diff --git a/Makefile.install b/Makefile.install
index 978a38ec64..c973665dd3 100644
--- a/Makefile.install
+++ b/Makefile.install
@@ -37,17 +37,28 @@ install_conf:
 	$(INSTALLDATA) conf/gui.xml $(DESTDIR)/conf/
 	$(INSTALL) -d $(DESTDIR)/conf/airframes
 	$(INSTALLDATA) conf/airframes/airframe.dtd $(DESTDIR)/conf/airframes
-	$(INSTALLDATA) conf/airframes/microjet5.xml $(DESTDIR)/conf/airframes
-	$(INSTALLDATA) conf/airframes/twinstar1.xml $(DESTDIR)/conf/airframes
-	$(INSTALLDATA) conf/airframes/twinjet1.xml $(DESTDIR)/conf/airframes
+	$(INSTALLDATA) conf/airframes/microjet_example.xml $(DESTDIR)/conf/airframes
+	$(INSTALLDATA) conf/airframes/twinstar_example.xml $(DESTDIR)/conf/airframes
+	$(INSTALLDATA) conf/airframes/twinjet_example.xml $(DESTDIR)/conf/airframes
 	$(INSTALLDATA) conf/airframes/tiny_hitl.xml $(DESTDIR)/conf/airframes
-	$(INSTALLDATA) conf/airframes/booz2_a2.xml $(DESTDIR)/conf/airframes
+	$(INSTALLDATA) conf/airframes/example_twog_analogimu.xml $(DESTDIR)/conf/airframes
 	$(INSTALL) -d $(DESTDIR)/conf/autopilot
 	$(INSTALLDATA) conf/autopilot/*.makefile $(DESTDIR)/conf/autopilot
 	$(INSTALLDATA) conf/autopilot/*.h $(DESTDIR)/conf/autopilot
+	$(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems
+	$(INSTALLDATA) conf/autopilot/subsystems/*.makefile $(DESTDIR)/conf/autopilot/subsystems
+	$(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/fixedwing
+	$(INSTALLDATA) conf/autopilot/subsystems/fixedwing/*.makefile $(DESTDIR)/conf/autopilot/subsystems/fixedwing
+	$(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/rotorcraft
+	$(INSTALLDATA) conf/autopilot/subsystems/rotorcraft/*.makefile $(DESTDIR)/conf/autopilot/subsystems/rotorcraft
+	$(INSTALL) -d $(DESTDIR)/conf/autopilot/subsystems/shared
+	$(INSTALLDATA) conf/autopilot/subsystems/shared/*.makefile $(DESTDIR)/conf/autopilot/subsystems/shared
 	$(INSTALL) -d $(DESTDIR)/conf/flight_plans
 	$(INSTALLDATA) conf/flight_plans/*.dtd $(DESTDIR)/conf/flight_plans
 	$(INSTALLDATA) conf/flight_plans/*.xml $(DESTDIR)/conf/flight_plans
+	$(INSTALL) -d $(DESTDIR)/conf/modules
+	$(INSTALLDATA) conf/modules/*.dtd $(DESTDIR)/conf/modules
+	$(INSTALLDATA) conf/modules/*.xml $(DESTDIR)/conf/modules
 	$(INSTALL) -d $(DESTDIR)/conf/gps
 	$(INSTALLDATA) conf/gps/Makefile $(DESTDIR)/conf/gps
 	$(INSTALLDATA) conf/gps/ublox_conf.c $(DESTDIR)/conf/gps
@@ -111,16 +122,12 @@ install_libs:
 
 install_tools:
 	$(INSTALLDATA) Makefile.ac $(DESTDIR)
-	$(INSTALL) -d $(DESTDIR)/sw/tools/
 	$(INSTALLDATA) conf/Makefile* $(DESTDIR)/conf
+	$(INSTALL) -d $(DESTDIR)/sw/tools/
 	$(INSTALL) sw/tools/*.out $(DESTDIR)/sw/tools/
 	rm -f $(DESTDIR)/sw/tools/gen_flight_plan.out
-	$(INSTALLDATA) sw/tools/fp_syntax.cmo $(DESTDIR)/sw/tools
-	$(INSTALLDATA) sw/tools/fp_parser.cmo $(DESTDIR)/sw/tools
-	$(INSTALLDATA) sw/tools/fp_lexer.cmo $(DESTDIR)/sw/tools
 	$(INSTALLDATA) sw/tools/fp_proc.cmo $(DESTDIR)/sw/tools
 	$(INSTALLDATA) sw/tools/gen_flight_plan.cmo $(DESTDIR)/sw/tools
-	$(INSTALLDATA) sw/tools/extract_makefile.ml $(DESTDIR)/sw/tools/
 	$(INSTALLDATA) sw/tools/gen_aircraft.ml $(DESTDIR)/sw/tools/
 	$(INSTALLDATA) sw/tools/gen_airframe.ml $(DESTDIR)/sw/tools/
 	$(INSTALLDATA) sw/tools/gen_messages.ml $(DESTDIR)/sw/tools/
@@ -130,6 +137,14 @@ install_tools:
 	$(INSTALLDATA) sw/tools/gen_settings.ml $(DESTDIR)/sw/tools/
 	$(INSTALLDATA) sw/tools/gen_tuning.ml $(DESTDIR)/sw/tools/
 	$(INSTALLDATA) sw/tools/gen_ubx.ml $(DESTDIR)/sw/tools/
+	$(INSTALLDATA) sw/tools/gen_xsens.ml $(DESTDIR)/sw/tools/
+	$(INSTALLDATA) sw/tools/gen_modules.ml $(DESTDIR)/sw/tools/
+	$(INSTALLDATA) sw/tools/gen_common.cmo $(DESTDIR)/sw/tools/
+	$(INSTALL) -d $(DESTDIR)/sw/tools/calibration
+	$(INSTALLDATA) sw/tools/calibration/calibrate.py $(DESTDIR)/sw/tools/calibration
+	$(INSTALLDATA) sw/tools/calibration/calibrate_gyro.py $(DESTDIR)/sw/tools/calibration
+	$(INSTALLDATA) sw/tools/calibration/calibration_utils.py $(DESTDIR)/sw/tools/calibration
+	$(INSTALLDATA) sw/tools/calibration/README $(DESTDIR)/sw/tools/calibration
 	$(INSTALL) -d $(DESTDIR)/sw/ground_segment/lpc21iap
 	$(INSTALL) sw/ground_segment/lpc21iap/lpc21iap $(DESTDIR)/sw/ground_segment/lpc21iap/
 	$(INSTALL) -d $(DESTDIR)/sw/simulator
@@ -142,7 +157,7 @@ install_tools:
 
 install_airborne_sources:
 	$(INSTALL) -d $(DESTDIR)/sw/
-	tar --exclude=CVS -cf - sw/airborne/ | tar -C $(DESTDIR) -xf -
+	tar -cf - sw/airborne/ | tar -C $(DESTDIR) -xf -
 	$(INSTALL) -d $(DESTDIR)/sw/include
 	$(INSTALLDATA) sw/include/std.h $(DESTDIR)/sw/include
 	$(INSTALLDATA) var/include/*.h $(DESTDIR)/sw/include
diff --git a/conf/airframes/ENAC/fixed-wing/drops.xml b/conf/airframes/ENAC/fixed-wing/drops.xml
index cf7359cc92..289865ccae 100644
--- a/conf/airframes/ENAC/fixed-wing/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/drops.xml
@@ -221,7 +221,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -233,11 +233,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
@@ -269,7 +269,7 @@ ap.srcs += subsystems/navigation/snav.c
 # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_rectangle.c
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index fa11fa8574..124a14b520 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -213,7 +213,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -225,7 +225,7 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
@@ -262,7 +262,7 @@ ap.CFLAGS += -DUSE_MODULES
 # Config for SITL simulation
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
diff --git a/conf/airframes/ENAC/fixed-wing/funjet1.xml b/conf/airframes/ENAC/fixed-wing/funjet1.xml
index 80580c7832..47d29560c7 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet1.xml
@@ -232,7 +232,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -244,11 +244,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
@@ -298,7 +298,7 @@ ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150
 # Config for SITL simulation
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
@@ -317,8 +317,8 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re
 # a test program to setup actuators 
 setup_actuators.ARCHDIR = $(ARCHI)
 
-setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
+setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index 959e0eabdc..153f9e63bf 100644
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml
@@ -175,7 +175,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -187,10 +187,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT   ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/ENAC/fixed-wing/slayer2.xml b/conf/airframes/ENAC/fixed-wing/slayer2.xml
index 4a74c62cd5..5be6b30153 100644
--- a/conf/airframes/ENAC/fixed-wing/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/slayer2.xml
@@ -201,7 +201,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -213,7 +213,7 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 # AEROCOMM
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
@@ -221,7 +221,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 # RADIOTRONIX
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
 
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
@@ -241,7 +241,7 @@ ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
 ap.srcs += subsystems/nav.c fw_h_ctl.c fw_v_ctl.c subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/traffic_info.c subsystems/navigation/nav_line.c
 
 # Camera power switch on ADC_7 pin
-ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=10 -DPOWER_SWITCH_LED=3
+ap.CFLAGS += -DUSE_LED_3_BANK=0 -DUSE_LED_3_PIN=10 -DPOWER_SWITCH_LED=3
 
 
 ap.CFLAGS += -DUSE_GYRO -DADXRS150
@@ -271,7 +271,7 @@ ap.CFLAGS += -D BARO_MS5534A_W1=0xAC20 -D BARO_MS5534A_W2=0x87D9 -D BARO_MS5534A
 # Config for SITL simulation
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN  -DUSE_BARO_MS5534A 
diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml
index 03f799119b..e0cf78c35f 100644
--- a/conf/airframes/ENAC/fixed-wing/soarzi.xml
+++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml
@@ -179,7 +179,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -191,10 +191,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/ENAC/fixed-wing/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/solarstorm.xml
index 7c1cf6a949..ec953714e9 100644
--- a/conf/airframes/ENAC/fixed-wing/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/solarstorm.xml
@@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -218,7 +218,7 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
@@ -253,7 +253,7 @@ ap.CFLAGS += -DUSE_MODULES
 # Config for SITL simulation
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
diff --git a/conf/airframes/ENAC/fixed-wing/spocII.xml b/conf/airframes/ENAC/fixed-wing/spocII.xml
index a0c71c742f..675df4be66 100644
--- a/conf/airframes/ENAC/fixed-wing/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocII.xml
@@ -212,7 +212,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -225,7 +225,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #TRANSPARENT
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
@@ -253,7 +253,7 @@ ap.CFLAGS += -DUSE_ADC_3 -DADC_CHANNEL_CURRENT=ADC_3
 # Config for SITL simulation
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
@@ -274,8 +274,8 @@ jsbsim.srcs += $(SIMDIR)/sim_ac_fw.c
 # a test program to setup actuators 
 setup_actuators.ARCHDIR = $(ARCHI)
 
-setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
+setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART1 -DUART1_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart1
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 6197ff36a6..c118819f03 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -225,7 +225,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.CFLAGS += -DINTER_MCU
@@ -242,11 +242,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ########## Modems
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ########## ADC
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
@@ -298,7 +298,7 @@ ap.CFLAGS += -DUSE_MODULES
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 
 sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl_n.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DPITCH_TRIM -DALT_KALMAN
diff --git a/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml b/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
index 4cf13bf2b8..2fddd20c7e 100644
--- a/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/kalscott_easystar.xml
@@ -156,7 +156,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES 
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES 
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -171,7 +171,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Telemetry configuration
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/Paul/minimag1.xml b/conf/airframes/Paul/minimag1.xml
index f16f2aca5f..cfe17c9d28 100644
--- a/conf/airframes/Paul/minimag1.xml
+++ b/conf/airframes/Paul/minimag1.xml
@@ -176,7 +176,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_2_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_2_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -188,7 +188,7 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/Poine/antenna.xml b/conf/airframes/Poine/antenna.xml
index 19a339e347..98d24b8294 100644
--- a/conf/airframes/Poine/antenna.xml
+++ b/conf/airframes/Poine/antenna.xml
@@ -23,10 +23,10 @@ ant.LOCK_FUSE = ff
 ant.CFLAGS += -DBOARD_CONFIG=\"antenna.h\"
 ant.srcs = main_antenna.c sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-ant.CFLAGS += -DLED
+ant.CFLAGS += -DUSE_LED
 
 ant.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-ant.srcs += $(SRC_ARCH)/uart_hw.c
+ant.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 ant.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 ant.srcs += downlink.c pprz_transport.c
diff --git a/conf/airframes/Poine/autoplato.xml b/conf/airframes/Poine/autoplato.xml
index b509daabbf..48a5844d0e 100644
--- a/conf/airframes/Poine/autoplato.xml
+++ b/conf/airframes/Poine/autoplato.xml
@@ -16,17 +16,17 @@ test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_usb.srcs += $(SRC_BOOZ_TEST)/atpt_main.c
 test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 # -DTIME_LED=1
-test_usb.CFLAGS += -DLED
+test_usb.CFLAGS += -DUSE_LED
 test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 #test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-#test_usb.srcs += $(SRC_ARCH)/uart_hw.c
+#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
 #test_usb.srcs += downlink.c pprz_transport.c
 
 test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
 test_usb.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
-test_usb.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c
+test_usb.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c
 # datalink.c
 test_usb.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
 test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index ed7388ddb1..e8b8102ba5 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -114,7 +114,7 @@ main_stm32.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 main_stm32.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main_stm32.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-main_stm32.srcs += $(SRC_ARCH)/uart_hw.c
+main_stm32.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 main_stm32.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2 
 main_stm32.srcs += downlink.c pprz_transport.c
 
@@ -186,7 +186,7 @@ main_coders.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 main_coders.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 main_coders.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-main_coders.srcs += $(SRC_ARCH)/uart_hw.c
+main_coders.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 main_coders.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
 main_coders.srcs += downlink.c pprz_transport.c
 
diff --git a/conf/airframes/Poine/bl_mc.xml b/conf/airframes/Poine/bl_mc.xml
index 51d00613d0..21d5e7adee 100644
--- a/conf/airframes/Poine/bl_mc.xml
+++ b/conf/airframes/Poine/bl_mc.xml
@@ -26,11 +26,11 @@ main.srcs = main_bl_mc.c
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-2)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-main.CFLAGS += -DLED 
+main.CFLAGS += -DUSE_LED 
 #-DTIME_LED=1
 
 main.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B38400
-main.srcs += $(SRC_ARCH)/uart_hw.c
+main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 
 main.srcs += downlink.c pprz_transport.c
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index 44394d52a2..ab1f292c39 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -163,7 +163,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -177,7 +177,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # transparent 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/Poine/motor_bench.xml b/conf/airframes/Poine/motor_bench.xml
index 2cfb8b27a2..dca7fe4d33 100644
--- a/conf/airframes/Poine/motor_bench.xml
+++ b/conf/airframes/Poine/motor_bench.xml
@@ -17,12 +17,12 @@ main.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-main.CFLAGS += -DLED
+main.CFLAGS += -DUSE_LED
 
 main.srcs += $(SRC_ARCH)/armVIC.c
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
-main.srcs += $(SRC_ARCH)/uart_hw.c
+main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 main.srcs += downlink.c pprz_transport.c
@@ -61,7 +61,7 @@ foo.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
 foo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)'
 foo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-foo.CFLAGS += -DLED
+foo.CFLAGS += -DUSE_LED
 foo.srcs += $(SRC_ARCH)/armVIC.c
 
 foo.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=9
@@ -80,7 +80,7 @@ bar.CFLAGS += -DPERIODIC_TASK_FREQ='250.'
 bar.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./PERIODIC_TASK_FREQ)'
 bar.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-bar.CFLAGS += -DLED
+bar.CFLAGS += -DUSE_LED
 bar.srcs += $(SRC_ARCH)/armVIC.c
 
 bar.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=9
diff --git a/conf/airframes/Poine/pt_ant.xml b/conf/airframes/Poine/pt_ant.xml
index 93ade9c70e..765384cf20 100644
--- a/conf/airframes/Poine/pt_ant.xml
+++ b/conf/airframes/Poine/pt_ant.xml
@@ -10,7 +10,7 @@
 
 tunnel.ARCHDIR = $(ARCH)
 
-tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"conf_demo.h\" -DLED -DTIME_LED=1
+tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"conf_demo.h\" -DUSE_LED -DTIME_LED=1
 tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
 
 ARCH=lpc21
@@ -26,12 +26,12 @@ main.srcs = $(PT_ANT)/pt_ant_main.c
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1.66666667e-2)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-main.CFLAGS += -DLED
+main.CFLAGS += -DUSE_LED
 
 main.srcs += $(SRC_ARCH)/armVIC.c
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-main.srcs += $(SRC_ARCH)/uart_hw.c
+main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 main.srcs += downlink.c pprz_transport.c $(PT_ANT)/pt_ant_telemetry.c
diff --git a/conf/airframes/Poine/turntable.xml b/conf/airframes/Poine/turntable.xml
index 77c99e020c..dc97e08e98 100644
--- a/conf/airframes/Poine/turntable.xml
+++ b/conf/airframes/Poine/turntable.xml
@@ -25,7 +25,7 @@ main.srcs += sys_time.c $(MB)/turntable_systime.c
 #main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=UsbS
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
-main.srcs += $(SRC_ARCH)/uart_hw.c
+main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 
 main.srcs += downlink.c pprz_transport.c
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml
index 0a681fbb23..36081877f7 100644
--- a/conf/airframes/TU_Delft/Trip50A.xml
+++ b/conf/airframes/TU_Delft/Trip50A.xml
@@ -249,7 +249,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=2
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=2
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -261,15 +261,15 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -#DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 # Maxstream API protocol
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/TU_Delft/Trip50B.xml b/conf/airframes/TU_Delft/Trip50B.xml
index af557a6d57..1cbde06526 100644
--- a/conf/airframes/TU_Delft/Trip50B.xml
+++ b/conf/airframes/TU_Delft/Trip50B.xml
@@ -254,7 +254,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=2
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=2
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -266,15 +266,15 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -#DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 # Maxstream API protocol
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/TU_Delft/holiday50.xml b/conf/airframes/TU_Delft/holiday50.xml
index 3a1745e964..d95a52bb30 100644
--- a/conf/airframes/TU_Delft/holiday50.xml
+++ b/conf/airframes/TU_Delft/holiday50.xml
@@ -248,7 +248,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 FLASH_MODE=IAP
 
