diff --git a/conf/autopilot/lisa_l_test_progs.makefile b/conf/autopilot/lisa_l_test_progs.makefile
index d7e3afa0b7..ab9527b999 100644
--- a/conf/autopilot/lisa_l_test_progs.makefile
+++ b/conf/autopilot/lisa_l_test_progs.makefile
@@ -280,7 +280,7 @@ test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=$(MODEM_PORT)
 test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_adc.srcs   += downlink.c pprz_transport.c
 
-test_adc.srcs   += $(SRC_ARCH)/adc_hw.c
+test_adc.srcs   += $(SRC_ARCH)/mcu_periph/adc_arch.c
 test_adc.CFLAGS += -DUSE_AD1 -DUSE_AD1_1
 # -DUSE_AD1_2 -DUSE_AD1_3 -DUSE_AD1_4
 test_adc.CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
@@ -681,4 +681,4 @@ tunnel.CFLAGS += -DUSE_LED
 tunnel.srcs   += $(SRC_ARCH)/led_hw.c
 tunnel.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=$(SYS_TIME_LED)
 tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
-tunnel.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
\ No newline at end of file
+tunnel.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
diff --git a/conf/autopilot/lisa_passthrough.makefile b/conf/autopilot/lisa_passthrough.makefile
index 5798922428..2241a70455 100644
--- a/conf/autopilot/lisa_passthrough.makefile
+++ b/conf/autopilot/lisa_passthrough.makefile
@@ -103,12 +103,12 @@ stm_passthrough.CFLAGS += -DUSE_CAN1 \
     -DCAN_BS1_TQ=CAN_BS1_3tq \
     -DCAN_BS2_TQ=CAN_BS2_4tq \
     -DCAN_ERR_RESUME=DISABLE
-stm_passthrough.srcs += can.c $(SRC_ARCH)/can_hw.c
+stm_passthrough.srcs += mcu_periph/can.c $(SRC_ARCH)/mcu_periph/can_arch.c
 stm_passthrough.srcs += $(SRC_CSC)/csc_protocol.c
 
 # ADC
 
-stm_passthrough.srcs += $(SRC_ARCH)/adc_hw.c
+stm_passthrough.srcs += $(SRC_ARCH)/mcu_periph/adc_arch.c
 stm_passthrough.CFLAGS += -DUSE_AD1 \
     -DUSE_AD1_1 \
     -DUSE_AD1_2 \
diff --git a/conf/autopilot/subsystems/fixedwing/autopilot.makefile b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
index ddb5b7a617..186f441ee8 100644
--- a/conf/autopilot/subsystems/fixedwing/autopilot.makefile
+++ b/conf/autopilot/subsystems/fixedwing/autopilot.makefile
@@ -138,7 +138,7 @@ ns_srcs 		+= $(SRC_ARCH)/mcu_periph/uart_arch.c
 
   ns_CFLAGS 		+= -DADC
 #ifeq ($(ARCH), lpc21)
-  ns_srcs 		+= $(SRC_ARCH)/adc_hw.c
+  ns_srcs 		+= $(SRC_ARCH)/mcu_periph/adc_arch.c
 ifeq ($(ARCH), stm32)
   ns_CFLAGS 		+= -DUSE_ADC1_2_IRQ_HANDLER
 endif
diff --git a/conf/autopilot/subsystems/fixedwing/i2c.makefile b/conf/autopilot/subsystems/fixedwing/i2c.makefile
index 7a16bd4ebe..0f8769cf04 100644
--- a/conf/autopilot/subsystems/fixedwing/i2c.makefile
+++ b/conf/autopilot/subsystems/fixedwing/i2c.makefile
@@ -1,3 +1,5 @@
 #generic i2c driver
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
-sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.srcs += mcu_periph/i2c.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
+sim.srcs += mcu_periph/i2c.c
+sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
diff --git a/conf/autopilot/subsystems/fixedwing/testing.makefile b/conf/autopilot/subsystems/fixedwing/testing.makefile
index 909daa7715..527e9de60f 100644
--- a/conf/autopilot/subsystems/fixedwing/testing.makefile
+++ b/conf/autopilot/subsystems/fixedwing/testing.makefile
@@ -21,7 +21,7 @@ test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_
 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 += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c
 
-test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.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
 # pprz_transport.c
 
 
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
index 9e092b0c83..cfc69bc2cb 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_asctec.makefile
@@ -1,6 +1,7 @@
 # asctec controllers
 ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.srcs += mcu_periph/i2c.c 
+ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 
 ifeq ($(ARCH), lpc21)
 ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
@@ -16,5 +17,6 @@ endif
 # Simulator
 sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
 sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
-sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+sim.srcs += mcu_periph/i2c.c 
+sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
index e59570a96c..c1cfc48f37 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_asctec_v2.makefile
@@ -19,7 +19,8 @@
 ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 ap.CFLAGS += -DACTUATORS_ASCTEC_V2_PROTOCOL
 ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_asctec.c
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.srcs += mcu_periph/i2c.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 
 ifeq ($(ARCH), lpc21)
 ap.CFLAGS += -DACTUATORS_ASCTEC_DEVICE=i2c0
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile
index c64e676752..95e3591951 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_heli.makefile
@@ -7,4 +7,4 @@ ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_heli.c
 ap.srcs += $(SRC_FIRMWARE)/actuators/arch/$(ARCH)/actuators_pwm_arch.c
 
