Remove USE_EXTI, USE_GYRO_EXTI and USE_MPU_DATA_READY_SIGNAL defines

src/main/cli/cli.c

@@ -4804,14 +4804,12 @@ static void cliStatus(const char *cmdName, char *cmdline)
         }
     }
 #ifdef USE_SPI
-#ifdef USE_GYRO_EXTI
     if (gyroActiveDev()->gyroModeSPI != GYRO_EXTI_NO_INT) {
         cliPrintf(" locked");
     }
     if (gyroActiveDev()->gyroModeSPI == GYRO_EXTI_INT_DMA) {
         cliPrintf(" dma");
     }
-#endif
     if (spiGetExtDeviceCount(&gyroActiveDev()->dev) > 1) {
         cliPrintf(" shared");
     }
@@ -5201,9 +5199,7 @@ const cliResourceValue_t resourceTable[] = {
     DEFS( OWNER_RX_SPI_EXPRESSLRS_BUSY, PG_RX_EXPRESSLRS_SPI_CONFIG, rxExpressLrsSpiConfig_t, busyIoTag ),
 #endif
 #endif
-#ifdef USE_GYRO_EXTI
     DEFW( OWNER_GYRO_EXTI,     PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, extiTag, MAX_GYRODEV_COUNT ),
-#endif
     DEFW( OWNER_GYRO_CS,       PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, csnTag, MAX_GYRODEV_COUNT ),
 #ifdef USE_USB_DETECT
     DEFS( OWNER_USB_DETECT,    PG_USB_CONFIG, usbDev_t, detectPin ),

src/main/drivers/accgyro/accgyro.h

@@ -109,14 +109,12 @@ typedef struct gyroDev_s {
     sensor_align_e gyroAlign;
     gyroRateKHz_e gyroRateKHz;
     gyroModeSPI_e gyroModeSPI;
-#ifdef USE_GYRO_EXTI
     uint32_t detectedEXTI;
     uint32_t gyroLastEXTI;
     uint32_t gyroSyncEXTI;
     int32_t gyroShortPeriod;
     int32_t gyroDmaMaxDuration;
     busSegment_t segments[2];
-#endif
     volatile bool dataReady;
     bool gyro_high_fsr;
     uint8_t hardware_lpf;

src/main/drivers/accgyro/accgyro_mpu.c

@@ -115,7 +115,6 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
 /*
  * Gyro interrupt service routine
  */
-#ifdef USE_GYRO_EXTI
 #ifdef USE_SPI_GYRO
 // Called in ISR context
 // Gyro read has just completed
@@ -181,7 +180,6 @@ static void mpuIntExtiInit(gyroDev_t *gyro)
     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
     EXTIEnable(mpuIntIO);
 }
-#endif // USE_GYRO_EXTI
 
 bool mpuAccRead(accDev_t *acc)
 {
@@ -270,7 +268,7 @@ bool mpuGyroReadSPI(gyroDev_t *gyro)
     {
         // Initialise the tx buffer to all 0xff
         memset(gyro->dev.txBuf, 0xff, 16);
-#ifdef USE_GYRO_EXTI
+
         // Check that minimum number of interrupts have been detected
 
         // We need some offset from the gyro interrupts to ensure sampling after the interrupt
@@ -289,9 +287,7 @@ bool mpuGyroReadSPI(gyroDev_t *gyro)
                 // Interrupts are present, but no DMA
                 gyro->gyroModeSPI = GYRO_EXTI_INT;
             }
-        } else
+        } else {
-#endif
-        {
             gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
         }
         break;
@@ -489,11 +485,7 @@ void mpuGyroInit(gyroDev_t *gyro)
 {
     gyro->accDataReg = MPU_RA_ACCEL_XOUT_H;
     gyro->gyroDataReg = MPU_RA_GYRO_XOUT_H;
-#ifdef USE_GYRO_EXTI
     mpuIntExtiInit(gyro);
-#else
-    UNUSED(gyro);
-#endif
 }
 
 uint8_t mpuGyroDLPF(gyroDev_t *gyro)

src/main/drivers/accgyro/accgyro_mpu6050.c

@@ -96,9 +96,7 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
     busWriteRegister(dev, MPU_RA_INT_PIN_CFG,
             0 << 7 | 0 << 6 | 0 << 5 | 0 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_PIN_CFG   -- INT_LEVEL_HIGH, INT_OPEN_DIS, LATCH_INT_DIS, INT_RD_CLEAR_DIS, FSYNC_INT_LEVEL_HIGH, FSYNC_INT_DIS, I2C_BYPASS_EN, CLOCK_DIS
 
-#ifdef USE_MPU_DATA_READY_SIGNAL
+    busWriteRegister(&gyro->dev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
-    busWriteRegister(dev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
-#endif
 }
 
 bool mpu6050GyroDetect(gyroDev_t *gyro)

src/main/drivers/accgyro/accgyro_mpu6500.c

@@ -91,9 +91,7 @@ void mpu6500GyroInit(gyroDev_t *gyro)
 #endif
     delay(15);
 
-#ifdef USE_MPU_DATA_READY_SIGNAL
+    busWriteRegister(&gyro->dev, MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
-    busWriteRegister(dev, MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
-#endif
     delay(15);
 }
 

src/main/drivers/accgyro/accgyro_spi_bmi160.c

@@ -120,8 +120,6 @@ uint8_t bmi160Detect(const extDevice_t *dev)
 
     BMI160Detected = true;
 
-    spiSetClkDivisor(dev, spiCalculateDivider(BMI160_MAX_SPI_CLK_HZ));
-
     return BMI_160_SPI;
 }
 
@@ -260,7 +258,6 @@ static int32_t BMI160_do_foc(const extDevice_t *dev)
 
 extiCallbackRec_t bmi160IntCallbackRec;
 
-#ifdef USE_GYRO_EXTI
 // Called in ISR context
 // Gyro read has just completed
 busStatus_e bmi160Intcallback(uint32_t arg)
@@ -280,6 +277,8 @@ busStatus_e bmi160Intcallback(uint32_t arg)
 void bmi160ExtiHandler(extiCallbackRec_t *cb)
 {
     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+    extDevice_t *dev = &gyro->dev;
+
     // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
     // not have an associated timer
     uint32_t nowCycles = getCycleCounter();
@@ -287,7 +286,7 @@ void bmi160ExtiHandler(extiCallbackRec_t *cb)
     gyro->gyroLastEXTI = nowCycles;
 
     if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
-        spiSequence(&gyro->dev, gyro->segments);
+        spiSequence(dev, gyro->segments);
     }
 
     gyro->detectedEXTI++;
@@ -307,35 +306,29 @@ static void bmi160IntExtiInit(gyroDev_t *gyro)
     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
     EXTIEnable(mpuIntIO);
 }
-#else
-void bmi160ExtiHandler(extiCallbackRec_t *cb)
-{
-    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
-    gyro->dataReady = true;
-}
-#endif
 
 static bool bmi160AccRead(accDev_t *acc)
 {
+    extDevice_t *dev = &acc->gyro->dev;
     switch (acc->gyro->gyroModeSPI) {
     case GYRO_EXTI_INT:
     case GYRO_EXTI_NO_INT:
     {
-        acc->gyro->dev.txBuf[0] = BMI160_REG_ACC_DATA_X_LSB | 0x80;
+        dev->txBuf[0] = BMI160_REG_ACC_DATA_X_LSB | 0x80;
 
         busSegment_t segments[] = {
                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
                 {.u.link = {NULL, NULL}, 0, true, NULL},
         };
-        segments[0].u.buffers.txData = &acc->gyro->dev.txBuf[1];
+        segments[0].u.buffers.txData = &dev->txBuf[1];
-        segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
+        segments[0].u.buffers.rxData = &dev->rxBuf[1];
 
         spiSequence(&acc->gyro->dev, &segments[0]);
 
         // Wait for completion
         spiWait(&acc->gyro->dev);
 
-        uint16_t *accData = (uint16_t *)acc->gyro->dev.rxBuf;
+        uint16_t *accData = (uint16_t *)dev->rxBuf;
         acc->ADCRaw[X] = accData[1];
         acc->ADCRaw[Y] = accData[2];
         acc->ADCRaw[Z] = accData[3];
@@ -348,7 +341,7 @@ static bool bmi160AccRead(accDev_t *acc)
         // up an old value.
 
