diff --git a/src/main/drivers/accgyro_mpu.c b/src/main/drivers/accgyro_mpu.c
index 93405ba687..9e7c3ea98f 100644
--- a/src/main/drivers/accgyro_mpu.c
+++ b/src/main/drivers/accgyro_mpu.c
@@ -48,7 +48,7 @@
 #include "accgyro_mpu.h"
 
 
-mpuResetFuncPtr mpuReset;
+mpuResetFnPtr mpuResetFn;
 
 #ifndef MPU_I2C_INSTANCE
 #define MPU_I2C_INSTANCE I2C_DEVICE
@@ -75,7 +75,7 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
     // See https://android.googlesource.com/kernel/msm.git/+/eaf36994a3992b8f918c18e4f7411e8b2320a35f/drivers/misc/mpu6050/mldl_cfg.c
 
     // determine product ID and accel revision
-    ack = gyro->mpuConfiguration.read(MPU_RA_XA_OFFS_H, 6, readBuffer);
+    ack = gyro->mpuConfiguration.readFn(MPU_RA_XA_OFFS_H, 6, readBuffer);
     revision = ((readBuffer[5] & 0x01) << 2) | ((readBuffer[3] & 0x01) << 1) | (readBuffer[1] & 0x01);
     if (revision) {
         /* Congrats, these parts are better. */
@@ -89,7 +89,7 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
             failureMode(FAILURE_ACC_INCOMPATIBLE);
         }
     } else {
-        ack = gyro->mpuConfiguration.read(MPU_RA_PRODUCT_ID, 1, &productId);
+        ack = gyro->mpuConfiguration.readFn(MPU_RA_PRODUCT_ID, 1, &productId);
         revision = productId & 0x0F;
         if (!revision) {
             failureMode(FAILURE_ACC_INCOMPATIBLE);
@@ -176,7 +176,7 @@ bool mpuAccRead(accDev_t *acc)
 {
     uint8_t data[6];
 
-    bool ack = acc->mpuConfiguration.read(MPU_RA_ACCEL_XOUT_H, 6, data);
+    bool ack = acc->mpuConfiguration.readFn(MPU_RA_ACCEL_XOUT_H, 6, data);
     if (!ack) {
         return false;
     }
@@ -199,7 +199,7 @@ bool mpuGyroRead(gyroDev_t *gyro)
 {
     uint8_t data[6];
 
-    const bool ack = gyro->mpuConfiguration.read(gyro->mpuConfiguration.gyroReadXRegister, 6, data);
+    const bool ack = gyro->mpuConfiguration.readFn(gyro->mpuConfiguration.gyroReadXRegister, 6, data);
     if (!ack) {
         return false;
     }
@@ -230,8 +230,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
     if (mpu6000SpiDetect()) {
         gyro->mpuDetectionResult.sensor = MPU_60x0_SPI;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
-        gyro->mpuConfiguration.read = mpu6000ReadRegister;
-        gyro->mpuConfiguration.write = mpu6000WriteRegister;
+        gyro->mpuConfiguration.readFn = mpu6000ReadRegister;
+        gyro->mpuConfiguration.writeFn = mpu6000WriteRegister;
         return true;
     }
 #endif
@@ -241,8 +241,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
     if (mpu6500Sensor != MPU_NONE) {
         gyro->mpuDetectionResult.sensor = mpu6500Sensor;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
-        gyro->mpuConfiguration.read = mpu6500ReadRegister;
-        gyro->mpuConfiguration.write = mpu6500WriteRegister;
+        gyro->mpuConfiguration.readFn = mpu6500ReadRegister;
+        gyro->mpuConfiguration.writeFn = mpu6500WriteRegister;
         return true;
     }
 #endif
@@ -251,11 +251,11 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
     if (mpu9250SpiDetect()) {
         gyro->mpuDetectionResult.sensor = MPU_9250_SPI;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
-        gyro->mpuConfiguration.read = mpu9250ReadRegister;
-        gyro->mpuConfiguration.slowread = mpu9250SlowReadRegister;
-        gyro->mpuConfiguration.verifywrite = verifympu9250WriteRegister;
-        gyro->mpuConfiguration.write = mpu9250WriteRegister;
-        gyro->mpuConfiguration.reset = mpu9250ResetGyro;
+        gyro->mpuConfiguration.readFn = mpu9250ReadRegister;
+        gyro->mpuConfiguration.slowreadFn = mpu9250SlowReadRegister;
+        gyro->mpuConfiguration.verifywriteFn = verifympu9250WriteRegister;
+        gyro->mpuConfiguration.writeFn = mpu9250WriteRegister;
+        gyro->mpuConfiguration.resetFn = mpu9250ResetGyro;
         return true;
     }
 #endif
@@ -264,8 +264,8 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
     if (icm20689SpiDetect()) {
         gyro->mpuDetectionResult.sensor = ICM_20689_SPI;
         gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
-        gyro->mpuConfiguration.read = icm20689ReadRegister;
-        gyro->mpuConfiguration.write = icm20689WriteRegister;
+        gyro->mpuConfiguration.readFn = icm20689ReadRegister;
+        gyro->mpuConfiguration.writeFn = icm20689WriteRegister;
         return true;
     }
 #endif
@@ -277,22 +277,20 @@ static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
 
 mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
 {
-    bool ack;
-    uint8_t sig;
-    uint8_t inquiryResult;
 
     // MPU datasheet specifies 30ms.
     delay(35);
 
 #ifndef USE_I2C
-    ack = false;
-    sig = 0;
+    uint8_t sig = 0;
+    bool ack = false;
 #else
-    ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
+    uint8_t sig;
+    bool ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I, 1, &sig);
 #endif
     if (ack) {
-        gyro->mpuConfiguration.read = mpuReadRegisterI2C;
-        gyro->mpuConfiguration.write = mpuWriteRegisterI2C;
+        gyro->mpuConfiguration.readFn = mpuReadRegisterI2C;
+        gyro->mpuConfiguration.writeFn = mpuWriteRegisterI2C;
     } else {
 #ifdef USE_SPI
         bool detectedSpiSensor = detectSPISensorsAndUpdateDetectionResult(gyro);
@@ -305,6 +303,7 @@ mpuDetectionResult_t *mpuDetect(gyroDev_t *gyro)
     gyro->mpuConfiguration.gyroReadXRegister = MPU_RA_GYRO_XOUT_H;
 
     // If an MPU3050 is connected sig will contain 0.
+    uint8_t inquiryResult;
     ack = mpuReadRegisterI2C(MPU_RA_WHO_AM_I_LEGACY, 1, &inquiryResult);
     inquiryResult &= MPU_INQUIRY_MASK;
     if (ack && inquiryResult == MPUx0x0_WHO_AM_I_CONST) {
diff --git a/src/main/drivers/accgyro_mpu.h b/src/main/drivers/accgyro_mpu.h
index 8ba01540a3..8a44af0464 100644
--- a/src/main/drivers/accgyro_mpu.h
+++ b/src/main/drivers/accgyro_mpu.h
@@ -124,18 +124,18 @@
 // RF = Register Flag
 #define MPU_RF_DATA_RDY_EN (1 << 0)
 
-typedef bool (*mpuReadRegisterFunc)(uint8_t reg, uint8_t length, uint8_t* data);
-typedef bool (*mpuWriteRegisterFunc)(uint8_t reg, uint8_t data);
-typedef void(*mpuResetFuncPtr)(void);
+typedef bool (*mpuReadRegisterFnPtr)(uint8_t reg, uint8_t length, uint8_t* data);
+typedef bool (*mpuWriteRegisterFnPtr)(uint8_t reg, uint8_t data);
+typedef void(*mpuResetFnPtr)(void);
 