 # fixme : this is needed by baro and usualy added by actuators_mkk or actuators_asctec
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
index 031567385e..f70c299815 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
@@ -28,7 +28,8 @@
 #
 ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-ap.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+ap.srcs += mcu_periph/i2c.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 
 ifeq ($(ARCH), lpc21)
 ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
@@ -42,4 +43,5 @@ endif
 sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
 sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1
-sim.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
+sim.srcs += mcu_periph/i2c.c
+sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
diff --git a/sw/airborne/agl_vfilter.h b/sw/airborne/agl_vfilter.h
index 91ce89532f..f7fd036e86 100644
--- a/sw/airborne/agl_vfilter.h
+++ b/sw/airborne/agl_vfilter.h
@@ -1,7 +1,7 @@
 #ifndef AGL_VFILTER_H
 #define AGL_VFILTER_H
 
-#include "adc.h"
+#include "mcu_periph/adc.h"
 
 #define STATE_SIZE 3
 
diff --git a/sw/airborne/arch/avr/mcu_periph/adc_arch.c b/sw/airborne/arch/avr/mcu_periph/adc_arch.c
index ae37327e7f..6799d7317f 100644
--- a/sw/airborne/arch/avr/mcu_periph/adc_arch.c
+++ b/sw/airborne/arch/avr/mcu_periph/adc_arch.c
@@ -31,7 +31,7 @@
 #endif
 #include <avr/interrupt.h>
 #include <avr/io.h>
-#include "adc.h"
+#include "mcu_periph/adc.h"
 #include "std.h"
 
 
diff --git a/sw/airborne/arch/lpc21/mcu_periph/adc_arch.c b/sw/airborne/arch/lpc21/mcu_periph/adc_arch.c
index 6fe1f8654d..3c1c298373 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/adc_arch.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/adc_arch.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "adc.h"
+#include "mcu_periph/adc.h"
 
 #include "LPC21xx.h"
 #include "armVIC.h"
diff --git a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
index d91352db4b..7d8541121d 100644
--- a/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
+++ b/sw/airborne/arch/lpc21/mcu_periph/i2c_arch.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 #include "std.h"
 #include "interrupt_hw.h"
diff --git a/sw/airborne/arch/sim/mcu_periph/adc_arch.c b/sw/airborne/arch/sim/mcu_periph/adc_arch.c
index 05d7287f27..0a21926066 100644
--- a/sw/airborne/arch/sim/mcu_periph/adc_arch.c
+++ b/sw/airborne/arch/sim/mcu_periph/adc_arch.c
@@ -1,4 +1,4 @@
-#include "adc.h"
+#include "mcu_periph/adc.h"
 
 void adc_buf_channel(uint8_t adc_channel __attribute__ ((unused)),
              struct adc_buf* s __attribute__ ((unused)),
diff --git a/sw/airborne/arch/sim/mcu_periph/i2c_arch.c b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c
index 37d9c6df38..cd16065446 100644
--- a/sw/airborne/arch/sim/mcu_periph/i2c_arch.c
+++ b/sw/airborne/arch/sim/mcu_periph/i2c_arch.c
@@ -1,4 +1,4 @@
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 void i2c_hw_init ( void ) {}
 
diff --git a/sw/airborne/arch/sim/mcu_periph/i2c_arch.h b/sw/airborne/arch/sim/mcu_periph/i2c_arch.h
index 24b31c0b8f..3f5e6921c1 100644
--- a/sw/airborne/arch/sim/mcu_periph/i2c_arch.h
+++ b/sw/airborne/arch/sim/mcu_periph/i2c_arch.h
@@ -1,5 +1,5 @@
-#ifndef I2C_HW_H
-#define I2C_HW_H
+#ifndef SIM_MCU_PERIPH_I2C_ARCH_H
+#define SIM_MCU_PERIPH_I2C_ARCH_H
 
 #define I2cSendStart() {}
 
@@ -10,4 +10,4 @@
 #define I2c0SendStart() {}
 #define I2c1SendStart() {}
 
-#endif /* I2C_HW_H */
+#endif /* SIM_MCU_PERIPH_I2C_ARCH_H */
diff --git a/sw/airborne/arch/stm32/mcu_periph/adc_arch.c b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
index 513a766796..8ff6734e31 100644
--- a/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/adc_arch.c
@@ -83,8 +83,7 @@
 
 */
 
-#include "adc.h"
-#include "adc_hw.h"
+#include "mcu_periph/adc.h"
 #include <stm32/rcc.h>
 #include <stm32/misc.h>
 #include <stm32/adc.h>
diff --git a/sw/airborne/arch/stm32/mcu_periph/can_arch.c b/sw/airborne/arch/stm32/mcu_periph/can_arch.c
index 5d0991e3ea..2af91534c1 100644
--- a/sw/airborne/arch/stm32/mcu_periph/can_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/can_arch.c
@@ -25,7 +25,7 @@
 #include <stdint.h>
 #include <string.h>
 
-#include "can_hw.h"
+#include "mcu_periph/can.h"
 
 #include <stm32/rcc.h>
 #include <stm32/gpio.h>
diff --git a/sw/airborne/arch/stm32/mcu_periph/can_arch.h b/sw/airborne/arch/stm32/mcu_periph/can_arch.h
index e6f6228a71..b2fa04798a 100644
--- a/sw/airborne/arch/stm32/mcu_periph/can_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/can_arch.h
@@ -22,11 +22,11 @@
  *
  */
 
-#ifndef CAN_HW_H
-#define CAN_HW_H
+#ifndef MCU_PERIPH_STM32_CAN_ARCH_H
+#define MCU_PERIPH_STM32_CAN_ARCH_H
 
 void can_hw_init(void);
 void usb_lp_can1_rx0_irq_handler(void);
 int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len);
 