         // This data was read from the gyro, which is the same SPI device as the acc
-        uint16_t *accData = (uint16_t *)acc->gyro->dev.rxBuf;
+        uint16_t *accData = (uint16_t *)dev->rxBuf;
         acc->ADCRaw[X] = accData[4];
         acc->ADCRaw[Y] = accData[5];
         acc->ADCRaw[Z] = accData[6];
@@ -366,35 +359,33 @@ static bool bmi160AccRead(accDev_t *acc)
 
 static bool bmi160GyroRead(gyroDev_t *gyro)
 {
-    uint16_t *gyroData = (uint16_t *)gyro->dev.rxBuf;
+    extDevice_t *dev = &gyro->dev;
+    uint16_t *gyroData = (uint16_t *)dev->rxBuf;
     switch (gyro->gyroModeSPI) {
     case GYRO_EXTI_INIT:
     {
         // Initialise the tx buffer to all 0x00
-        memset(gyro->dev.txBuf, 0x00, 14);
+        memset(dev->txBuf, 0x00, 14);
-#ifdef USE_GYRO_EXTI
         // Check that minimum number of interrupts have been detected
 
         // We need some offset from the gyro interrupts to ensure sampling after the interrupt
         gyro->gyroDmaMaxDuration = 5;
         // Using DMA for gyro access upsets the scheduler on the F4
         if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
-            if (spiUseDMA(&gyro->dev)) {
+            if (spiUseDMA(dev)) {
-                gyro->dev.callbackArg = (uint32_t)gyro;
+                dev->callbackArg = (uint32_t)gyro;
-                gyro->dev.txBuf[1] = BMI160_REG_GYR_DATA_X_LSB | 0x80;
+                dev->txBuf[1] = BMI160_REG_GYR_DATA_X_LSB | 0x80;
                 gyro->segments[0].len = 14;
                 gyro->segments[0].callback = bmi160Intcallback;
-                gyro->segments[0].u.buffers.txData = &gyro->dev.txBuf[1];
+                gyro->segments[0].u.buffers.txData = dev.txBuf[1];
-                gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
+                gyro->segments[0].u.buffers.rxData = dev.rxBuf[1];
                 gyro->segments[0].negateCS = true;
                 gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
             } else {
                 // Interrupts are present, but no DMA
                 gyro->gyroModeSPI = GYRO_EXTI_INT;
             }
-        } else
+        } else {
-#endif
-        {
             gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
         }
         break;
@@ -403,19 +394,19 @@ static bool bmi160GyroRead(gyroDev_t *gyro)
     case GYRO_EXTI_INT:
     case GYRO_EXTI_NO_INT:
     {
-        gyro->dev.txBuf[1] = BMI160_REG_GYR_DATA_X_LSB | 0x80;
+        dev->txBuf[1] = BMI160_REG_GYR_DATA_X_LSB | 0x80;
 
         busSegment_t segments[] = {
                 {.u.buffers = {NULL, NULL}, 7, true, NULL},
                 {.u.link = {NULL, NULL}, 0, true, NULL},
         };
-        segments[0].u.buffers.txData = &gyro->dev.txBuf[1];
+        segments[0].u.buffers.txData = dev.txBuf[1];
-        segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
+        segments[0].u.buffers.rxData = dev.rxBuf[1];
 
-        spiSequence(&gyro->dev, &segments[0]);
+        spiSequence(dev, &segments[0]);
 
         // Wait for completion
-        spiWait(&gyro->dev);
+        spiWait(dev);
 
         // Fall through
         FALLTHROUGH;
@@ -441,10 +432,10 @@ static bool bmi160GyroRead(gyroDev_t *gyro)
 
 void bmi160SpiGyroInit(gyroDev_t *gyro)
 {
-    BMI160_Init(&gyro->dev);
+    extDevice_t *dev = &gyro->dev;
-#if defined(USE_GYRO_EXTI)
+
+    BMI160_Init(dev);
     bmi160IntExtiInit(gyro);
-#endif
 
     spiSetClkDivisor(dev, spiCalculateDivider(BMI160_MAX_SPI_CLK_HZ));
 }

src/main/drivers/accgyro/accgyro_spi_bmi270.c

@@ -273,7 +273,6 @@ extiCallbackRec_t bmi270IntCallbackRec;
 /*
  * Gyro interrupt service routine
  */
-#ifdef USE_GYRO_EXTI
 // Called in ISR context
 // Gyro read has just completed
 busStatus_e bmi270Intcallback(uint32_t arg)
@@ -293,6 +292,8 @@ busStatus_e bmi270Intcallback(uint32_t arg)
 void bmi270ExtiHandler(extiCallbackRec_t *cb)
 {
     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+    extDevice_t *dev = &gyro->dev;
+
     // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
     // not have an associated timer
     uint32_t nowCycles = getCycleCounter();
@@ -300,7 +301,7 @@ void bmi270ExtiHandler(extiCallbackRec_t *cb)
     gyro->gyroLastEXTI = nowCycles;
 
     if (gyro->gyroModeSPI == GYRO_EXTI_INT_DMA) {
-        spiSequence(&gyro->dev, gyro->segments);
+        spiSequence(dev, gyro->segments);
     }
 
     gyro->detectedEXTI++;
@@ -320,28 +321,23 @@ static void bmi270IntExtiInit(gyroDev_t *gyro)
     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
     EXTIEnable(mpuIntIO);
 }
-#else
-void bmi270ExtiHandler(extiCallbackRec_t *cb)
-{
-    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
-    gyro->dataReady = true;
-}
-#endif
 
 static bool bmi270AccRead(accDev_t *acc)
 {
+    extDevice_t *dev = &acc->gyro->dev;
+
     switch (acc->gyro->gyroModeSPI) {
     case GYRO_EXTI_INT:
     case GYRO_EXTI_NO_INT:
     {
-        acc->gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
+        dev->txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
 
         busSegment_t segments[] = {
                 {.u.buffers = {NULL, NULL}, 8, true, NULL},
                 {.u.link = {NULL, NULL}, 0, true, NULL},
         };
-        segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
+        segments[0].u.buffers.txData = dev->txBuf;
-        segments[0].u.buffers.rxData = acc->gyro->dev.rxBuf;
+        segments[0].u.buffers.rxData = dev->rxBuf;
 
         spiSequence(&acc->gyro->dev, &segments[0]);
 
@@ -358,7 +354,7 @@ static bool bmi270AccRead(accDev_t *acc)
         // up an old value.
 
         // This data was read from the gyro, which is the same SPI device as the acc
-        uint16_t *accData = (uint16_t *)acc->gyro->dev.rxBuf;
+        uint16_t *accData = (uint16_t *)dev->rxBuf;
         acc->ADCRaw[X] = accData[1];
         acc->ADCRaw[Y] = accData[2];
         acc->ADCRaw[Z] = accData[3];
@@ -375,35 +371,35 @@ static bool bmi270AccRead(accDev_t *acc)
 
 static bool bmi270GyroReadRegister(gyroDev_t *gyro)
 {
-    uint16_t *gyroData = (uint16_t *)gyro->dev.rxBuf;
+    extDevice_t *dev = &gyro->dev;
+    uint16_t *gyroData = (uint16_t *)dev->rxBuf;
+
     switch (gyro->gyroModeSPI) {
     case GYRO_EXTI_INIT:
     {
         // Initialise the tx buffer to all 0x00
-        memset(gyro->dev.txBuf, 0x00, 14);
+        memset(dev->txBuf, 0x00, 14);
-#ifdef USE_GYRO_EXTI
+
         // Check that minimum number of interrupts have been detected
 