 # main files (including the 60Hz timing)
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 # Command allocation and Radio Mixers
@@ -264,7 +264,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Paparazzi protocol on UART0 at 57600
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 # communication from FBW and AP
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index a5201efd9e..3f3b051975 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -16,7 +16,9 @@
     <define name="GUIDANCE_H_USE_REF"/>
 
     <subsystem name="radio_control" type="ppm"/>
-    <subsystem name="actuators"     type="mkk"/>
+    <subsystem name="actuators"     type="mkk">
+      <configure name="MKK_I2C_SCL_TIME" value="150"/><!-- this is optional, 150 is default, e.g. use 50 for 8 motors-->
+    </subsystem>
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="ahrs"          type="cmpl"/>
@@ -25,10 +27,11 @@
     </subsystem>
   </firmware>
 
-  <firmware name="booz_test_progs">
+  <firmware name="booz2_test_progs">
     <target name="test_telemetry" board="booz_1.0"/>
     <target name="test_baro"      board="booz_1.0"/>
     <target name="test_spektrum"  board="booz_1.0"/>
+    <target name="tunnel"         board="booz_1.0"/>
   </firmware>
 
   <modules main_freq="512">
@@ -38,13 +41,6 @@
     <!--load name="sonar_maxbotix_booz.xml"/-->
   </modules>
 
-  <servos min="0" neutral="0" max="0xff">
-    <servo name="FRONT" no="0" min="0" neutral="0" max="255" />
-    <servo name="BACK" no="1" min="0" neutral="0" max="255" />
-    <servo name="RIGHT" no="2" min="0" neutral="0" max="255" />
-    <servo name="LEFT" no="3" min="0" neutral="0" max="255" />
-  </servos>
-
   <commands>
     <axis name="PITCH" failsafe_value="0" />
     <axis name="ROLL" failsafe_value="0" />
@@ -84,10 +80,6 @@
     <define name="GYRO_Q_SENS" value="1.1360802599" integer="16" />
     <define name="GYRO_R_SENS" value="1.1249874614" integer="16" />
 
-    <define name="ACCEL_X_CHAN" value="3" />
-    <define name="ACCEL_Y_CHAN" value="5" />
-    <define name="ACCEL_Z_CHAN" value="6" />
-
     <define name="ACCEL_X_SENS" value="2.45932966" integer="16"/>
     <define name="ACCEL_Y_SENS" value="2.45106376" integer="16"/>
     <define name="ACCEL_Z_SENS" value="2.47825717" integer="16"/>
diff --git a/conf/airframes/booz2_s1.xml b/conf/airframes/booz2_s1.xml
index bc0035c8cb..844dbe70cf 100644
--- a/conf/airframes/booz2_s1.xml
+++ b/conf/airframes/booz2_s1.xml
@@ -196,7 +196,7 @@ BOARD_CFG = \"boards/booz2_v1_0.h\"
 
 
 # Enables Canon Hack Development Kit features.
-ap.CFLAGS += -DLED -DCANON_CHDK
+ap.CFLAGS += -DUSE_LED -DCANON_CHDK
 ap.srcs += $(PAPARAZZI_SRC)/sw/airborne/chdk.c
 
 include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
diff --git a/conf/airframes/demo.xml b/conf/airframes/demo.xml
index e70c819f25..8fd502eaca 100644
--- a/conf/airframes/demo.xml
+++ b/conf/airframes/demo.xml
@@ -26,7 +26,7 @@ demo2.srcs = main_demo2.c
 demo2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
 demo2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-demo2.CFLAGS += -DLED
+demo2.CFLAGS += -DUSE_LED
 
 #
 # UART (interrupts) and formated ascii printing
@@ -39,12 +39,12 @@ demo3.srcs = main_demo3.c
 demo3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
 demo3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-demo3.CFLAGS += -DLED
+demo3.CFLAGS += -DUSE_LED
 
 demo3.srcs += $(SRC_ARCH)/armVIC.c
 
 demo3.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-demo3.srcs += $(SRC_ARCH)/uart_hw.c
+demo3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 #
 # DOWNLINK : send formated messages according to messages.xml description
@@ -58,12 +58,12 @@ demo4.srcs = main_demo4.c
 demo4.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
 demo4.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-demo4.CFLAGS += -DLED
+demo4.CFLAGS += -DUSE_LED
 
 demo4.srcs += $(SRC_ARCH)/armVIC.c
 
 demo4.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-demo4.srcs += $(SRC_ARCH)/uart_hw.c
+demo4.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 demo4.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 demo4.srcs += downlink.c pprz_transport.c
@@ -81,12 +81,12 @@ demo5.srcs = main_demo5.c
 demo5.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
 demo5.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-demo5.CFLAGS += -DLED
+demo5.CFLAGS += -DUSE_LED
 
 demo5.srcs += $(SRC_ARCH)/armVIC.c
 
 demo5.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-demo5.srcs += $(SRC_ARCH)/uart_hw.c
+demo5.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 demo5.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 demo5.srcs += downlink.c pprz_transport.c
@@ -105,7 +105,7 @@ demo6.srcs = main_demo6.c
 demo6.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
 demo6.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-demo6.CFLAGS += -DLED
+demo6.CFLAGS += -DUSE_LED
 
 demo6.srcs += $(SRC_ARCH)/armVIC.c
 
@@ -132,7 +132,7 @@ test_spk.srcs = main_test_spk.c
 test_spk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_spk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-test_spk.CFLAGS += -DLED
+test_spk.CFLAGS += -DUSE_LED
 
 test_spk.srcs += $(SRC_ARCH)/armVIC.c
 
@@ -143,7 +143,7 @@ test_spk.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
 test_spk.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
 
 test_spk.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200
-test_spk.srcs += $(SRC_ARCH)/uart_hw.c
+test_spk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
   </makefile>
 
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index f8e4223226..fc3166cfd7 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -164,7 +164,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c $(SRC_FIRMWARE)/main_fbw.c $(SRC_FIRMWARE)/main_ap.c $(SRC_FIRMWARE)/main.c
 
 ap.CFLAGS += -DINTER_MCU
@@ -181,7 +181,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ########## Modem
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ########## ADC
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
diff --git a/conf/airframes/hitl_usb.xml b/conf/airframes/hitl_usb.xml
index 7108d6acf2..653b66330c 100644
--- a/conf/airframes/hitl_usb.xml
+++ b/conf/airframes/hitl_usb.xml
@@ -114,7 +114,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -129,7 +129,7 @@ ap.srcs += pprz_transport.c
 #XBEE ap.srcs += xbee.c
 
 
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c datalink.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c datalink.c
 ap.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
 ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
 
@@ -154,7 +154,7 @@ ap.CFLAGS += -DGPS_USE_LATLONG # simulating LEA 5H
 
 # Config for SITL simulation
 sim.ARCHDIR = $(ARCH)
-sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED
+sim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED
 sim.srcs = latlong.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
 sim.srcs += subsystems/navigation/nav_survey_rectangle.c subsystems/navigation/nav_line.c subsystems/navigation/traffic_info.c
diff --git a/conf/airframes/logger_sd.xml b/conf/airframes/logger_sd.xml
index c310466dc7..0d6a3714b3 100644
--- a/conf/airframes/logger_sd.xml
+++ b/conf/airframes/logger_sd.xml
@@ -43,7 +43,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED
+ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_logger.c
 
 #choose one
@@ -53,7 +53,7 @@ ap.CFLAGS += -DLOG_XBEE
 #set the speed
 ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600 -DUSE_UART0_RX_ONLY
 ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B9600 -DUSE_UART1_RX_ONLY
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 #set SPI interface for SD card (0 or 1)
 ap.CFLAGS += -DHW_ENDPOINT_LPC2000_SPINUM=1
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index 9e4f2be2ed..4d00f9c4fa 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -29,8 +29,9 @@
   </firmware>
 
   <firmware name="setup">
-    <target name="tunnel" 		board="twog_1.0" />
-    <target name="setup_actuators" 	board="twog_1.0" />
+    <target name="tunnel"          board="twog_1.0" />
+    <target name="usb_tunnel_0"    board="twog_1.0" />
+    <target name="setup_actuators" board="twog_1.0" />
   </firmware>
 
   <modules main_freq="60">
diff --git a/conf/airframes/microjet_raw_makefile.xml b/conf/airframes/microjet_raw_makefile.xml
index 050277440c..28b71fef98 100644
--- a/conf/airframes/microjet_raw_makefile.xml
+++ b/conf/airframes/microjet_raw_makefile.xml
@@ -181,7 +181,7 @@
  CONFIG=\"tiny_2_11.h\"
  include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
  FLASH_MODE=IAP
- ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
  ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
  ap.srcs += commands.c
  ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
@@ -189,7 +189,7 @@
  ap.CFLAGS += -DRADIO_CONTROL
  ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
  ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
- ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
  ap.CFLAGS += -DINTER_MCU
  ap.srcs += inter_mcu.c
  ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
diff --git a/conf/airframes/mm/extra/logger_sd_adc.xml b/conf/airframes/mm/extra/logger_sd_adc.xml
index 390fac3e6e..e7d5417246 100644
--- a/conf/airframes/mm/extra/logger_sd_adc.xml
+++ b/conf/airframes/mm/extra/logger_sd_adc.xml
@@ -60,7 +60,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DLOGGER
+ap.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DLOGGER
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_logger.c
 
 #choose one
@@ -70,7 +70,7 @@ ap.CFLAGS += -DLOG_XBEE
 #set the speed
 ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUSE_UART0_RX_ONLY
 ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUSE_UART1_RX_ONLY
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 #set SPI interface for SD card (0 or 1)
 ap.CFLAGS += -DHW_ENDPOINT_LPC2000_SPINUM=0
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index 38dfec588a..8263abb2a4 100644
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -227,7 +227,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -239,11 +239,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/extra/quiet.xml b/conf/airframes/mm/extra/quiet.xml
index 0fac57e481..0d3754173d 100644
--- a/conf/airframes/mm/extra/quiet.xml
+++ b/conf/airframes/mm/extra/quiet.xml
@@ -23,7 +23,7 @@ ap.CFLAGS += -DLOG_XBEE
 #set the speed
 ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUSE_UART0_RX_ONLY
 ap.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUSE_UART1_RX_ONLY
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
   </makefile>
 
diff --git a/conf/airframes/mm/extra/rctx.xml b/conf/airframes/mm/extra/rctx.xml
index 45f385c3c0..ec0c2d90d2 100644
--- a/conf/airframes/mm/extra/rctx.xml
+++ b/conf/airframes/mm/extra/rctx.xml
@@ -32,14 +32,14 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DCONFIG=$(CONFIG) -DLED
+ap.CFLAGS +=  -DFBW -DAP -DCONFIG=$(CONFIG) -DUSE_LED
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_rctx.c
 
 ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c xbee.c
 
 ap.CFLAGS += -DUSE_DOWNLINK_BROADCAST
 
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index 69dc6e5362..d725fffcde 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -243,7 +243,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -255,11 +255,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_AUTO1
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
@@ -293,7 +293,7 @@ sim.ARCHDIR = $(ARCHI)
 sim.ARCH = sitl
 sim.TARGET = autopilot
 sim.TARGETDIR = autopilot
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index a0130847fa..b0e551ada1 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -204,7 +204,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -216,11 +216,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index 6c092bac67..1aee3db2a0 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -205,7 +205,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -217,11 +217,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index 190f934f62..183fe6112c 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -207,7 +207,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -219,11 +219,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 4147a894e9..0e006dc4e1 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -218,11 +218,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index 2f89ac7e7d..467eb62730 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -218,11 +218,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index 8f0fdbb206..402d3614d4 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -184,7 +184,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -196,11 +196,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index f5d33639e7..3647cddfc0 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
@@ -196,7 +196,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -208,10 +208,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index a4bbe25fa9..dd100932fc 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -185,7 +185,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -197,11 +197,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index a849c6653a..0731f33820 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -198,11 +198,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index 233c49573c..e4f607d80b 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -198,11 +198,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 3e7abb3574..be48d15148 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -198,11 +198,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index 2a4de16260..aaacc21284 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -198,11 +198,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index 4485d2195a..b9dd882225 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -212,7 +212,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -224,11 +224,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index 3e9f7d9597..68bee9865c 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -180,7 +180,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -192,7 +192,7 @@ ap.CFLAGS += -DRADIO_CONTROL -DUSE_RC_TELEMETRY
 ap.srcs += radio_control.c ppm_telemetry.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index ddf00fbd9a..13fca656e9 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -227,7 +227,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -239,11 +239,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 708cf98ac2..13db40d0c9 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -241,7 +241,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -253,11 +253,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index 92db7ebddb..870947b36c 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -203,7 +203,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -216,11 +216,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
@@ -247,7 +247,7 @@ ap.srcs += subsystems/navigation/snav.c
 # Config for SITL simulation
 # include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
 sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index fcb1f0398f..be9796bf51 100644
--- a/conf/airframes/mm/hangar/black_one.xml
+++ b/conf/airframes/mm/hangar/black_one.xml
@@ -216,7 +216,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -228,10 +228,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
index c87a0f442c..e8bf7ff754 100644
--- a/conf/airframes/mm/hangar/glass_one1.xml
+++ b/conf/airframes/mm/hangar/glass_one1.xml
@@ -206,7 +206,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -218,10 +218,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
index d1b53ac34e..2aa4cd4511 100644
--- a/conf/airframes/mm/hangar/glass_one2.xml
+++ b/conf/airframes/mm/hangar/glass_one2.xml
@@ -180,7 +180,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -192,10 +192,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
index 8eb4e8755e..64c7c610fb 100644
--- a/conf/airframes/mm/hangar/glass_one3.xml
+++ b/conf/airframes/mm/hangar/glass_one3.xml
@@ -207,7 +207,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -219,10 +219,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index c93cca0366..1dd11c946a 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -203,7 +203,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -215,11 +215,11 @@ ap.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_TYPE=RC_FUTABA
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
@@ -247,7 +247,7 @@ ap.srcs += subsystems/navigation/snav.c
 
 # Config for SITL simulation
 sim.ARCHDIR = $(ARCHI)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c infrared.c fw_h_ctl_a.c fw_v_ctl.c subsystems/nav.c estimator.c sys_time.c main_fbw.c main_ap.c datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c $(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c $(SRC_ARCH)/led_hw.c
 
 sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN
diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
index e7e2240692..932014cd75 100644
--- a/conf/airframes/mm/hangar/mac06a.xml
+++ b/conf/airframes/mm/hangar/mac06a.xml
@@ -200,7 +200,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -212,10 +212,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE  ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#XBEE  ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#XBEE  ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
index e2aca5ec54..887601c421 100644
--- a/conf/airframes/mm/hangar/red_one.xml
+++ b/conf/airframes/mm/hangar/red_one.xml
@@ -227,7 +227,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -239,10 +239,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/obsolete/dc_mc.xml b/conf/airframes/obsolete/dc_mc.xml
index fa94047805..76e6aff207 100644
--- a/conf/airframes/obsolete/dc_mc.xml
+++ b/conf/airframes/obsolete/dc_mc.xml
@@ -20,11 +20,11 @@ main.srcs = main_dc_mc.c
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-main.CFLAGS += -DLED
+main.CFLAGS += -DUSE_LED
 #-DTIME_LED=1
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-main.srcs += $(SRC_ARCH)/uart_hw.c
+main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 main.srcs += downlink.c pprz_transport.c
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index 2ebf40831f..bc44601368 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -178,7 +178,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -193,7 +193,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Telemetry configuration
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/obsolete/example.xml b/conf/airframes/obsolete/example.xml
index 81bd9b7c2b..e225a43a4d 100644
--- a/conf/airframes/obsolete/example.xml
+++ b/conf/airframes/obsolete/example.xml
@@ -20,12 +20,12 @@ example_gps.srcs = example/example_gps.c
 example_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-2)'
 example_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-example_gps.CFLAGS += -DLED
+example_gps.CFLAGS += -DUSE_LED
 
 example_gps.srcs += $(SRC_ARCH)/armVIC.c
 
 example_gps.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-example_gps.srcs += $(SRC_ARCH)/uart_hw.c
+example_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 example_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 example_gps.srcs += downlink.c pprz_transport.c
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index 6f5519ba87..b56de424ca 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -158,7 +158,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_MODULES
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_MODULES
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -173,7 +173,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Telemetry configuration
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index 418d2ba25f..5a7971bc76 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -175,7 +175,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -187,7 +187,7 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index 2202e38386..5e2287cacd 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -177,10 +177,10 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
-ap.CFLAGS += -DLED_3_BANK=0 -DLED_3_PIN=17 -DLED_4_BANK=0 -DLED_4_PIN=18 -DLED_5_BANK=0 -DLED_5_PIN=19 -DLED_6_BANK=0 -DLED_6_PIN=20
+ap.CFLAGS += -DUSE_LED_3_BANK=0 -DUSE_LED_3_PIN=17 -DUSE_LED_4_BANK=0 -DUSE_LED_4_PIN=18 -DUSE_LED_5_BANK=0 -DUSE_LED_5_PIN=19 -DUSE_LED_6_BANK=0 -DUSE_LED_6_PIN=20
 
 
 ap.srcs += commands.c
@@ -192,10 +192,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c latlong.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c latlong.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
index b253366e0c..71f9184796 100644
--- a/conf/airframes/obsolete/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -200,7 +200,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -213,11 +213,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # API mode
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
-# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 # transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
index ed08e55f50..1be67762ec 100644
--- a/conf/airframes/obsolete/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -200,11 +200,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 # transparent
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index 1948c1959d..913e68d99b 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -187,7 +187,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -200,11 +200,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B19200
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 # transparent
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index 36df078b8c..4697f6e2cc 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -176,7 +176,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -189,11 +189,11 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 # transparent
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
index 4e5aa431e1..2f73162216 100644
--- a/conf/airframes/obsolete/minimag_fs.xml
+++ b/conf/airframes/obsolete/minimag_fs.xml
@@ -182,7 +182,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -195,7 +195,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/nova.xml b/conf/airframes/obsolete/nova.xml
index 365565a847..256c6ae89e 100644
--- a/conf/airframes/obsolete/nova.xml
+++ b/conf/airframes/obsolete/nova.xml
@@ -11,10 +11,10 @@ timu.ARCHDIR = $(ARCHI)
 timu.CFLAGS += -DBOARD_CONFIG=\"tiny_2_0.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
 timu.srcs = nova_test_imu.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-timu.CFLAGS += -DLED  -DLED -DTIME_LED=1
+timu.CFLAGS += -DUSE_LED  -DUSE_LED -DTIME_LED=1
 
 timu.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
+timu.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c
 
 timu.srcs += $(SRC_ARCH)/ADS8344.c
 
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
index 086cbd8421..d44389ac6e 100644
--- a/conf/airframes/obsolete/slayer1.xml
+++ b/conf/airframes/obsolete/slayer1.xml
@@ -192,7 +192,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -204,10 +204,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600 -DXBEE868
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c latlong.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c latlong.c xbee.c
 