-#endif /* CAN_HW_H */
+#endif /* MCU_PERIPH_STM32_CAN_ARCH_H */
diff --git a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
index fb9325d7a4..2099326c6c 100644
--- a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
+++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.c
@@ -1,4 +1,4 @@
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 #include <stm32/rcc.h>
 #include <stm32/gpio.h>
diff --git a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h
index 2d41241471..0274829fc1 100644
--- a/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h
+++ b/sw/airborne/arch/stm32/mcu_periph/i2c_arch.h
@@ -28,7 +28,7 @@
 #ifndef I2C_HW_H
 #define I2C_HW_H
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include <stm32/i2c.h>
 
 
diff --git a/sw/airborne/arch/stm32/peripherals/hmc8543_arch.c b/sw/airborne/arch/stm32/peripherals/hmc8543_arch.c
index e85724e199..f50c285037 100644
--- a/sw/airborne/arch/stm32/peripherals/hmc8543_arch.c
+++ b/sw/airborne/arch/stm32/peripherals/hmc8543_arch.c
@@ -27,7 +27,7 @@
 #include <stm32/spi.h>
 #include <stm32/exti.h>
 #include <stm32/misc.h>
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 void exti9_5_irq_handler(void);
 
diff --git a/sw/airborne/arch/stm32/stm32_vector_table.c b/sw/airborne/arch/stm32/stm32_vector_table.c
index 2848301865..a2cd4e7348 100644
--- a/sw/airborne/arch/stm32/stm32_vector_table.c
+++ b/sw/airborne/arch/stm32/stm32_vector_table.c
@@ -64,7 +64,7 @@
 
 
 #ifdef USE_I2C1
-#include "i2c_hw.h"
+#include "mcu_periph/i2c_arch.h"
 #define I2C1_EV_IRQ_HANDLER i2c1_ev_irq_handler
 #define I2C1_ER_IRQ_HANDLER i2c1_er_irq_handler
 #else
@@ -73,7 +73,7 @@
 #endif
 
 #ifdef USE_I2C2
-#include "i2c_hw.h"
+#include "mcu_periph/i2c_arch.h"
 #define I2C2_EV_IRQ_HANDLER i2c2_ev_irq_handler
 #define I2C2_ER_IRQ_HANDLER i2c2_er_irq_handler
 #else
diff --git a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c
index 6cd584f842..ca50b9c639 100644
--- a/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c
+++ b/sw/airborne/arch/stm32/subsystems/imu/imu_aspirin_arch.c
@@ -7,7 +7,7 @@
 #include <stm32/spi.h>
 #include <stm32/dma.h>
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 /* gyro int handler */
 void exti15_10_irq_handler(void);
diff --git a/sw/airborne/boards/lisa_l/baro_board.h b/sw/airborne/boards/lisa_l/baro_board.h
index 017d41a99b..f6c59fd3c7 100644
--- a/sw/airborne/boards/lisa_l/baro_board.h
+++ b/sw/airborne/boards/lisa_l/baro_board.h
@@ -8,7 +8,7 @@
 #define BOARDS_LISA_L_BARO_H
 
 #include "std.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 enum LisaBaroStatus {
   LBS_UNINITIALIZED,
diff --git a/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c b/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c
index 7ea2315a03..5a86889e63 100644
--- a/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c
+++ b/sw/airborne/booz/arch/sim/booz2_unsimulated_peripherals.c
@@ -22,7 +22,7 @@
  */
 
 #include "mcu_periph/uart.h"
-#include "i2c.h"
+//#include "mcu_periph/i2c.h"
 
 void uart0_init( void ) {}
 void uart1_init( void ) {}
diff --git a/sw/airborne/booz/test/booz2_test_mc.c b/sw/airborne/booz/test/booz2_test_mc.c
index 51cd5ebcdc..ba755f46ce 100644
--- a/sw/airborne/booz/test/booz2_test_mc.c
+++ b/sw/airborne/booz/test/booz2_test_mc.c
@@ -23,17 +23,16 @@
 
 #include <inttypes.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"
 
 #include "commands.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "firmwares/rotorcraft/actuators.h"
 
 static inline void main_init( void );
@@ -53,7 +52,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   uart1_init_tx();
@@ -61,7 +60,7 @@ static inline void main_init( void ) {
   i2c_init();
   actuators_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/csc/csc_adc.c b/sw/airborne/csc/csc_adc.c
index 2e85db12de..d81fa19d8a 100644
--- a/sw/airborne/csc/csc_adc.c
+++ b/sw/airborne/csc/csc_adc.c
@@ -6,7 +6,7 @@
 
 #include "LPC21xx.h"
 #include "led.h"
-#include "adc.h"
+#include "mcu_periph/adc.h"
 #include ACTUATORS
 #include "csc_servos.h"
 #include "sys_time.h"
diff --git a/sw/airborne/csc/csc_protocol.c b/sw/airborne/csc/csc_protocol.c
index 2ff5b7ee21..f3167c7c20 100644
--- a/sw/airborne/csc/csc_protocol.c
+++ b/sw/airborne/csc/csc_protocol.c
@@ -26,7 +26,7 @@
 #include <string.h>
 
 #include "csc_protocol.h"
-#include "can.h"
+#include "mcu_periph/can.h"
 #include "csc_msg_def.h"
 
 // #include "init_hw.h"
diff --git a/sw/airborne/firmwares/beth/bench_sensors.h b/sw/airborne/firmwares/beth/bench_sensors.h
index de655ad046..9d3df4a776 100644
--- a/sw/airborne/firmwares/beth/bench_sensors.h
+++ b/sw/airborne/firmwares/beth/bench_sensors.h
@@ -8,9 +8,7 @@
 #endif
 