         // We need some offset from the gyro interrupts to ensure sampling after the interrupt
         gyro->gyroDmaMaxDuration = 5;
         // Using DMA for gyro access upsets the scheduler on the F4
         if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
-            if (spiUseDMA(&gyro->dev)) {
+            if (spiUseDMA(dev)) {
-                gyro->dev.callbackArg = (uint32_t)gyro;
+                dev->callbackArg = (uint32_t)gyro;
-                gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
+                dev->txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
                 gyro->segments[0].len = 14;
                 gyro->segments[0].callback = bmi270Intcallback;
-                gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
+                gyro->segments[0].u.buffers.txData = dev->txBuf;
-                gyro->segments[0].u.buffers.rxData = gyro->dev.rxBuf;
+                gyro->segments[0].u.buffers.rxData = dev->rxBuf;
                 gyro->segments[0].negateCS = true;
                 gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
             } else {
                 // Interrupts are present, but no DMA
                 gyro->gyroModeSPI = GYRO_EXTI_INT;
             }
-        } else
+        } else {
-#endif
-        {
             gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
         }
         break;
@@ -412,19 +408,19 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
     case GYRO_EXTI_INT:
     case GYRO_EXTI_NO_INT:
     {
-        gyro->dev.txBuf[0] = BMI270_REG_GYR_DATA_X_LSB | 0x80;
+        dev->txBuf[0] = BMI270_REG_GYR_DATA_X_LSB | 0x80;
 
         busSegment_t segments[] = {
                 {.u.buffers = {NULL, NULL}, 8, true, NULL},
                 {.u.link = {NULL, NULL}, 0, true, NULL},
         };
-        segments[0].u.buffers.txData = gyro->dev.txBuf;
+        segments[0].u.buffers.txData = dev->txBuf;
-        segments[0].u.buffers.rxData = gyro->dev.rxBuf;
+        segments[0].u.buffers.rxData = dev->rxBuf;
 
-        spiSequence(&gyro->dev, &segments[0]);
+        spiSequence(dev, &segments[0]);
 
         // Wait for completion
-        spiWait(&gyro->dev);
+        spiWait(dev);
 
         gyro->gyroADCRaw[X] = gyroData[1];
         gyro->gyroADCRaw[Y] = gyroData[2];
@@ -533,9 +529,7 @@ static void bmi270SpiGyroInit(gyroDev_t *gyro)
 
     bmi270Config(gyro);
 
-#if defined(USE_GYRO_EXTI)
     bmi270IntExtiInit(gyro);
-#endif
 
     spiSetClkDivisor(dev, spiCalculateDivider(BMI270_MAX_SPI_CLK_HZ));
 }

src/main/drivers/accgyro/accgyro_spi_icm20649.c

@@ -77,8 +77,6 @@ void icm20649AccInit(accDev_t *acc)
     // 1,024 LSB/g 30g
     acc->acc_1G = acc->acc_high_fsr ? 1024 : 2048;
 
-    spiSetClkDivisor(&acc->dev, spiCalculateDivider(ICM20649_MAX_SPI_CLK_HZ));
-
     spiWriteReg(&acc->dev, ICM20649_RA_REG_BANK_SEL, 2 << 4); // config in bank 2
     delay(15);
     const uint8_t acc_fsr = acc->acc_high_fsr ? ICM20649_FSR_30G : ICM20649_FSR_16G;
@@ -136,9 +134,7 @@ void icm20649GyroInit(gyroDev_t *gyro)
     spiWriteReg(&gyro->bus, ICM20649_RA_INT_PIN_CFG, 0x11);  // INT_ANYRD_2CLEAR, BYPASS_EN
     delay(15);
 
-#ifdef USE_MPU_DATA_READY_SIGNAL
     spiWriteReg(&gyro->bus, ICM20649_RA_INT_ENABLE_1, 0x01);
-#endif
 }
 
 bool icm20649SpiGyroDetect(gyroDev_t *gyro)

src/main/drivers/accgyro/accgyro_spi_icm20689.c

@@ -147,25 +147,25 @@ bool icm20689SpiAccDetect(accDev_t *acc)
 
 void icm20689GyroInit(gyroDev_t *gyro)
 {
-    spiSetClkDivisor(&gyro->dev, spiCalculateDivider(ICM20689_MAX_SPI_CLK_HZ));
+    extDevice_t *dev = &gyro->dev;
+
+    spiSetClkDivisor(dev, spiCalculateDivider(ICM20689_MAX_SPI_CLK_HZ));
 
     mpuGyroInit(gyro);
 
     // Device was already reset during detection so proceed with configuration
 
-    spiWriteReg(&gyro->dev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+    spiWriteReg(dev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delayMicroseconds(ICM20689_CLKSEL_SETTLE_US);
-    spiWriteReg(&gyro->dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+    spiWriteReg(dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
-    spiWriteReg(&gyro->dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    spiWriteReg(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
-    spiWriteReg(&gyro->dev, MPU_RA_CONFIG, mpuGyroDLPF(gyro));
+    spiWriteReg(dev, MPU_RA_CONFIG, mpuGyroDLPF(gyro));
-    spiWriteReg(&gyro->dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
+    spiWriteReg(dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
 
     // Data ready interrupt configuration
-    spiWriteReg(&gyro->dev, MPU_RA_INT_PIN_CFG, ICM20689_INT_ANYRD_2CLEAR);
+    spiWriteReg(dev, MPU_RA_INT_PIN_CFG, ICM20689_INT_ANYRD_2CLEAR);
 
-#ifdef USE_MPU_DATA_READY_SIGNAL
+    spiWriteReg(dev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
-    spiWriteReg(&gyro->dev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
-#endif
 }
 
 bool icm20689SpiGyroDetect(gyroDev_t *gyro)

src/main/drivers/accgyro/accgyro_spi_icm426xx.c

@@ -160,6 +160,7 @@ static odrEntry_t icm426xxPkhzToSupportedODRMap[] = {
 void icm426xxGyroInit(gyroDev_t *gyro)
 {
     const extDevice_t *dev = &gyro->dev;
+
     spiSetClkDivisor(dev, spiCalculateDivider(ICM426XX_MAX_SPI_CLK_HZ));
 
     mpuGyroInit(gyro);
@@ -202,7 +203,6 @@ void icm426xxGyroInit(gyroDev_t *gyro)
     spiWriteReg(dev, ICM426XX_RA_INT_CONFIG, ICM426XX_INT1_MODE_PULSED | ICM426XX_INT1_DRIVE_CIRCUIT_PP | ICM426XX_INT1_POLARITY_ACTIVE_HIGH);
     spiWriteReg(dev, ICM426XX_RA_INT_CONFIG0, ICM426XX_UI_DRDY_INT_CLEAR_ON_SBR);
 
-#ifdef USE_MPU_DATA_READY_SIGNAL
     spiWriteReg(dev, ICM426XX_RA_INT_SOURCE0, ICM426XX_UI_DRDY_INT1_EN_ENABLED);
 
     uint8_t intConfig1Value = spiReadRegMsk(dev, ICM426XX_RA_INT_CONFIG1);
@@ -211,7 +211,6 @@ void icm426xxGyroInit(gyroDev_t *gyro)
     intConfig1Value |= (ICM426XX_INT_TPULSE_DURATION_8 | ICM426XX_INT_TDEASSERT_DISABLED);
 
     spiWriteReg(dev, ICM426XX_RA_INT_CONFIG1, intConfig1Value);
-#endif
 }
 
 bool icm426xxSpiGyroDetect(gyroDev_t *gyro)

src/main/drivers/accgyro/accgyro_spi_l3gd20.c

@@ -77,7 +77,6 @@
 
 #define BOOT                          ((uint8_t)0x80)
 
-#if defined(USE_MPU_DATA_READY_SIGNAL)
 static void l3gd20ExtiHandler(extiCallbackRec_t *cb)
 {
     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
@@ -97,35 +96,34 @@ static void l3gd20IntExtiInit(gyroDev_t *gyro)
     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
     EXTIEnable(mpuIntIO);
 }
-#endif
 
 void l3gd20GyroInit(gyroDev_t *gyro)
 {
-    spiSetClkDivisor(&gyro->dev, spiCalculateDivider(L3GD20_MAX_SPI_CLK_HZ));
+    extDevice_t *dev = &gyro->dev;
 
