diff --git a/flight/PiOS/Common/pios_bma180.c b/flight/PiOS/Common/pios_bma180.c
index f085d5448..7d5c53ef2 100644
--- a/flight/PiOS/Common/pios_bma180.c
+++ b/flight/PiOS/Common/pios_bma180.c
@@ -30,6 +30,9 @@
  */
 
 #include "pios.h"
+
+#if defined(PIOS_INCLUDE_BMA180)
+
 #include "fifo_buffer.h"
 
 static uint32_t PIOS_SPI_ACCEL;
@@ -40,7 +43,6 @@ static int32_t PIOS_BMA180_SelectBW(enum bma180_bandwidth bw);
 static int32_t PIOS_BMA180_SetRange(enum bma180_range range);
 static int32_t PIOS_BMA180_Config();
 static int32_t PIOS_BMA180_EnableIrq();
-static void PIOS_BMA180_IRQHandler(void);
 
 #define PIOS_BMA180_MAX_DOWNSAMPLE 10
 static int16_t pios_bma180_buffer[PIOS_BMA180_MAX_DOWNSAMPLE * sizeof(struct pios_bma180_data)];
@@ -60,15 +62,7 @@ int32_t 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 */
-	NVIC_Init(&cfg->eoc_irq.init);
+	PIOS_EXTI_Init(cfg->exti_cfg);
 	
 	if(PIOS_BMA180_Config() < 0)
 		return -1;
@@ -364,7 +358,7 @@ int32_t PIOS_BMA180_Test()
 /**
  * @brief IRQ Handler.  Read data from the BMA180 FIFO and push onto a local fifo.
  */
-static void PIOS_BMA180_IRQHandler(void)
+void PIOS_BMA180_IRQHandler(void)
 {
 	const static uint8_t pios_bma180_req_buf[7] = {BMA_X_LSB_ADDR | 0x80,0,0,0,0,0};
 	uint8_t pios_bma180_dmabuf[8];
@@ -401,24 +395,7 @@ static void PIOS_BMA180_IRQHandler(void)
 
 }
 
-
-/**
- * The physical IRQ handler
- * Soon this will be generic in pios_exti and the BMA180 will register
- * against it
- */
- 
-int32_t bma180_irq = 0;
-void EXTI4_IRQHandler(void)
-{
-	if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
-		bma180_irq++;
-		PIOS_BMA180_IRQHandler();
-		EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
-	}
-}
-
-
+#endif /* PIOS_INCLUDE_BMA180 */
 /**
  * @}
  * @}
diff --git a/flight/PiOS/Common/pios_hmc5883.c b/flight/PiOS/Common/pios_hmc5883.c
index 6922dfe9e..8891709fc 100644
--- a/flight/PiOS/Common/pios_hmc5883.c
+++ b/flight/PiOS/Common/pios_hmc5883.c
@@ -54,15 +54,7 @@ void PIOS_HMC5883_Init(const struct pios_hmc5883_cfg * cfg)
 {
 	dev_cfg = cfg; // store config before enabling interrupt
 
-	/* 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 */
-	NVIC_Init(&cfg->eoc_irq.init);
+	PIOS_EXTI_Init(cfg->exti_cfg);
 	
 	int32_t val = PIOS_HMC5883_Config(cfg);
 	
@@ -404,37 +396,6 @@ void PIOS_HMC5883_IRQHandler(void)
 	pios_hmc5883_data_ready = true;
 }
 
