diff --git a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
index e9e9aa9dba..1f4331d59a 100644
--- a/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
+++ b/conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml
@@ -32,7 +32,7 @@
-
+
diff --git a/conf/firmwares/subsystems/shared/imu_aspirin_v2.1_new.makefile b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1_new.makefile
new file mode 100644
index 0000000000..b1ab84d12e
--- /dev/null
+++ b/conf/firmwares/subsystems/shared/imu_aspirin_v2.1_new.makefile
@@ -0,0 +1,79 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Aspirin IMU v2.1
+#
+#
+# required xml:
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+#
+
+
+# for fixedwing firmware and ap only
+ifeq ($(TARGET), ap)
+ IMU_ASPIRIN_2_CFLAGS = -DUSE_IMU
+endif
+
+IMU_ASPIRIN_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin_2.h\"
+IMU_ASPIRIN_2_SRCS = $(SRC_SUBSYSTEMS)/imu.c
+IMU_ASPIRIN_2_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_aspirin_2.c
+IMU_ASPIRIN_2_SRCS += peripherals/mpu60x0_spi.c
+
+# Magnetometer
+#IMU_ASPIRIN_2_SRCS += peripherals/hmc58xx.c
+
+include $(CFG_SHARED)/spi_master.makefile
+
+ifeq ($(ARCH), lpc21)
+IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE0
+IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_SLAVE_IDX=SPI_SLAVE0
+IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_DEV=spi1
+IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI1
+else ifeq ($(ARCH), stm32)
+IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI2
+# Slave select configuration
+# SLAVE2 is on PB12 (NSS) (MPU600 CS)
+IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE2
+endif
+
+#IMU_ASPIRIN_2_CFLAGS += -DIMU_ASPIRIN_VERSION_2_1
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
+
+ap.CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
+ap.srcs += $(IMU_ASPIRIN_2_SRCS)
+
+
+#
+# NPS simulator
+#
+include $(CFG_SHARED)/imu_nps.makefile
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2.c b/sw/airborne/subsystems/imu/imu_aspirin_2.c
new file mode 100644
index 0000000000..33a444456e
--- /dev/null
+++ b/sw/airborne/subsystems/imu/imu_aspirin_2.c
@@ -0,0 +1,121 @@
+/*
+ * Copyright (C) 2013 Felix Ruess
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/imu/imu_aspirin_2.c
+ * Driver for the Aspirin v2.x IMU using SPI for the MPU6000.
+ */
+
+#include "subsystems/imu.h"
+
+#include "mcu_periph/i2c.h"
+#include "mcu_periph/spi.h"
+
+
+/* defaults suitable for Lisa */
+#ifndef ASPIRIN_2_SPI_SLAVE_IDX
+#define ASPIRIN_2_SPI_SLAVE_IDX SPI_SLAVE2
+#endif
+PRINT_CONFIG_VAR(ASPIRIN_2_SPI_SLAVE_IDX)
+
+#ifndef ASPIRIN_2_SPI_DEV
+#define ASPIRIN_2_SPI_DEV spi2
+#endif
+PRINT_CONFIG_VAR(ASPIRIN_2_SPI_DEV)
+
+#ifndef ASPIRIN_2_I2C_DEV
+#define ASPIRIN_2_I2C_DEV i2c2
+#endif
+PRINT_CONFIG_VAR(ASPIRIN_2_I2C_DEV)