-    spiWriteReg(&gyro->dev, CTRL_REG5_ADDR, BOOT);
+    spiSetClkDivisor(dev, spiCalculateDivider(L3GD20_MAX_SPI_CLK_HZ));
+
+    spiWriteReg(dev, CTRL_REG5_ADDR, BOOT);
 
     delayMicroseconds(100);
 
-    spiWriteReg(&gyro->dev, CTRL_REG1_ADDR, MODE_ACTIVE | OUTPUT_DATARATE_3 | AXES_ENABLE | BANDWIDTH_3);
+    spiWriteReg(dev, CTRL_REG1_ADDR, MODE_ACTIVE | OUTPUT_DATARATE_3 | AXES_ENABLE | BANDWIDTH_3);
 
     delayMicroseconds(1);
 
-    spiWriteReg(&gyro->dev, CTRL_REG4_ADDR, BLOCK_DATA_UPDATE_CONTINUOUS | BLE_MSB | FULLSCALE_2000);
+    spiWriteReg(dev, CTRL_REG4_ADDR, BLOCK_DATA_UPDATE_CONTINUOUS | BLE_MSB | FULLSCALE_2000);
 
     delay(100);
 
-#if defined(USE_MPU_DATA_READY_SIGNAL)
     l3gd20IntExtiInit(gyro);
-#endif
-
 }
 
 static bool l3gd20GyroRead(gyroDev_t *gyro)
 {
     uint8_t buf[6];
+    extDevice_t *dev = &gyro->dev;
 
-    const bool ack = spiReadRegMskBufRB(&gyro->dev, OUT_X_L_ADDR | READ_CMD | MULTIPLEBYTE_CMD,buf, sizeof(buf));
+    const bool ack = spiReadRegMskBufRB(dev, OUT_X_L_ADDR | READ_CMD | MULTIPLEBYTE_CMD,buf, sizeof(buf));
     if (!ack) {
         return false;
     }

src/main/drivers/accgyro/accgyro_spi_lsm6dso.c

@@ -32,13 +32,11 @@
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
 
-#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
 void lsm6dsoExtiHandler(extiCallbackRec_t *cb)
 {
     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
     gyro->dataReady = true;
 }
-#endif
 
 bool lsm6dsoAccRead(accDev_t *acc)
 {

src/main/drivers/accgyro/accgyro_spi_lsm6dso_init.c

@@ -147,7 +147,6 @@ static void lsm6dsoConfig(gyroDev_t *gyro)
     lsm6dsoWriteRegisterBits(dev, LSM6DSO_REG_CTRL9_XL, LSM6DSO_MASK_CTRL9_XL, LSM6DSO_VAL_CTRL9_XL_I3C_DISABLE, 1);
 }
 
-#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
 static void lsm6dsoIntExtiInit(gyroDev_t *gyro)
 {
     if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
@@ -161,7 +160,6 @@ static void lsm6dsoIntExtiInit(gyroDev_t *gyro)
     EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
     EXTIEnable(mpuIntIO);
 }
-#endif
 
 static void lsm6dsoSpiGyroInit(gyroDev_t *gyro)
 {
@@ -169,9 +167,7 @@ static void lsm6dsoSpiGyroInit(gyroDev_t *gyro)
 
     lsm6dsoConfig(gyro);
 
-#if defined(USE_GYRO_EXTI) && defined(USE_MPU_DATA_READY_SIGNAL)
     lsm6dsoIntExtiInit(gyro);
-#endif
 
     spiSetClkDivisor(dev, spiCalculateDivider(LSM6DSO_MAX_SPI_CLK_HZ));
 }

src/main/drivers/accgyro/accgyro_spi_mpu6000.c

@@ -103,15 +103,17 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro);
 
 void mpu6000SpiGyroInit(gyroDev_t *gyro)
 {
+    extDevice_t *dev = &gyro->dev;
+
     mpuGyroInit(gyro);
 
     mpu6000AccAndGyroInit(gyro);
 
     // Accel and Gyro DLPF Setting
-    spiWriteReg(&gyro->dev, MPU6000_CONFIG, mpuGyroDLPF(gyro));
+    spiWriteReg(dev, MPU6000_CONFIG, mpuGyroDLPF(gyro));
     delayMicroseconds(1);
 
-    spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU6000_MAX_SPI_CLK_HZ));
+    spiSetClkDivisor(dev, spiCalculateDivider(MPU6000_MAX_SPI_CLK_HZ));
 
     mpuGyroRead(gyro);
 
@@ -167,39 +169,39 @@ uint8_t mpu6000SpiDetect(const extDevice_t *dev)
 
 static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
 {
+    extDevice_t *dev = &gyro->dev;
+
     // Device was already reset during detection so proceed with configuration
 
     // Clock Source PPL with Z axis gyro reference
-    spiWriteReg(&gyro->dev, MPU_RA_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
+    spiWriteReg(dev, MPU_RA_PWR_MGMT_1, MPU_CLK_SEL_PLLGYROZ);
     delayMicroseconds(15);
 
     // Disable Primary I2C Interface
-    spiWriteReg(&gyro->dev, MPU_RA_USER_CTRL, BIT_I2C_IF_DIS);
+    spiWriteReg(dev, MPU_RA_USER_CTRL, BIT_I2C_IF_DIS);
     delayMicroseconds(15);
 
-    spiWriteReg(&gyro->dev, MPU_RA_PWR_MGMT_2, 0x00);
+    spiWriteReg(dev, MPU_RA_PWR_MGMT_2, 0x00);
     delayMicroseconds(15);
 
     // Accel Sample Rate 1kHz
     // Gyroscope Output Rate =  1kHz when the DLPF is enabled
-    spiWriteReg(&gyro->dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
+    spiWriteReg(dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
     delayMicroseconds(15);
 
     // Gyro +/- 2000 DPS Full Scale
-    spiWriteReg(&gyro->dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+    spiWriteReg(dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
     delayMicroseconds(15);
 
     // Accel +/- 16 G Full Scale
-    spiWriteReg(&gyro->dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    spiWriteReg(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delayMicroseconds(15);
 
-    spiWriteReg(&gyro->dev, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR
+    spiWriteReg(dev, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR
     delayMicroseconds(15);
 
-#ifdef USE_MPU_DATA_READY_SIGNAL
+    spiWriteReg(dev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
-    spiWriteReg(&gyro->dev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
     delayMicroseconds(15);
-#endif
 }
 
 bool mpu6000SpiAccDetect(accDev_t *acc)
@@ -223,9 +225,8 @@ bool mpu6000SpiGyroDetect(gyroDev_t *gyro)
     gyro->initFn = mpu6000SpiGyroInit;
     gyro->readFn = mpuGyroReadSPI;
     gyro->scale = GYRO_SCALE_2000DPS;
-#ifdef USE_GYRO_EXTI
     gyro->gyroShortPeriod = clockMicrosToCycles(MPU6000_SHORT_THRESHOLD);
-#endif
+
     return true;
 }
 

src/main/drivers/accgyro/accgyro_spi_mpu6500.c

@@ -82,8 +82,6 @@ uint8_t mpu6500SpiDetect(const extDevice_t *dev)
         return mpuDetected;
     }
 
-    spiSetClkDivisor(dev, spiCalculateDivider(MPU6500_MAX_SPI_CLK_HZ));
-
     return mpuDetected;
 }
 
@@ -94,13 +92,15 @@ void mpu6500SpiAccInit(accDev_t *acc)
 
 void mpu6500SpiGyroInit(gyroDev_t *gyro)
 {
+    extDevice_t *dev = &gyro->dev;
+
     mpu6500GyroInit(gyro);
 
     // Disable Primary I2C Interface
-    spiWriteReg(&gyro->dev, MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS);
+    spiWriteReg(dev, MPU_RA_USER_CTRL, MPU6500_BIT_I2C_IF_DIS);
     delay(100);
 