-/**
- * The physical IRQ handler
- * Soon this will be generic in pios_exti and the BMA180 will register
- * against it.  Right now this is crap!
- */
-#if defined(PIOS_INCLUDE_MPU6000)
-extern void PIOS_MPU6000_IRQHandler();
-#elif defined(PIOS_INCLUDE_L3GD20)
-extern void PIOS_L3GD20_IRQHandler();
-#endif
-void EXTI9_5_IRQHandler(void)
-{
-	if (EXTI_GetITStatus(dev_cfg->eoc_exti.init.EXTI_Line) != RESET) {
-		PIOS_HMC5883_IRQHandler();
-		EXTI_ClearITPendingBit(dev_cfg->eoc_exti.init.EXTI_Line);
-	}
-#if defined(PIOS_INCLUDE_MPU6000)
-	if (EXTI_GetITStatus(EXTI_Line8) != RESET) {
-		PIOS_MPU6000_IRQHandler();
-		EXTI_ClearITPendingBit(EXTI_Line8);
-	}
-#elif defined(PIOS_INCLUDE_L3GD20)
-	if (EXTI_GetITStatus(EXTI_Line8) != RESET) {
-		PIOS_L3GD20_IRQHandler();
-		EXTI_ClearITPendingBit(EXTI_Line8);
-	}
-#endif
-
-}
-
-
 #endif /* PIOS_INCLUDE_HMC5883 */
 
 /**
diff --git a/flight/PiOS/Common/pios_l3gd20.c b/flight/PiOS/Common/pios_l3gd20.c
index 3913eeaa8..daf3607cf 100644
--- a/flight/PiOS/Common/pios_l3gd20.c
+++ b/flight/PiOS/Common/pios_l3gd20.c
@@ -68,15 +68,8 @@ void PIOS_L3GD20_Init(const struct pios_l3gd20_cfg * new_cfg)
 	PIOS_L3GD20_Config(cfg);
 	PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_16);
 
-	/* 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 */
-	NVIC_Init(&cfg->eoc_irq.init);
+	/* Set up EXTI */
+	PIOS_EXTI_Init(new_cfg->exti_cfg);
 	
 	// An initial read is needed to get it running
 	struct pios_l3gd20_data data;
diff --git a/flight/PiOS/Common/pios_mpu6000.c b/flight/PiOS/Common/pios_mpu6000.c
index 34b4da64b..f8d56c874 100644
--- a/flight/PiOS/Common/pios_mpu6000.c
+++ b/flight/PiOS/Common/pios_mpu6000.c
@@ -68,12 +68,8 @@ void PIOS_MPU6000_Init(const struct pios_mpu6000_cfg * new_cfg)
 	PIOS_MPU6000_Config(cfg);
 	PIOS_SPI_SetPrescalar(pios_spi_gyro, SPI_BaudRatePrescaler_8);
 
-	/* 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);
+	/* Set up EXTI line */
+	PIOS_EXTI_Init(&new_cfg->cfg);
 	
 	/* Enable and set EOC EXTI Interrupt to the lowest priority */
 	NVIC_Init(&cfg->eoc_irq.init);
diff --git a/flight/PiOS/Common/pios_adxl345.c b/flight/PiOS/STM32F10x/pios_adxl345.c
similarity index 100%
rename from flight/PiOS/Common/pios_adxl345.c
rename to flight/PiOS/STM32F10x/pios_adxl345.c
diff --git a/flight/PiOS/inc/pios_bma180.h b/flight/PiOS/inc/pios_bma180.h
index 6a860dfd2..f00ab03d6 100644
--- a/flight/PiOS/inc/pios_bma180.h
+++ b/flight/PiOS/inc/pios_bma180.h
@@ -91,9 +91,7 @@ struct pios_bma180_data {
 
 
 struct pios_bma180_cfg {
-	struct stm32_gpio drdy;
-	struct stm32_exti eoc_exti;
-	struct stm32_irq eoc_irq;
+	const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
 };
 
 /* Public Functions */
@@ -103,6 +101,7 @@ extern float PIOS_BMA180_GetScale();
 extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
 extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
 extern int32_t PIOS_BMA180_Test();
+extern void PIOS_BMA180_IRQHandler();
 