 #ifdef USE_CAN1
-#include "can.h"
-#include "can_hw.h"
-#include <stm32/can.h>
+#include "mcu_periph/can.h"
 extern uint16_t can_err_flags;
 #endif
 
diff --git a/sw/airborne/firmwares/beth/bench_sensors_can.c b/sw/airborne/firmwares/beth/bench_sensors_can.c
index 597f798151..ada5ccfca7 100644
--- a/sw/airborne/firmwares/beth/bench_sensors_can.c
+++ b/sw/airborne/firmwares/beth/bench_sensors_can.c
@@ -1,5 +1,5 @@
 #include "bench_sensors.h"
-#include "can.h"
+#include "mcu_periph/can.h"
 #include "led.h"
 
 //uint16_t halfw1,halfw2,halfw3,halfw4;
diff --git a/sw/airborne/firmwares/beth/main_coders.c b/sw/airborne/firmwares/beth/main_coders.c
index 2e927c02ab..31e873270d 100644
--- a/sw/airborne/firmwares/beth/main_coders.c
+++ b/sw/airborne/firmwares/beth/main_coders.c
@@ -1,6 +1,6 @@
 #include BOARD_CONFIG
 #include "init_hw.h"
-#include "can.h"
+#include "mcu_periph/can.h"
 #include "sys_time.h"
 #include "downlink.h"
 
diff --git a/sw/airborne/firmwares/beth/main_stm32.c b/sw/airborne/firmwares/beth/main_stm32.c
index e34bf8518e..bec7f05419 100644
--- a/sw/airborne/firmwares/beth/main_stm32.c
+++ b/sw/airborne/firmwares/beth/main_stm32.c
@@ -24,8 +24,8 @@
 
 #include BOARD_CONFIG
 #include "std.h"
-#include "init_hw.h"
-#include "can.h"
+#include "mcu.h"
+#include "mcu_periph/can.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "booz/booz2_commands.h"
@@ -61,7 +61,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   actuators_init();
   //radio_control_init();
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index f1a3577d7c..e7c0259272 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -36,7 +36,7 @@
 #include "firmwares/fixedwing/main_ap.h"
 #include "mcu.h"
 
-#include "adc.h"
+#include "mcu_periph/adc.h"
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include "firmwares/fixedwing/guidance/guidance_v.h"
 #include "gps.h"
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index e9ead4b447..4d9489e658 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -38,7 +38,7 @@
 
 #include "led.h"
 #include "spi.h"
-#include "adc.h"
+#include "mcu_periph/adc.h"
 
 #ifdef USE_USB_SERIAL
 #include "usb_serial.h"
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.h b/sw/airborne/firmwares/fixedwing/main_fbw.h
index d21aa0e451..efc5b7d505 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.h
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.h
@@ -31,7 +31,7 @@
 #define FBW_H
 
 #include "std.h"
-#include "adc.h"
+#include "mcu_periph/adc.h"
 
 /** Fly by wire modes */
 #define FBW_MODE_MANUAL   0
diff --git a/sw/airborne/firmwares/motor_bench/mb_current.c b/sw/airborne/firmwares/motor_bench/mb_current.c
index 5e3046cde4..2089e9f814 100644
--- a/sw/airborne/firmwares/motor_bench/mb_current.c
+++ b/sw/airborne/firmwares/motor_bench/mb_current.c
@@ -1,6 +1,6 @@
 #include "mb_current.h"
 
-#include "adc.h"
+#include "mcu_periph/adc.h"
 
 static struct adc_buf mb_current_buf;
 
diff --git a/sw/airborne/firmwares/motor_bench/mb_modes.c b/sw/airborne/firmwares/motor_bench/mb_modes.c
index 920f07c763..650736de0e 100644
--- a/sw/airborne/firmwares/motor_bench/mb_modes.c
+++ b/sw/airborne/firmwares/motor_bench/mb_modes.c
@@ -2,7 +2,7 @@
 
 //#include "mb_static.h"
 
-#include "adc.h"
+#include "mcu_periph/adc.h"
 #include "sys_time.h"
 
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
index be043b9669..ae69747ecc 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.c
@@ -1,12 +1,12 @@
 #include "firmwares/rotorcraft/actuators.h"
-#include "actuators_asctec.h"
+#include "firmwares/rotorcraft/actuators/actuators_asctec.h"
 
 #ifdef ACTUATORS_ASCTEC_V2_PROTOCOL
 #include "firmwares/rotorcraft/actuators/supervision.h"
 #endif
 
 #include "booz/booz2_commands.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "sys_time.h"
 
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
index a82e4ef968..9b9dc58916 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_asctec.h
@@ -24,7 +24,7 @@
 #ifndef ACTUATORS_ASCTEC_H
 #define ACTUATORS_ASCTEC_H
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 enum actuators_astec_cmd { NONE,
                TEST,
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
index e86651621e..90bb98f8f9 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.c
@@ -22,10 +22,10 @@
  */
 
 #include "firmwares/rotorcraft/actuators.h"
-#include "actuators_mkk.h"
+#include "firmwares/rotorcraft/actuators/actuators_mkk.h"
 
 #include "booz/booz2_commands.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "sys_time.h"
 
 
diff --git a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
index 8b6d821098..77b36eb980 100644
--- a/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
+++ b/sw/airborne/firmwares/rotorcraft/actuators/actuators_mkk.h
@@ -25,7 +25,7 @@
 #define ACTUATORS_MKK_H
 