-    spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU6500_MAX_SPI_CLK_HZ));
+    spiSetClkDivisor(dev, spiCalculateDivider(MPU6500_MAX_SPI_CLK_HZ));
     delayMicroseconds(1);
 }
 

src/main/drivers/accgyro/accgyro_spi_mpu9250.c

@@ -70,11 +70,13 @@ static bool mpu9250SpiSlowReadRegisterBuffer(const extDevice_t *dev, uint8_t reg
 
 void mpu9250SpiGyroInit(gyroDev_t *gyro)
 {
+    extDevice_t *dev = &gyro->dev;
+
     mpuGyroInit(gyro);
 
     mpu9250AccAndGyroInit(gyro);
 
-    spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU9250_MAX_SPI_CLK_HZ)); //high speed now that we don't need to write to the slow registers
+    spiSetClkDivisor(dev, spiCalculateDivider(MPU9250_MAX_SPI_CLK_HZ)); //high speed now that we don't need to write to the slow registers
 
     mpuGyroRead(gyro);
 
@@ -109,25 +111,23 @@ bool mpu9250SpiWriteRegisterVerify(const extDevice_t *dev, uint8_t reg, uint8_t
 
 static void mpu9250AccAndGyroInit(gyroDev_t *gyro)
 {
-    mpu9250SpiWriteRegister(&gyro->dev, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
+    extDevice_t *dev = &gyro->dev;
+
+    mpu9250SpiWriteRegister(dev, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);
     delay(50);
 
-    mpu9250SpiWriteRegisterVerify(&gyro->dev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+    mpu9250SpiWriteRegisterVerify(dev, MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
 
-    mpu9250SpiWriteRegisterVerify(&gyro->dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
+    mpu9250SpiWriteRegisterVerify(dev, MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
 
-    mpu9250SpiWriteRegisterVerify(&gyro->dev, MPU_RA_CONFIG, mpuGyroDLPF(gyro));
+    mpu9250SpiWriteRegisterVerify(dev, MPU_RA_CONFIG, mpuGyroDLPF(gyro));
 
-    mpu9250SpiWriteRegisterVerify(&gyro->dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
+    mpu9250SpiWriteRegisterVerify(dev, MPU_RA_SMPLRT_DIV, gyro->mpuDividerDrops);
 
-    mpu9250SpiWriteRegisterVerify(&gyro->dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    mpu9250SpiWriteRegisterVerify(dev, MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
-    mpu9250SpiWriteRegisterVerify(&gyro->dev, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    mpu9250SpiWriteRegisterVerify(dev, MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
 
-#if defined(USE_MPU_DATA_READY_SIGNAL)
+    mpu9250SpiWriteRegisterVerify(dev, MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
-    mpu9250SpiWriteRegisterVerify(&gyro->dev, MPU_RA_INT_ENABLE, 0x01); //this resets register MPU_RA_PWR_MGMT_1 and won't read back correctly.
-#endif
-
-    spiSetClkDivisor(&gyro->dev, spiCalculateDivider(MPU9250_MAX_SPI_CLK_HZ));
 }
 
 uint8_t mpu9250SpiDetect(const extDevice_t *dev)

src/main/drivers/barometer/barometer.h

@@ -32,9 +32,7 @@ typedef void (*baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); /
 // the 'u' in these variable names means 'uncompensated', 't' is temperature, 'p' pressure.
 typedef struct baroDev_s {
     extDevice_t dev;
-#ifdef USE_EXTI
     extiCallbackRec_t exti;
-#endif
     bool combined_read;
     uint16_t ut_delay;
     uint16_t up_delay;

src/main/drivers/barometer/barometer_bmp085.c

@@ -46,7 +46,6 @@ static bool isEOCConnected = false;
 #define BMP085_DATA_FRAME_SIZE 3
 static uint8_t sensor_data[BMP085_DATA_FRAME_SIZE];
 
-#ifdef USE_EXTI
 static IO_t eocIO;
 static extiCallbackRec_t exti;
 
@@ -55,7 +54,6 @@ static void bmp085ExtiHandler(extiCallbackRec_t* cb)
     UNUSED(cb);
     isConversionComplete = true;
 }
-#endif
 
 typedef struct {
     int16_t ac1;
@@ -161,7 +159,6 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
     bmp085InitXclrIO(config);
     BMP085_ON;   // enable baro
 
-#ifdef USE_EXTI
     // EXTI interrupt for barometer EOC
 
     eocIO = IOGetByTag(config->eocTag);
@@ -169,9 +166,6 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
     EXTIHandlerInit(&exti, bmp085ExtiHandler);
     EXTIConfig(eocIO, &exti, NVIC_PRIO_BARO_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
     EXTIEnable(eocIO);
-#else
-    UNUSED(config);
-#endif
 
     delay(20); // datasheet says 10ms, we'll be careful and do 20.
 
@@ -212,12 +206,10 @@ bool bmp085Detect(const bmp085Config_t *config, baroDev_t *baro)
         }
     }
 
-#ifdef USE_EXTI
     if (eocIO) {
         IORelease(eocIO);
         EXTIRelease(eocIO);
     }
-#endif
 
     BMP085_OFF;
 
@@ -397,7 +389,6 @@ static bool bmp085TestEOCConnected(baroDev_t *baro, const bmp085Config_t *config
 {
     UNUSED(config);
 
-#ifdef USE_EXTI
     if (!bmp085InitDone && eocIO) {
         // EOC should be low at this point. If not, assume EOC is not working
         if (IORead(eocIO)) {
@@ -413,9 +404,6 @@ static bool bmp085TestEOCConnected(baroDev_t *baro, const bmp085Config_t *config
             return true;
         }
     }
-#else
-    UNUSED(baro);
-#endif
 
     return false; // assume EOC is not connected
 }

src/main/drivers/barometer/barometer_bmp388.c

@@ -178,7 +178,6 @@ static bool bmp388ReadUP(baroDev_t *baro);
 
 STATIC_UNIT_TESTED void bmp388Calculate(int32_t *pressure, int32_t *temperature);
 
-#ifdef USE_EXTI
 void bmp388_extiHandler(extiCallbackRec_t* cb)
 {
 #ifdef DEBUG
@@ -192,7 +191,6 @@ void bmp388_extiHandler(extiCallbackRec_t* cb)
     uint8_t intStatus = 0;
     busReadRegisterBuffer(&baro->dev, BMP388_INT_STATUS_REG, &intStatus, 1);
 }
-#endif
 
 void bmp388BusInit(const extDevice_t *dev)
 {
@@ -230,7 +228,6 @@ bool bmp388Detect(const bmp388Config_t *config, baroDev_t *baro)
 {
     delay(20);
 
-#ifdef USE_EXTI
     IO_t baroIntIO = IOGetByTag(config->eocTag);
     if (baroIntIO) {
         IOInit(baroIntIO, OWNER_BARO_EOC, 0);
@@ -238,9 +235,6 @@ bool bmp388Detect(const bmp388Config_t *config, baroDev_t *baro)
         EXTIConfig(baroIntIO, &baro->exti, NVIC_PRIO_BARO_EXTI, IOCFG_IN_FLOATING, BETAFLIGHT_EXTI_TRIGGER_RISING);
         EXTIEnable(baroIntIO);
     }
-#else
-    UNUSED(config);
-#endif
 
     extDevice_t *dev = &baro->dev;
     bool defaultAddressApplied = false;
@@ -265,7 +259,6 @@ bool bmp388Detect(const bmp388Config_t *config, baroDev_t *baro)
 
     busDeviceRegister(dev);
 
-#ifdef USE_EXTI
     if (baroIntIO) {
         uint8_t intCtrlValue = 1 << BMP388_INT_DRDY_EN_BIT |
                                0 << BMP388_INT_FFULL_EN_BIT |
@@ -275,7 +268,6 @@ bool bmp388Detect(const bmp388Config_t *config, baroDev_t *baro)
                                0 << BMP388_INT_OD_BIT;
         busWriteRegister(dev, BMP388_INT_CTRL_REG, intCtrlValue);
     }
-#endif
 
     // read calibration
     busReadRegisterBuffer(dev, BMP388_TRIMMING_NVM_PAR_T1_LSB_REG, (uint8_t *)&bmp388_cal, sizeof(bmp388_calib_param_t));

src/main/drivers/exti.c

@@ -24,7 +24,7 @@
 
 #include "platform.h"
 