 #endif /* PIOS_BMA180_H */
 
diff --git a/flight/PiOS/inc/pios_bmp085.h b/flight/PiOS/inc/pios_bmp085.h
index ecb51a982..73acf871f 100644
--- a/flight/PiOS/inc/pios_bmp085.h
+++ b/flight/PiOS/inc/pios_bmp085.h
@@ -73,10 +73,7 @@ extern int32_t PIOS_BMP085_EOC;
 
 
 struct pios_bmp085_cfg {
-	struct stm32_gpio drdy;
-	struct stm32_gpio xclr;
-	struct stm32_exti eoc_exti;
-	struct stm32_irq eoc_irq;
+	static const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
 	uint32_t oversampling;
 };
 
diff --git a/flight/PiOS/inc/pios_hmc5883.h b/flight/PiOS/inc/pios_hmc5883.h
index 91442cf33..037dca788 100644
--- a/flight/PiOS/inc/pios_hmc5883.h
+++ b/flight/PiOS/inc/pios_hmc5883.h
@@ -93,10 +93,7 @@
 
 
 struct pios_hmc5883_cfg {
-	struct stm32_gpio drdy;
-	struct stm32_exti eoc_exti;
-	struct stm32_irq eoc_irq;
-	
+	const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
 	uint8_t M_ODR;		/* OUTPUT DATA RATE --> here below the relative define (See datasheet page 11 for more details) */
 	uint8_t Meas_Conf;	/* Measurement Configuration,: Normal, positive bias, or negative bias --> here below the relative define */
 	uint8_t Gain;		/* Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
@@ -110,7 +107,7 @@ extern bool PIOS_HMC5883_NewDataAvailable(void);
 extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
 extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
 extern int32_t PIOS_HMC5883_Test(void);
-
+extern void PIOS_HMC5883_IRQHandler();
 #endif /* PIOS_HMC5883_H */
 
 /** 
diff --git a/flight/PiOS/inc/pios_l3gd20.h b/flight/PiOS/inc/pios_l3gd20.h
index 090c325e7..ebc3cc91a 100644
--- a/flight/PiOS/inc/pios_l3gd20.h
+++ b/flight/PiOS/inc/pios_l3gd20.h
@@ -127,9 +127,8 @@ struct pios_l3gd20_data {
 };
 
 struct pios_l3gd20_cfg {
-	struct stm32_gpio drdy;
-	struct stm32_exti eoc_exti;
-	struct stm32_irq eoc_irq;
+	const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
+
 	enum pios_l3gd20_range gyro_range;
 };
 
@@ -141,6 +140,7 @@ extern int32_t PIOS_L3GD20_ReadGyros(struct pios_l3gd20_data * buffer);
 extern int32_t PIOS_L3GD20_ReadID();
 extern uint8_t PIOS_L3GD20_Test();
 extern float PIOS_L3GD20_GetScale();
+extern void PIOS_L3GD20_IRQHandler();
 
 #endif /* PIOS_L3GD20_H */
 
diff --git a/flight/PiOS/inc/pios_mpu6000.h b/flight/PiOS/inc/pios_mpu6000.h
index b92ded9d3..12627fd9e 100644
--- a/flight/PiOS/inc/pios_mpu6000.h
+++ b/flight/PiOS/inc/pios_mpu6000.h
@@ -128,9 +128,7 @@ struct pios_mpu6000_data {
 };
 
 struct pios_mpu6000_cfg {
-	struct stm32_gpio drdy;
-	struct stm32_exti eoc_exti;
-	struct stm32_irq eoc_irq;
+	const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
 	
 	uint8_t Fifo_store;		/* FIFO storage of different readings (See datasheet page 31 for more details) */
 	uint8_t Smpl_rate_div;	/* Sample rate divider to use (See datasheet page 32 for more details) */
@@ -151,6 +149,7 @@ extern int32_t PIOS_MPU6000_ReadID();
 extern uint8_t PIOS_MPU6000_Test();
 extern float PIOS_MPU6000_GetScale();
 extern float PIOS_MPU6000_GetAccelScale();
+extern void PIOS_MPU6000_IRQHandler(void);
 
 #endif /* PIOS_MPU6000_H */
 
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index 88ed15f09..27a53d4da 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -93,9 +93,7 @@
 #include <pios_usb_hid.h>
 #include <pios_debug.h>
 #include <pios_gpio.h>
-#if defined(PIOS_INCLUDE_EXTI)
 #include <pios_exti.h>
-#endif
 #include <pios_wdg.h>
 