 #include "std.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 #include "generated/airframe.h"
 
diff --git a/sw/airborne/firmwares/rotorcraft/telemetry.h b/sw/airborne/firmwares/rotorcraft/telemetry.h
index f6ea7583b5..1cf5801b80 100644
--- a/sw/airborne/firmwares/rotorcraft/telemetry.h
+++ b/sw/airborne/firmwares/rotorcraft/telemetry.h
@@ -50,8 +50,8 @@
 #include "booz_gps.h"
 #include "subsystems/ins.h"
 #include "subsystems/ahrs.h"
-
-#include "i2c_hw.h"
+//FIXME: wtf ??!!
+#include "mcu_periph/i2c_arch.h"
 
 extern uint8_t telemetry_mode_Main_DefaultChannel;
 
diff --git a/sw/airborne/gyro.c b/sw/airborne/gyro.c
index 4982ef69cc..b8f6bfa77c 100644
--- a/sw/airborne/gyro.c
+++ b/sw/airborne/gyro.c
@@ -30,7 +30,7 @@
 #include BOARD_CONFIG
 #include "gyro.h"
 #include "std.h"
-#include "adc.h"
+#include "mcu_periph/adc.h"
 #include "generated/airframe.h"
 #include "estimator.h"
 
diff --git a/sw/airborne/infrared.c b/sw/airborne/infrared.c
index 543de22d11..9ff0fea2d6 100644
--- a/sw/airborne/infrared.c
+++ b/sw/airborne/infrared.c
@@ -31,7 +31,7 @@
 #include <stdlib.h>
 
 #include "infrared.h"
-#include "adc.h"
+#include "mcu_periph/adc.h"
 #include "gps.h"
 #include "firmwares/fixedwing/autopilot.h"
 #include "estimator.h"
diff --git a/sw/airborne/lisa/lisa_stm_passthrough_main.c b/sw/airborne/lisa/lisa_stm_passthrough_main.c
index bc468456df..71a57920af 100644
--- a/sw/airborne/lisa/lisa_stm_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_passthrough_main.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "booz/booz2_commands.h"
@@ -47,7 +47,7 @@
 
 #include "firmwares/rotorcraft/baro.h"
 
-#include "adc.h"
+#include "mcu_periph/adc.h"
 
 static inline void main_init(void);
 static inline void main_periodic(void);
@@ -103,7 +103,7 @@ int main(void) {
 
 static inline void main_init(void) {
 
-	hw_init();
+	mcu_init();
 	sys_time_init();
 	imu_init();
 	baro_init();
diff --git a/sw/airborne/lisa/test_adc.c b/sw/airborne/lisa/test_adc.c
index 3f8e00e99a..7132bc90e3 100644
--- a/sw/airborne/lisa/test_adc.c
+++ b/sw/airborne/lisa/test_adc.c
@@ -26,11 +26,10 @@
 #include <stm32/misc.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
-#include "adc.h"
-#include "adc_hw.h"
+#include "mcu_periph/adc.h"
 #include "downlink.h"
 
 int main_periodic(void);
@@ -46,7 +45,7 @@ static struct adc_buf adc3_buf;
 extern uint8_t adc_new_data_trigger;
 
 static inline void main_init( void ) {
-    hw_init();
+    mcu_init();
     sys_time_init();
     adc_init();
     adc_buf_channel(0, &adc0_buf, 8);
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
index e329ca1e15..6929d50d9e 100644
--- a/sw/airborne/mcu.c
+++ b/sw/airborne/mcu.c
@@ -37,7 +37,7 @@
 #include "mcu_periph/uart.h"
 #endif
 #if defined USE_I2C1 || defined USE_I2C2
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #endif
 #endif /* PERIPHERALS_AUTO_INIT */
 
diff --git a/sw/airborne/mcu_periph/adc.h b/sw/airborne/mcu_periph/adc.h
index 9eea05b9f9..bb2f9362c2 100644
--- a/sw/airborne/mcu_periph/adc.h
+++ b/sw/airborne/mcu_periph/adc.h
@@ -35,7 +35,7 @@
 #define _ADC_H_
 
 #include <inttypes.h>
-#include "adc_hw.h"
+#include "mcu_periph/adc_arch.h"
 
 /* Allow driver implementation to define
  * number of available ADCs implicitly
diff --git a/sw/airborne/mcu_periph/can.c b/sw/airborne/mcu_periph/can.c
index a40c2e54f9..2087eceb77 100644
--- a/sw/airborne/mcu_periph/can.c
+++ b/sw/airborne/mcu_periph/can.c
@@ -24,8 +24,8 @@
 
 #include <stdint.h>
 
-#include "can.h"
-#include "can_hw.h"
+#include "mcu_periph/can.h"
+#include "mcu_periph/can_arch.h"
 
 can_rx_callback_t can_rx_callback;
 
diff --git a/sw/airborne/mcu_periph/i2c.c b/sw/airborne/mcu_periph/i2c.c
index 9036dc8004..0249105d36 100644
--- a/sw/airborne/mcu_periph/i2c.c
+++ b/sw/airborne/mcu_periph/i2c.c
@@ -1,4 +1,4 @@
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 #ifdef USE_I2C0
 
diff --git a/sw/airborne/mcu_periph/i2c.h b/sw/airborne/mcu_periph/i2c.h
index 52150b097e..6c6b400682 100644
--- a/sw/airborne/mcu_periph/i2c.h
+++ b/sw/airborne/mcu_periph/i2c.h
@@ -1,9 +1,9 @@
-#ifndef I2C_H
-#define I2C_H
+#ifndef MCU_PERIPH_I2C_H
+#define MCU_PERIPH_I2C_H
 
 #include "std.h"
 