-#ifdef USE_EXTI
+#if !defined(SIMULATOR_BUILD)
 
 #include "drivers/nvic.h"
 #include "io_impl.h"
@@ -248,3 +248,4 @@ _EXTI_IRQ_HANDLER(EXTI9_5_IRQHandler, 0x03e0);
 _EXTI_IRQ_HANDLER(EXTI15_10_IRQHandler, 0xfc00);
 
 #endif
+

src/main/fc/init.c

@@ -425,7 +425,7 @@ void init(void)
 #endif
     LED2_ON;
 
-#ifdef USE_EXTI
+#if !defined(SIMULATOR_BUILD)
     EXTIInit();
 #endif
 

src/main/scheduler/scheduler.c

@@ -538,7 +538,6 @@ FAST_CODE void scheduler(void)
 #endif
             lastTargetCycles = nextTargetCycles;
 
-#ifdef USE_GYRO_EXTI
             gyroDev_t *gyro = gyroActiveDev();
 
             // Bring the scheduler into lock with the gyro
@@ -547,7 +546,7 @@ FAST_CODE void scheduler(void)
                 static uint32_t terminalGyroRateCount = 0;
                 static int32_t sampleRateStartCycles;
 
-                if ((terminalGyroRateCount == 0)) {
+                if (terminalGyroRateCount == 0) {
                     terminalGyroRateCount = gyro->detectedEXTI + GYRO_RATE_COUNT;
                     sampleRateStartCycles = nowCycles;
                 }
@@ -571,7 +570,7 @@ FAST_CODE void scheduler(void)
 
                 accGyroSkew += gyroSkew;
 
-                if ((terminalGyroLockCount == 0)) {
+                if (terminalGyroLockCount == 0) {
                     terminalGyroLockCount = gyro->detectedEXTI + GYRO_LOCK_COUNT;
                 }
 
@@ -584,7 +583,6 @@ FAST_CODE void scheduler(void)
                     accGyroSkew = 0;
                 }
             }
-#endif
        }
     }
 

src/main/target/AIKONF4/target.h

@@ -32,7 +32,6 @@
 
 #define INVERTER_PIN_UART1      PC0
 
-#define USE_EXTI
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
@@ -45,9 +44,7 @@
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_MPU6500
 
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_BARO
 #define USE_BARO_BMP280

src/main/target/ALIENFLIGHTF4/target.h

@@ -37,10 +37,7 @@
 #define INVERTER_PIN_UART2      PC15
 
 // MPU interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC14
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN           SPI1_NSS_PIN

src/main/target/ALIENFLIGHTNGF7/target.h

@@ -35,10 +35,7 @@
 #define BEEPER_INVERTED
 
 // MPU interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC14
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN           SPI1_NSS_PIN

src/main/target/ALIENWHOOP/target.h

@@ -118,13 +118,10 @@
 /* Motion Processing Unit (MPU) - Invensense 6-axis MPU-6500 or 9-axis MPU-9250
  */
 // Interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC14
 // MPU
 #define GYRO_1_CS_PIN           SPI1_NSS_PIN
 #define GYRO_1_SPI_INSTANCE     SPI1
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 // MAG
 #define USE_MAG

src/main/target/ANYFCF7/target.h

@@ -42,11 +42,7 @@
 #define GYRO_1_ALIGN       CW270_DEG
 
 // MPU6000 interrupts
-#define USE_MPU_DATA_READY_SIGNAL
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN       PC4
-#define USE_EXTI
 
 #define USE_MAG
 #define USE_MAG_HMC5883

src/main/target/ANYFCM7/target.h

@@ -42,11 +42,7 @@
 #define GYRO_1_ALIGN       CW270_DEG
 
 // MPU6000 interrupts
-#define USE_MPU_DATA_READY_SIGNAL
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN       PC4
-#define USE_EXTI
 
 #define USE_MAG
 //#define USE_MAG_HMC5883

src/main/target/BEEROTORF4/target.h

@@ -33,10 +33,7 @@
 #define ENABLE_DSHOT_DMAR       DSHOT_DMAR_OFF
 
 // ICM20689 interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA8
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN           SPI1_NSS_PIN

src/main/target/BETAFLIGHTF4/target.h

@@ -45,10 +45,7 @@
 
 
 // MPU6000 interrupts
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_BARO
 #define USE_BARO_BMP280

src/main/target/BETAFPVF4SX1280/target.h

@@ -78,10 +78,7 @@
 #define USE_ACC_SPI_ICM20689
 #define USE_GYRO_SPI_ICM20689
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN        PB6
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN          SPI1_NSS_PIN

src/main/target/BLUEJAYF4/target.h

@@ -43,10 +43,7 @@
 //#define INVERTER_PIN_UART1     PC9 // Polarity depends on revision; handled in config.c
 
 // MPU6500 interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC5
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO_1_CS_PIN           PC4
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/CLRACINGF4/target.h

@@ -37,10 +37,7 @@
 #define INVERTER_PIN_UART1        PC0 // PC0 used as inverter select GPIO
 
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN           PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_ACC
 #define USE_GYRO

src/main/target/CLRACINGF7/target.h

@@ -31,11 +31,8 @@
 #define BEEPER_INVERTED
 
 #define USE_MULTI_GYRO
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
 #define GYRO_2_EXTI_PIN         PC14
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_ACC
 #define USE_GYRO

src/main/target/CRAZYBEEF4SX1280/target.h

@@ -43,10 +43,7 @@
 #define GYRO_1_SPI_INSTANCE    SPI1
 #define GYRO_1_ALIGN       CW90_DEG
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA1
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_GYRO

src/main/target/DALRCF405/target.h

@@ -39,10 +39,7 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_ACC

src/main/target/DALRCF722DUAL/target.h

@@ -30,8 +30,6 @@
 #define BEEPER_PIN              PC13
 #define BEEPER_INVERTED
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PB10
 #define GYRO_2_EXTI_PIN         PC4
 
@@ -40,7 +38,6 @@
 #define GYRO_2_CS_PIN                       PA4
 #define GYRO_2_SPI_INSTANCE                 SPI1
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_GYRO

src/main/target/ELINF722/target.h

@@ -39,10 +39,7 @@
 
 #define USE_ACC_SPI_MPU6500
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_OSD
 #define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_SOFTSERIAL)

src/main/target/ELLE0/target.h

@@ -30,10 +30,7 @@
 #define LED2_PIN                PC2
 
 // MPU9250 interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PB5
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN           PB12

src/main/target/EMAXF4SX1280/target.h

@@ -44,10 +44,7 @@
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA1
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
@@ -82,9 +79,9 @@
 #define USE_RX_SX1280
 
 #define RX_SPI_LED_INVERTED
-#define RX_SPI_BIND_PIN			PB2
+#define RX_SPI_BIND_PIN                 PB2
-#define RX_SPI_EXTI_PIN             	PC14
+#define RX_SPI_EXTI_PIN                 PC14
-#define RX_SPI_LED_PIN              	PB9
+#define RX_SPI_LED_PIN                  PB9
 #define RX_EXPRESSLRS_SPI_RESET_PIN     PA8
 #define RX_EXPRESSLRS_SPI_BUSY_PIN      PA13
 #define RX_EXPRESSLRS_TIMER_INSTANCE    TIM3
@@ -120,7 +117,7 @@
 #define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY )
 #define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
 #define DEFAULT_CURRENT_METER_SOURCE    CURRENT_METER_ADC
-#define CURRENT_METER_SCALE_DEFAULT 	179
+#define CURRENT_METER_SCALE_DEFAULT     179
 
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff

src/main/target/EXF722DUAL/target.h

@@ -32,12 +32,9 @@
 #define BEEPER_PIN              PC15
 #define BEEPER_INVERTED
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA8
 #define GYRO_2_EXTI_PIN         PB2
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/F4BY/target.h

@@ -35,10 +35,7 @@
 
 
 // MPU6000 interrupts
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PB0
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/FF_FORTINIF4/target.h