 /* PIOS Hardware Includes (Common) */
@@ -134,12 +132,12 @@
 #if defined(PIOS_INCLUDE_IAP)
 #include <pios_iap.h>
 #endif
-
 #if defined(PIOS_INCLUDE_ADXL345)
 #include <pios_adxl345.h>
 #endif
-
+#if defined(PIOS_INCLUDE_BMA180)
 #include <pios_bma180.h>
+#endif
 
 #if defined(PIOS_INCLUDE_FLASH)
 #include <pios_flash_w25x.h>
diff --git a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
index 51b8a1a0a..50eb6782a 100644
--- a/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
+++ b/flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
@@ -59,9 +59,7 @@
 		651913381256C5240039C0A3 /* ahrs_spi_comm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrs_spi_comm.c; sourceTree = "<group>"; };
 		6519133A1256C52B0039C0A3 /* ahrs_comm_objects.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_comm_objects.h; sourceTree = "<group>"; };
 		6519133B1256C52B0039C0A3 /* ahrs_spi_comm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_spi_comm.h; sourceTree = "<group>"; };
-		651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_desc.c; sourceTree = "<group>"; };
 		651CF9E6120B5D8300EEFD70 /* pios_usb_hid_istr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_istr.c; sourceTree = "<group>"; };
-		651CF9E7120B5D8300EEFD70 /* pios_usb_hid_prop.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_prop.c; sourceTree = "<group>"; };
 		651CF9E8120B5D8300EEFD70 /* pios_usb_hid_pwr.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_usb_hid_pwr.c; sourceTree = "<group>"; };
 		651CF9EF120B700D00EEFD70 /* pios_usb_hid_desc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_desc.h; sourceTree = "<group>"; };
 		651CF9F0120B700D00EEFD70 /* pios_usb_hid_istr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_istr.h; sourceTree = "<group>"; };
@@ -123,10 +121,8 @@
 		65904E54146128A500FD9482 /* op_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = op_config.h; sourceTree = "<group>"; };
 		65904E55146128A500FD9482 /* openpilot.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = openpilot.h; sourceTree = "<group>"; };
 		65904E56146128A500FD9482 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
-		65904E57146128A500FD9482 /* taskmonitor.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = taskmonitor.h; sourceTree = "<group>"; };
 		65904E58146128A500FD9482 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
 		65904E59146128A500FD9482 /* revolution.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = revolution.c; sourceTree = "<group>"; };
-		65904E5A146128A500FD9482 /* taskmonitor.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = taskmonitor.c; sourceTree = "<group>"; };
 		65904E5B146128A500FD9482 /* test.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = test.c; sourceTree = "<group>"; };
 		65904E5C146128A500FD9482 /* UAVObjects.inc */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.pascal; path = UAVObjects.inc; sourceTree = "<group>"; };
 		65904E5F14613B6100FD9482 /* pios_i2c_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_i2c_config.h; sourceTree = "<group>"; };
@@ -3834,7 +3830,6 @@
 				65904E50146128A500FD9482 /* inc */,
 				65904E58146128A500FD9482 /* pios_board.c */,
 				65904E59146128A500FD9482 /* revolution.c */,
-				65904E5A146128A500FD9482 /* taskmonitor.c */,
 			);
 			path = System;
 			sourceTree = "<group>";
@@ -3848,7 +3843,6 @@
 				65904E54146128A500FD9482 /* op_config.h */,
 				65904E55146128A500FD9482 /* openpilot.h */,
 				65904E56146128A500FD9482 /* pios_config.h */,
-				65904E57146128A500FD9482 /* taskmonitor.h */,
 			);
 			path = inc;
 			sourceTree = "<group>";
@@ -8526,9 +8520,7 @@
 				65643CB91413456D00A32F59 /* pios_tim.c */,
 				65E8F0EA11EFF25C00BBF654 /* pios_usart.c */,
 				65E8F0ED11EFF25C00BBF654 /* pios_usb_hid.c */,
-				651CF9E5120B5D8300EEFD70 /* pios_usb_hid_desc.c */,
 				651CF9E6120B5D8300EEFD70 /* pios_usb_hid_istr.c */,
-				651CF9E7120B5D8300EEFD70 /* pios_usb_hid_prop.c */,
 				651CF9E8120B5D8300EEFD70 /* pios_usb_hid_pwr.c */,
 				65003B31121249CA00C183DD /* pios_wdg.c */,
 				65E8F0EE11EFF25C00BBF654 /* startup_stm32f10x_HD.S */,
diff --git a/flight/Revolution/System/inc/pios_config.h b/flight/Revolution/System/inc/pios_config.h
index 8e2fa1dd4..4f63fc7e1 100644
--- a/flight/Revolution/System/inc/pios_config.h
+++ b/flight/Revolution/System/inc/pios_config.h
@@ -51,7 +51,7 @@
 #define PIOS_INCLUDE_USART
 //#define PIOS_INCLUDE_USB_HID
 //#define PIOS_INCLUDE_GPIO
-//#define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_RTC
 #define PIOS_INCLUDE_WDG
 
