diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index 92cf657891..dfc3bedcfc 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -52,6 +52,7 @@
 #include "drivers/accgyro/accgyro_spi_mpu6000.h"
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
+#include "drivers/accgyro/accgyro_spi_l3gd20.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 
 #include "pg/pg.h"
@@ -211,6 +212,9 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 #endif
 #ifdef USE_ACCGYRO_BMI160
     bmi160Detect,
+#endif
+#ifdef USE_GYRO_L3GD20
+    l3gd20Detect,
 #endif
     NULL // Avoid an empty array
 };
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index 77da677317..f5db434c12 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -205,6 +205,7 @@ typedef enum {
     ICM_20649_SPI,
     ICM_20689_SPI,
     BMI_160_SPI,
+    L3GD20_SPI,
 } mpuSensor_e;
 
 typedef enum {
diff --git a/src/main/drivers/accgyro_legacy/accgyro_l3gd20.c b/src/main/drivers/accgyro/accgyro_spi_l3gd20.c
similarity index 67%
rename from src/main/drivers/accgyro_legacy/accgyro_l3gd20.c
rename to src/main/drivers/accgyro/accgyro_spi_l3gd20.c
index b1ea9b168d..0b805a7175 100644
--- a/src/main/drivers/accgyro_legacy/accgyro_l3gd20.c
+++ b/src/main/drivers/accgyro/accgyro_spi_l3gd20.c
@@ -30,13 +30,15 @@
 
 #include "common/maths.h"
 
-#include "drivers/time.h"
-#include "drivers/io.h"
 #include "drivers/bus_spi.h"
-
+#include "drivers/io.h"
+#include "drivers/nvic.h"
 #include "drivers/sensor.h"
+#include "drivers/time.h"
+
 #include "drivers/accgyro/accgyro.h"
-#include "accgyro_l3gd20.h"
+
+#include "accgyro_spi_l3gd20.h"
 
 #define READ_CMD               ((uint8_t)0x80)
 #define MULTIPLEBYTE_CMD       ((uint8_t)0x40)
@@ -72,87 +74,75 @@
 
 #define BOOT                          ((uint8_t)0x80)
 
-#define ENABLE_L3GD20        IOLo(mpul3gd20CsPin)
-#define DISABLE_L3GD20       IOHi(mpul3gd20CsPin)
-
-static IO_t mpul3gd20CsPin = IO_NONE;
-
-static void l3gd20SpiInit(SPI_TypeDef *SPIx)
+#if defined(USE_MPU_DATA_READY_SIGNAL)
+static void l3gd20ExtiHandler(extiCallbackRec_t *cb)
 {
-    UNUSED(SPIx); // FIXME
-
-    mpul3gd20CsPin = IOGetByTag(IO_TAG(L3GD20_CS_PIN));
-
-    spiSetDivisor(L3GD20_SPI, SPI_CLOCK_STANDARD);
+    gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
+    gyro->dataReady = true;
 }
 
+static void l3gd20IntExtiInit(gyroDev_t *gyro)
+{
+    if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
+        return;
+    }
+
+    IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
+
+    IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
+    EXTIHandlerInit(&gyro->exti, l3gd20ExtiHandler);
+    EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IOCFG_IN_FLOATING, EXTI_TRIGGER_RISING);
+    EXTIEnable(mpuIntIO, true);
+}
+#endif
+
 void l3gd20GyroInit(gyroDev_t *gyro)
 {
-    UNUSED(gyro); // FIXME use it!
+    spiSetDivisor(gyro->bus.busdev_u.spi.instance, SPI_CLOCK_STANDARD);
 
-    l3gd20SpiInit(L3GD20_SPI);
-
-    ENABLE_L3GD20;
-
-    spiTransferByte(L3GD20_SPI, CTRL_REG5_ADDR);
-    spiTransferByte(L3GD20_SPI, BOOT);
-
-    DISABLE_L3GD20;
+    spiBusWriteRegister(&gyro->bus, CTRL_REG5_ADDR, BOOT);
 
     delayMicroseconds(100);
 
-    ENABLE_L3GD20;
-
-    spiTransferByte(L3GD20_SPI, CTRL_REG1_ADDR);
-
-    spiTransferByte(L3GD20_SPI, MODE_ACTIVE | OUTPUT_DATARATE_3 | AXES_ENABLE | BANDWIDTH_3);
-    //spiTransferByte(L3GD20_SPI, MODE_ACTIVE | OUTPUT_DATARATE_4 | AXES_ENABLE | BANDWIDTH_4);
-
-    DISABLE_L3GD20;
+    spiBusWriteRegister(&gyro->bus, CTRL_REG1_ADDR, MODE_ACTIVE | OUTPUT_DATARATE_3 | AXES_ENABLE | BANDWIDTH_3);
+    //spiBusWriteRegister(&gyro->bus, CTRL_REG1_ADDR. MODE_ACTIVE | OUTPUT_DATARATE_3 | AXES_ENABLE | BANDWIDTH_4);
 
     delayMicroseconds(1);
 
-    ENABLE_L3GD20;
-
-    spiTransferByte(L3GD20_SPI, CTRL_REG4_ADDR);
-    spiTransferByte(L3GD20_SPI, BLOCK_DATA_UPDATE_CONTINUOUS | BLE_MSB | FULLSCALE_2000);
-
-    DISABLE_L3GD20;
+    spiBusWriteRegister(&gyro->bus, 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];
 