 #transp ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#transp ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#transp ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
index 928b3c88d8..b6f57d2451 100644
--- a/conf/airframes/obsolete/slayer3.xml
+++ b/conf/airframes/obsolete/slayer3.xml
@@ -194,7 +194,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -206,10 +206,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT   ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
index 48b830b90b..2cec49a721 100644
--- a/conf/airframes/obsolete/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -175,7 +175,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -188,11 +188,11 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #MAXSTREAM
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 #TRANSPARENT
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index 3cd8b34397..784f96a463 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -186,7 +186,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -200,7 +200,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Radiotronix
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
index 0311507969..2705338724 100644
--- a/conf/airframes/obsolete/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -168,7 +168,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -182,7 +182,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # Radiotronix
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index 53c1dc9c9e..ed3b0b5b42 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -185,7 +185,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -199,7 +199,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index 257a656625..108e8b940f 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -173,7 +173,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -187,7 +187,7 @@ ap.srcs += poradio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
index 99dc34336d..aa4eb82ea4 100644
--- a/conf/airframes/obsolete/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -228,7 +228,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -241,17 +241,17 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -#DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B57600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 
 ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
 
 #TRANSPARENT   ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
index 4220672e22..d18fb4a59b 100644
--- a/conf/airframes/obsolete/tiny2.xml
+++ b/conf/airframes/obsolete/tiny2.xml
@@ -199,7 +199,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -211,10 +211,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 #XBEE ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B57600
-#XBEE ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#XBEE ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 -DDATALINK=PPRZ -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/tl.xml b/conf/airframes/obsolete/tl.xml
index 0787729120..9412650b8c 100644
--- a/conf/airframes/obsolete/tl.xml
+++ b/conf/airframes/obsolete/tl.xml
@@ -86,7 +86,7 @@ ap.ARCHDIR = $(ARCHI)
 ap.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)' -I$(TL)
 ap.srcs = $(TL)/tl_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-ap.CFLAGS += -DLED  -DLED -DTIME_LED=1
+ap.CFLAGS += -DUSE_LED  -DUSE_LED -DTIME_LED=1
 
 ap.CFLAGS += -DADC
 ap.srcs += $(SRC_ARCH)/adc_hw.c $(TL)/tl_bat.c
@@ -101,7 +101,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # transparent
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c $(TL)/tl_telemetry.c datalink.c
 
 ap.CFLAGS += -DTL_AP_MODE_AUTO=TL_AP_MODE_NAV -DDT_VFILTER="(1./60.)"
 ap.srcs += $(TL)/tl_autopilot.c $(TL)/tl_control.c $(TL)/tl_estimator.c $(TL)/tl_vfilter.c
@@ -133,9 +133,9 @@ tmm.ARCHDIR = $(ARCHI)
 tmm.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
 tmm.srcs = $(TL)/tl_test_mm_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-tmm.CFLAGS += -DLED  -DLED -DTIME_LED=1
+tmm.CFLAGS += -DUSE_LED  -DUSE_LED -DTIME_LED=1
 tmm.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600
-tmm.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
+tmm.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c
 
 tmm.srcs += micromag.c $(SRC_ARCH)/micromag_hw.c
 
@@ -148,9 +148,9 @@ timu.ARCHDIR = $(ARCHI)
 timu.CFLAGS += -DBOARD_CONFIG=\"tiny_1_1.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(16.666e-3)'
 timu.srcs = $(TL)/tl_test_imu_main.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-timu.CFLAGS += -DLED  -DLED -DTIME_LED=1
+timu.CFLAGS += -DUSE_LED  -DUSE_LED -DTIME_LED=1
 timu.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DUART0_BAUD=B57600
-timu.srcs += downlink.c $(SRC_ARCH)/uart_hw.c pprz_transport.c
+timu.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c pprz_transport.c
 
 timu.srcs += $(TL)/tl_imu.c
 timu.CFLAGS += -DADC -DUSE_ADC_5 -DADC_CHANNEL_GR=ADC_5 -DUSE_ADC_6 -DADC_CHANNEL_RM=ADC_6 -DUSE_ADC_7 -DADC_CHANNEL_ACCEL=ADC_7
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index 0721f67e8b..8c2450f8d4 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -172,7 +172,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
 # FLASH_MODE=ISP
 FLASH_MODE=IAP
 
-fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1
+fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1
 fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
 
 fbw.srcs += commands.c
@@ -184,7 +184,7 @@ fbw.CFLAGS += -DRADIO_CONTROL
 fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
-fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
+fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
 fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
@@ -193,14 +193,14 @@ fbw.CFLAGS += -DADC -DUSE_AD0
 fbw.srcs += $(SRC_ARCH)/adc_hw.c
 
 
-ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2
+ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=2
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
 
 #ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c subsystems/navigation/traffic_info.c xbee.c
+#ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0  -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0
 ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
@@ -237,8 +237,8 @@ ap.CFLAGS += -DUSE_LIGHT
 
 
 
-test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING  -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
-test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
+test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING  -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
+test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
index a7a381a4eb..30aeb79607 100644
--- a/conf/airframes/obsolete/twinstar6.xml
+++ b/conf/airframes/obsolete/twinstar6.xml
@@ -180,7 +180,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/classix.makefile
 # FLASH_MODE=ISP
 FLASH_MODE=IAP
 
-fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1
+fbw.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1
 fbw.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main.c
 
 fbw.srcs += commands.c
@@ -192,7 +192,7 @@ fbw.CFLAGS += -DRADIO_CONTROL
 fbw.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 fbw.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DUART0_BAUD=B9600
-fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/uart_hw.c
+fbw.srcs += downlink.c pprz_transport.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 fbw.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_SLAVE
 fbw.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
@@ -201,11 +201,11 @@ fbw.CFLAGS += -DADC -DUSE_AD0
 fbw.srcs += $(SRC_ARCH)/adc_hw.c
 
 
-ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=2
+ap.CFLAGS += -DAP -DRADIO_CONTROL_AUTO1 -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=2
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_ap.c main.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_AP_DEVICE=Uart0  -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c subsystems/navigation/traffic_info.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c subsystems/navigation/traffic_info.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU -DMCU_SPI_LINK -DUSE_SPI -DSPI_MASTER
 ap.srcs += inter_mcu.c link_mcu.c spi.c $(SRC_ARCH)/spi_hw.c
@@ -237,8 +237,8 @@ ap.CFLAGS += -DDIGITAL_CAM
 ap.srcs += dc.c
 
 
-test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING  -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
-test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4017_hw.c main.c
+test.CFLAGS += -DFBW -DBOARD_CONFIG=\"classix.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4017_hw.h\" -DSERVOS_4017 -DSERVOS_4017_CLOCK_FALLING  -DUSE_UART0 -DDATALINK -DPPRZ_INPUT -DPPRZ_UART=Uart0 -DUART0_BAUD=B9600
+test.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4017_hw.c main.c
 
 # Config for SITL simulation
 include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
diff --git a/conf/airframes/obsolete/twisted.xml b/conf/airframes/obsolete/twisted.xml
index a9db415bc8..19ebf649b7 100644
--- a/conf/airframes/obsolete/twisted.xml
+++ b/conf/airframes/obsolete/twisted.xml
@@ -46,7 +46,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_1_1.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_coax.c main.c
 
 ap.CFLAGS += -DACTUATORS=\"servos_4015_MAT_hw.h\" -DSERVOS_4015_MAT
@@ -56,7 +56,7 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B19200
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DUSE_SPI -DSPI_MASTER -DUSE_SPI_SLAVE0 -DUSE_BARO_MS5534A
 ap.srcs += spi.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/baro_MS5534A.c
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index 15feae9864..049cea6a4f 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -204,7 +204,7 @@ FLASH_MODE=IAP
 
 ap.CFLAGS += -DTELEMETRY_MODE_FBW=1
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -216,10 +216,10 @@ ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
-# ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+# ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c xbee.c
 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
index 7c967182fa..972d9e9809 100644
--- a/conf/airframes/obsolete/xxx1.xml
+++ b/conf/airframes/obsolete/xxx1.xml
@@ -209,7 +209,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=\"tiny_0_99.h\" -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -222,10 +222,10 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=XBeeTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DXBEE_UART=Uart0 -DDATALINK=XBEE -DUART0_BAUD=B9600
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B57600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 #TRANSPARENT   ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+#TRANSPARENT ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU
@@ -278,8 +278,8 @@ sim.srcs += subsystems/navigation/nav_line.c subsystems/navigation/nav_survey_re
 # a test program to setup actuators
 setup_actuators.ARCHDIR = $(ARCHI)
 
-setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
+setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
 
   </makefile>
 </airframe>
diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml
new file mode 100644
index 0000000000..ec26252172
--- /dev/null
+++ b/conf/airframes/test_hb.xml
@@ -0,0 +1,209 @@
+<!DOCTYPE airframe SYSTEM "airframe.dtd">
+
+<airframe name="Delta HBv1.1">
+
+  <firmware name="fixedwing">
+    <target name="sim" 			board="pc"/>
+    <target name="ap" 			board="hb_1.1"/>
+
+    <subsystem name="radio_control" type="ppm"/>
+    <subsystem name="telemetry" 	type="transparent"/>
+
+    <subsystem name="actuators" type="4017"/> <!-- actuators not defined for hb board yet -->
+    <subsystem name="control"/>
+
+    <!-- Attitude Estimation -->
+    <subsystem name="attitude" 		type="dcm"/>
+
+    <!-- Sensors -->
+    <!-- <subsystem name="imu" type="hb"/> does not exist yet-->
+    <subsystem name="gps" 		    type="ublox_lea5h"/>
+
+    <subsystem name="navigation"/>
+  </firmware>
+
+
+  <firmware name="setup">
+    <target name="tunnel" 		    board="hb_1.1"/>
+  </firmware>
+
+  <modules main_freq="60">
+    <load name="sys_mon.xml"/>
+  </modules>
+
+<!-- commands section -->
+  <servos>
+    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT"  no="2" min="1900" neutral="1521" max="1100"/>
+    <servo name="AILEVON_RIGHT" no="6" min="1100" neutral="1510" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="THROTTLE" failsafe_value="0"/>
+    <axis name="ROLL"     failsafe_value="0"/>
+    <axis name="PITCH"    failsafe_value="0"/>
+  </commands>
+
+  <rc_commands>
+    <set command="THROTTLE" value="@THROTTLE"/>
+    <set command="ROLL"     value="@ROLL"/>
+    <set command="PITCH"    value="@PITCH"/>
+  </rc_commands>
+
+  <section name="MIXER">
+    <define name="AILEVON_AILERON_RATE" value="0.45"/>
+    <define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
+  </section>
+
+  <command_laws>
+    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
+    <set servo="MOTOR"           value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- MAX1168 ADC CHANNELS -->
+    <define name="GYRO_P_CHAN" value="0"/>
+    <define name="GYRO_Q_CHAN" value="1"/>
+    <define name="GYRO_R_CHAN" value="2"/>
+
+    <define name="ACCEL_X_CHAN" value="4"/>
+    <define name="ACCEL_Y_CHAN" value="3"/>
+    <define name="ACCEL_Z_CHAN" value="5"/>
+
+    <!-- Calibration Neutral -->
+    <define name="GYRO_P_NEUTRAL" value="33924"/>
+    <define name="GYRO_Q_NEUTRAL" value="33417"/>
+    <define name="GYRO_R_NEUTRAL" value="32809"/>
+
+    <define name="GYRO_P_SENS" value=" 1.00" integer="16"/>
+    <define name="GYRO_Q_SENS" value=" 1.00" integer="16"/>
+    <define name="GYRO_R_SENS" value=" 1.00" integer="16"/>
+
+    <define name="GYRO_P_SIGN" value="1"/>
+    <define name="GYRO_Q_SIGN" value="1"/>
+    <define name="GYRO_R_SIGN" value="1"/>
+
+    <define name="ACCEL_X_NEUTRAL" value="26000"/>
+    <define name="ACCEL_Y_NEUTRAL" value="26000"/>
+    <define name="ACCEL_Z_NEUTRAL" value="26000"/>
+
+    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+
+    <define name="ACCEL_X_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="1"/>
+    <define name="ACCEL_Z_SIGN" value="-1"/>
+
+    <define name="MAG_X_NEUTRAL" value="2358"/>
+    <define name="MAG_Y_NEUTRAL" value="2362"/>
+    <define name="MAG_Z_NEUTRAL" value="2119"/>
+
+    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
+    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
+    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+
+    <define name="BODY_TO_IMU_PHI" value="0"/>
+    <define name="BODY_TO_IMU_THETA" value="0"/>
+    <define name="BODY_TO_IMU_PSI" value="0"/>
+  </section>
+
+  <section name="INS" prefix="INS_" >
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0"/>
+  </section>
+
+  <section name="AUTO1" prefix="AUTO1_">
+    <define name="MAX_ROLL" value="0.85"/>
+    <define name="MAX_PITCH" value="0.6"/>
+  </section>
+
+  <section name="BAT">
+    <define name="MILLIAMP_AT_FULL_THROTTLE" value="10000."/>
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+  </section>
+
+  <section name="MISC">
+    <define name="NOMINAL_AIRSPEED" value="15." unit="m/s"/>
+    <define name="CARROT" value="5." unit="s"/>
+    <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
+    <define name="CONTROL_RATE" value="60" unit="Hz"/>
+    <define name="ALT_KALMAN_ENABLED" value="FALSE"/>
+
+    <define name="TRIGGER_DELAY" value="1."/>
+    <define name="DEFAULT_CIRCLE_RADIUS" value="120."/>
+  </section>
+
+  <section name="VERTICAL CONTROL" prefix="V_CTL_">
+    <define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
+    <!-- outer loop proportional gain -->
+    <define name="ALTITUDE_PGAIN" value="-0.06"/> <!-- -0.024 -->
+    <!-- outer loop saturation -->
+    <define name="ALTITUDE_MAX_CLIMB" value="2."/>
+
+    <!-- auto throttle inner loop -->
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.45"/>
+    <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.35"/>
+    <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.85"/>
+    <define name="AUTO_THROTTLE_LOITER_TRIM" value="1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
+    <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
+    <define name="AUTO_THROTTLE_PGAIN" value="-0.023"/> <!-- -0.012 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
+
+    <!-- auto pitch inner loop -->
+    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
+    <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
+    <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
+
+    <define name="THROTTLE_SLEW" value="0.1"/>
+  </section>
+
+  <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
+    <define name="COURSE_PGAIN" value="-0.9"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+
+    <define name="ROLL_PGAIN" value="6600."/>
+    <define name="AILERON_OF_THROTTLE" value="0.0"/>
+    <define name="PITCH_PGAIN" value="-5500."/>
+    <define name="PITCH_DGAIN" value="0.4"/>
+
+    <define name="ELEVATOR_OF_ROLL" value="2400"/>
+  </section>
+
+  <section name="NAV">
+    <define name="NAV_PITCH" value="0."/>
+    <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
+  </section>
+
+  <section name="AGGRESSIVE" prefix="AGR_">
+    <define name="BLEND_START" value="50"/><!-- Altitude Error to Initiate Aggressive Climb CANNOT BE ZERO!!-->
+    <define name="BLEND_END" value="15"/><!-- Altitude Error to Blend Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
+    <define name="CLIMB_THROTTLE" value="0.9"/><!-- Gaz for Aggressive Climb -->
+    <define name="CLIMB_PITCH" value="0.35"/><!-- Pitch for Aggressive Climb -->
+    <define name="DESCENT_THROTTLE" value="0.05"/><!-- Gaz for Aggressive Decent -->
+    <define name="DESCENT_PITCH" value="-0.35"/><!-- Pitch for Aggressive Decent -->
+    <define name="CLIMB_NAV_RATIO" value="0.8"/><!-- Percent Navigation for Altitude Error Equal to Start Altitude -->
+    <define name="DESCENT_NAV_RATIO" value="1.0"/>
+    </section>
+
+  <section name="FAILSAFE" prefix="FAILSAFE_">
+    <define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
+    <define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
+    <define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
+    <define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
+    <define name="HOME_RADIUS" value="100" unit="m"/>
+  </section>
+
+  <section name="SIMU">
+    <define name="YAW_RESPONSE_FACTOR" value="0.5"/>
+  </section>
+
+</airframe>
diff --git a/conf/airframes/test_i2c.xml b/conf/airframes/test_i2c.xml
index c575a5cd8e..8ddf557a10 100644
--- a/conf/airframes/test_i2c.xml
+++ b/conf/airframes/test_i2c.xml
@@ -19,10 +19,10 @@ FLASH_MODE = ISP
 mb.CFLAGS += -DBOARD_CONFIG=\"conf_motor_bench.h\" -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(10e-3)'
 mb.srcs = $(SRC_ARCH)/main_test_i2c.c sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-mb.CFLAGS += -DLED
+mb.CFLAGS += -DUSE_LED
 
 mb.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-mb.srcs += $(SRC_ARCH)/uart_hw.c
+mb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 mb.srcs += downlink.c pprz_transport.c
diff --git a/conf/airframes/tiny_hitl.xml b/conf/airframes/tiny_hitl.xml
index ac97fa1fc3..4638d90d03 100644
--- a/conf/airframes/tiny_hitl.xml
+++ b/conf/airframes/tiny_hitl.xml
@@ -165,7 +165,7 @@ include $(PAPARAZZI_SRC)/conf/autopilot/tiny.makefile
 
