diff --git a/flight/INS/Makefile b/flight/INS/Makefile
index 7346b32d1..cb03ce921 100644
--- a/flight/INS/Makefile
+++ b/flight/INS/Makefile
@@ -128,6 +128,7 @@ SRC += $(STMSPDSRCDIR)/stm32f2xx_pwr.c
 SRC += $(STMSPDSRCDIR)/stm32f2xx_rcc.c
 SRC += $(STMSPDSRCDIR)/stm32f2xx_rtc.c
 SRC += $(STMSPDSRCDIR)/stm32f2xx_spi.c
+SRC += $(STMSPDSRCDIR)/stm32f2xx_syscfg.c
 SRC += $(STMSPDSRCDIR)/stm32f2xx_tim.c
 SRC += $(STMSPDSRCDIR)/stm32f2xx_usart.c
 SRC += $(STMSPDSRCDIR)/misc.c
diff --git a/flight/INS/pios_board.c b/flight/INS/pios_board.c
index 45d3e1609..0d36c98f9 100644
--- a/flight/INS/pios_board.c
+++ b/flight/INS/pios_board.c
@@ -565,8 +565,8 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
 		},
 	},
 	.eoc_exti = {
-//		.pin_source = GPIO_PinSource8,
-//		.port_source = GPIO_PortSourceGPIOB,
+		.pin_source = EXTI_PinSource8,
+		.port_source = EXTI_PortSourceGPIOB,
 		.init = {
 			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
 			.EXTI_Mode = EXTI_Mode_Interrupt,
@@ -597,8 +597,8 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
 		},
 	},
 	.eoc_exti = {
-		//		.pin_source = GPIO_PinSource4,
-		//		.port_source = GPIO_PortSourceGPIOC,
+		.pin_source = EXTI_PinSource4,
+		.port_source = EXTI_PortSourceGPIOC,
 		.init = {
 			.EXTI_Line = EXTI_Line4, // matches above GPIO pin
 			.EXTI_Mode = EXTI_Mode_Interrupt,
@@ -629,8 +629,8 @@ static const struct pios_imu3000_cfg pios_imu3000_cfg = {
 		},
 	},
 	.eoc_exti = {
-		//		.pin_source = GPIO_PinSource1,
-		//		.port_source = GPIO_PortSourceGPIOB,
+		.pin_source = EXTI_PinSource1,
+		.port_source = EXTI_PortSourceGPIOB,
 		.init = {
 			.EXTI_Line = EXTI_Line1, // matches above GPIO pin
 			.EXTI_Mode = EXTI_Mode_Interrupt,
@@ -733,20 +733,18 @@ void PIOS_Board_Init(void) {
 		PIOS_DEBUG_Assert(0);
 	}
 
-	PIOS_BMP085_Init(&pios_bmp085_cfg);
-	PIOS_HMC5883_Init(&pios_hmc5883_cfg);
-	
 	if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) {
 		PIOS_DEBUG_Assert(0);
 	}
-	PIOS_IMU3000_Init(&pios_imu3000_cfg);
-	
 	/* Set up the SPI interface to the accelerometer*/
 	if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
 		PIOS_DEBUG_Assert(0);
 	}
 	PIOS_BMA180_Attach(pios_spi_accel_id);
 	PIOS_BMA180_Init(&pios_bma180_cfg);
+	PIOS_IMU3000_Init(&pios_imu3000_cfg);		
+	PIOS_BMP085_Init(&pios_bmp085_cfg);
+	PIOS_HMC5883_Init(&pios_hmc5883_cfg);
 	
 	
 	/* Set up the SPI interface to the OP board */
diff --git a/flight/PiOS/STM32F2xx/pios_bma180.c b/flight/PiOS/STM32F2xx/pios_bma180.c
index 67e2db795..ff7e022a7 100644
--- a/flight/PiOS/STM32F2xx/pios_bma180.c
+++ b/flight/PiOS/STM32F2xx/pios_bma180.c
@@ -53,10 +53,13 @@ static t_fifo_buffer pios_bma180_fifo;
  */
 void PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
 {	
+	fifoBuf_init(&pios_bma180_fifo, (uint8_t *) pios_bma180_buffer, sizeof(pios_bma180_buffer));
+	
 	/* Configure EOC pin as input floating */
 	GPIO_Init(cfg->drdy.gpio, &cfg->drdy.init);
 	
 	/* Configure the End Of Conversion (EOC) interrupt */
+	SYSCFG_EXTILineConfig(cfg->eoc_exti.port_source, cfg->eoc_exti.pin_source);
 	EXTI_Init(&cfg->eoc_exti.init);
 	
 	/* Enable and set EOC EXTI Interrupt to the lowest priority */
@@ -64,8 +67,6 @@ void PIOS_BMA180_Init(const struct pios_bma180_cfg * cfg)
 	
 	pios_bma180_data_ready = false;
 	
-	fifoBuf_init(&pios_bma180_fifo, (uint8_t *) pios_bma180_buffer, sizeof(pios_bma180_buffer));
-	
 	PIOS_BMA180_Config();	
 	PIOS_BMA180_SelectBW(BMA_BW_600HZ);
 	PIOS_BMA180_SetRange(BMA_RANGE_8G);
@@ -311,6 +312,7 @@ int32_t PIOS_BMA180_Test()
 }
 
 uint32_t pios_bma180_count = 0;
+
 /**
  * @brief IRQ Handler
  */
@@ -327,6 +329,20 @@ void PIOS_BMA180_IRQHandler(void)
 	fifoBuf_putData(&pios_bma180_fifo, accels, sizeof(accels));
 }
 
+/**
+ * The physical IRQ handler
+ * Soon this will be generic in pios_exti and the BMA180 will register
+ * against it
+ */
+void EXTI4_IRQHandler(void)
+{
+	if (EXTI_GetITStatus(EXTI_Line4) != RESET) {
+		PIOS_BMA180_IRQHandler();
+		EXTI_ClearITPendingBit(EXTI_Line4);
+	}
+}
+
+
 /**
  * @}
  * @}
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index cc1b2518a..fa03b6faf 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -50,6 +50,7 @@
 /* STM32 Std Perf Lib */
 #if defined(STM32F2XX)
 #include <stm32f2xx.h>
+#include <stm32f2xx_syscfg.h>
 #else
 #include <stm32f10x.h>
 #endif