-#include "i2c_hw.h"
+#include "mcu_periph/i2c_arch.h"
 
 enum I2CTransactionType {
   I2CTransTx,
diff --git a/sw/airborne/modules/MPPT/MPPT.c b/sw/airborne/modules/MPPT/MPPT.c
index 953bed6e64..2df9df684f 100644
--- a/sw/airborne/modules/MPPT/MPPT.c
+++ b/sw/airborne/modules/MPPT/MPPT.c
@@ -26,7 +26,7 @@
 #include <stdbool.h>
 #include "MPPT.h"
 #include "firmwares/fixedwing/main_fbw.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 
 #define MPPT_SLAVE_ADDR 0x40
diff --git a/sw/airborne/modules/adcs/adc_generic.c b/sw/airborne/modules/adcs/adc_generic.c
index 5af66cd317..95e747a556 100644
--- a/sw/airborne/modules/adcs/adc_generic.c
+++ b/sw/airborne/modules/adcs/adc_generic.c
@@ -1,5 +1,5 @@
 #include "adc_generic.h"
-#include "adc.h"
+#include "mcu_periph/adc.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
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 769dae7f1b..c1c2e3a184 100644
--- a/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
+++ b/sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
@@ -30,7 +30,7 @@
 
 #include "atmega_i2c_cam_ctrl.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 
 #ifndef DOWNLINK_DEVICE
diff --git a/sw/airborne/modules/enose/enose.c b/sw/airborne/modules/enose/enose.c
index 9619e05e74..7d8b333b28 100644
--- a/sw/airborne/modules/enose/enose.c
+++ b/sw/airborne/modules/enose/enose.c
@@ -1,9 +1,9 @@
 #include <string.h>
 
-#include "enose/enose.h"
+#include "modules/enose/enose.h"
 
-#include "i2c.h"
-#include "adc.h"
+#include "mcu_periph/i2c.h"
+#include "mcu_periph/adc.h"
 #include BOARD_CONFIG
 
 
diff --git a/sw/airborne/modules/gps_i2c/gps_i2c.c b/sw/airborne/modules/gps_i2c/gps_i2c.c
index 9d4548c26c..6717e3cea0 100644
--- a/sw/airborne/modules/gps_i2c/gps_i2c.c
+++ b/sw/airborne/modules/gps_i2c/gps_i2c.c
@@ -20,8 +20,8 @@
  *
  */
 
-#include "gps_i2c.h"
-#include "i2c.h"
+#include "modules/gps_i2c.h"
+#include "mcu_periph/i2c.h"
 #include "gps.h"
 
 uint8_t gps_i2c_rx_buf[GPS_I2C_BUF_SIZE];
diff --git a/sw/airborne/modules/ins/ins_arduimu.c b/sw/airborne/modules/ins/ins_arduimu.c
index 05e5e63bf7..c4e14dd7cd 100644
--- a/sw/airborne/modules/ins/ins_arduimu.c
+++ b/sw/airborne/modules/ins/ins_arduimu.c
@@ -6,9 +6,9 @@ Autoren@ZHAW:   schmiemi
 
 
 #include <stdbool.h>
-#include "ins_arduimu.h"
+#include "modules/ins/ins_arduimu.h"
 #include "firmwares/fixedwing/main_fbw.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 // test
 #include "estimator.h"
diff --git a/sw/airborne/modules/meteo/dust_gp2y.c b/sw/airborne/modules/meteo/dust_gp2y.c
index 939082595b..25d5041a54 100644
--- a/sw/airborne/modules/meteo/dust_gp2y.c
+++ b/sw/airborne/modules/meteo/dust_gp2y.c
@@ -30,8 +30,8 @@
  */
 
 
-#include "dust_gp2y.h"
-#include "i2c.h"
+#include "modules/meteo/dust_gp2y.h"
+#include "mcu_periph/i2c.h"
 #include "sys_time.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/meteo/humid_dpicco.c b/sw/airborne/modules/meteo/humid_dpicco.c
index 216fb4deaa..6b45e31a7e 100644
--- a/sw/airborne/modules/meteo/humid_dpicco.c
+++ b/sw/airborne/modules/meteo/humid_dpicco.c
@@ -5,9 +5,9 @@
  */
 
 
-#include "humid_dpicco.h"
+#include "modules/meteo/humid_dpicco.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/meteo/humid_hih.c b/sw/airborne/modules/meteo/humid_hih.c
index e40fc5724b..b155ccbeb4 100644
--- a/sw/airborne/modules/meteo/humid_hih.c
+++ b/sw/airborne/modules/meteo/humid_hih.c
@@ -29,9 +29,9 @@
  */
 
 #include <std.h>
-#include "humid_hih.h"
-#include "temp_tmp102.h"
-#include "adc.h"
+#include "modules/meteo/humid_hih.h"
+#include "modules/meteo/temp_tmp102.h"
+#include "mcu_periph/adc.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
diff --git a/sw/airborne/modules/meteo/humid_sht_i2c.c b/sw/airborne/modules/meteo/humid_sht_i2c.c
index 8f1762943b..8fdccf61e4 100644
--- a/sw/airborne/modules/meteo/humid_sht_i2c.c
+++ b/sw/airborne/modules/meteo/humid_sht_i2c.c
@@ -28,9 +28,9 @@
  */
 
 
-#include "humid_sht_i2c.h"
+#include "modules/meteo/humid_sht_i2c.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.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 4524fc5784..105e636f22 100644
--- a/sw/airborne/modules/meteo/ir_mlx.c
+++ b/sw/airborne/modules/meteo/ir_mlx.c
@@ -29,10 +29,10 @@
  */
 
 
-#include "ir_mlx.h"
+#include "modules/meteo/ir_mlx.h"
 
 #include "sys_time.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/meteo/light_temt.c b/sw/airborne/modules/meteo/light_temt.c
index 580fe11df6..2272844a61 100644
--- a/sw/airborne/modules/meteo/light_temt.c
+++ b/sw/airborne/modules/meteo/light_temt.c
@@ -29,8 +29,8 @@
  */
 