 FLASH_MODE=IAP
 
-ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1
+ap.CFLAGS +=  -DFBW -DAP -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1
 ap.srcs = sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c main_fbw.c main_ap.c main.c
 
 ap.srcs += commands.c
@@ -179,7 +179,7 @@ ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c
 
 # transparent 
 ap.CFLAGS += -DDOWNLINK -DUSE_UART0 -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_FBW_DEVICE=Uart0 -DDOWNLINK_AP_DEVICE=Uart0 -DPPRZ_UART=Uart0 -DDATALINK=PPRZ -DUART0_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c datalink.c pprz_transport.c
 
 ap.CFLAGS += -DINTER_MCU
 ap.srcs += inter_mcu.c 
diff --git a/conf/airframes/vor.xml b/conf/airframes/vor.xml
index ea7f66b737..ef449a636a 100644
--- a/conf/airframes/vor.xml
+++ b/conf/airframes/vor.xml
@@ -14,14 +14,14 @@ main.srcs = firmwares/vor/lpc_vor_main.c
 main.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./29880.)'
 main.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-main.CFLAGS += -DLED
+main.CFLAGS += -DUSE_LED
 
 main.srcs += $(SRC_ARCH)/armVIC.c
 
 main.srcs += firmwares/vor/lpc_vor_convertions.c
 
 main.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B9600
-main.srcs += $(SRC_ARCH)/uart_hw.c
+main.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 main.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 main.srcs += downlink.c pprz_transport.c
diff --git a/conf/airframes/wind_tunnel.xml b/conf/airframes/wind_tunnel.xml
index 2ae886c686..418362b110 100644
--- a/conf/airframes/wind_tunnel.xml
+++ b/conf/airframes/wind_tunnel.xml
@@ -17,12 +17,12 @@ ap.srcs = $(WIND_TUNNEL)/main.c
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-1)'
 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-ap.CFLAGS += -DLED
+ap.CFLAGS += -DUSE_LED
 
 ap.srcs += $(SRC_ARCH)/armVIC.c
 
 ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 ap.srcs += downlink.c pprz_transport.c
@@ -47,12 +47,12 @@ mb.srcs = $(WIND_TUNNEL)/main_mb.c
 mb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1e-2)'
 mb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
-mb.CFLAGS += -DLED
+mb.CFLAGS += -DUSE_LED
 
 mb.srcs += $(SRC_ARCH)/armVIC.c
 
 mb.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
-mb.srcs += $(SRC_ARCH)/uart_hw.c
+mb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 mb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0 
 mb.srcs += downlink.c pprz_transport.c
diff --git a/conf/autopilot/booz2_test_progs.makefile b/conf/autopilot/booz2_test_progs.makefile
index 1d35e9ce1b..ec7cc603ac 100644
--- a/conf/autopilot/booz2_test_progs.makefile
+++ b/conf/autopilot/booz2_test_progs.makefile
@@ -22,6 +22,8 @@
 #
 #
 
+include $(PAPARAZZI_SRC)/conf/autopilot/booz2_common.makefile
+
 #
 # test_led : blinks all leds
 #
@@ -47,7 +49,7 @@ test_downlink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./10.))' -DTIM
 test_downlink.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_downlink.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_downlink.srcs   += $(SRC_ARCH)/uart_hw.c
+test_downlink.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_downlink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_downlink.srcs   += downlink.c pprz_transport.c
@@ -66,7 +68,7 @@ test_max1168.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIM
 test_max1168.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_max1168.srcs   += $(SRC_ARCH)/uart_hw.c
+test_max1168.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_max1168.srcs   += downlink.c pprz_transport.c
@@ -83,11 +85,11 @@ test_micromag.ARCHDIR = $(ARCH)
 test_micromag.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_micromag.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag.c
 test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_micromag.CFLAGS += -DLED
+test_micromag.CFLAGS += -DUSE_LED
 test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_micromag.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_micromag.srcs += $(SRC_ARCH)/uart_hw.c
+test_micromag.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_micromag.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_micromag.srcs += downlink.c pprz_transport.c
@@ -108,12 +110,13 @@ tunnel.ARCHDIR = $(ARCH)
 tunnel.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 tunnel.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel.c
 tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-tunnel.CFLAGS += -DLED
+tunnel.CFLAGS += -DUSE_LED
 tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 
 tunnel.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B38400
 tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-tunnel.srcs += $(SRC_ARCH)/uart_hw.c
+tunnel.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 
 #
@@ -124,7 +127,7 @@ tunnel_bb.ARCHDIR = $(ARCH)
 tunnel_bb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 tunnel_bb.srcs += $(SRC_BOOZ_TEST)/booz2_tunnel_bb.c
 tunnel_bb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-tunnel_bb.CFLAGS += -DLED
+tunnel_bb.CFLAGS += -DUSE_LED
 tunnel_bb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 
@@ -137,11 +140,11 @@ test_gps.ARCHDIR = $(ARCH)
 test_gps.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_gps.srcs += $(SRC_BOOZ_TEST)/booz2_test_gps.c
 test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_gps.CFLAGS += -DLED
+test_gps.CFLAGS += -DUSE_LED
 test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_gps.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_gps.srcs += $(SRC_ARCH)/uart_hw.c
+test_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_gps.srcs += downlink.c pprz_transport.c
@@ -162,11 +165,11 @@ test_modem.ARCHDIR = $(ARCH)
 test_modem.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_modem.srcs += $(SRC_BOOZ_TEST)/booz2_test_modem.c
 test_modem.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_modem.CFLAGS += -DLED
+test_modem.CFLAGS += -DUSE_LED
 test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_modem.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_modem.srcs += $(SRC_ARCH)/uart_hw.c
+test_modem.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_modem.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_modem.srcs += downlink.c pprz_transport.c
@@ -184,17 +187,17 @@ test_usb.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_usb.srcs += $(SRC_BOOZ_TEST)/booz2_test_usb.c
 test_usb.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 # -DTIME_LED=1
-test_usb.CFLAGS += -DLED
+test_usb.CFLAGS += -DUSE_LED
 test_usb.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 #test_usb.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-#test_usb.srcs += $(SRC_ARCH)/uart_hw.c
+#test_usb.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 #test_usb.srcs += downlink.c pprz_transport.c
 
 test_usb.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
 test_usb.CFLAGS += -DDOWNLINK_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
-test_usb.srcs += downlink.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c
+test_usb.srcs += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/usb_ser_hw.c pprz_transport.c
 # $(SRC_FIRMWARE)/datalink.c
 test_usb.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbcontrol.c
 test_usb.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
@@ -212,11 +215,11 @@ test_ami.ARCHDIR = $(ARCH)
 test_ami.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) $(BOOZ_CFLAGS)
 test_ami.srcs += $(SRC_BOOZ_TEST)/booz2_test_ami.c
 test_ami.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1
-test_ami.CFLAGS += -DLED
+test_ami.CFLAGS += -DUSE_LED
 test_ami.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_ami.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_ami.srcs += $(SRC_ARCH)/uart_hw.c
+test_ami.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_ami.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_ami.srcs += downlink.c pprz_transport.c
@@ -235,11 +238,11 @@ test_crista.ARCHDIR = $(ARCH)
 test_crista.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_crista.srcs += $(SRC_BOOZ_TEST)/booz2_test_crista.c
 test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_crista.CFLAGS += -DLED
+test_crista.CFLAGS += -DUSE_LED
 test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_crista.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600
-test_crista.srcs += $(SRC_ARCH)/uart_hw.c
+test_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart0
 test_crista.srcs += downlink.c pprz_transport.c
@@ -261,11 +264,11 @@ test_micromag2.srcs += $(SRC_BOOZ_TEST)/booz2_test_micromag_2.c
 test_micromag2.CFLAGS += -DSSP_VIC_SLOT=9
 test_micromag2.CFLAGS += -DMICROMAG_DRDY_VIC_SLOT=8
 test_micromag2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./50.))' -DTIME_LED=1
-test_micromag2.CFLAGS += -DLED
+test_micromag2.CFLAGS += -DUSE_LED
 test_micromag2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_micromag2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_micromag2.srcs += $(SRC_ARCH)/uart_hw.c
+test_micromag2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_micromag2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_micromag2.srcs += downlink.c pprz_transport.c
@@ -283,11 +286,11 @@ test_imu_b2.ARCHDIR = $(ARCH)
 test_imu_b2.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_imu_b2.srcs += $(SRC_BOOZ_TEST)/booz2_test_imu_b2.c
 test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_imu_b2.CFLAGS += -DLED
+test_imu_b2.CFLAGS += -DUSE_LED
 test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_imu_b2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
+test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_imu_b2.srcs += downlink.c pprz_transport.c
@@ -313,11 +316,11 @@ test_rc_spektrum.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLA
 test_rc_spektrum.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_rc_spektrum.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c
 test_rc_spektrum.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_rc_spektrum.CFLAGS += -DLED
+test_rc_spektrum.CFLAGS += -DUSE_LED
 test_rc_spektrum.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 #test_rc_spektrum.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-#test_rc_spektrum.srcs += $(SRC_ARCH)/uart_hw.c
+#test_rc_spektrum.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 #test_rc_spektrum.srcs += downlink.c pprz_transport.c
 test_rc_spektrum.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
@@ -333,7 +336,7 @@ test_rc_spektrum.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
 test_rc_spektrum.CFLAGS += -DRADIO_CONTROL_LINK=Uart0
 test_rc_spektrum.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
 						 $(SRC_SUBSYSTEMS)/radio_control_spektrum.c \
-						 $(SRC_ARCH)/uart_hw.c
+						 $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 #
 # test rc ppm
@@ -345,11 +348,11 @@ test_rc_ppm.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARC
 test_rc_ppm.CFLAGS += -DPERIPHERALS_AUTO_INIT
 test_rc_ppm.srcs += $(SRC_BOOZ_TEST)/booz2_test_radio_control.c
 test_rc_ppm.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_rc_ppm.CFLAGS += -DLED
+test_rc_ppm.CFLAGS += -DUSE_LED
 test_rc_ppm.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 #test_rc_ppm.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-#test_rc_ppm.srcs += $(SRC_ARCH)/uart_hw.c
+#test_rc_ppm.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 #test_rc_ppm.srcs += downlink.c pprz_transport.c
 test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
@@ -374,11 +377,11 @@ test_mc.ARCHDIR = $(ARCH)
 test_mc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_mc.srcs += $(SRC_BOOZ_TEST)/booz2_test_mc.c
 test_mc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_mc.CFLAGS += -DLED
+test_mc.CFLAGS += -DUSE_LED
 test_mc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_mc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_mc.srcs += $(SRC_ARCH)/uart_hw.c
+test_mc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_mc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_mc.srcs += downlink.c pprz_transport.c
@@ -403,7 +406,7 @@ test_buss_bldc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DT
 test_buss_bldc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_buss_bldc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_buss_bldc.srcs += $(SRC_ARCH)/uart_hw.c
+test_buss_bldc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_buss_bldc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_buss_bldc.srcs += downlink.c pprz_transport.c
@@ -421,11 +424,11 @@ test_amc.ARCHDIR = $(ARCH)
 test_amc.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) -I$(SRC_BOOZ_ARCH)
 test_amc.srcs += $(SRC_BOOZ_TEST)/booz2_test_amc.c
 test_amc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
-test_amc.CFLAGS += -DLED
+test_amc.CFLAGS += -DUSE_LED
 test_amc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_amc.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_amc.srcs += $(SRC_ARCH)/uart_hw.c
+test_amc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_amc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_amc.srcs += downlink.c pprz_transport.c
@@ -465,12 +468,12 @@ test_baro_24.ARCHDIR = $(ARCH)
 test_baro_24.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -I$(SRC_BOOZ) $(BOOZ_CFLAGS)
 test_baro_24.srcs += $(SRC_BOOZ_TEST)/booz2_test_baro_24.c
 test_baro_24.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./5.))' -DTIME_LED=1
-test_baro_24.CFLAGS += -DLED
+test_baro_24.CFLAGS += -DUSE_LED
 test_baro_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 
 test_baro_24.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_baro_24.srcs += $(SRC_ARCH)/uart_hw.c
+test_baro_24.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_baro_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_baro_24.srcs += downlink.c pprz_transport.c
diff --git a/conf/autopilot/csc.makefile b/conf/autopilot/csc.makefile
index 2f83265bca..f30151ea99 100644
--- a/conf/autopilot/csc.makefile
+++ b/conf/autopilot/csc.makefile
@@ -46,14 +46,14 @@ ap.ARCHDIR = $(ARCHI)
 ap.CFLAGS += -I$(SRC_CSC)
 ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 ap.srcs += $(SRC_CSC)/csc_main.c
-ap.CFLAGS += -DLED -DTIME_LED=1
+ap.CFLAGS += -DUSE_LED -DTIME_LED=1
 
 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
 
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
 
@@ -99,13 +99,13 @@ test_uart.ARCHDIR = $(ARCHI)
 test_uart.CFLAGS += -I$(SRC_CSC)
 test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_uart.srcs += $(SRC_CSC)/csc_test_uart.c
-test_uart.CFLAGS += -DLED
+test_uart.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-test_uart.srcs += $(SRC_ARCH)/uart_hw.c
+test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
@@ -123,7 +123,7 @@ test_can1.ARCHDIR = $(ARCHI)
 test_can1.CFLAGS += -I$(SRC_CSC)
 test_can1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_can1.srcs += $(SRC_CSC)/test_can1.c
-test_can1.CFLAGS += -DLED
+test_can1.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_can1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
diff --git a/conf/autopilot/csc_ap.makefile b/conf/autopilot/csc_ap.makefile
index ee88e9d2c1..d1d6b55322 100644
--- a/conf/autopilot/csc_ap.makefile
+++ b/conf/autopilot/csc_ap.makefile
@@ -46,14 +46,14 @@ ap.ARCHDIR = $(ARCHI)
 ap.CFLAGS += -I$(SRC_CSC)
 ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 ap.srcs += $(SRC_CSC)/csc_ap_main.c
-ap.CFLAGS += -DLED -DTIME_LED=1
+ap.CFLAGS += -DUSE_LED -DTIME_LED=1
 
 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
 
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./40.))' -DTIMER0_VIC_SLOT=1
 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
 
@@ -102,13 +102,13 @@ test_uart.ARCHDIR = $(ARCHI)
 test_uart.CFLAGS += -I$(SRC_CSC)
 test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_uart.srcs += $(SRC_CSC)/csc_test_uart.c
-test_uart.CFLAGS += -DLED
+test_uart.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-test_uart.srcs += $(SRC_ARCH)/uart_hw.c
+test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
diff --git a/conf/autopilot/mercury.makefile b/conf/autopilot/mercury.makefile
index 1c2a5b1a9e..0bf68c81ef 100644
--- a/conf/autopilot/mercury.makefile
+++ b/conf/autopilot/mercury.makefile
@@ -49,7 +49,7 @@ ap.ARCHDIR = $(ARCHI)
 ap.CFLAGS += -I$(SRC_CSC) -I$(SRC_BOOZ) -I$(SRC_CSC_ARCH)
 ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 ap.srcs += $(SRC_CSC)/mercury_main.c
-ap.CFLAGS += -DLED -DTIME_LED=1
+ap.CFLAGS += -DUSE_LED -DTIME_LED=1
 ap.CFLAGS += -DAHRS_ALIGNER_LED=2
 
 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
@@ -57,7 +57,7 @@ ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
 ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 ap.CFLAGS += -DADC -DUSE_AD0 -DUSE_AD0_0 -DUSE_AD0_1
 
@@ -128,13 +128,13 @@ test_uart.ARCHDIR = $(ARCHI)
 test_uart.CFLAGS += -I$(SRC_CSC)
 test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_uart.srcs += $(SRC_CSC)/csc_test_uart.c
-test_uart.CFLAGS += -DLED
+test_uart.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-test_uart.srcs += $(SRC_ARCH)/uart_hw.c
+test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
diff --git a/conf/autopilot/mercury_csc.makefile b/conf/autopilot/mercury_csc.makefile
index 1515defa7b..b8f5cd04e8 100644
--- a/conf/autopilot/mercury_csc.makefile
+++ b/conf/autopilot/mercury_csc.makefile
@@ -47,7 +47,7 @@ ap.ARCHDIR = $(ARCH)
 ap.CFLAGS += -I$(SRC_CSC) -I$(SRC_CSC_ARCH)
 ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 ap.srcs += $(SRC_CSC)/mercury_csc_main.c
-ap.CFLAGS += -DLED -DTIME_LED=1
+ap.CFLAGS += -DUSE_LED -DTIME_LED=1
 
 ap.CFLAGS += -DCSC_BOARD_ID=$(CSC_ID)
 
