diff --git a/conf/boards/lisa_l_1.0.makefile b/conf/boards/lisa_l_1.0.makefile
index dcfbac5f47..17578ee3bf 100644
--- a/conf/boards/lisa_l_1.0.makefile
+++ b/conf/boards/lisa_l_1.0.makefile
@@ -96,16 +96,6 @@ ifndef ACTUATORS
ACTUATORS = actuators_pwm
endif
-#
-# this is the DRDY pin of a max1168 on a booz IMU
-#
-# v 1.0
-#
-MAX_1168_DRDY_PORT = _GPIOD
-MAX_1168_DRDY_PORT_SOURCE = PortSourceGPIOD
-# v1.1
-#MAX_1168_DRDY_PORT = GPIOB
-
ifndef ADC_IR1
ADC_IR1 = 1
diff --git a/conf/boards/lisa_l_1.1.makefile b/conf/boards/lisa_l_1.1.makefile
index 1553611865..e73456f7cd 100644
--- a/conf/boards/lisa_l_1.1.makefile
+++ b/conf/boards/lisa_l_1.1.makefile
@@ -99,16 +99,6 @@ ifndef ACTUATORS
ACTUATORS = actuators_pwm
endif
-#
-# this is the DRDY pin of a max1168 on a booz IMU
-#
-# v 1.1
-#
-MAX_1168_DRDY_PORT = _GPIOB
-MAX_1168_DRDY_PORT_SOURCE = PortSourceGPIOB
-# v1.1
-#MAX_1168_DRDY_PORT = GPIOB
-
ifndef ADC_IR1
ADC_IR1 = 1
diff --git a/conf/firmwares/lisa_passthrough.makefile b/conf/firmwares/lisa_passthrough.makefile
index 9bda00c80b..d564d9f83a 100644
--- a/conf/firmwares/lisa_passthrough.makefile
+++ b/conf/firmwares/lisa_passthrough.makefile
@@ -47,7 +47,7 @@ stm_passthrough.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
stm_passthrough.CFLAGS += -DUSE_OVERO_LINK
stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_UP=AutopilotMessagePTUp
stm_passthrough.CFLAGS += -DOVERO_LINK_MSG_DOWN=AutopilotMessagePTDown
-stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
+stm_passthrough.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2
stm_passthrough.srcs += $(SRC_LISA)/lisa_overo_link.c \
$(SRC_LISA_ARCH)/lisa_overo_link_arch.c
diff --git a/conf/firmwares/lisa_test_progs.makefile b/conf/firmwares/lisa_test_progs.makefile
index edb561f2b6..d40723023d 100644
--- a/conf/firmwares/lisa_test_progs.makefile
+++ b/conf/firmwares/lisa_test_progs.makefile
@@ -274,8 +274,6 @@ IMU_B2_CFLAGS = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
IMU_B2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100 -DIMU_B2_VERSION_1_1
IMU_B2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_B2_SRCS += math/pprz_trig_int.c
-IMU_B2_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-IMU_B2_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
IMU_B2_CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI1 -DIMU_B2_MAG_TYPE=IMU_B2_MAG_MS2100 -DIMU_B2_VERSION_1_1 -DUSE_SPI_SLAVE1
IMU_B2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_b2.c
IMU_B2_SRCS += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
@@ -301,15 +299,12 @@ IMU_B2_2_CFLAGS = -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
IMU_B2_2_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843 -DIMU_B2_VERSION_1_2
IMU_B2_2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
IMU_B2_2_SRCS += math/pprz_trig_int.c
-IMU_B2_2_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-IMU_B2_2_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
-IMU_B2_2_CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
+IMU_B2_2_CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI2
IMU_B2_2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_b2.c $(SRC_ARCH)/subsystems/imu/imu_b2_arch.c
IMU_B2_2_SRCS += peripherals/max1168.c $(SRC_ARCH)/peripherals/max1168_arch.c
IMU_B2_2_CFLAGS += -DUSE_I2C2
IMU_B2_2_SRCS += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
IMU_B2_2_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
-IMU_B2_2_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
IMU_B2_2_SRCS += mcu_periph/spi.c $(SRC_ARCH)/mcu_periph/spi_arch.c
test_imu_b2_2.ARCHDIR = $(ARCH)
@@ -336,10 +331,6 @@ IMU_ASPIRIN_SRCS += math/pprz_trig_int.c
IMU_ASPIRIN_SRCS += peripherals/hmc5843.c $(SRC_ARCH)/peripherals/hmc5843_arch.c
IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
IMU_ASPIRIN_SRCS += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
-IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
test_imu_aspirin.ARCHDIR = $(ARCH)
test_imu_aspirin.srcs = test/subsystems/test_imu.c
@@ -436,7 +427,6 @@ test_hmc5843.CFLAGS += -I$(SRC_LISA)
test_hmc5843.srcs += lisa/test/lisa_test_hmc5843.c
test_hmc5843.CFLAGS += -DUSE_I2C2
test_hmc5843.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-test_hmc5843.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
#
@@ -452,7 +442,6 @@ test_itg3200.CFLAGS += -I$(SRC_LISA)
test_itg3200.srcs += lisa/test/lisa_test_itg3200.c
test_itg3200.CFLAGS += -DUSE_I2C2
test_itg3200.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-test_itg3200.CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
#
@@ -466,8 +455,6 @@ test_adxl345.srcs += $(COMMON_TELEMETRY_SRCS)
test_adxl345.CFLAGS += -I$(SRC_LISA)
test_adxl345.srcs += lisa/test/lisa_test_adxl345_dma.c
-test_adxl345.CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
-test_adxl345.CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
@@ -548,7 +535,6 @@ test_actuators_asctecv1.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_ar
#test_bmp085.srcs += lisa/test/lisa_test_bmp085.c
#test_bmp085.CFLAGS += -DUSE_I2C2
#test_bmp085.srcs += mcu_periph/i2c.c $(SRC_ARCH)/mcu_periph/i2c_arch.c
-##test_bmp085.CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
diff --git a/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
index 0761689765..6350b38a86 100644
--- a/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
+++ b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.1.makefile
@@ -34,11 +34,6 @@
#
#
-#
-# param: MAX_1168_DRDY_PORT
-
-
-
# imu Booz2 v1.1
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
@@ -58,9 +53,7 @@ imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=11
else ifeq ($(ARCH), stm32)
-imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+imu_CFLAGS += -DUSE_SPI2
endif
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
diff --git a/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
index 1a472baebd..9640d6d933 100644
--- a/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
+++ b/conf/firmwares/subsystems/lisa_passthrough/imu_b2_v1.2.makefile
@@ -34,11 +34,6 @@
#
#
-#
-# param: MAX_1168_DRDY_PORT
-
-
-
# imu Booz2 v1.2
imu_CFLAGS += -DIMU_TYPE_H=\"subsystems/imu/imu_b2.h\"
@@ -59,10 +54,8 @@ imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
#FIXME ms2100 not used on this imu
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=11
else ifeq ($(ARCH), stm32)
-imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
-imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
+imu_CFLAGS += -DUSE_SPI2
+imu_CFLAGS += -DUSE_I2C2
endif
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
diff --git a/conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile b/conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile
index e4bb57a2f5..5781f7aad5 100644
--- a/conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile
+++ b/conf/firmwares/subsystems/rotorcraft/imu_crista_hmc5843.makefile
@@ -73,7 +73,7 @@ ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DUSE_I2C1
imu_CFLAGS += -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12 -DI2C1_BUF_LEN=16
else ifeq ($(ARCH), stm32)
-imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ -DUSE_DMA1_C4_IRQ
+imu_CFLAGS += -DUSE_I2C2
endif
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_common.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_common.makefile
index 1abf49f628..f04bfd23d9 100644
--- a/conf/firmwares/subsystems/shared/imu_aspirin_common.makefile
+++ b/conf/firmwares/subsystems/shared/imu_aspirin_common.makefile
@@ -37,11 +37,6 @@ IMU_ASPIRIN_CFLAGS += -DUSE_I2C2
ifeq ($(ARCH), lpc21)
$(error The aspirin subsystem (using SPI) is currently not implemnented for the lpc21. Please use the aspirin_i2c subsystem.)