diff --git a/flight/Revolution/System/pios_board.c b/flight/Revolution/System/pios_board.c
index 6b5e85a5f..d49b92296 100644
--- a/flight/Revolution/System/pios_board.c
+++ b/flight/Revolution/System/pios_board.c
@@ -1394,9 +1394,12 @@ uint32_t pios_com_telem_rf_id;
 /**
  * Sensor configurations 
  */
+#if defined(PIOS_INCLUDE_HMC5883)
 #include "pios_hmc5883.h"
-static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
-	.drdy = {
+static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
+	.vector = PIOS_HMC5883_IRQHandler,
+	.line = EXTI_Line5,
+	.pin = {
 		.gpio = GPIOB,
 		.init = {
 			.GPIO_Pin = GPIO_Pin_5,
@@ -1406,17 +1409,7 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
 			.GPIO_PuPd = GPIO_PuPd_NOPULL,
 		},
 	},
-	.eoc_exti = {
-		.pin_source = EXTI_PinSource5,
-		.port_source = EXTI_PortSourceGPIOB,
-		.init = {
-			.EXTI_Line = EXTI_Line5, // matches above GPIO pin
-			.EXTI_Mode = EXTI_Mode_Interrupt,
-			.EXTI_Trigger = EXTI_Trigger_Rising,
-			.EXTI_LineCmd = ENABLE,
-		},
-	},
-	.eoc_irq = {
+	.irq = {
 		.init = {
 			.NVIC_IRQChannel = EXTI9_5_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
@@ -1424,21 +1417,45 @@ static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
 			.NVIC_IRQChannelCmd = ENABLE,
 		},
 	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line5, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+
+static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
+	.exti_cfg = &pios_exti_hmc5883_cfg,
 	.M_ODR = PIOS_HMC5883_ODR_75,
 	.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
 	.Gain = PIOS_HMC5883_GAIN_1_9,
 	.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
 
 };
+#endif /* PIOS_INCLUDE_HMC5883 */
 
+/**
+ * Configuration for the MS5611 chip
+ */
+#if defined(PIOS_INCLUDE_MS5611)
 #include "pios_ms5611.h"
 static const struct pios_ms5611_cfg pios_ms5611_cfg = {
 	.oversampling = 1,
 };
+#endif /* PIOS_INCLUDE_MS5611 */
 
+/**
+ * Configuration for the BMA180 chip
+ */
+#if defined(PIOS_INCLUDE_BMA180)
 #include "pios_bma180.h"
-static const struct pios_bma180_cfg pios_bma180_cfg = {
-	.drdy = {
+static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
+	.vector = PIOS_BMA180_IRQHandler,
+	.line = EXTI_Line4,
+	.pin = {
 		.gpio = GPIOC,
 		.init = {
 			.GPIO_Pin = GPIO_Pin_4,
@@ -1448,17 +1465,7 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
 			.GPIO_PuPd = GPIO_PuPd_NOPULL,
 		},
 	},
-	.eoc_exti = {
-		.pin_source = EXTI_PinSource4,
-		.port_source = EXTI_PortSourceGPIOC,
-		.init = {
-			.EXTI_Line = EXTI_Line4, // matches above GPIO pin
-			.EXTI_Mode = EXTI_Mode_Interrupt,
-			.EXTI_Trigger = EXTI_Trigger_Rising,
-			.EXTI_LineCmd = ENABLE,
-		},
-	},
-	.eoc_irq = {
+	.irq = {
 		.init = {
 			.NVIC_IRQChannel = EXTI4_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
@@ -1466,11 +1473,29 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
 			.NVIC_IRQChannelCmd = ENABLE,
 		},
 	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line4, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
 };
+static const struct pios_bma180_cfg pios_bma180_cfg = {
+	.exti_cfg = &pios_exti_bma180_cfg,
+};
+#endif /* PIOS_INCLUDE_BMA180 */
 