+
+
+/* gyro internal lowpass frequency */
+#if !defined ASPIRIN_2_LOWPASS_FILTER && !defined ASPIRIN_2_SMPLRT_DIV
+#define ASPIRIN_2_LOWPASS_FILTER MPU60X0_DLPF_256HZ
+#define ASPIRIN_2_SMPLRT_DIV 1
+PRINT_CONFIG_MSG("Gyro/Accel output rate is 500Hz")
+#endif
+PRINT_CONFIG_VAR(ASPIRIN_2_LOWPASS_FILTER)
+PRINT_CONFIG_VAR(ASPIRIN_2_SMPLRT_DIV)
+
+#ifndef ASPIRIN_2_GYRO_RANGE
+#define ASPIRIN_2_GYRO_RANGE MPU60X0_GYRO_RANGE_2000
+#endif
+PRINT_CONFIG_VAR(ASPIRIN_2_GYRO_RANGE)
+
+#ifndef ASPIRIN_2_ACCEL_RANGE
+#define ASPIRIN_2_ACCEL_RANGE MPU60X0_ACCEL_RANGE_16G
+#endif
+PRINT_CONFIG_VAR(ASPIRIN_2_ACCEL_RANGE)
+
+
+struct ImuAspirin2 imu_aspirin2;
+
+void imu_impl_init(void)
+{
+ imu_aspirin2.accel_valid = FALSE;
+ imu_aspirin2.gyro_valid = FALSE;
+ imu_aspirin2.mag_valid = FALSE;
+
+ mpu60x0_spi_init(&imu_aspirin2.mpu, &(ASPIRIN_2_SPI_DEV), ASPIRIN_2_SPI_SLAVE_IDX);
+ // change the default configuration
+ imu_aspirin2.mpu.config.smplrt_div = ASPIRIN_2_SMPLRT_DIV;
+ imu_aspirin2.mpu.config.dlpf_cfg = ASPIRIN_2_LOWPASS_FILTER;
+ imu_aspirin2.mpu.config.gyro_range = ASPIRIN_2_GYRO_RANGE;
+ imu_aspirin2.mpu.config.accel_range = ASPIRIN_2_ACCEL_RANGE;
+ //imu_aspirin2.mpu.config.i2c_bypass = FALSE;
+ //imu_aspirin2.mpu.config.drdy_int_enable = TRUE;
+
+ //hmc58xx_init(&imu_aspirin2.mag_hmc, &(ASPIRIN_2_I2C_DEV), HMC58XX_ADDR);
+}
+
+
+void imu_periodic(void)
+{
+ mpu60x0_spi_periodic(&imu_aspirin2.mpu);
+
+ // Read HMC58XX at 50Hz (main loop for rotorcraft: 512Hz)
+ //RunOnceEvery(10, hmc58xx_periodic(&imu_aspirin2.mag_hmc));
+}
+
+void imu_aspirin2_event(void)
+{
+ mpu60x0_spi_event(&imu_aspirin2.mpu);
+ if (imu_aspirin2.mpu.data_available) {
+ RATES_COPY(imu.gyro_unscaled, imu_aspirin2.mpu.data_rates.rates);
+ VECT3_COPY(imu.accel_unscaled, imu_aspirin2.mpu.data_accel.vect);
+ imu_aspirin2.mpu.data_available = FALSE;
+ imu_aspirin2.gyro_valid = TRUE;
+ imu_aspirin2.accel_valid = TRUE;
+ }
+
+#if 0
+ /* HMC58XX event task */
+ hmc58xx_event(&imu_aspirin2.mag_hmc);
+ if (imu_aspirin2.mag_hmc.data_available) {
+ imu.mag_unscaled.x = imu_aspirin2.mag_hmc.data.vect.y;
+ imu.mag_unscaled.y = -imu_aspirin2.mag_hmc.data.vect.x;
+ imu.mag_unscaled.z = imu_aspirin2.mag_hmc.data.vect.z;
+ imu_aspirin2.mag_hmc.data_available = FALSE;
+ imu_aspirin2.mag_valid = TRUE;
+ }
+#endif
+}
diff --git a/sw/airborne/subsystems/imu/imu_aspirin_2.h b/sw/airborne/subsystems/imu/imu_aspirin_2.h
new file mode 100644
index 0000000000..33b91686e4
--- /dev/null
+++ b/sw/airborne/subsystems/imu/imu_aspirin_2.h
@@ -0,0 +1,126 @@
+/*
+ * Copyright (C) 2013 Felix Ruess
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING. If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ */
+
+/**
+ * @file subsystems/imu/imu_aspirin_2.h
+ * Driver for the Aspirin v2.x IMU using SPI for the MPU6000.
