 @@
 
 #include <inttypes.h>
 #include "pprz_transport.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 uint8_t ck_a, ck_b;
 volatile bool_t pprz_msg_received = FALSE;
diff --git a/sw/airborne/print.h b/sw/airborne/print.h
index 6b1dbc95d9..949e14c258 100644
--- a/sw/airborne/print.h
+++ b/sw/airborne/print.h
@@ -25,7 +25,7 @@
 #ifndef PRINT_H
 #define PRINT_H
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "usb_serial.h"
 
 #define _PrintString(out_fun, s) { \
diff --git a/sw/airborne/sd_card/main.c b/sw/airborne/sd_card/main.c
index 5be480f5f7..b8f400b780 100644
--- a/sw/airborne/sd_card/main.c
+++ b/sw/airborne/sd_card/main.c
@@ -1,9 +1,8 @@
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
-#include "interrupt_hw.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #include "messages.h"
 #include "downlink.h"
diff --git a/sw/airborne/subsystems/radio_control/joby.h b/sw/airborne/subsystems/radio_control/joby.h
index b7640e7991..2b57661e9c 100644
--- a/sw/airborne/subsystems/radio_control/joby.h
+++ b/sw/airborne/subsystems/radio_control/joby.h
@@ -26,7 +26,7 @@
 #define RADIO_CONTROL_JOBY_H
 
 #include "std.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #define RC_JOBY_MAGIC_START   13999