-extern mpuResetFuncPtr mpuReset;
+extern mpuResetFnPtr mpuResetFn;
 
 typedef struct mpuConfiguration_s {
-    mpuReadRegisterFunc read;
-    mpuWriteRegisterFunc write;
-    mpuReadRegisterFunc slowread;
-    mpuWriteRegisterFunc verifywrite;
-    mpuResetFuncPtr reset;
+    mpuReadRegisterFnPtr readFn;
+    mpuWriteRegisterFnPtr writeFn;
+    mpuReadRegisterFnPtr slowreadFn;
+    mpuWriteRegisterFnPtr verifywriteFn;
+    mpuResetFnPtr resetFn;
     uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
 } mpuConfiguration_t;
 
@@ -178,7 +178,7 @@ typedef enum {
     ICM_20689_SPI,
     ICM_20608_SPI,
     ICM_20602_SPI
-} detectedMPUSensor_e;
+} mpuSensor_e;
 
 typedef enum {
     MPU_HALF_RESOLUTION,
@@ -186,7 +186,7 @@ typedef enum {
 } mpu6050Resolution_e;
 
 typedef struct mpuDetectionResult_s {
-    detectedMPUSensor_e sensor;
+    mpuSensor_e sensor;
     mpu6050Resolution_e resolution;
 } mpuDetectionResult_t;
 
diff --git a/src/main/drivers/accgyro_mpu3050.c b/src/main/drivers/accgyro_mpu3050.c
index 15728d9e12..374604b7c1 100644
--- a/src/main/drivers/accgyro_mpu3050.c
+++ b/src/main/drivers/accgyro_mpu3050.c
@@ -53,21 +53,21 @@ static void mpu3050Init(gyroDev_t *gyro)
 
     delay(25); // datasheet page 13 says 20ms. other stuff could have been running meanwhile. but we'll be safe
 
-    ack = gyro->mpuConfiguration.write(MPU3050_SMPLRT_DIV, 0);
+    ack = gyro->mpuConfiguration.writeFn(MPU3050_SMPLRT_DIV, 0);
     if (!ack)
         failureMode(FAILURE_ACC_INIT);
 
-    gyro->mpuConfiguration.write(MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | gyro->lpf);
-    gyro->mpuConfiguration.write(MPU3050_INT_CFG, 0);
-    gyro->mpuConfiguration.write(MPU3050_USER_CTRL, MPU3050_USER_RESET);
-    gyro->mpuConfiguration.write(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
+    gyro->mpuConfiguration.writeFn(MPU3050_DLPF_FS_SYNC, MPU3050_FS_SEL_2000DPS | gyro->lpf);
+    gyro->mpuConfiguration.writeFn(MPU3050_INT_CFG, 0);
+    gyro->mpuConfiguration.writeFn(MPU3050_USER_CTRL, MPU3050_USER_RESET);
+    gyro->mpuConfiguration.writeFn(MPU3050_PWR_MGM, MPU3050_CLK_SEL_PLL_GX);
 }
 
 static bool mpu3050ReadTemperature(gyroDev_t *gyro, int16_t *tempData)
 {
     UNUSED(gyro);
     uint8_t buf[2];
-    if (!gyro->mpuConfiguration.read(MPU3050_TEMP_OUT, 2, buf)) {
+    if (!gyro->mpuConfiguration.readFn(MPU3050_TEMP_OUT, 2, buf)) {
         return false;
     }
 
diff --git a/src/main/drivers/accgyro_mpu6050.c b/src/main/drivers/accgyro_mpu6050.c
index 631f7ec805..0a1fe6f336 100644
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@@ -79,23 +79,23 @@ static void mpu6050GyroInit(gyroDev_t *gyro)
 {
     mpuGyroInit(gyro);
 