@@ -79,7 +79,7 @@ ap.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B57600 -DUART0_VIC_SLOT=5
 
 ap.CFLAGS += -DACTUATORS=\"servos_direct_hw.h\"
 ap.srcs += actuators.c
-ap.srcs += $(SRC_ARCH)/uart_hw.c
+ap.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ap.srcs += $(SRC_ARCH)/servos_direct_hw.c
 ap.srcs += $(SRC_CSC)/csc_servos.c
 ap.srcs += $(SRC_CSC)/csc_bat_monitor.c
@@ -98,13 +98,13 @@ test_uart.ARCHDIR = $(ARCH)
 test_uart.CFLAGS += -I$(SRC_CSC)
 test_uart.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_uart.srcs += $(SRC_CSC)/csc_test_uart.c
-test_uart.CFLAGS += -DLED
+test_uart.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
-test_uart.srcs += $(SRC_ARCH)/uart_hw.c
+test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_uart.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DUART1_VIC_SLOT=6
 test_uart.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport \
@@ -122,7 +122,7 @@ test_can1.ARCHDIR = $(ARCH)
 test_can1.CFLAGS += -I$(SRC_CSC)
 test_can1.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 test_can1.srcs += $(SRC_CSC)/test_can1.c
-test_can1.CFLAGS += -DLED
+test_can1.CFLAGS += -DUSE_LED
 
 # -DTIME_LED=1
 test_can1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIMER0_VIC_SLOT=1
diff --git a/conf/autopilot/obsolete/booz_test_progs.makefile b/conf/autopilot/obsolete/booz_test_progs.makefile
index 1374184582..00fa88a447 100644
--- a/conf/autopilot/obsolete/booz_test_progs.makefile
+++ b/conf/autopilot/obsolete/booz_test_progs.makefile
@@ -77,7 +77,7 @@ test_telemetry.CFLAGS += -DUSE_$(MODEM_PORT)
 test_telemetry.CFLAGS += -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
 test_telemetry.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_telemetry.srcs   += downlink.c pprz_transport.c
-test_telemetry.srcs   += $(SRC_ARCH)/uart_hw.c
+test_telemetry.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 
 #
@@ -102,7 +102,7 @@ test_baro.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_baro.srcs   += downlink.c pprz_transport.c
 test_baro.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_baro.srcs   += $(SRC_ARCH)/uart_hw.c
+test_baro.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_baro.srcs   += $(SRC_BOARD)/baro_board.c
 test_baro.CFLAGS += -DBOOZ2_ANALOG_BARO_PERIOD='SYS_TICS_OF_SEC((1./100.))'
 test_baro.CFLAGS += -DADC0_VIC_SLOT=2
@@ -146,7 +146,7 @@ test_rc_ppm.CFLAGS += -DTIME_LED=$(SYS_TIME_LED)
 test_rc_ppm.srcs   += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 test_rc_ppm.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_rc_ppm.srcs   += $(SRC_ARCH)/uart_hw.c
+test_rc_ppm.srcs   += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_rc_ppm.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_rc_ppm.srcs   += downlink.c pprz_transport.c
 test_rc_ppm.CFLAGS += -DRADIO_CONTROL -DRADIO_CONTROL_LED=$(RADIO_CONTROL_LED)
@@ -192,7 +192,7 @@ test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_actuators_mkk.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
+test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_actuators_mkk.srcs += downlink.c pprz_transport.c
@@ -223,7 +223,7 @@ test_ami601.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_ami601.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_ami601.CFLAGS += -DUSE_$(MODEM_PORT) -D$(MODEM_PORT)_BAUD=$(MODEM_BAUD)
-test_ami601.srcs += $(SRC_ARCH)/uart_hw.c
+test_ami601.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_ami601.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=$(MODEM_PORT)
 test_ami601.srcs += downlink.c pprz_transport.c
diff --git a/conf/autopilot/obsolete/lisa_test_progs.makefile b/conf/autopilot/obsolete/lisa_test_progs.makefile
index 820d88da9d..7be32e25e9 100644
--- a/conf/autopilot/obsolete/lisa_test_progs.makefile
+++ b/conf/autopilot/obsolete/lisa_test_progs.makefile
@@ -186,7 +186,7 @@ test_uart.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_uart.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_uart.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_uart.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_uart.srcs += $(SRC_ARCH)/uart_hw.c
+test_uart.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 
 
@@ -205,7 +205,7 @@ test_telemetry1.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_telemetry1.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_telemetry1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_telemetry1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_telemetry1.srcs += $(SRC_ARCH)/uart_hw.c
+test_telemetry1.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_telemetry1.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_telemetry1.srcs += downlink.c pprz_transport.c
 
@@ -225,7 +225,7 @@ test_telemetry2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_telemetry2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_telemetry2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_telemetry2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_telemetry2.srcs += $(SRC_ARCH)/uart_hw.c
+test_telemetry2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_telemetry2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_telemetry2.srcs += downlink.c pprz_transport.c
 
@@ -245,7 +245,7 @@ test_telemetry3.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_telemetry3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_telemetry3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_telemetry3.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B57600
-test_telemetry3.srcs += $(SRC_ARCH)/uart_hw.c
+test_telemetry3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_telemetry3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart3
 test_telemetry3.srcs += downlink.c pprz_transport.c
 
@@ -264,7 +264,7 @@ test_datalink.CFLAGS += -DUSE_SYS_TIME  -DSYS_TIME_LED=1
 test_datalink.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_datalink.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_datalink.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_datalink.srcs += $(SRC_ARCH)/uart_hw.c
+test_datalink.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_datalink.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_datalink.srcs += downlink.c pprz_transport.c
 test_datalink.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
@@ -296,7 +296,7 @@ tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
 
 #tunnel.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200
 #tunnel.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B115200
-tunnel.srcs += $(SRC_ARCH)/uart_hw.c
+tunnel.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 
 
@@ -315,7 +315,7 @@ test_float.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_float.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_float.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_float.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_float.srcs += $(SRC_ARCH)/uart_hw.c
+test_float.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_float.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_float.srcs += downlink.c pprz_transport.c
 test_float.srcs += lisa/plug_sys.c
@@ -352,7 +352,7 @@ test_rc_24.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_rc_24.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_rc_24.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_rc_24.srcs += $(SRC_ARCH)/uart_hw.c
+test_rc_24.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_rc_24.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_rc_24.srcs += downlink.c pprz_transport.c
 
@@ -363,7 +363,7 @@ test_rc_24.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
 test_rc_24.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
 test_rc_24.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
                    $(SRC_BOOZ)/subsystems/radio_control/spektrum.c
-#                  $(SRC_ARCH)/uart_hw.c
+#                  $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 
 #
@@ -389,7 +389,7 @@ test_servos.srcs += $(SRC_FIRMWARE)/actuators/actuators_pwm.c $(SRC_FIRMWARE)/ac
 
 
 #test_servos.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-#test_servos.srcs += $(SRC_ARCH)/uart_hw.c
+#test_servos.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #test_servos.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 #test_servos.srcs += downlink.c pprz_transport.c
 
@@ -416,7 +416,7 @@ test_imu_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_imu_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_imu_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_imu_b2.srcs += $(SRC_ARCH)/uart_hw.c
+test_imu_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_imu_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_imu_b2.srcs += downlink.c pprz_transport.c
@@ -450,7 +450,7 @@ test_imu_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_imu_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_imu_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_imu_crista.srcs += $(SRC_ARCH)/uart_hw.c
+test_imu_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_imu_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_imu_crista.srcs += downlink.c pprz_transport.c
@@ -482,7 +482,7 @@ test_imu_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_imu_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_imu_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_imu_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
+test_imu_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_imu_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_imu_aspirin.srcs += downlink.c pprz_transport.c
@@ -558,7 +558,7 @@ test_mc_asctec_v1_simple.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_mc_asctec_v1_simple.CFLAGS += -DUSE_I2C1
 test_mc_asctec_v1_simple.srcs += i2c.c $(SRC_ARCH)/i2c_hw.c
 test_mc_asctec_v1_simple.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/uart_hw.c
+test_mc_asctec_v1_simple.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_mc_asctec_v1_simple.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_mc_asctec_v1_simple.srcs += downlink.c pprz_transport.c
@@ -602,7 +602,7 @@ test_actuators_mkk.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_actuators_mkk.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_actuators_mkk.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_actuators_mkk.srcs += $(SRC_ARCH)/uart_hw.c
+test_actuators_mkk.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_actuators_mkk.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_actuators_mkk.srcs += downlink.c pprz_transport.c
@@ -635,7 +635,7 @@ test_actuators_asctec.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)
 test_actuators_asctec.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_actuators_asctec.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_actuators_asctec.srcs += $(SRC_ARCH)/uart_hw.c
+test_actuators_asctec.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_actuators_asctec.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_actuators_asctec.srcs += downlink.c pprz_transport.c
@@ -686,7 +686,7 @@ test_baro.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_baro.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_baro.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_baro.srcs += $(SRC_ARCH)/uart_hw.c
+test_baro.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_baro.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_baro.srcs += downlink.c pprz_transport.c
@@ -708,7 +708,7 @@ test_baro2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_baro2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_baro2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_baro2.srcs += $(SRC_ARCH)/uart_hw.c
+test_baro2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_baro2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_baro2.srcs += downlink.c pprz_transport.c
@@ -734,7 +734,7 @@ test_baro3.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_baro3.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_baro3.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_baro3.srcs += $(SRC_ARCH)/uart_hw.c
+test_baro3.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_baro3.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_baro3.srcs += downlink.c pprz_transport.c
@@ -760,7 +760,7 @@ test_spi_slave.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_spi_slave.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_spi_slave.CFLAGS += -DUSE_SPI1_IRQ
 test_spi_slave.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_spi_slave.srcs += $(SRC_ARCH)/uart_hw.c
+test_spi_slave.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_spi_slave.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_spi_slave.srcs += downlink.c pprz_transport.c
 
@@ -780,7 +780,7 @@ test_spi_slave2.CFLAGS += -DUSE_SYS_TIME -DSYS_TIME_LED=1
 test_spi_slave2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_spi_slave2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 test_spi_slave2.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_spi_slave2.srcs += $(SRC_ARCH)/uart_hw.c
+test_spi_slave2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_spi_slave2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_spi_slave2.srcs += downlink.c pprz_transport.c
 
@@ -804,7 +804,7 @@ stm_test_spi_link.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 stm_test_spi_link.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 stm_test_spi_link.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-stm_test_spi_link.srcs += $(SRC_ARCH)/uart_hw.c
+stm_test_spi_link.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 stm_test_spi_link.CFLAGS += -DUSE_OVERO_LINK -DOVERO_LINK_MSG_UP=AutopilotMessageFoo -DOVERO_LINK_MSG_DOWN=AutopilotMessageFoo
 stm_test_spi_link.CFLAGS += -DOVERO_LINK_LED_OK=3 -DOVERO_LINK_LED_KO=2 -DUSE_DMA1_C2_IRQ
@@ -844,7 +844,7 @@ test_sc18is600.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./128.))'
 test_sc18is600.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_sc18is600.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_sc18is600.srcs += $(SRC_ARCH)/uart_hw.c
+test_sc18is600.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_sc18is600.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_sc18is600.srcs += downlink.c pprz_transport.c
@@ -878,7 +878,7 @@ test_max1168.srcs   += peripherals/max1168.c \
                        $(SRC_ARCH)/peripherals/max1168_arch.c
 
 test_max1168.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_max1168.srcs += $(SRC_ARCH)/uart_hw.c
+test_max1168.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_max1168.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_max1168.srcs += downlink.c pprz_transport.c
@@ -907,7 +907,7 @@ test_ms2001.srcs   += peripherals/ms2001.c \
                       $(SRC_ARCH)/peripherals/ms2001_arch.c
 
 test_ms2001.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600
-test_ms2001.srcs += $(SRC_ARCH)/uart_hw.c
+test_ms2001.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_ms2001.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart1
 test_ms2001.srcs += downlink.c pprz_transport.c
@@ -930,7 +930,7 @@ test_adxl345.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_adxl345.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_adxl345.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_adxl345.srcs += $(SRC_ARCH)/uart_hw.c
+test_adxl345.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_adxl345.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_adxl345.srcs += downlink.c pprz_transport.c
@@ -955,7 +955,7 @@ test_adxl345_dma.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_adxl345_dma.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_adxl345_dma.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_adxl345_dma.srcs += $(SRC_ARCH)/uart_hw.c
+test_adxl345_dma.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_adxl345_dma.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_adxl345_dma.srcs += downlink.c pprz_transport.c
@@ -984,7 +984,7 @@ test_itg3200.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_itg3200.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_itg3200.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_itg3200.srcs += $(SRC_ARCH)/uart_hw.c
+test_itg3200.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_itg3200.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_itg3200.srcs += downlink.c pprz_transport.c
@@ -1010,7 +1010,7 @@ test_hmc5843.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_hmc5843.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_hmc5843.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_hmc5843.srcs += $(SRC_ARCH)/uart_hw.c
+test_hmc5843.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_hmc5843.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_hmc5843.srcs += downlink.c pprz_transport.c
@@ -1042,7 +1042,7 @@ test_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 test_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
+test_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_aspirin.srcs += downlink.c pprz_transport.c
@@ -1086,7 +1086,7 @@ ptw.srcs += lisa/lisa_overo_link.c lisa/arch/stm32/lisa_overo_link_arch.c
 # Telemetry
 ptw.CFLAGS += -DUSE_OVERO_LINK_TELEMETRY
 #ptw.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-#ptw.srcs += $(SRC_ARCH)/uart_hw.c
+#ptw.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 ptw.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=OveroLinkTelemetry
 ptw.srcs += downlink.c pprz_transport.c
 
@@ -1111,7 +1111,7 @@ ptw.srcs += $(SRC_SUBSYSTEMS)/radio_control.c \
 ptw.CFLAGS += -DRADIO_CONTROL_LED=6
 ptw.CFLAGS += -DUSE_UART3 -DUART3_BAUD=B115200
 ptw.CFLAGS += -DRADIO_CONTROL_LINK=Uart3
-ptw.srcs += $(SRC_ARCH)/uart_hw.c
+ptw.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 # Actuators
 ptw.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
@@ -1138,7 +1138,7 @@ test_csc_servo.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_csc_servo.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_csc_servo.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_csc_servo.srcs += $(SRC_ARCH)/uart_hw.c
+test_csc_servo.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_csc_servo.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
 
 test_csc_servo.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -1176,7 +1176,7 @@ test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LE
 test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_gps.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_gps.srcs += $(SRC_ARCH)/uart_hw.c
+test_gps.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 test_gps.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 test_gps.srcs += downlink.c pprz_transport.c
@@ -1207,7 +1207,7 @@ test_gps.srcs += $(SRC_BOOZ)/gps/booz_gps_skytraq.c
 # test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 #
 # test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-# test_adc.srcs += $(SRC_ARCH)/uart_hw.c
+# test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 #
 # test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 # test_adc.srcs += downlink.c pprz_transport.c
@@ -1231,7 +1231,7 @@ test_adc.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_adc.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_adc.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_adc.srcs += $(SRC_ARCH)/uart_hw.c
+test_adc.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_adc.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
 
 test_adc.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -1259,7 +1259,7 @@ test_board.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC(1./512.)'
 test_board.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 test_board.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-test_board.srcs += $(SRC_ARCH)/uart_hw.c
+test_board.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 test_board.CFLAGS += -DDATALINK=PPRZ -DPPRZ_UART=Uart2
 
 test_board.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
@@ -1305,7 +1305,7 @@ hs_gyro_aspirin.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 hs_gyro_aspirin.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 hs_gyro_aspirin.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-hs_gyro_aspirin.srcs += $(SRC_ARCH)/uart_hw.c
+hs_gyro_aspirin.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 hs_gyro_aspirin.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 hs_gyro_aspirin.srcs += downlink.c pprz_transport.c
@@ -1343,7 +1343,7 @@ hs_gyro_b2.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 hs_gyro_b2.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 hs_gyro_b2.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-hs_gyro_b2.srcs += $(SRC_ARCH)/uart_hw.c
+hs_gyro_b2.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 hs_gyro_b2.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 hs_gyro_b2.srcs += downlink.c pprz_transport.c
@@ -1376,7 +1376,7 @@ hs_gyro_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 hs_gyro_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c
 
 hs_gyro_crista.CFLAGS += -DUSE_UART2 -DUART2_BAUD=B57600
-hs_gyro_crista.srcs += $(SRC_ARCH)/uart_hw.c
+hs_gyro_crista.srcs += $(SRC_ARCH)/mcu_periph/uart_arch.c
 
 hs_gyro_crista.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDOWNLINK_DEVICE=Uart2
 hs_gyro_crista.srcs += downlink.c pprz_transport.c
diff --git a/conf/autopilot/subsystems/fixedwing/testing.makefile b/conf/autopilot/obsolete/testing.makefile
similarity index 73%
rename from conf/autopilot/subsystems/fixedwing/testing.makefile
rename to conf/autopilot/obsolete/testing.makefile
index f1b539ccfc..f75a6c8ab0 100644
--- a/conf/autopilot/subsystems/fixedwing/testing.makefile
+++ b/conf/autopilot/obsolete/testing.makefile
@@ -3,23 +3,23 @@
 # a test program to setup actuators
 setup_actuators.ARCHDIR = $(ARCH)
 
-setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
+setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
 
 
 # a test program to tunnel between both uart
 tunnel.ARCHDIR = $(ARCH)
 
-tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DLED
+tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_LED
 tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
 
 
 # A test program to monitor the ADC values
 test_adcs.ARCHDIR = $(ARCH)
 
-test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DUSE_ADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DUSE_ADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
 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 += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.c xbee.c
 
 test_adcs.srcs += sys_time.c $(SRC_ARCH)/mcu_periph/adc_arch.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test/test_adcs.c
 # pprz_transport.c
@@ -28,16 +28,16 @@ test_adcs.srcs += sys_time.c $(SRC_ARCH)/mcu_periph/adc_arch.c $(SRC_ARCH)/sys_t
 # a configuration program to access both uart through usb
 usb_tunnel_0.ARCHDIR = $(ARCH)
 usb_tunnel_0.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART0 -DUART0_BAUD=B115200
-usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
-usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c
+usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
+usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 usb_tunnel_1.ARCHDIR = $(ARCH)
 usb_tunnel_1.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART1 -DUART1_BAUD=B115200
-usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
-usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c
+usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
+usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
diff --git a/conf/autopilot/obsolete/tiny.makefile b/conf/autopilot/obsolete/tiny.makefile
index b9ef9f08fc..71df9d2cea 100644
--- a/conf/autopilot/obsolete/tiny.makefile
+++ b/conf/autopilot/obsolete/tiny.makefile
@@ -32,23 +32,23 @@ ADC_GYRO_NB_SAMPLES = 16
 # a test program to setup actuators
 setup_actuators.ARCHDIR = $(ARCHI)
 
-setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DLED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/servos_4015_hw.c main.c
+setup_actuators.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny.h\" -DUSE_LED -DTIME_LED=1 -DACTUATORS=\"servos_4015_hw.h\" -DSERVOS_4015 -DUSE_UART0 -DUART0_BAUD=B9600 -DDATALINK=PPRZ -DPPRZ_UART=Uart0
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/servos_4015_hw.c main.c
 
 
 # a test program to tunnel between both uart
 tunnel.ARCHDIR = $(ARCHI)
 
-tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DLED
+tunnel.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_LED
 tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
 
 
 # A test program to monitor the ADC values
 test_adcs.ARCHDIR = $(ARCHI)
 
-test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DLED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
+test_adcs.CFLAGS += -DBOARD_CONFIG=$(CONFIG) -DUSE_LED -DTIME_LED=1 -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3 -DUSE_ADC_4 -DUSE_ADC_5 -DUSE_ADC_6 -DUSE_ADC_7
 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 += downlink.c $(SRC_ARCH)/mcu_periph/uart_arch.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_adcs.c
 # pprz_transport.c
@@ -57,16 +57,16 @@ test_adcs.srcs += sys_time.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/sys_time_hw.c $(SR
 # a configuration program to access both uart through usb
 usb_tunnel_0.ARCHDIR = $(ARCHI)
 usb_tunnel_0.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART0 -DUART0_BAUD=B115200
-usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
-usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c
+usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
+usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
 
 usb_tunnel_1.ARCHDIR = $(ARCHI)
 usb_tunnel_1.CFLAGS += -DFBW -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\" -DUSE_UART1 -DUART1_BAUD=B115200
-usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
-usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c
+usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED
+usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
diff --git a/conf/autopilot/obsolete/twin_mcu_avr.makefile b/conf/autopilot/obsolete/twin_mcu_avr.makefile
index 49a4e0b050..04ef99b046 100644
--- a/conf/autopilot/obsolete/twin_mcu_avr.makefile
+++ b/conf/autopilot/obsolete/twin_mcu_avr.makefile
@@ -1,8 +1,8 @@
 include $(PAPARAZZI_SRC)/conf/autopilot/twin_avr.makefile
 include $(PAPARAZZI_SRC)/conf/autopilot/twin_mcu.makefile
 
-ap.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c
+ap.srcs += $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c
 ap.CFLAGS += -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
 
 fbw.CFLAGS += -DACTUATORS=\"servos_4017.h\" -DSERVOS_4017 -DADC
-fbw.srcs += actuators.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/ppm_hw.c  $(SRC_ARCH)/uart_hw.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c
+fbw.srcs += actuators.c $(SRC_ARCH)/adc_hw.c $(SRC_ARCH)/servos_4017.c $(SRC_ARCH)/ppm_hw.c  $(SRC_ARCH)/mcu_periph/uart_arch.c $(SRC_ARCH)/spi_hw.c $(SRC_ARCH)/sys_time_hw.c
diff --git a/conf/autopilot/setup.makefile b/conf/autopilot/setup.makefile
index c889667725..c1ec32d90a 100644
--- a/conf/autopilot/setup.makefile
+++ b/conf/autopilot/setup.makefile
@@ -12,72 +12,66 @@ SRC_FIRMWARE=firmwares/setup
 
 SETUP_INC = -I$(SRC_FIRMWARE)
 
-
-# for the usb_tunnel we need to set PCLK higher
-# so we just use tiny_2_1_1_usb.h as board file for the usb tunnels
-ifeq ($(TARGET), usb_tunnel_0)
-  usb_tunnel_0.CFLAGS += -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\"
-else
-  ifeq ($(TARGET), usb_tunnel_1)
-    usb_tunnel_1.CFLAGS += -DBOARD_CONFIG=\"tiny_2_1_1_usb.h\"
-  else
-    $(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
-  endif
-endif
-
+$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
 
 # a test program to tunnel between both uart
-tunnel.CFLAGS += -DFBW -DLED
+tunnel.CFLAGS += -DUSE_LED
 tunnel.srcs += $(SRC_ARCH)/uart_tunnel.c
+tunnel.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 
 
+# for the usb_tunnel we need to set PCLK higher with the flag USE_USB_HIGH_PCLK
+
 # a configuration program to access both uart through usb
-usb_tunnel_0.CFLAGS += -DFBW -DUSE_UART0 -DUART0_BAUD=B115200
-usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
-usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c
+usb_tunnel_0.CFLAGS += -DUSE_UART0 -DUART0_BAUD=B115200
+usb_tunnel_0.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
+usb_tunnel_0.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_0.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_0.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_0.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 
-usb_tunnel_1.CFLAGS += -DFBW -DUSE_UART1 -DUART1_BAUD=B115200
-usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DLED
-usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/uart_hw.c
+usb_tunnel_1.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B115200
+usb_tunnel_1.CFLAGS += -DUSE_USB_LINE_CODING -DUSE_USB_SERIAL -DUSE_LED -DUSE_USB_HIGH_PCLK
+usb_tunnel_1.srcs += $(SRC_ARCH)/usb_tunnel.c $(SRC_ARCH)/usb_ser_hw.c $(SRC_ARCH)/mcu_periph/uart_arch.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbhw_lpc.c $(SRC_ARCH)/lpcusb/usbinit.c
 usb_tunnel_1.srcs += $(SRC_ARCH)/lpcusb/usbcontrol.c $(SRC_ARCH)/lpcusb/usbstdreq.c
 usb_tunnel_1.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
+usb_tunnel_1.srcs += mcu.c $(SRC_ARCH)/mcu_arch.c
 
 
 
-
-ifeq ($(ACTUATORS),)
-  ifeq ($(BOARD),tiny)
-    ifeq ($(BOARD_VERSION),1.1)
-      include $(CFG_SHARED)/actuators_4015.makefile
-    else
-      ifeq ($(BOARD_VERSION),0.99)
+ifeq ($(TARGET), setup_actuators)
+  ifeq ($(ACTUATORS),)
+    ifeq ($(BOARD),tiny)
+      ifeq ($(BOARD_VERSION),1.1)
         include $(CFG_SHARED)/actuators_4015.makefile
       else
-        include $(CFG_SHARED)/actuators_4017.makefile
+        ifeq ($(BOARD_VERSION),0.99)
+          include $(CFG_SHARED)/actuators_4015.makefile
+        else
+          include $(CFG_SHARED)/actuators_4017.makefile
+        endif
       endif
     endif
-  endif
-  ifeq ($(BOARD),twog)
-	include $(CFG_SHARED)/actuators_4017.makefile
-  endif
+    ifeq ($(BOARD),twog)
+      include $(CFG_SHARED)/actuators_4017.makefile
+    endif
 
-  ifeq ($(BOARD),lisa_l)
-    include $(CFG_SHARED)/actuators_direct.makefile
-  endif
+    ifeq ($(BOARD),lisa_l)
+      include $(CFG_SHARED)/actuators_direct.makefile
+    endif
 
-else
-  include $(CFG_SHARED)/$(ACTUATORS).makefile
+  else
+    include $(CFG_SHARED)/$(ACTUATORS).makefile
+  endif
 endif
 
 
 # a test program to setup actuators
-setup_actuators.CFLAGS += -DFBW -DLED -DTIME_LED=1
+setup_actuators.CFLAGS += -DFBW -DUSE_LED -DTIME_LED=1
 setup_actuators.CFLAGS += -DUSE_UART1 -DUART1_BAUD=B57600 -DDOWNLINK_DEVICE=Uart1 -DPPRZ_UART=Uart1
 setup_actuators.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DDATALINK=PPRZ
 setup_actuators.CFLAGS += -DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1
 setup_actuators.CFLAGS += $(SETUP_INC) -Ifirmwares/fixedwing
-setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c $(SRC_FIRMWARE)/setup_actuators.c $(SRC_ARCH)/uart_hw.c firmwares/fixedwing/main.c
+setup_actuators.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c pprz_transport.c downlink.c $(SRC_FIRMWARE)/setup_actuators.c $(SRC_ARCH)/mcu_periph/uart_arch.c firmwares/fixedwing/main.c mcu.c $(SRC_ARCH)/mcu_arch.c
diff --git a/conf/autopilot/sitl.makefile b/conf/autopilot/sitl.makefile
index 22b74c9876..b05421888e 100644
--- a/conf/autopilot/sitl.makefile
+++ b/conf/autopilot/sitl.makefile
@@ -1,5 +1,5 @@
 sim.ARCHDIR = $(ARCH)
-sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO
 sim.srcs += latlong.c\
             radio_control.c\
             downlink.c\
diff --git a/conf/autopilot/sitl_jsbsim.makefile b/conf/autopilot/sitl_jsbsim.makefile
index 7259edccef..4b46e00a19 100644
--- a/conf/autopilot/sitl_jsbsim.makefile
+++ b/conf/autopilot/sitl_jsbsim.makefile
@@ -24,7 +24,7 @@ else
 	jsbsim.LDFLAGS += -L$(JSBSIM_LIB) -lJSBSim
 endif
 
-jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DLED -DWIND_INFO -Ifirmwares/fixedwing
+jsbsim.CFLAGS += -DSITL -DAP -DFBW -DINTER_MCU -DDOWNLINK -DDOWNLINK_TRANSPORT=IvyTransport -DUSE_INFRARED -DNAV -DUSE_LED -DWIND_INFO -Ifirmwares/fixedwing
 jsbsim.srcs = $(SRC_ARCH)/jsbsim_hw.c $(SRC_ARCH)/jsbsim_gps.c $(SRC_ARCH)/jsbsim_ir.c $(SRC_ARCH)/jsbsim_transport.c $(SRC_ARCH)/ivy_transport.c
 jsbsim.srcs += latlong.c downlink.c commands.c gps.c inter_mcu.c subsystems/sensors/infrared.c \
                $(SRC_FIXEDWING)/stabilization/stabilization_attitude.c \
diff --git a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
index f70c299815..3ea53af26e 100644
--- a/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/actuators_mkk.makefile
@@ -1,8 +1,15 @@
 #
-# Booz Mikrokopter Actuators
+# Mikrokopter Actuators
+#
+# enable the subsystem for your firmware:
+# <firmware name="rotorcraft">
+#   ...
+#   <subsystem name="actuators"     type="mkk">
+#     <configure name="MKK_I2C_SCL_TIME" value="50"/> <!-- this is optional, 150 is default, use 50 for 8 motors-->
+# </firmware>
 #
 #
-# required xml:
+# required xml configuration:
 #  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
 #    <define name="NB" value="4"/>
 #    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
@@ -24,8 +31,11 @@
 #
 #
 
+# set default i2c timing if not already configured
+ifeq ($(MKK_I2C_SCL_TIME), )
+MKK_I2C_SCL_TIME=150
+endif
 
-#
 ap.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 ap.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
 ap.srcs += mcu_periph/i2c.c
@@ -33,7 +43,7 @@ ap.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
 
 ifeq ($(ARCH), lpc21)
 ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c0
-ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10
+ap.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10
 else ifeq ($(ARCH), stm32)
 ap.CFLAGS += -DACTUATORS_MKK_DEVICE=i2c1
 ap.CFLAGS += -DUSE_I2C1
@@ -42,6 +52,6 @@ endif
 # Simulator
 sim.srcs += $(SRC_FIRMWARE)/actuators/supervision.c
 sim.srcs += $(SRC_FIRMWARE)/actuators/actuators_mkk.c
-sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=150 -DI2C0_SCLH=150 -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1
+sim.CFLAGS += -DUSE_I2C0 -DI2C0_SCLL=$(MKK_I2C_SCL_TIME) -DI2C0_SCLH=$(MKK_I2C_SCL_TIME) -DI2C0_VIC_SLOT=10 -DACTUATORS_MKK_DEVICE=i2c1
 sim.srcs += mcu_periph/i2c.c
 sim.srcs += $(SRC_ARCH)/mcu_periph/i2c_arch.c
diff --git a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
index 8a0b64bafe..3764888244 100644
--- a/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/fdm_nps.makefile
@@ -70,7 +70,7 @@ sim.srcs   += firmwares/rotorcraft/main.c
 
 sim.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
 # -DTIME_LED=1
-#sim.CFLAGS += -DLED
+#sim.CFLAGS += -DUSE_LED
 sim.srcs += sys_time.c
 
 
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
index dcf1a660a3..f3074ca2bb 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.0.makefile
@@ -9,25 +9,25 @@
 #    <define name="GYRO_Y_NEUTRAL" value="33417"/>
 #    <define name="GYRO_Z_NEUTRAL" value="32809"/>
 #
-#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
-#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
-#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_X_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
 #
 #    <define name="ACCEL_X_NEUTRAL" value="32081"/>
 #    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
 #    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
 #
-#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
-#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
-#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
 #
 #    <define name="MAG_X_NEUTRAL" value="2358"/>
 #    <define name="MAG_Y_NEUTRAL" value="2362"/>
 #    <define name="MAG_Z_NEUTRAL" value="2119"/>
 #
-#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
-#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
-#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
 #    <define name="MAG_45_HACK" value="1"/>
 #
 #  </section>
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
index bfef8c6aca..e06aeeb7df 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.1.makefile
@@ -9,25 +9,25 @@
 #    <define name="GYRO_Y_NEUTRAL" value="33417"/>
 #    <define name="GYRO_Z_NEUTRAL" value="32809"/>
 #
-#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
-#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
-#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_X_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
 #
 #    <define name="ACCEL_X_NEUTRAL" value="32081"/>
 #    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
 #    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
 #
-#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
-#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
-#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
 #
 #    <define name="MAG_X_NEUTRAL" value="2358"/>
 #    <define name="MAG_Y_NEUTRAL" value="2362"/>
 #    <define name="MAG_Z_NEUTRAL" value="2119"/>
 #
-#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
-#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
-#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
 #    <define name="MAG_45_HACK" value="1"/>
 #
 #  </section>
diff --git a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
index 844b6c786d..bbbbb58e1b 100644
--- a/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
+++ b/conf/autopilot/subsystems/rotorcraft/imu_b2_v1.2.makefile
@@ -9,25 +9,25 @@
 #    <define name="GYRO_Y_NEUTRAL" value="33417"/>
 #    <define name="GYRO_Z_NEUTRAL" value="32809"/>
 #
-#    <define name="GYRO_X_SENS" value=" 1.01" integer="16"/>
-#    <define name="GYRO_Y_SENS" value="-1.01" integer="16"/>
-#    <define name="GYRO_Z_SENS" value="-1.01" integer="16"/>
+#    <define name="GYRO_X_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="1.01" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="1.01" integer="16"/>
 #
 #    <define name="ACCEL_X_NEUTRAL" value="32081"/>
 #    <define name="ACCEL_Y_NEUTRAL" value="33738"/>
 #    <define name="ACCEL_Z_NEUTRAL" value="32441"/>
 #
-#    <define name="ACCEL_X_SENS" value="-2.50411474" integer="16"/>
-#    <define name="ACCEL_Y_SENS" value="-2.48126183" integer="16"/>
-#    <define name="ACCEL_Z_SENS" value="-2.51396167" integer="16"/>
+#    <define name="ACCEL_X_SENS" value="2.50411474" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="2.48126183" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="2.51396167" integer="16"/>
 #
 #    <define name="MAG_X_NEUTRAL" value="2358"/>
 #    <define name="MAG_Y_NEUTRAL" value="2362"/>
 #    <define name="MAG_Z_NEUTRAL" value="2119"/>
 #
-#    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/>
-#    <define name="MAG_Y_SENS" value=" 3.607713" integer="16"/>
-#    <define name="MAG_Z_SENS" value="-4.90788848" integer="16"/>
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
 #    <define name="MAG_45_HACK" value="1"/>
 #
 #  </section>
diff --git a/debian/changelog.lenny b/debian/changelog.lenny
index 6a78c9aacf..55d3e0cb12 100644
--- a/debian/changelog.lenny
+++ b/debian/changelog.lenny
@@ -1,3 +1,10 @@
+paparazzi (3.3-1) unstable; urgency=low
+
+  * New build system with modules and subsystems
+  * Change dependency from subversion to git
+
+ -- Gautier Hattenberger <gautier.hattenberger@enac.fr>  Wed, 29 Dec 2010 12:49:00 +0100
+
 paparazzi (3.2-10) unstable; urgency=low
 
   * Dependencie over gpsd, libgps-dev, python-lxml, python-wxgtk2.8 added
diff --git a/debian/control.lenny b/debian/control.lenny
index 8abef20019..6587b5a8e3 100644
--- a/debian/control.lenny
+++ b/debian/control.lenny
@@ -1,15 +1,15 @@
 Source: paparazzi
 Section: extra
 Priority: optional
-Maintainer: Pascal Brisset <pascal.brisset@enac.fr>
+Maintainer: Gautier Hattenberger <gautier.hattenberger@enac.fr>
 Build-Depends: debhelper (>= 4.0.0)
 Standards-Version: 3.6.1
 