@@ -51,10 +51,7 @@
 
 /*------------SENSORS--------------*/
 // MPU interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_GYRO

src/main/target/FF_PIKOF4/target.h

@@ -45,10 +45,7 @@
 
 /*------------SENSORS--------------*/
 // MPU interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #if defined(FF_PIKOF4OSD)

src/main/target/FF_RACEPIT/target.h

@@ -44,10 +44,8 @@
 
 /*------------SENSORS--------------*/
 // MPU interrupt
-#define USE_EXTI
 #define GYRO_1_INT_EXTI_PIN     PC4
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_GYRO

src/main/target/FISHDRONEF4/target.h

@@ -37,10 +37,7 @@
 
 #define INVERTER_PIN_UART6      PC8
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 // *************** Gyro & ACC **********************
 #define USE_SPI

src/main/target/FLYWOOF411/target.h

@@ -43,10 +43,7 @@
 #define GYRO_1_SPI_INSTANCE    SPI1
 #define GYRO_1_ALIGN      CW180_DEG
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PB3
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_GYRO
@@ -127,7 +124,7 @@
 
 #define USE_LED_STRIP
 
-#define ENABLE_DSHOT_DMAR       DSHOT_DMAR_ON									
+#define ENABLE_DSHOT_DMAR       DSHOT_DMAR_ON
 #define USE_PINIO
 #define PINIO1_PIN              PB5  // VTX  switcher
 //#define PINIO2_PIN              PA15 // Camera switcher

src/main/target/FLYWOOF7DUAL/target.h

@@ -20,7 +20,7 @@
 
 #pragma once
 
-#define USE_TARGET_CONFIG					 
+#define USE_TARGET_CONFIG
 #define TARGET_BOARD_IDENTIFIER "FWF7"
 #define USBD_PRODUCT_STRING  "FLYWOOF7DUAL"
 
@@ -32,8 +32,6 @@
 #define BEEPER_PIN              PC14
 #define BEEPER_INVERTED
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC3
 #define GYRO_2_EXTI_PIN         PC4
 
@@ -42,7 +40,6 @@
 #define GYRO_2_CS_PIN                       PB2
 #define GYRO_2_SPI_INSTANCE                 SPI1
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_GYRO

src/main/target/FOXEERF405/target.h

@@ -39,10 +39,7 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_ACC

src/main/target/FOXEERF722DUAL/target.h

@@ -30,8 +30,6 @@
 #define BEEPER_PIN              PA4
 #define BEEPER_INVERTED
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
 #define GYRO_2_EXTI_PIN         PB0
 
@@ -40,7 +38,6 @@
 #define GYRO_2_CS_PIN                       PB1
 #define GYRO_2_SPI_INSTANCE                 SPI1
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_GYRO

src/main/target/FRSKYF4/target.h

@@ -42,10 +42,7 @@
 
 #define GYRO_1_ALIGN            CW270_DEG
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_BARO
 #define USE_BARO_BMP280

src/main/target/FURYF4/target.h

@@ -40,10 +40,7 @@
 #define INVERTER_PIN_UART1      PC0 // PC0 used as inverter select GPIO
 
 // MPU6000 interrupts
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/HAKRCF405/target.h

@@ -50,10 +50,7 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_ACC

src/main/target/HAKRCF411/target.h

@@ -51,10 +51,7 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PB2
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_ACC

src/main/target/HAKRCF722/target.h

@@ -50,10 +50,7 @@
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000

src/main/target/IFLIGHT_H743_AIO/target.h

@@ -120,11 +120,8 @@
 #define USE_ACCGYRO_BMI270
 #define USE_ACCGYRO_LSM6DSO
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PD0
 #define GYRO_2_EXTI_PIN         PD8
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN           SPI1_NSS_PIN

src/main/target/IFLIGHT_H743_AIO_V2/target.h

@@ -120,11 +120,8 @@
 #define USE_ACCGYRO_BMI270
 #define USE_ACCGYRO_LSM6DSO
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PD0
 #define GYRO_2_EXTI_PIN         PD8
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN           SPI1_NSS_PIN

src/main/target/JHEF7DUAL/target.h

@@ -33,8 +33,6 @@
 #define BEEPER_PIN              PC15
 #define BEEPER_INVERTED
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
 #define GYRO_2_EXTI_PIN         PC3
 
@@ -44,7 +42,6 @@
 #define GYRO_2_CS_PIN           PA4
 #define GYRO_2_SPI_INSTANCE     SPI1
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_GYRO

src/main/target/KAKUTEF4/target.h

@@ -53,10 +53,7 @@
 #define INVERTER_PIN_UART3      PB15
 
 // ICM20689 interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC5
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN           PC4

src/main/target/KAKUTEF7/target.h

@@ -47,7 +47,6 @@
 
 #define USE_ACC
 #define USE_GYRO
-#define USE_EXTI
 
 // MPU6000
 #define USE_ACC_SPI_MPU6000
@@ -60,9 +59,7 @@
 #define GYRO_1_SPI_INSTANCE     SPI4
 #define GYRO_1_ALIGN            CW270_DEG
 
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PE1
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_VCP
 #define USE_USB_DETECT

src/main/target/KIWIF4/target.h

@@ -48,10 +48,7 @@
 #define INVERTER_PIN_UART1      PC0 // PC0 used as inverter select GPIO
 
 // MPU6000 interrupts
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/KROOZX/target.h

@@ -41,9 +41,6 @@
 #define GYRO_1_SPI_INSTANCE     SPI1
 
 // MPU6000 interrupts
-#define USE_EXTI
-#define USE_MPU_DATA_READY_SIGNAL
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA4
 
 #define USE_GYRO

src/main/target/MAMBAF411/target.h

@@ -41,10 +41,7 @@
 
 // ******* GYRO and ACC ********
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PB0
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/MAMBAF722/target.h

@@ -41,10 +41,7 @@
 
 // ******* GYRO and ACC ********
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/MATEKF405/target.h

@@ -46,10 +46,7 @@
 #define GYRO_1_CS_PIN           PC2
 #define GYRO_1_SPI_INSTANCE     SPI1
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC3
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000

src/main/target/MATEKF411/target.h

@@ -44,10 +44,7 @@
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA1
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000

src/main/target/MATEKF411RX/target.h

@@ -54,10 +54,7 @@
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA1
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000

src/main/target/MATEKF722/target.h

@@ -44,10 +44,7 @@
 #define GYRO_1_CS_PIN           PC2
 #define GYRO_1_SPI_INSTANCE     SPI1
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC3
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6500

src/main/target/MATEKF722SE/target.h

@@ -42,8 +42,6 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
 #define GYRO_2_EXTI_PIN         PC3
 
@@ -64,7 +62,6 @@
 
 #define GYRO_2_ALIGN            CW90_DEG
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 

src/main/target/MATEKH743/target.h

@@ -38,8 +38,6 @@
 #define USE_SPI
 #define USE_GYRO
 #define USE_ACC
-#define USE_EXTI
-#define USE_GYRO_EXTI
 
 #define USE_SPI_DEVICE_1
 #define GYRO_1_SPI_INSTANCE     SPI1   //MPU6000
@@ -65,7 +63,6 @@
 #define USE_ACC_SPI_MPU6500
 #define GYRO_2_ALIGN            CW0_DEG_FLIP
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 

src/main/target/MERAKRCF405/target.h

@@ -40,10 +40,7 @@
 #define GYRO_1_CS_PIN           PB12
 #define GYRO_1_SPI_INSTANCE     SPI2
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000

src/main/target/MERAKRCF722/target.h

@@ -40,10 +40,7 @@
 #define GYRO_1_CS_PIN           PB12
 #define GYRO_1_SPI_INSTANCE     SPI2
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000

src/main/target/MICROSCISKY/target.h

@@ -33,9 +33,7 @@
 
 #define INVERTER_PIN_UART2      PB2 // PB2 (BOOT1) abused as inverter select GPIO
 
-#define USE_EXTI
 #define MAG_INT_EXTI            PC14
-#define USE_MPU_DATA_READY_SIGNAL
 #define USE_MAG_DATA_READY_SIGNAL
 