-else ifeq ($(ARCH), stm32)
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI15_10_IRQ # Gyro Int on PC14
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI9_5_IRQ # Mag Int on PB5
-IMU_ASPIRIN_CFLAGS += -DUSE_EXTI2_IRQ # Accel Int on PD2
-IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
endif
include $(CFG_SHARED)/imu_nps.makefile
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
index aea2834ac4..5e0c37c3fd 100644
--- a/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
+++ b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile
@@ -50,7 +50,6 @@ ifeq ($(ARCH), lpc21)
#TODO
$(error Not implemented for the LCP21x yet. Needs the new SPI mcu_periph. See issue 147!)
else ifeq ($(ARCH), stm32)
-IMU_ASPIRIN_CFLAGS += -DUSE_DMA1_C4_IRQ # SPI2 Rx DMA
IMU_ASPIRIN_CFLAGS += -DUSE_SPI2
endif
diff --git a/conf/firmwares/subsystems/shared/imu_b2_common.makefile b/conf/firmwares/subsystems/shared/imu_b2_common.makefile
index bbbeb3a803..72d616abd7 100644
--- a/conf/firmwares/subsystems/shared/imu_b2_common.makefile
+++ b/conf/firmwares/subsystems/shared/imu_b2_common.makefile
@@ -55,9 +55,7 @@ imu_CFLAGS += -DSSP_VIC_SLOT=9
imu_CFLAGS += -DMAX1168_EOC_VIC_SLOT=8
else ifeq ($(ARCH), stm32)
#FIXME: untested
-imu_CFLAGS += -DUSE_SPI2 -DUSE_DMA1_C4_IRQ -DUSE_EXTI2_IRQ -DUSE_SPI2_IRQ
-imu_CFLAGS += -DMAX_1168_DRDY_PORT=$(MAX_1168_DRDY_PORT)
-imu_CFLAGS += -DMAX_1168_DRDY_PORT_SOURCE=$(MAX_1168_DRDY_PORT_SOURCE)
+imu_CFLAGS += -DUSE_SPI2
endif
diff --git a/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile
index 6087ccd3b1..e34149747e 100644
--- a/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile
+++ b/conf/firmwares/subsystems/shared/imu_b2_v1.0.makefile
@@ -52,7 +52,7 @@ ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DUSE_I2C1 -DI2C1_SCLL=150 -DI2C1_SCLH=150 -DI2C1_VIC_SLOT=12
else ifeq ($(ARCH), stm32)
#FIXME: untested
-imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
+imu_CFLAGS += -DUSE_I2C2
endif
endif #NO_MAG
diff --git a/conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile
index 76f7e5f230..25b57d721a 100644
--- a/conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile
+++ b/conf/firmwares/subsystems/shared/imu_b2_v1.1.makefile
@@ -35,10 +35,6 @@
#
#
-#
-# param: MAX_1168_DRDY_PORT
-
-
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
@@ -53,7 +49,6 @@ imu_srcs += $(SRC_ARCH)/peripherals/ms2100_arch.c
ifeq ($(ARCH), lpc21)
imu_CFLAGS += -DMS2100_DRDY_VIC_SLOT=12
-else ifeq ($(ARCH), stm32)
endif
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
diff --git a/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile b/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
index c0d27c4026..0c4a0b5e29 100644
--- a/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
+++ b/conf/firmwares/subsystems/shared/imu_b2_v1.2.makefile
@@ -35,10 +35,6 @@
#
#
-#
-# param: MAX_1168_DRDY_PORT
-
-
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
@@ -54,7 +50,7 @@ else ifeq ($(ARCH), stm32)
imu_CFLAGS += -DIMU_B2_MAG_TYPE=IMU_B2_MAG_HMC5843
imu_srcs += peripherals/hmc5843.c
imu_srcs += $(SRC_ARCH)/peripherals/hmc5843_arch.c
-imu_CFLAGS += -DUSE_I2C2 -DUSE_EXTI9_5_IRQ
+imu_CFLAGS += -DUSE_I2C2
endif
# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
diff --git a/conf/firmwares/subsystems/shared/imu_yai.makefile b/conf/firmwares/subsystems/shared/imu_yai.makefile
index 4d7b1745f0..4763f2103b 100644
--- a/conf/firmwares/subsystems/shared/imu_yai.makefile
+++ b/conf/firmwares/subsystems/shared/imu_yai.makefile
@@ -26,9 +26,6 @@
#
#
-#
-# param: MAX_1168_DRDY_PORT
-
# common Booz2 IMU files
include $(CFG_SHARED)/imu_b2_common.makefile
diff --git a/conf/modules/vehicle_interface_overo_link.xml b/conf/modules/vehicle_interface_overo_link.xml
index 3e8ecbdff5..1efa197899 100644
--- a/conf/modules/vehicle_interface_overo_link.xml
+++ b/conf/modules/vehicle_interface_overo_link.xml
@@ -23,7 +23,6 @@
-