-    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
+    gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0x80);      //PWR_MGMT_1    -- DEVICE_RESET 1
     delay(100);
-    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
-    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+    gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0x03); //PWR_MGMT_1    -- SLEEP 0; CYCLE 0; TEMP_DIS 0; CLKSEL 3 (PLL with Z Gyro reference)
+    gyro->mpuConfiguration.writeFn(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); //SMPLRT_DIV    -- SMPLRT_DIV = 0  Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
     delay(15); //PLL Settling time when changing CLKSEL is max 10ms.  Use 15ms to be sure
-    gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
-    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);   //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
+    gyro->mpuConfiguration.writeFn(MPU_RA_CONFIG, gyro->lpf); //CONFIG        -- EXT_SYNC_SET 0 (disable input pin for data sync) ; default DLPF_CFG = 0 => ACC bandwidth = 260Hz  GYRO bandwidth = 256Hz)
+    gyro->mpuConfiguration.writeFn(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);   //GYRO_CONFIG   -- FS_SEL = 3: Full scale set to 2000 deg/sec
 
     // ACC Init stuff.
     // Accel scale 8g (4096 LSB/g)
-    gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    gyro->mpuConfiguration.writeFn(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
 
-    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG,
+    gyro->mpuConfiguration.writeFn(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
-    gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
+    gyro->mpuConfiguration.writeFn(MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
 #endif
 }
 
diff --git a/src/main/drivers/accgyro_mpu6500.c b/src/main/drivers/accgyro_mpu6500.c
index f9a46fbfc1..30d7caa0fb 100644
--- a/src/main/drivers/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro_mpu6500.c
@@ -55,34 +55,34 @@ void mpu6500GyroInit(gyroDev_t *gyro)
 {
     mpuGyroInit(gyro);
 
-    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
+    gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, MPU6500_BIT_RESET);
     delay(100);
-    gyro->mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x07);
+    gyro->mpuConfiguration.writeFn(MPU_RA_SIGNAL_PATH_RESET, 0x07);
     delay(100);
-    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
+    gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0);
     delay(100);
-    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+    gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
     const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
-    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, raGyroConfigData);
+    gyro->mpuConfiguration.writeFn(MPU_RA_GYRO_CONFIG, raGyroConfigData);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    gyro->mpuConfiguration.writeFn(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
+    gyro->mpuConfiguration.writeFn(MPU_RA_CONFIG, gyro->lpf);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
+    gyro->mpuConfiguration.writeFn(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration
 #ifdef USE_MPU9250_MAG
-    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR | MPU6500_BIT_BYPASS_EN);  // INT_ANYRD_2CLEAR, BYPASS_EN
 #else
-    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR);  // INT_ANYRD_2CLEAR
+    gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, MPU6500_BIT_INT_ANYRD_2CLEAR);  // INT_ANYRD_2CLEAR
 #endif
     delay(15);
 
 #ifdef USE_MPU_DATA_READY_SIGNAL
-    gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
+    gyro->mpuConfiguration.writeFn(MPU_RA_INT_ENABLE, MPU6500_BIT_RAW_RDY_EN); // RAW_RDY_EN interrupt enable
 #endif
     delay(15);
 }
diff --git a/src/main/drivers/accgyro_spi_icm20689.c b/src/main/drivers/accgyro_spi_icm20689.c
index 29e22d5743..8d0af213df 100644
--- a/src/main/drivers/accgyro_spi_icm20689.c
+++ b/src/main/drivers/accgyro_spi_icm20689.c
@@ -130,32 +130,32 @@ void icm20689GyroInit(gyroDev_t *gyro)
 
     spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_INITIALIZATON);
 