+/**
+ * Configuration for the MPU6000 chip
+ */
+#if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
-static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
-	.drdy = {
+static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
+	.vector = PIOS_MPU6000_IRQHandler,
+	.line = EXTI_Line8,
+	.pin = {
 		.gpio = GPIOD,
 		.init = {
 			.GPIO_Pin = GPIO_Pin_8,
@@ -1480,17 +1505,7 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 			.GPIO_PuPd = GPIO_PuPd_NOPULL,
 		},
 	},
-	.eoc_exti = {
-		.pin_source = EXTI_PinSource8,
-		.port_source = EXTI_PortSourceGPIOD,
-		.init = {
-			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
-			.EXTI_Mode = EXTI_Mode_Interrupt,
-			.EXTI_Trigger = EXTI_Trigger_Rising,
-			.EXTI_LineCmd = ENABLE,
-		},
-	},
-	.eoc_irq = {
+	.irq = {
 		.init = {
 			.NVIC_IRQChannel = EXTI9_5_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@@ -1498,6 +1513,18 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 			.NVIC_IRQChannelCmd = ENABLE,
 		},
 	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+
+static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
+	.exti_cfg = &pios_exti_mpu6000_cfg,
 	.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
 	// Clock at 8 khz, downsampled by 8 for 1khz
 	.Smpl_rate_div = 7, 
@@ -1508,10 +1535,16 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 	.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
 	.filter = PIOS_MPU6000_LOWPASS_256_HZ
 };
-
+#endif /* PIOS_INCLUDE_MPU6000 */
+/**
+ * Configuration for L3GD20 chip
+ */
+#if defined(PIOS_INCLUDE_L3GD20)
 #include "pios_l3gd20.h"
-static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
-	.drdy = {
+static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
+	.vector = PIOS_L3GD20_IRQHandler,
+	.line = EXTI_Line8,
+	.pin = {
 		.gpio = GPIOD,
 		.init = {
 			.GPIO_Pin = GPIO_Pin_8,
@@ -1521,17 +1554,7 @@ static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
 			.GPIO_PuPd = GPIO_PuPd_NOPULL,
 		},
 	},
-	.eoc_exti = {
-		.pin_source = EXTI_PinSource8,
-		.port_source = EXTI_PortSourceGPIOD,
-		.init = {
-			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
-			.EXTI_Mode = EXTI_Mode_Interrupt,
-			.EXTI_Trigger = EXTI_Trigger_Rising,
-			.EXTI_LineCmd = ENABLE,
-		},
-	},
-	.eoc_irq = {
+	.irq = {
 		.init = {
 			.NVIC_IRQChannel = EXTI9_5_IRQn,
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
@@ -1539,8 +1562,21 @@ static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
 			.NVIC_IRQChannelCmd = ENABLE,
 		},
 	},
+	.exti = {
+		.init = {
+			.EXTI_Line = EXTI_Line8, // matches above GPIO pin
+			.EXTI_Mode = EXTI_Mode_Interrupt,
+			.EXTI_Trigger = EXTI_Trigger_Rising,
+			.EXTI_LineCmd = ENABLE,
+		},
+	},
+};
+
+static const struct pios_l3gd20_cfg pios_l3gd20_cfg = {
+	.exti_cfg = &pios_exti_l3gd20_cfg,
 	.gyro_range = PIOS_L3GD20_SCALE_500_DEG,
 };
+#endif /* PIOS_INCLUDE_L3GD20 */
 
 /**
  * PIOS_Board_Init()