+ */
+
+#ifndef IMU_ASPIRIN_2_H
+#define IMU_ASPIRIN_2_H
+
+#include "std.h"
+#include "generated/airframe.h"
+#include "subsystems/imu.h"
+
+#include "peripherals/mpu60x0_spi.h"
+
+#if !defined IMU_MAG_X_SIGN & !defined IMU_MAG_Y_SIGN & !defined IMU_MAG_Z_SIGN
+#define IMU_MAG_X_SIGN 1
+#define IMU_MAG_Y_SIGN 1
+#define IMU_MAG_Z_SIGN 1
+#endif
+
+#if !defined IMU_GYRO_P_SIGN & !defined IMU_GYRO_Q_SIGN & !defined IMU_GYRO_R_SIGN
+#define IMU_GYRO_P_SIGN 1
+#define IMU_GYRO_Q_SIGN 1
+#define IMU_GYRO_R_SIGN 1
+#endif
+#if !defined IMU_ACCEL_X_SIGN & !defined IMU_ACCEL_Y_SIGN & !defined IMU_ACCEL_Z_SIGN
+#define IMU_ACCEL_X_SIGN 1
+#define IMU_ACCEL_Y_SIGN 1
+#define IMU_ACCEL_Z_SIGN 1
+#endif
+
+/** default gyro sensitivy and neutral from the datasheet
+ * MPU60X0 has 16.4 LSB/(deg/s) at 2000deg/s range
+ * sens = 1/16.4 * pi/180 * 2^INT32_RATE_FRAC
+ * sens = 1/16.4 * pi/180 * 4096 = 4.359066229
+ */
+#if !defined IMU_GYRO_P_SENS & !defined IMU_GYRO_Q_SENS & !defined IMU_GYRO_R_SENS
+#define IMU_GYRO_P_SENS 4.359
+#define IMU_GYRO_P_SENS_NUM 4359
+#define IMU_GYRO_P_SENS_DEN 1000
+#define IMU_GYRO_Q_SENS 4.359
+#define IMU_GYRO_Q_SENS_NUM 4359
+#define IMU_GYRO_Q_SENS_DEN 1000
+#define IMU_GYRO_R_SENS 4.359
+#define IMU_GYRO_R_SENS_NUM 4359
+#define IMU_GYRO_R_SENS_DEN 1000
+#endif
+#if !defined IMU_GYRO_P_NEUTRAL & !defined IMU_GYRO_Q_NEUTRAL & !defined IMU_GYRO_R_NEUTRAL
+#define IMU_GYRO_P_NEUTRAL 0
+#define IMU_GYRO_Q_NEUTRAL 0
+#define IMU_GYRO_R_NEUTRAL 0
+#endif
+
+/** default accel sensitivy from the datasheet
+ * MPU60X0 has 2048 LSB/g
+ * fixed point sens: 9.81 [m/s^2] / 2048 [LSB/g] * 2^INT32_ACCEL_FRAC
+ * sens = 9.81 / 2048 * 1024 = 4.905
+ */
+#if !defined IMU_ACCEL_X_SENS & !defined IMU_ACCEL_Y_SENS & !defined IMU_ACCEL_Z_SENS
+#define IMU_ACCEL_X_SENS 4.905
+#define IMU_ACCEL_X_SENS_NUM 4905
+#define IMU_ACCEL_X_SENS_DEN 1000
+#define IMU_ACCEL_Y_SENS 4.905
+#define IMU_ACCEL_Y_SENS_NUM 4905
+#define IMU_ACCEL_Y_SENS_DEN 1000
+#define IMU_ACCEL_Z_SENS 4.905
+#define IMU_ACCEL_Z_SENS_NUM 4905
+#define IMU_ACCEL_Z_SENS_DEN 1000
+#endif
+#if !defined IMU_ACCEL_X_NEUTRAL & !defined IMU_ACCEL_Y_NEUTRAL & !defined IMU_ACCEL_Z_NEUTRAL
+#define IMU_ACCEL_X_NEUTRAL 0
+#define IMU_ACCEL_Y_NEUTRAL 0
+#define IMU_ACCEL_Z_NEUTRAL 0
+#endif
+
+
+struct ImuAspirin2 {
+ volatile bool_t gyro_valid;
+ volatile bool_t accel_valid;
+ volatile bool_t mag_valid;
+ struct Mpu60x0_Spi mpu;
+};
+
+extern struct ImuAspirin2 imu_aspirin2;
+
+extern void imu_aspirin2_event(void);
+
+
+static inline void ImuEvent(void (* _gyro_handler)(void), void (* _accel_handler)(void), void (* _mag_handler)(void)) {
+ imu_aspirin2_event();
+ if (imu_aspirin2.gyro_valid) {
+ imu_aspirin2.gyro_valid = FALSE;
+ _gyro_handler();
+ }
+ if (imu_aspirin2.accel_valid) {
+ imu_aspirin2.accel_valid = FALSE;
+ _accel_handler();
+ }
+ if (imu_aspirin2.mag_valid) {
+ imu_aspirin2.mag_valid = FALSE;
+ _mag_handler();
+ }
+}
+
+#endif /* IMU_ASPIRIN_2_H */