 
-#include "light_temt.h"
-#include "adc.h"
+#include "modules/meteo/light_temt.h"
+#include "mcu_periph/adc.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 6dc81a3c00..eb73662c1f 100644
--- a/sw/airborne/modules/meteo/temp_lm75.c
+++ b/sw/airborne/modules/meteo/temp_lm75.c
@@ -29,9 +29,9 @@
  */
 
 
-#include "temp_lm75.h"
+#include "modules/meteo/temp_lm75.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/meteo/temp_temod.c b/sw/airborne/modules/meteo/temp_temod.c
index 1d6bfb593b..3e2ff4fbe3 100644
--- a/sw/airborne/modules/meteo/temp_temod.c
+++ b/sw/airborne/modules/meteo/temp_temod.c
@@ -28,8 +28,8 @@
  */
 
 
-#include "temp_temod.h"
-#include "i2c.h"
+#include "modules/meteo/temp_temod.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/meteo/temp_tmp102.c b/sw/airborne/modules/meteo/temp_tmp102.c
index f84965d25c..4b366b6776 100644
--- a/sw/airborne/modules/meteo/temp_tmp102.c
+++ b/sw/airborne/modules/meteo/temp_tmp102.c
@@ -29,9 +29,9 @@
  */
 
 
-#include "temp_tmp102.h"
+#include "modules/meteo/temp_tmp102.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/meteo/wind_gfi.c b/sw/airborne/modules/meteo/wind_gfi.c
index a6d049acbc..27d81ddb1a 100644
--- a/sw/airborne/modules/meteo/wind_gfi.c
+++ b/sw/airborne/modules/meteo/wind_gfi.c
@@ -29,9 +29,9 @@
  */
 
 
-#include "wind_gfi.h"
+#include "modules/meteo/wind_gfi.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/sensors/airspeed_adc.c b/sw/airborne/modules/sensors/airspeed_adc.c
index d554246d24..776a15ae91 100644
--- a/sw/airborne/modules/sensors/airspeed_adc.c
+++ b/sw/airborne/modules/sensors/airspeed_adc.c
@@ -20,8 +20,8 @@
  *
  */
 
-#include "sensors/airspeed_adc.h"
-#include "adc.h"
+#include "modules/sensors/airspeed_adc.h"
+#include "mcu_periph/adc.h"
 #include BOARD_CONFIG
 #include "generated/airframe.h"
 #include "estimator.h"
diff --git a/sw/airborne/modules/sensors/airspeed_ets.c b/sw/airborne/modules/sensors/airspeed_ets.c
index feff4b06b1..b338e1a055 100644
--- a/sw/airborne/modules/sensors/airspeed_ets.c
+++ b/sw/airborne/modules/sensors/airspeed_ets.c
@@ -36,7 +36,7 @@
  */
 #include "sensors/airspeed_ets.h"
 #include "estimator.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
diff --git a/sw/airborne/modules/sensors/airspeed_ets.h b/sw/airborne/modules/sensors/airspeed_ets.h
index 6ce9db430c..1b27ddd181 100644
--- a/sw/airborne/modules/sensors/airspeed_ets.h
+++ b/sw/airborne/modules/sensors/airspeed_ets.h
@@ -39,7 +39,7 @@
 #define AIRSPEED_ETS_H
 
 #include "std.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 extern uint16_t airspeed_ets_raw;
 extern uint16_t airspeed_ets_offset;
diff --git a/sw/airborne/modules/sensors/alt_srf08.c b/sw/airborne/modules/sensors/alt_srf08.c
index 8d4579fc35..c23e9925cf 100644
--- a/sw/airborne/modules/sensors/alt_srf08.c
+++ b/sw/airborne/modules/sensors/alt_srf08.c
@@ -27,7 +27,7 @@
  *
  */
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "alt_srf08.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/sensors/baro_bmp.c b/sw/airborne/modules/sensors/baro_bmp.c
index c45804adbf..261991dcac 100644
--- a/sw/airborne/modules/sensors/baro_bmp.c
+++ b/sw/airborne/modules/sensors/baro_bmp.c
@@ -32,7 +32,7 @@
 #include "baro_bmp.h"
 
 #include "sys_time.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/sensors/baro_ets.c b/sw/airborne/modules/sensors/baro_ets.c
index d1164a0d19..462956a181 100644
--- a/sw/airborne/modules/sensors/baro_ets.c
+++ b/sw/airborne/modules/sensors/baro_ets.c
@@ -36,7 +36,7 @@
  */
 
 #include "sensors/baro_ets.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "estimator.h"
 #include <math.h>
 
diff --git a/sw/airborne/modules/sensors/baro_ets.h b/sw/airborne/modules/sensors/baro_ets.h
index 337c4c041c..bfdc568b6d 100644
--- a/sw/airborne/modules/sensors/baro_ets.h
+++ b/sw/airborne/modules/sensors/baro_ets.h
@@ -39,7 +39,7 @@
 #define BARO_ETS_H
 
 #include "std.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 #define BARO_ETS_DT 0.05
 
diff --git a/sw/airborne/modules/sensors/baro_scp_i2c.c b/sw/airborne/modules/sensors/baro_scp_i2c.c
index f5023f73d9..3fbcccf556 100644
--- a/sw/airborne/modules/sensors/baro_scp_i2c.c
+++ b/sw/airborne/modules/sensors/baro_scp_i2c.c
@@ -8,7 +8,7 @@
 #include "baro_scp_i2c.h"
 