-    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
+    gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, ICM20689_BIT_RESET);
     delay(100);
-    gyro->mpuConfiguration.write(MPU_RA_SIGNAL_PATH_RESET, 0x03);
+    gyro->mpuConfiguration.writeFn(MPU_RA_SIGNAL_PATH_RESET, 0x03);
     delay(100);
-//    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
+//    gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, 0);
 //    delay(100);
-    gyro->mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
+    gyro->mpuConfiguration.writeFn(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
     delay(15);
     const uint8_t raGyroConfigData = gyro->gyroRateKHz > GYRO_RATE_8_kHz ? (INV_FSR_2000DPS << 3 | FCB_3600_32) : (INV_FSR_2000DPS << 3 | FCB_DISABLED);
-    gyro->mpuConfiguration.write(MPU_RA_GYRO_CONFIG, raGyroConfigData);
+    gyro->mpuConfiguration.writeFn(MPU_RA_GYRO_CONFIG, raGyroConfigData);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
+    gyro->mpuConfiguration.writeFn(MPU_RA_ACCEL_CONFIG, INV_FSR_16G << 3);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_CONFIG, gyro->lpf);
+    gyro->mpuConfiguration.writeFn(MPU_RA_CONFIG, gyro->lpf);
     delay(15);
-    gyro->mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
+    gyro->mpuConfiguration.writeFn(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops(gyro)); // Get Divider Drops
     delay(100);
 
     // Data ready interrupt configuration
-//    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
-    gyro->mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0x10);  // INT_ANYRD_2CLEAR, BYPASS_EN
+//    gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0);  // INT_ANYRD_2CLEAR, BYPASS_EN
+    gyro->mpuConfiguration.writeFn(MPU_RA_INT_PIN_CFG, 0x10);  // INT_ANYRD_2CLEAR, BYPASS_EN
 
     delay(15);
 
 #ifdef USE_MPU_DATA_READY_SIGNAL
-    gyro->mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
+    gyro->mpuConfiguration.writeFn(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
 #endif
 
     spiSetDivisor(ICM20689_SPI_INSTANCE, SPI_CLOCK_STANDARD);
diff --git a/src/main/drivers/system_stm32f4xx.c b/src/main/drivers/system_stm32f4xx.c
index 55d570eecb..0216d45427 100644
--- a/src/main/drivers/system_stm32f4xx.c
+++ b/src/main/drivers/system_stm32f4xx.c
@@ -31,8 +31,8 @@ void SetSysClock(void);
 
 void systemReset(void)
 {
-    if (mpuReset) {
-        mpuReset();
+    if (mpuResetFn) {
+        mpuResetFn();
     }
 
     __disable_irq();
@@ -41,8 +41,8 @@ void systemReset(void)
 
 void systemResetToBootloader(void)
 {
-    if (mpuReset) {
-        mpuReset();
+    if (mpuResetFn) {
+        mpuResetFn();
     }
 
     *((uint32_t *)0x2001FFFC) = 0xDEADBEEF; // 128KB SRAM STM32F4XX
diff --git a/src/main/drivers/system_stm32f7xx.c b/src/main/drivers/system_stm32f7xx.c
index 3254c475d6..0099833674 100644
--- a/src/main/drivers/system_stm32f7xx.c
+++ b/src/main/drivers/system_stm32f7xx.c
@@ -33,8 +33,8 @@ void SystemClock_Config(void);
 
 void systemReset(void)
 {
-    if (mpuReset) {
-        mpuReset();
+    if (mpuResetFn) {
+        mpuResetFn();
     }
 
     __disable_irq();
@@ -43,8 +43,8 @@ void systemReset(void)
 
 void systemResetToBootloader(void)
 {
-    if (mpuReset) {
-        mpuReset();
+    if (mpuResetFn) {
+        mpuResetFn();
     }
 
     (*(__IO uint32_t *) (BKPSRAM_BASE + 4)) = 0xDEADBEEF;   // flag that will be readable after reboot
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 9732a96859..d0b15ece6b 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -238,7 +238,7 @@ bool gyroInit(const gyroConfig_t *gyroConfigToUse)
 #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20689)
     gyro.dev.mpuIntExtiConfig = selectMPUIntExtiConfig();
     mpuDetect(&gyro.dev);
-    mpuReset = gyro.dev.mpuConfiguration.reset;
+    mpuResetFn = gyro.dev.mpuConfiguration.resetFn;
 #endif
 
     if (!gyroDetect(&gyro.dev)) {