 
 Package: paparazzi-dev
 Architecture: any
-Suggests: paparazzi-avr, paparazzi-arm7, eagle, gs-common, tetex-extra, dia-gnome, boa
-Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, libgnomecanvas2-dev, bzip2, subversion, liblablgtk2-gnome-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev, meschach-dev | libmeschach-dev, ivy-python, gpsd, libgps-dev, python-lxml, python-wxgtk2.8
+Suggests: paparazzi-avr, paparazzi-arm7, eagle, gs-common, tetex-extra, dia-gnome, boa, gitk
+Depends: ivy-c-dev, ivy-c, ivy-ocaml, libxml-light-ocaml-dev, liblablgtk2-ocaml-dev, make, gcc, gnuplot, libgnomecanvas2-dev, bzip2, git-core, liblablgtk2-gnome-ocaml-dev, libusb-dev, speech-dispatcher, glade, gedit, imagemagick, libpcre3-dev, libocamlnet-ocaml-dev, meschach-dev | libmeschach-dev, ivy-python, gpsd, libgps-dev, python-lxml, python-wxgtk2.8
 Description: Paparazzi Meta Package : common support
 
 
diff --git a/debian/paparazzi-bin.postinst b/debian/paparazzi-bin.postinst
index 6ae37e021d..83cbee528d 100755
--- a/debian/paparazzi-bin.postinst
+++ b/debian/paparazzi-bin.postinst
@@ -31,4 +31,4 @@ cd ${DESTDIR}/sw/supervision
 ${OCAMLC} -custom -I +xml-light -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma lablgtk.cma glibivy-ocaml.cma lib-pprz.cma lablglade.cma lablgnomeui.cma gtkInit.cmo gtk_pc.cmo gtk_process.cmo pc_common.cmo pc_aircraft.cmo pc_control_panel.cmo paparazzicenter.cmo -o paparazzicenter
 
 cd ${DESTDIR}/sw/tools
-${OCAMLC} -custom -I +xml-light -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma ivy-ocaml.cma lib-pprz.cma fp_syntax.cmo fp_parser.cmo fp_lexer.cmo fp_proc.cmo gen_flight_plan.cmo -o gen_flight_plan.out
+${OCAMLC} -custom -I +xml-light -I +lablgtk2 -I ${DESTDIR}/sw/lib/ocaml unix.cma str.cma xml-light.cma ivy-ocaml.cma lib-pprz.cma fp_proc.cmo gen_flight_plan.cmo -o gen_flight_plan.out
diff --git a/debian/rules b/debian/rules
old mode 100644
new mode 100755
diff --git a/sw/airborne/arch/lpc21/uart_tunnel.c b/sw/airborne/arch/lpc21/uart_tunnel.c
index 04fd72dce1..9f4bbd5ef2 100644
--- a/sw/airborne/arch/lpc21/uart_tunnel.c
+++ b/sw/airborne/arch/lpc21/uart_tunnel.c
@@ -3,7 +3,7 @@
 
 #include "std.h"
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "led.h"
 
 #define TXD0_PIN 0
@@ -14,7 +14,7 @@
 int main (int argc, char** argv) {
   int tx=0, rx=0;
   int tx_shadow=1, rx_shadow=1;
-  hw_init();
+  mcu_init();
   led_init();
   LED_ON(1);
 
diff --git a/sw/airborne/arch/lpc21/usb_tunnel.c b/sw/airborne/arch/lpc21/usb_tunnel.c
index f7f324da24..aeef32b1dc 100644
--- a/sw/airborne/arch/lpc21/usb_tunnel.c
+++ b/sw/airborne/arch/lpc21/usb_tunnel.c
@@ -53,7 +53,7 @@ int main( void ) {
   VCOM_init();
 #endif
 
-  int_enable();
+  mcu_int_enable();
 
   LED_ON(3);
 
diff --git a/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c b/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
index b20c2ccef4..c19f2ff874 100644
--- a/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
+++ b/sw/airborne/booz/test/booz2_test_buss_bldc_hexa.c
@@ -23,7 +23,7 @@
 
 #include <inttypes.h>
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "interrupt_hw.h"
 #include "downlink.h"
@@ -59,9 +59,9 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_test_crista.c b/sw/airborne/booz/test/booz2_test_crista.c
index 21af105e1d..82f990afe4 100644
--- a/sw/airborne/booz/test/booz2_test_crista.c
+++ b/sw/airborne/booz/test/booz2_test_crista.c
@@ -24,10 +24,10 @@
 #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"
 
@@ -53,7 +53,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
@@ -66,7 +66,7 @@ static inline void main_init( void ) {
   imu_impl_init();
   imu_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_test_gps.c b/sw/airborne/booz/test/booz2_test_gps.c
index 0c67b7886a..a85f6f30a0 100644
--- a/sw/airborne/booz/test/booz2_test_gps.c
+++ b/sw/airborne/booz/test/booz2_test_gps.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "booz_gps.h"
@@ -47,11 +47,11 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   booz_gps_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_test_led.c b/sw/airborne/booz/test/booz2_test_led.c
index 126358b6b4..4986fb2a6d 100644
--- a/sw/airborne/booz/test/booz2_test_led.c
+++ b/sw/airborne/booz/test/booz2_test_led.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "interrupt_hw.h"
 
@@ -43,9 +43,9 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_test_max1168.c b/sw/airborne/booz/test/booz2_test_max1168.c
index 12c858a824..dc57a9a454 100644
--- a/sw/airborne/booz/test/booz2_test_max1168.c
+++ b/sw/airborne/booz/test/booz2_test_max1168.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "interrupt_hw.h"
 #include "messages.h"
@@ -56,13 +56,13 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
 
   main_init_ssp();
   max1168_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_test_micromag.c b/sw/airborne/booz/test/booz2_test_micromag.c
index 68377fb5ef..9ba50b7fee 100644
--- a/sw/airborne/booz/test/booz2_test_micromag.c
+++ b/sw/airborne/booz/test/booz2_test_micromag.c
@@ -24,10 +24,10 @@
 #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"
 
@@ -58,7 +58,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
@@ -72,7 +72,7 @@ static inline void main_init( void ) {
   main_init_ssp();
   micromag_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_test_modem.c b/sw/airborne/booz/test/booz2_test_modem.c
index 1b5fb38628..df06203773 100644
--- a/sw/airborne/booz/test/booz2_test_modem.c
+++ b/sw/airborne/booz/test/booz2_test_modem.c
@@ -23,11 +23,11 @@
 
 #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"
@@ -47,11 +47,11 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   uart1_init_tx();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_test_radio_control.c b/sw/airborne/booz/test/booz2_test_radio_control.c
index 0c9e57e53a..cc0ea59b95 100644
--- a/sw/airborne/booz/test/booz2_test_radio_control.c
+++ b/sw/airborne/booz/test/booz2_test_radio_control.c
@@ -52,7 +52,7 @@ static inline void main_init( void ) {
   mcu_init();
   sys_time_init();
   radio_control_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 extern uint32_t debug_len;
diff --git a/sw/airborne/booz/test/booz2_test_rc.c b/sw/airborne/booz/test/booz2_test_rc.c
index d88f5e9e75..5806e65250 100644
--- a/sw/airborne/booz/test/booz2_test_rc.c
+++ b/sw/airborne/booz/test/booz2_test_rc.c
@@ -24,10 +24,10 @@
 #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"
 
@@ -52,7 +52,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
@@ -61,7 +61,7 @@ static inline void main_init( void ) {
   ppm_init();
   radio_control_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_test_usb.c b/sw/airborne/booz/test/booz2_test_usb.c
index c694603709..9e35042c62 100644
--- a/sw/airborne/booz/test/booz2_test_usb.c
+++ b/sw/airborne/booz/test/booz2_test_usb.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 
@@ -51,13 +51,13 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
   VCOM_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_tunnel.c b/sw/airborne/booz/test/booz2_tunnel.c
index 9229ae1aef..9f8a4689ea 100644
--- a/sw/airborne/booz/test/booz2_tunnel.c
+++ b/sw/airborne/booz/test/booz2_tunnel.c
@@ -24,10 +24,10 @@
 #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"
 
 static inline void main_init( void );
 static inline void main_periodic_task( void );
@@ -44,12 +44,12 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   uart0_init();
   uart1_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz2_tunnel_bb.c b/sw/airborne/booz/test/booz2_tunnel_bb.c
index 33f8b7ff65..db0deaa5d3 100644
--- a/sw/airborne/booz/test/booz2_tunnel_bb.c
+++ b/sw/airborne/booz/test/booz2_tunnel_bb.c
@@ -25,7 +25,7 @@
 
 #include "std.h"
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "led.h"
 
 #define TXD0_PIN 0
@@ -34,7 +34,7 @@
 #define RXD1_PIN 9
 
 int main (int argc, char** argv) {
-  hw_init();
+  mcu_init();
   led_init();
 
   /* TXD0 and TXD1 output */
diff --git a/sw/airborne/booz/test/booz_test_imu.c b/sw/airborne/booz/test/booz_test_imu.c
index c5f5c32291..0747c0300c 100644
--- a/sw/airborne/booz/test/booz_test_imu.c
+++ b/sw/airborne/booz/test/booz_test_imu.c
@@ -24,10 +24,10 @@
 #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"
 
@@ -56,7 +56,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   imu_init();
 
@@ -64,7 +64,7 @@ static inline void main_init( void ) {
   DEBUG_SERVO2_INIT();
 
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/booz/test/booz_test_telemetry.c b/sw/airborne/booz/test/booz_test_telemetry.c
index 940952d9fd..f21b005ff9 100644
--- a/sw/airborne/booz/test/booz_test_telemetry.c
+++ b/sw/airborne/booz/test/booz_test_telemetry.c
@@ -23,7 +23,7 @@
 
 #include <inttypes.h>
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "interrupt_hw.h"
 
@@ -45,9 +45,9 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/csc/csc_ap_main.c b/sw/airborne/csc/csc_ap_main.c
index 55273d6d65..012d151e38 100644
--- a/sw/airborne/csc/csc_ap_main.c
+++ b/sw/airborne/csc/csc_ap_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 "downlink.h"
 #include "generated/periodic.h"
 #include "generated/airframe.h"
@@ -141,7 +141,7 @@ static void on_gpspos_cmd( struct CscGPSPosMsg *msg )
 
 static void csc_main_init( void ) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
@@ -167,7 +167,7 @@ static void csc_main_init( void ) {
   actuators_init();
 
   csc_ap_init();
-  int_enable();
+  mcu_int_enable();
 
 }
 
diff --git a/sw/airborne/csc/csc_baro.c b/sw/airborne/csc/csc_baro.c
index ed6ddf8278..22649b4f4a 100644
--- a/sw/airborne/csc/csc_baro.c
+++ b/sw/airborne/csc/csc_baro.c
@@ -1,10 +1,10 @@
 #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"
 #include "csc_booz2_ins.h"
diff --git a/sw/airborne/csc/csc_datalink.c b/sw/airborne/csc/csc_datalink.c
index 04362db411..72118be9e0 100644
--- a/sw/airborne/csc/csc_datalink.c
+++ b/sw/airborne/csc/csc_datalink.c
@@ -5,7 +5,7 @@
 #include "downlink.h"
 #include "messages.h"
 #include "dl_protocol.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #define IdOfMsg(x) (x[1])
 
diff --git a/sw/airborne/csc/csc_protocol.c b/sw/airborne/csc/csc_protocol.c
index f3167c7c20..f2027347eb 100644
--- a/sw/airborne/csc/csc_protocol.c
+++ b/sw/airborne/csc/csc_protocol.c
@@ -29,7 +29,7 @@
 #include "mcu_periph/can.h"
 #include "csc_msg_def.h"
 
-// #include "init_hw.h"
+// #include "mcu.h"
 // #include "sys_time.h"
 // #include "downlink.h"
 
diff --git a/sw/airborne/csc/csc_rc_spektrum.c b/sw/airborne/csc/csc_rc_spektrum.c
index 4771fc55e9..9347a8d9f7 100644
--- a/sw/airborne/csc/csc_rc_spektrum.c
+++ b/sw/airborne/csc/csc_rc_spektrum.c
@@ -34,7 +34,7 @@
 #include "paparazzi.h"
 #include "downlink.h"
 #include "messages.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "string.h"
 #include "csc_ap_link.h"
 #include "csc_msg_def.h"
diff --git a/sw/airborne/csc/csc_xsens.c b/sw/airborne/csc/csc_xsens.c
index e71569cbe5..ee0a2e6ec0 100644
--- a/sw/airborne/csc/csc_xsens.c
+++ b/sw/airborne/csc/csc_xsens.c
@@ -34,7 +34,7 @@
 
 #include "downlink.h"
 #include "messages.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 //#include "com_stats.h"
 #include "math/pprz_algebra_float.h"
 #include "string.h"
diff --git a/sw/airborne/csc/mercury_csc_main.c b/sw/airborne/csc/mercury_csc_main.c
index 18f81b3197..4c259524a9 100644
--- a/sw/airborne/csc/mercury_csc_main.c
+++ b/sw/airborne/csc/mercury_csc_main.c
@@ -28,7 +28,7 @@
 
 #include "std.h"
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 
@@ -47,7 +47,7 @@
 // #include "ams5812.h"
 
 #include "interrupt_hw.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "csc_telemetry.h"
 
 #include "generated/periodic.h"
diff --git a/sw/airborne/csc/mercury_main.c b/sw/airborne/csc/mercury_main.c
index 637b5bf7c7..b6914fb70f 100644
--- a/sw/airborne/csc/mercury_main.c
+++ b/sw/airborne/csc/mercury_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 "downlink.h"
 #include "generated/periodic.h"
 #include "generated/airframe.h"
@@ -105,7 +105,7 @@ static void on_rc_cmd(struct CscRCMsg *msg)
 
 static inline void csc_main_init( void ) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
@@ -136,7 +136,7 @@ static inline void csc_main_init( void ) {
   props_init();
 
   csc_ap_init();
-  int_enable();
+  mcu_int_enable();
 
   stabilization_attitude_enter();
 }
diff --git a/sw/airborne/csc/mercury_xsens.c b/sw/airborne/csc/mercury_xsens.c
index d8a3692132..54f4c5e447 100644
--- a/sw/airborne/csc/mercury_xsens.c
+++ b/sw/airborne/csc/mercury_xsens.c
@@ -39,7 +39,7 @@
 
 #include "downlink.h"
 #include "messages.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 //#include "com_stats.h"
 #include "math/pprz_algebra_float.h"
 #include "string.h"
diff --git a/sw/airborne/csc/ppm_bridge_main.c b/sw/airborne/csc/ppm_bridge_main.c
index b2e1bcff8a..e2915321b7 100644
--- a/sw/airborne/csc/ppm_bridge_main.c
+++ b/sw/airborne/csc/ppm_bridge_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 "downlink.h"
 #include "generated/periodic.h"
 #include "generated/airframe.h"
@@ -52,7 +52,7 @@ static uint16_t cpu_time = 0;
 
 static void csc_main_init( void ) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
@@ -66,7 +66,7 @@ static void csc_main_init( void ) {
   IO0DIR = IO0DIR | (0x1 << 21);
   IO0PIN = IO0DIR | (0x1 << 21);
 
-  int_enable();
+  mcu_int_enable();
 
 }
 
diff --git a/sw/airborne/firmwares/beth/main_beth.c b/sw/airborne/firmwares/beth/main_beth.c
index 42da9633e3..ff7ee9a0b9 100644
--- a/sw/airborne/firmwares/beth/main_beth.c
+++ b/sw/airborne/firmwares/beth/main_beth.c
@@ -1,5 +1,5 @@
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "interrupt_hw.h"
 
@@ -24,9 +24,9 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/firmwares/beth/main_coders.c b/sw/airborne/firmwares/beth/main_coders.c
index 31e873270d..c0ea74c6fd 100644
--- a/sw/airborne/firmwares/beth/main_coders.c
+++ b/sw/airborne/firmwares/beth/main_coders.c
@@ -1,5 +1,5 @@
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "mcu_periph/can.h"
 #include "sys_time.h"
 #include "downlink.h"
@@ -73,11 +73,11 @@ int main(void) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_init_adc();
   bench_sensors_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic( void ) {
diff --git a/sw/airborne/firmwares/beth/rcv_telemetry.c b/sw/airborne/firmwares/beth/rcv_telemetry.c
index 904932f7de..72b1d92359 100755
--- a/sw/airborne/firmwares/beth/rcv_telemetry.c
+++ b/sw/airborne/firmwares/beth/rcv_telemetry.c
@@ -44,7 +44,7 @@
 #ifndef DOWNLINK_DEVICE
 #define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
 #endif
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "downlink.h"
 
 
diff --git a/sw/airborne/firmwares/beth/uart_hw.c b/sw/airborne/firmwares/beth/uart_hw.c
index 6b0c583ace..5a769e4a83 100644
--- a/sw/airborne/firmwares/beth/uart_hw.c
+++ b/sw/airborne/firmwares/beth/uart_hw.c
@@ -21,7 +21,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 #include <stdint.h>
 #include <unistd.h>
diff --git a/sw/airborne/firmwares/logger/main_logger.c b/sw/airborne/firmwares/logger/main_logger.c
index 69a104dde1..8f3eea1406 100644
--- a/sw/airborne/firmwares/logger/main_logger.c
+++ b/sw/airborne/firmwares/logger/main_logger.c
@@ -520,7 +520,7 @@ static inline void main_init( void ) {
   max11040_init();
 #endif
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/firmwares/motor_bench/main_turntable.c b/sw/airborne/firmwares/motor_bench/main_turntable.c
index d170077efc..8345c948e7 100644
--- a/sw/airborne/firmwares/motor_bench/main_turntable.c
+++ b/sw/airborne/firmwares/motor_bench/main_turntable.c
@@ -1,5 +1,5 @@
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
@@ -32,10 +32,10 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_init_tacho();
-  int_enable();
+  mcu_int_enable();
 }
 
 #define NB_STEP 256
diff --git a/sw/airborne/firmwares/motor_bench/mb_tacho.c b/sw/airborne/firmwares/motor_bench/mb_tacho.c
index 7875b3c3b7..31e26ae80d 100644
--- a/sw/airborne/firmwares/motor_bench/mb_tacho.c
+++ b/sw/airborne/firmwares/motor_bench/mb_tacho.c
@@ -31,7 +31,7 @@ uint32_t mb_tacho_get_duration( void ) {
     my_duration = mb_tacho_duration;
   }
   got_one_pulse = FALSE;
-  int_enable();
+  mcu_int_enable();
   return my_duration;
 }
 