 #include "sys_time.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "led.h"
 #include "mcu_periph/uart.h"
 #include "messages.h"
diff --git a/sw/airborne/modules/sensors/infrared_i2c.h b/sw/airborne/modules/sensors/infrared_i2c.h
index 2b91acfb22..775d334470 100644
--- a/sw/airborne/modules/sensors/infrared_i2c.h
+++ b/sw/airborne/modules/sensors/infrared_i2c.h
@@ -30,7 +30,7 @@
 #include "std.h"
 #include "generated/airframe.h"
 #include "infrared.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 extern int16_t ir_i2c_ir1;
 extern int16_t ir_i2c_ir2;
diff --git a/sw/airborne/modules/sensors/pressure_board_navarro.h b/sw/airborne/modules/sensors/pressure_board_navarro.h
index 91bb7a909a..2bd4edba89 100644
--- a/sw/airborne/modules/sensors/pressure_board_navarro.h
+++ b/sw/airborne/modules/sensors/pressure_board_navarro.h
@@ -36,7 +36,7 @@
 #define PRESSURE_BOARD_NAVARRO_H
 
 #include "std.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 extern uint16_t altitude_adc;
 extern uint16_t airspeed_adc;
diff --git a/sw/airborne/peripherals/ami601.h b/sw/airborne/peripherals/ami601.h
index 0036413962..38be9a347a 100644
--- a/sw/airborne/peripherals/ami601.h
+++ b/sw/airborne/peripherals/ami601.h
@@ -2,7 +2,7 @@
 #define AMI601_H
 
 #include "std.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 extern void ami601_init( void );
 
diff --git a/sw/airborne/peripherals/hmc5843.h b/sw/airborne/peripherals/hmc5843.h
index a3d75c297d..ed31ebeed3 100644
--- a/sw/airborne/peripherals/hmc5843.h
+++ b/sw/airborne/peripherals/hmc5843.h
@@ -25,7 +25,7 @@
 #define HMC5843_H
 
 #include "std.h"
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 #include "peripherals/hmc5843_arch.h"
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.c b/sw/airborne/subsystems/imu/imu_aspirin.c
index f57aef4dfc..887bd724c8 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin.c
+++ b/sw/airborne/subsystems/imu/imu_aspirin.c
@@ -1,6 +1,6 @@
 #include "subsystems/imu.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 struct ImuAspirin imu_aspirin;
 
diff --git a/sw/airborne/subsystems/imu/imu_aspirin.h b/sw/airborne/subsystems/imu/imu_aspirin.h
index ea13d0a6d8..740fad584c 100644
--- a/sw/airborne/subsystems/imu/imu_aspirin.h
+++ b/sw/airborne/subsystems/imu/imu_aspirin.h
@@ -27,7 +27,7 @@
 #include "generated/airframe.h"
 #include "subsystems/imu.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "peripherals/itg3200.h"
 #include "peripherals/hmc5843.h"
 #include "peripherals/adxl345.h"
diff --git a/sw/airborne/test/peripherals/test_ami601.c b/sw/airborne/test/peripherals/test_ami601.c
index ad7798b42d..557e3c529d 100644
--- a/sw/airborne/test/peripherals/test_ami601.c
+++ b/sw/airborne/test/peripherals/test_ami601.c
@@ -24,18 +24,17 @@
 #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 "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "peripherals/ami601.h"
 #include "math/pprz_algebra_int.h"
 
-#include "interrupt_hw.h"
 #include "std.h"
 
 static inline void main_init( void );
@@ -55,13 +54,13 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
 
   LED_ON(4);
   ami601_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/test/test_actuators.c b/sw/airborne/test/test_actuators.c
index f3579af913..ce99e5c72f 100644
--- a/sw/airborne/test/test_actuators.c
+++ b/sw/airborne/test/test_actuators.c
@@ -22,11 +22,11 @@
  */
 
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 #include "booz/booz2_commands.h"
 #include "firmwares/rotorcraft/actuators.h"
 
@@ -47,7 +47,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   actuators_init();
 }
diff --git a/sw/airborne/test/test_adcs.c b/sw/airborne/test/test_adcs.c
index e302b89bc0..0bfd29a3b3 100644
--- a/sw/airborne/test/test_adcs.c
+++ b/sw/airborne/test/test_adcs.c
@@ -3,14 +3,13 @@
  */
 
 
-#include "interrupt_hw.h"
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
-#include "adc.h"
+#include "mcu_periph/adc.h"
 #include "messages.h"
 #include "led.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "downlink.h"
 
 
@@ -20,7 +19,7 @@
 static struct adc_buf buf_adc[NB_ADC];
 
 int main (int argc, char** argv) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   adc_init();
@@ -49,7 +48,7 @@ int main (int argc, char** argv) {
   Uart1Init();
 #endif
 
-  int_enable();
+  mcu_int_enable();
 
   while(1) {
     if (sys_time_periodic()) {
diff --git a/sw/airborne/test/test_esc_asctecv1_simple.c b/sw/airborne/test/test_esc_asctecv1_simple.c
index 8acc668a5e..33e9957a1c 100644
--- a/sw/airborne/test/test_esc_asctecv1_simple.c
+++ b/sw/airborne/test/test_esc_asctecv1_simple.c
@@ -22,11 +22,11 @@
  */
 
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -47,7 +47,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
 }
 
diff --git a/sw/airborne/test/test_esc_mkk_simple.c b/sw/airborne/test/test_esc_mkk_simple.c
index 7ab0424bd1..bc0f778bca 100644
--- a/sw/airborne/test/test_esc_mkk_simple.c
+++ b/sw/airborne/test/test_esc_mkk_simple.c
@@ -22,11 +22,11 @@
  */
 
 
-#include "init_hw.h"
+#include "mcuw.h"
 #include "sys_time.h"
 #include "led.h"
 
-#include "i2c.h"
+#include "mcu_periph/i2c.h"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -47,7 +47,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
 }