 // SPI2

src/main/target/MOTOLABF4/target.h

@@ -49,10 +49,7 @@
 #define USE_GYRO_SPI_MPU6000
 
 // MPU6000 interrupts
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC5
-#define USE_MPU_DATA_READY_SIGNAL
 //#define ENSURE_MPU_DATA_READY_IS_LOW
 //#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 

src/main/target/NERO/target.h

@@ -36,10 +36,7 @@
 #define BEEPER_INVERTED
 
 // MPU6500 interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PB2
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define GYRO_1_CS_PIN           PC4
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/NEUTRONRCF411SX1280/target.h

@@ -56,10 +56,7 @@
 #define USE_ACC_SPI_ICM42688P
 #define USE_ACCGYRO_LSM6DSO
 #define USE_ACCGYRO_BMI270
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN        PB6
-#define USE_MPU_DATA_READY_SIGNAL
 #define GYRO_1_CS_PIN          SPI1_NSS_PIN
 #define GYRO_1_SPI_INSTANCE    SPI1
 #define GYRO_1_ALIGN           CW90_DEG

src/main/target/NOX/target.h

@@ -45,11 +45,8 @@
 #define GYRO_1_SPI_INSTANCE     SPI2
 
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA8
 
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_BARO
 #define USE_BARO_BMP280

src/main/target/NUCLEOF446RE/target.h

@@ -30,7 +30,6 @@
 //#define USE_BEEPER
 //#define BEEPER_PIN                PD12
 
-#define USE_EXTI
 
 #define USE_SPI
 //#define USE_SPI_DEVICE_1
@@ -54,11 +53,8 @@
 #define GYRO_1_SPI_INSTANCE     SPI2
 #define GYRO_1_CS_PIN           PB12
 
-#define USE_EXTI
 
-//#define USE_GYRO_EXTI
 //#define GYRO_1_EXTI_PIN PC13
-//#define USE_MPU_DATA_READY_SIGNAL
 //#define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_BARO

src/main/target/NUCLEOF7/target.h

@@ -45,11 +45,7 @@
 #define GYRO_1_ALIGN       CW270_DEG
 
 // MPU6050 interrupts
-#define USE_MPU_DATA_READY_SIGNAL
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN    PB15
-#define USE_EXTI
 
 #define USE_MAG
 #define USE_FAKE_MAG

src/main/target/NUCLEOF722/target.h

@@ -45,11 +45,7 @@
 #define GYRO_1_ALIGN       CW270_DEG
 
 // MPU6050 interrupts
-#define USE_MPU_DATA_READY_SIGNAL
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN PB15
-#define USE_EXTI
 
 #define USE_MAG
 #define USE_FAKE_MAG

src/main/target/NUCLEOH723ZG/target.h

@@ -226,7 +226,6 @@
 #define USE_TIMER
 #define USE_PWM_OUTPUT
 #define USE_MOTOR
-#define USE_EXTI
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_HCSR04

src/main/target/NUCLEOH725ZG/target.h

@@ -235,7 +235,6 @@
 #define USE_TIMER
 #define USE_PWM_OUTPUT
 #define USE_MOTOR
-#define USE_EXTI
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_HCSR04

src/main/target/NUCLEOH743/target.h

@@ -240,7 +240,6 @@
 #define USE_TIMER
 #define USE_PWM_OUTPUT
 #define USE_MOTOR
-#define USE_EXTI
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_HCSR04

src/main/target/NUCLEOH7A3ZI/target.h

@@ -226,7 +226,6 @@
 #define USE_TIMER
 #define USE_PWM_OUTPUT
 #define USE_MOTOR
-#define USE_EXTI
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_HCSR04

src/main/target/OMNIBUSF4/target.h

@@ -76,7 +76,6 @@
 #define INVERTER_PIN_UART1      PC0 // DYS F4 Pro; Omnibus F4 AIO (1st gen) have a FIXED inverter on UART1
 #endif
 
-#define USE_EXTI
 
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
@@ -88,9 +87,7 @@
 #define GYRO_1_SPI_INSTANCE     SPI1
 
 // MPU6000 interrupts
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #if defined(OMNIBUSF4SD)
 #define GYRO_1_ALIGN            CW270_DEG

src/main/target/OMNIBUSF4FW/target.h

@@ -84,11 +84,8 @@
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 
 // MPU6000 interrupts
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
 #define GYRO_2_EXTI_PIN         NONE
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_MAG
 #define MAG_I2C_INSTANCE        (I2CDEV_1)

src/main/target/OMNIBUSF7/target.h

@@ -52,9 +52,6 @@
 #define USE_ACC_SPI_MPU6000
 #define USE_GYRO_SPI_MPU6000
 
-//#define USE_MPU_DATA_READY_SIGNAL
-#define USE_EXTI
-#define USE_GYRO_EXTI
 
 #if defined(OMNIBUSF7V2)
 #define GYRO_1_SPI_INSTANCE     SPI3

src/main/target/OMNINXT/target.h

@@ -47,9 +47,6 @@
 #define USE_ACC
 #define USE_GYRO
 // MPU interrupts
-//#define USE_EXTI
-//#define USE_GYRO_EXTI
-//#define USE_MPU_DATA_READY_SIGNAL
 
 // For debugging with NUC405RG
 #define USE_FAKE_ACC

src/main/target/PYRODRONEF4/target.h

@@ -29,10 +29,7 @@
 
 #define INVERTER_PIN_UART1        PC3       // PC3 used as sBUS inverter select GPIO
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 // DEFINE SPI USAGE
 #define USE_SPI

src/main/target/REVO/target.h

@@ -145,10 +145,7 @@
 #endif
 
 // MPU6000 interrupts
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #if defined(ELINF405)
 

src/main/target/REVOLT/target.h

@@ -91,10 +91,7 @@
 
 #define GYRO_1_ALIGN            CW0_DEG
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 /*----------Flash Config--------*/
 #define FLASH_CS_PIN            PB3

src/main/target/REVONANO/target.h

@@ -53,10 +53,7 @@
 #define USE_MAG_MPU925X_AK8963
 
 // MPU6500 interrupts
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PA15
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_VCP
 #define USE_USB_DETECT

src/main/target/RUSHCORE7/target.h

@@ -31,9 +31,6 @@
 #define BEEPER_INVERTED
 //#define BEEPER_PWM_HZ           1100
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
-#define USE_MPU_DATA_READY_SIGNAL                   
 
 #define USE_ACC
 #define USE_GYRO

src/main/target/SKYZONEF405/target.h

@@ -40,10 +40,7 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_ACC

src/main/target/SPARKY2/target.h

@@ -37,10 +37,7 @@
 #define INVERTER_PIN_UART6      PC6
 
 // MPU9250 interrupt
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC5
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define GYRO_1_CS_PIN           PC4

src/main/target/SPEEDYBEEF4/target.h

@@ -43,10 +43,7 @@
 #define GYRO_1_CS_PIN           PB11
 #define GYRO_1_SPI_INSTANCE     SPI1
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000

src/main/target/SPEEDYBEEF7/target.h

@@ -43,10 +43,7 @@
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_SPI_INSTANCE     SPI1
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
-#define USE_MPU_DATA_READY_SIGNAL
 
 #define USE_GYRO
 #define USE_GYRO_SPI_ICM20689

src/main/target/SPEKTRUMF400/target.h

@@ -63,10 +63,7 @@
 #define GYRO_1_CS_PIN           PB12
 #define GYRO_1_SPI_INSTANCE     SPI2
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC13
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_VCP

src/main/target/SPRACINGF4EVO/target.h

@@ -37,13 +37,10 @@
 
 #define INVERTER_PIN_UART2      PB2
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC13
 #ifdef SPRACINGF4EVODG
 #define GYRO_2_EXTI_PIN         PC5 // GYRO 2 / NC on prototype boards, but if it was it'd be here.
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 #endif
 

src/main/target/SPRACINGF4NEO/target.h

@@ -54,11 +54,8 @@
     #define INVERTER_PIN_UART2              PA0
 #endif
 
-#define USE_EXTI
-#define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN                     PC13
 
-#define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_MAG_DATA_READY_SIGNAL