@@ -53,7 +53,7 @@ float mb_tacho_get_averaged( void ) {
 
   mb_tacho_averaged = 0.;
   mb_tacho_nb_pulse = 0;
-  int_enable();
+  mcu_int_enable();
 
   return ret;
 
diff --git a/sw/airborne/firmwares/tutorial/main_demo2.c b/sw/airborne/firmwares/tutorial/main_demo2.c
index 005b76e505..0ced604473 100644
--- a/sw/airborne/firmwares/tutorial/main_demo2.c
+++ b/sw/airborne/firmwares/tutorial/main_demo2.c
@@ -1,6 +1,6 @@
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 
@@ -17,7 +17,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 }
diff --git a/sw/airborne/firmwares/tutorial/main_demo3.c b/sw/airborne/firmwares/tutorial/main_demo3.c
index 29ae419e12..5699adefe5 100644
--- a/sw/airborne/firmwares/tutorial/main_demo3.c
+++ b/sw/airborne/firmwares/tutorial/main_demo3.c
@@ -19,11 +19,11 @@ 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_demo6.c b/sw/airborne/firmwares/tutorial/main_demo6.c
index af9d8f777a..dd312de7a2 100644
--- a/sw/airborne/firmwares/tutorial/main_demo6.c
+++ b/sw/airborne/firmwares/tutorial/main_demo6.c
@@ -1,5 +1,5 @@
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 #include "interrupt_hw.h"
@@ -21,11 +21,11 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   usb_serial_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/firmwares/vor/lpc_vor_main.c b/sw/airborne/firmwares/vor/lpc_vor_main.c
index dd1e2e77d6..bb6ee1e1b4 100644
--- a/sw/airborne/firmwares/vor/lpc_vor_main.c
+++ b/sw/airborne/firmwares/vor/lpc_vor_main.c
@@ -1,9 +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"
 //#include "messages.h"
 //#include "downlink.h"
@@ -86,14 +86,14 @@ static inline void main_report( void ) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   uart0_init();
   vor_int_demod_init();
   VorDacInit();
   vor_adc_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 
diff --git a/sw/airborne/firmwares/wind_tunnel/main.c b/sw/airborne/firmwares/wind_tunnel/main.c
index a8f779296a..e32d4f3441 100644
--- a/sw/airborne/firmwares/wind_tunnel/main.c
+++ b/sw/airborne/firmwares/wind_tunnel/main.c
@@ -1,9 +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 "messages.h"
 #include "downlink.h"
@@ -38,7 +38,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   uart0_init();
@@ -50,7 +50,7 @@ static inline void main_init( void ) {
   spi_init();
   wt_baro_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/firmwares/wind_tunnel/main_mb.c b/sw/airborne/firmwares/wind_tunnel/main_mb.c
index 48e0403f44..437e0fab32 100644
--- a/sw/airborne/firmwares/wind_tunnel/main_mb.c
+++ b/sw/airborne/firmwares/wind_tunnel/main_mb.c
@@ -1,9 +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 "messages.h"
 #include "downlink.h"
@@ -37,7 +37,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   uart0_init();
@@ -49,7 +49,7 @@ static inline void main_init( void ) {
 
   //motor_power = 0;
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/fms/lpc_test_spi.c b/sw/airborne/fms/lpc_test_spi.c
index 9ca9f5b902..97a0de0407 100644
--- a/sw/airborne/fms/lpc_test_spi.c
+++ b/sw/airborne/fms/lpc_test_spi.c
@@ -24,7 +24,7 @@
 #include <inttypes.h>
 
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "interrupt_hw.h"
 #include "armVIC.h"
@@ -50,10 +50,10 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_spi_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/led.h b/sw/airborne/led.h
index 98a943dbed..55a9c0493e 100644
--- a/sw/airborne/led.h
+++ b/sw/airborne/led.h
@@ -31,8 +31,7 @@
 #ifndef LED_H
 #define LED_H
 
-// FIXME : remove LED
-#if defined USE_LED || defined LED
+#if defined USE_LED
 
 #include "led_hw.h"
 
diff --git a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
index 5a115a0c74..a718ad9a7c 100644
--- a/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
+++ b/sw/airborne/lisa/lisa_stm_gps_passthrough_main.c
@@ -22,7 +22,7 @@
  *
  */
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "lisa/lisa_overo_link.h"
 #include "lisa/lisa_spistream.h"
@@ -91,7 +91,7 @@ int main(void) {
 
 static inline void main_init(void) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   overo_link_init();
 
diff --git a/sw/airborne/lisa/stm_test_spi_link.c b/sw/airborne/lisa/stm_test_spi_link.c
index 0f5ae21ae5..6aed277afc 100644
--- a/sw/airborne/lisa/stm_test_spi_link.c
+++ b/sw/airborne/lisa/stm_test_spi_link.c
@@ -27,7 +27,7 @@
 #include <string.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "lisa/lisa_overo_link.h"
 
@@ -42,7 +42,7 @@ static inline void on_overo_link_lost(void);
 
 int main(void) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   overo_link_init();
   DEBUG_SERVO1_INIT();
diff --git a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
index 2c5a646ebc..bc3e4c8f64 100644
--- a/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
+++ b/sw/airborne/lisa/test/lisa_test_actuators_mkk.c
@@ -22,7 +22,7 @@
  */
 
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "booz2_commands.h"
 #include "actuators.h"
@@ -49,7 +49,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   actuators_init();
 }
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345.c b/sw/airborne/lisa/test/lisa_test_adxl345.c
index 40f6bd8906..6b8c65ca58 100644
--- a/sw/airborne/lisa/test/lisa_test_adxl345.c
+++ b/sw/airborne/lisa/test/lisa_test_adxl345.c
@@ -35,7 +35,7 @@
 #include <stm32/spi.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 
@@ -63,7 +63,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_init_hw();
 
diff --git a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
index 20dfd6f70b..fa74e5018a 100644
--- a/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
+++ b/sw/airborne/lisa/test/lisa_test_adxl345_dma.c
@@ -29,7 +29,7 @@
 #include <stm32/dma.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 
@@ -58,7 +58,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_init_hw();
 
diff --git a/sw/airborne/lisa/test/lisa_test_aspirin.c b/sw/airborne/lisa/test/lisa_test_aspirin.c
index 4f7cbecbb3..2641273fe2 100644
--- a/sw/airborne/lisa/test/lisa_test_aspirin.c
+++ b/sw/airborne/lisa/test/lisa_test_aspirin.c
@@ -28,7 +28,7 @@
 #include <stm32/spi.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 
@@ -60,7 +60,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_init_hw();
 
diff --git a/sw/airborne/lisa/test/lisa_test_max1168.c b/sw/airborne/lisa/test/lisa_test_max1168.c
index af7bc514c9..38a6cc67bc 100644
--- a/sw/airborne/lisa/test/lisa_test_max1168.c
+++ b/sw/airborne/lisa/test/lisa_test_max1168.c
@@ -29,7 +29,7 @@
 #include <stm32/exti.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "peripherals/max1168.h"
@@ -54,7 +54,7 @@ int main(void) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   max1168_init();
   main_spi2_init();
diff --git a/sw/airborne/lisa/test/lisa_test_ms2001.c b/sw/airborne/lisa/test/lisa_test_ms2001.c
index 1eb0342e80..7fe419587c 100644
--- a/sw/airborne/lisa/test/lisa_test_ms2001.c
+++ b/sw/airborne/lisa/test/lisa_test_ms2001.c
@@ -29,7 +29,7 @@
 #include <stm32/exti.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "peripherals/ms2001.h"
@@ -54,7 +54,7 @@ int main(void) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   ms2001_init();
   main_spi2_init();
diff --git a/sw/airborne/lisa/test/lisa_test_ms2100.c b/sw/airborne/lisa/test/lisa_test_ms2100.c
index cedf7cacd2..aabd4aa9ed 100644
--- a/sw/airborne/lisa/test/lisa_test_ms2100.c
+++ b/sw/airborne/lisa/test/lisa_test_ms2100.c
@@ -29,7 +29,7 @@
 #include <stm32/exti.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "peripherals/ms2100.h"
@@ -54,7 +54,7 @@ int main(void) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   max1168_init();
   main_spi2_init();
diff --git a/sw/airborne/lisa/test/lisa_test_sc18is600.c b/sw/airborne/lisa/test/lisa_test_sc18is600.c
index 044ba8cad3..846e4cab96 100644
--- a/sw/airborne/lisa/test/lisa_test_sc18is600.c
+++ b/sw/airborne/lisa/test/lisa_test_sc18is600.c
@@ -26,7 +26,7 @@
 #include <stm32/misc.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "peripherals/sc18is600.h"
@@ -51,7 +51,7 @@ int main(void) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   sc18is600_init();
   main_spi2_init();
diff --git a/sw/airborne/lisa/test/lisa_tunnel.c b/sw/airborne/lisa/test/lisa_tunnel.c
index 1a7bec287a..48c5072eca 100644
--- a/sw/airborne/lisa/test/lisa_tunnel.c
+++ b/sw/airborne/lisa/test/lisa_tunnel.c
@@ -44,7 +44,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
 }
 
diff --git a/sw/airborne/lisa/test/test_board.c b/sw/airborne/lisa/test/test_board.c
index 292fb22bca..603f6ec155 100644
--- a/sw/airborne/lisa/test/test_board.c
+++ b/sw/airborne/lisa/test/test_board.c
@@ -98,7 +98,7 @@ int main( void ) {
 
 static inline void main_init( void ) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
 
diff --git a/sw/airborne/lisa/test/test_bswap.c b/sw/airborne/lisa/test/test_bswap.c
index b1a9cc5bc3..ccf1a9ad33 100644
--- a/sw/airborne/lisa/test/test_bswap.c
+++ b/sw/airborne/lisa/test/test_bswap.c
@@ -1,6 +1,6 @@
 
 #include <inttypes.h>
-#include "init_hw.h"
+#include "mcu.h"
 
 
 #define MyByteSwap16(n)				     \
diff --git a/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c b/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c
index be1a213223..b83160e704 100644
--- a/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c
+++ b/sw/airborne/lisa/test/test_mc_asctec_v1_simple.c
@@ -28,7 +28,7 @@
  */
 
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 
@@ -51,7 +51,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
 }
 
diff --git a/sw/airborne/lisa/test_csc_servo.c b/sw/airborne/lisa/test_csc_servo.c
index d0fe135f49..7249d89ec4 100644
--- a/sw/airborne/lisa/test_csc_servo.c
+++ b/sw/airborne/lisa/test_csc_servo.c
@@ -22,7 +22,7 @@
  */
 
 
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "csc_msg_def.h"
 #include "csc_protocol.h"
diff --git a/sw/airborne/lisa/test_datalink.c b/sw/airborne/lisa/test_datalink.c
index 2315f1370f..ce5a02f314 100644
--- a/sw/airborne/lisa/test_datalink.c
+++ b/sw/airborne/lisa/test_datalink.c
@@ -24,7 +24,7 @@
 #define DATALINK_C
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 
@@ -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/lisa/test_float.c b/sw/airborne/lisa/test_float.c
index 0188012ca9..0339888cac 100644
--- a/sw/airborne/lisa/test_float.c
+++ b/sw/airborne/lisa/test_float.c
@@ -24,7 +24,7 @@
 #include <math.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 static inline void main_init( void );
@@ -43,7 +43,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
 }
 
diff --git a/sw/airborne/lisa/test_mc.c b/sw/airborne/lisa/test_mc.c
index fa6f1a3d3c..978c2857d1 100644
--- a/sw/airborne/lisa/test_mc.c
+++ b/sw/airborne/lisa/test_mc.c
@@ -30,7 +30,7 @@
 #include <stm32/i2c.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 
 static inline void main_init( void );
@@ -55,7 +55,7 @@ int main(void) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_i2c_init();
   test_gpios();
diff --git a/sw/airborne/lisa/test_periodic.c b/sw/airborne/lisa/test_periodic.c
index 40f8c1371f..6104c4ad3e 100644
--- a/sw/airborne/lisa/test_periodic.c
+++ b/sw/airborne/lisa/test_periodic.c
@@ -25,7 +25,7 @@
 #include <stm32/misc.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 
 static inline void main_init( void );
@@ -43,7 +43,7 @@ int main(void) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
 }
 
diff --git a/sw/airborne/lisa/test_spi_slave.c b/sw/airborne/lisa/test_spi_slave.c
index 001219a8e4..d78e32ccdd 100644
--- a/sw/airborne/lisa/test_spi_slave.c
+++ b/sw/airborne/lisa/test_spi_slave.c
@@ -26,7 +26,7 @@
 #include <stm32/spi.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 
@@ -51,7 +51,7 @@ int main(void) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_spi_slave_init();
 }
diff --git a/sw/airborne/lisa/test_spi_slave2.c b/sw/airborne/lisa/test_spi_slave2.c
index 75c5e8ecc8..09bdee54e5 100644
--- a/sw/airborne/lisa/test_spi_slave2.c
+++ b/sw/airborne/lisa/test_spi_slave2.c
@@ -27,7 +27,7 @@
 #include <stm32/dma.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "downlink.h"
 #include "fms/fms_autopilot_msg.h"
@@ -59,7 +59,7 @@ int main(void) {
 
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   main_spi_slave_init();
 }
diff --git a/sw/airborne/lisa/tunnel_hw.c b/sw/airborne/lisa/tunnel_hw.c
index 0d9770e05b..10741ff5ae 100644
--- a/sw/airborne/lisa/tunnel_hw.c
+++ b/sw/airborne/lisa/tunnel_hw.c
@@ -27,7 +27,7 @@
 #include <stm32/rcc.h>
 
 #include BOARD_CONFIG
-#include "init_hw.h"
+#include "mcu.h"
 #include "sys_time.h"
 #include "led.h"
 
@@ -52,7 +52,7 @@ void Delay(__IO uint32_t nCount) {
 
 int main(void) {
 
-  hw_init();
+  mcu_init();
   sys_time_init();
 
 
diff --git a/sw/airborne/mcu.c b/sw/airborne/mcu.c
index d1f02766d7..e0853e4bab 100644
--- a/sw/airborne/mcu.c
+++ b/sw/airborne/mcu.c
@@ -36,7 +36,7 @@
 #if defined USE_UART0 || defined USE_UART1  || defined USE_UART2 || defined USE_UART3 || defined USE_UART4  || defined USE_UART5
 #include "mcu_periph/uart.h"
 #endif
-#if defined USE_I2C0  || defined USE_I2C1  || defined USE_I2C2 
+#if defined USE_I2C0  || defined USE_I2C1  || defined USE_I2C2
 #include "mcu_periph/i2c.h"
 #endif
 #if defined USE_ADC
diff --git a/sw/airborne/modules/core/extra_pprz_dl.h b/sw/airborne/modules/core/extra_pprz_dl.h
index 676075a90c..5c562122b2 100644
--- a/sw/airborne/modules/core/extra_pprz_dl.h
+++ b/sw/airborne/modules/core/extra_pprz_dl.h
@@ -138,7 +138,7 @@ extern uint8_t extra_pprz_ovrn, extra_pprz_error;
 extern volatile uint8_t extra_pprz_payload_len;
 
 #include "led.h"
-//#include "uart.h"
+//#include "mcu_periph/uart.h"
 //#include "messages.h"
 //#include "downlink.h"
 static inline void parse_extra_pprz( uint8_t c ) {
diff --git a/sw/airborne/obsolete/3dmg.c b/sw/airborne/obsolete/3dmg.c
index eaaa3c6917..589dcc14e8 100644
--- a/sw/airborne/obsolete/3dmg.c
+++ b/sw/airborne/obsolete/3dmg.c
@@ -26,7 +26,7 @@
 
 #include "std.h"
 #include "3dmg.h"
-#include "uart.h"
+#include "mcu_periph/uart.h"
 
 volatile bool_t _3dmg_data_ready;
 int16_t   _3dmg_roll, _3dmg_pitch, _3dmg_yaw;
diff --git a/sw/airborne/sd_card/main.c b/sw/airborne/sd_card/main.c
index a77f922b58..5ab9371101 100644
--- a/sw/airborne/sd_card/main.c
+++ b/sw/airborne/sd_card/main.c
@@ -34,7 +34,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
   sys_time_init();
   led_init();
   Uart0Init();
@@ -42,7 +42,7 @@ static inline void main_init( void ) {
   spi_init();
   sd_card_init();
 
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic_task( void ) {
diff --git a/sw/airborne/test/nova_test_imu.c b/sw/airborne/test/nova_test_imu.c
index e3a764b1e2..35f6a89d5e 100644
--- a/sw/airborne/test/nova_test_imu.c
+++ b/sw/airborne/test/nova_test_imu.c
@@ -1,10 +1,10 @@
 #include "std.h"
-#include "init_hw.h"
+#include "mcu.h"
 #include "interrupt_hw.h"
 #include "sys_time.h"
 #include "led.h"
 
-#include "uart.h"
+#include "mcu_periph/uart.h"
 #include "messages.h"
 #include "downlink.h"
 
@@ -25,7 +25,7 @@ int main( void ) {
 }
 
 static inline void main_init( void ) {
-  hw_init();
+  mcu_init();
 
   sys_time_init();
 
@@ -35,7 +35,7 @@ static inline void main_init( void ) {
 
   ADS8344_init();
 
-  int_enable();
+  mcu_int_enable();
 
   ADS8344_start();
 }
diff --git a/sw/airborne/test/test_telemetry.c b/sw/airborne/test/test_telemetry.c
index d85739657b..bd2760fc7f 100644
--- a/sw/airborne/test/test_telemetry.c
+++ b/sw/airborne/test/test_telemetry.c
@@ -44,7 +44,7 @@ int main(void) {
 static inline void main_init( void ) {
   mcu_init();
   sys_time_init();
-  int_enable();
+  mcu_int_enable();
 }
 
 static inline void main_periodic( void ) {