-    ENABLE_L3GD20;
-    spiTransferByte(L3GD20_SPI, OUT_X_L_ADDR | READ_CMD | MULTIPLEBYTE_CMD);
-
-    uint8_t index;
-    for (index = 0; index < sizeof(buf); index++) {
-        buf[index] = spiTransferByte(L3GD20_SPI, DUMMY_BYTE);
-    }
-
-    DISABLE_L3GD20;
+    spiBusReadRegisterBuffer(&gyro->bus, OUT_X_L_ADDR | READ_CMD | MULTIPLEBYTE_CMD,buf, sizeof(buf));
 
     gyro->gyroADCRaw[0] = (int16_t)((buf[0] << 8) | buf[1]);
     gyro->gyroADCRaw[1] = (int16_t)((buf[2] << 8) | buf[3]);
     gyro->gyroADCRaw[2] = (int16_t)((buf[4] << 8) | buf[5]);
 
-#if 0
-    debug[0] = (int16_t)((buf[1] << 8) | buf[0]);
-    debug[1] = (int16_t)((buf[3] << 8) | buf[2]);
-    debug[2] = (int16_t)((buf[5] << 8) | buf[4]);
-#endif
-
     return true;
 }
 
 // Page 9 in datasheet, So - Sensitivity, Full Scale = 2000, 70 mdps/digit
 #define L3GD20_GYRO_SCALE_FACTOR  0.07f
 
-bool l3gd20Detect(gyroDev_t *gyro)
+uint8_t l3gd20Detect(const busDevice_t *bus)
+{
+    UNUSED(bus);
+
+    return L3GD20_SPI; // blindly assume it's present, for now.
+}
+    
+bool l3gd20GyroDetect(gyroDev_t *gyro)
 {
     gyro->initFn = l3gd20GyroInit;
     gyro->readFn = l3gd20GyroRead;
diff --git a/src/main/drivers/accgyro_legacy/accgyro_l3gd20.h b/src/main/drivers/accgyro/accgyro_spi_l3gd20.h
similarity index 90%
rename from src/main/drivers/accgyro_legacy/accgyro_l3gd20.h
rename to src/main/drivers/accgyro/accgyro_spi_l3gd20.h
index cc9dedf260..39d452619f 100644
--- a/src/main/drivers/accgyro_legacy/accgyro_l3gd20.h
+++ b/src/main/drivers/accgyro/accgyro_spi_l3gd20.h
@@ -20,4 +20,5 @@
 
 #pragma once
 
-bool l3gd20Detect(gyroDev_t *gyro);
+uint8_t l3gd20Detect(const busDevice_t *bus);
+bool l3gd20GyroDetect(gyroDev_t *gyro);
diff --git a/src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.c b/src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.c
index 0c7504d191..21a8831244 100644
--- a/src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.c
+++ b/src/main/drivers/accgyro_legacy/accgyro_lsm303dlhc.c
@@ -151,12 +151,6 @@ static bool lsm303dlhcAccRead(accDev_t *acc)
     acc->ADCRaw[Y] = (int16_t)((buf[3] << 8) | buf[2]) / 2;
     acc->ADCRaw[Z] = (int16_t)((buf[5] << 8) | buf[4]) / 2;
 
-#if 0
-    debug[0] = (int16_t)((buf[1] << 8) | buf[0]);
-    debug[1] = (int16_t)((buf[3] << 8) | buf[2]);
-    debug[2] = (int16_t)((buf[5] << 8) | buf[4]);
-#endif
-
     return true;
 }
 
@@ -166,8 +160,9 @@ bool lsm303dlhcAccDetect(accDev_t *acc)
     uint8_t status;
 
     ack = i2cRead(MPU_I2C_INSTANCE, LSM303DLHC_ACCEL_ADDRESS, LSM303DLHC_STATUS_REG_A, 1, &status);
-    if (!ack)
+    if (!ack) {
         return false;
+    }
 
     acc->initFn = lsm303dlhcAccInit;
     acc->readFn = lsm303dlhcAccRead;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index c8210726f8..ecd542df70 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -51,12 +51,12 @@
 #include "drivers/accgyro/accgyro_spi_mpu6500.h"
 #include "drivers/accgyro/accgyro_spi_mpu9250.h"
 
-#ifdef USE_GYRO_L3G4200D
-#include "drivers/accgyro_legacy/accgyro_l3g4200d.h"
+#ifdef USE_GYRO_L3GD20
+#include "drivers/accgyro/accgyro_spi_l3gd20.h"
 #endif
 
-#ifdef USE_GYRO_L3GD20
-#include "drivers/accgyro_legacy/accgyro_l3gd20.h"
+#ifdef USE_GYRO_L3G4200D
+#include "drivers/accgyro_legacy/accgyro_l3g4200d.h"
 #endif
 
 #include "drivers/accgyro/gyro_sync.h"
@@ -296,7 +296,7 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
 
 #ifdef USE_GYRO_L3GD20
     case GYRO_L3GD20:
-        if (l3gd20Detect(dev)) {
+        if (l3gd20GyroDetect(dev)) {
             gyroHardware = GYRO_L3GD20;
             break;
         }
@@ -418,7 +418,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *c
     gyroSensor->gyroDev.mpuIntExtiTag = config->extiTag;
 
 #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_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
+ || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20)
 
     mpuDetect(&gyroSensor->gyroDev, config);
 #endif
diff --git a/src/main/target/common_post.h b/src/main/target/common_post.h
index 726ac8c6ab..8f51fb6211 100644
--- a/src/main/target/common_post.h
+++ b/src/main/target/common_post.h
@@ -192,11 +192,11 @@
 #endif
 
 // Generate USE_SPI_GYRO or USE_I2C_GYRO
-#if defined(USE_GYRO_L3G4200D) || defined(USE_GYRO_L3GD20) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6000) || defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU6500)
+#if defined(USE_GYRO_L3G4200D) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6000) || defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU6500)
 #define USE_I2C_GYRO
 #endif
 
-#if defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)
+#if defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_L3GD20)
 #define USE_SPI_GYRO
 #endif