diff --git a/docs/Settings.md b/docs/Settings.md
index 7c6bf6ed565..7376041e511 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -2140,7 +2140,7 @@ Gyro processing anti-aliasing filter cutoff frequency. In normal operation this
 
 ### gyro_data_ready
 
-Read the gyro when it signals a new sample, on its data-ready interrupt, instead of polling it: every sample once, and the CPU no longer waits on the bus. Needs a supported IMU (ICM-42605, ICM-42688-P) and a target that declares the interrupt pin. AUTO and ON do it, OFF polls the gyro.
+Read the gyro when it signals a new sample, on its data-ready interrupt, instead of polling it: every sample once, and the CPU no longer waits on the bus. Needs a supported IMU and a target that declares the interrupt pin; without interrupts the gyro is read as before. AUTO does it with the ICM-42605, ICM-42688-P, BMI270 and LSM6DXX; ON also with the ICM-45686, MPU6000, MPU6500 (and the ICM-20602 and ICM-20608 it drives), MPU9250 and ICM-20689, not yet run on hardware. OFF polls the gyro.
 
 | Allowed Values |  |
 | --- | --- |
diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
index 310696517f0..7bf8ac1eb01 100644
--- a/src/main/drivers/accgyro/accgyro.h
+++ b/src/main/drivers/accgyro/accgyro.h
@@ -42,7 +42,7 @@ typedef struct {
 // Whether a driver that can reads its gyro on the data-ready interrupt (gyro_data_ready)
 typedef enum {
     GYRO_DEV_DATA_READY_OFF = 0,
-    GYRO_DEV_DATA_READY_WHERE_TESTED,   // only where that driver has been tested
+    GYRO_DEV_DATA_READY_WHERE_TESTED,   // where the driver turns it on for AUTO
     GYRO_DEV_DATA_READY_ON,
 } gyroDevDataReady_e;
 
diff --git a/src/main/drivers/accgyro/accgyro_bmi270.c b/src/main/drivers/accgyro/accgyro_bmi270.c
index 1dc4d3fc590..84f48fc4290 100644
--- a/src/main/drivers/accgyro/accgyro_bmi270.c
+++ b/src/main/drivers/accgyro/accgyro_bmi270.c
@@ -38,6 +38,7 @@
 
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_data_ready.h"
 #include "drivers/accgyro/accgyro_bmi270.h"
 
 #define BMI270_CONFIG_SIZE 328
@@ -257,6 +258,17 @@ static bool bmi270yroReadScratchpad(gyroDev_t *gyro)
 
 static bool bmi270AccReadScratchpad(accDev_t *acc)
 {
+#if defined(USE_SPI_DATA_READY)
+    // The read on data-ready brought the accelerometer too
+    int16_t v[XYZ_AXIS_COUNT];
+    if (gyroDataReadyAcc(acc->busDev, v)) {
+        acc->ADCRaw[X] = v[X];
+        acc->ADCRaw[Y] = v[Y];
+        acc->ADCRaw[Z] = v[Z];
+        return true;
+    }
+#endif
+
     bmi270ContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
 
     if (ctx->lastReadStatus) {
@@ -284,9 +296,38 @@ static bool bmi270TemperatureRead(gyroDev_t *gyro, int16_t * data)
     return false;
 }
 
+#if defined(USE_SPI_DATA_READY)
+// After a dummy byte, from ACC_DATA_X_LSB: accelerometer X, Y, Z and gyro X, Y, Z, little-endian.
+// INT1 flags new data of either sensor, so the gyro-only read takes the accelerometer too
+static void bmi270DataReadyParse(const uint8_t *data, bool withAccAndTemp, int16_t *gyro, int16_t *acc, int16_t *temp)
+{
+    UNUSED(temp);
+    data++;
+    if (withAccAndTemp) {
+        acc[X] = int16_val_little_endian(data, 0);
+        acc[Y] = int16_val_little_endian(data, 1);
+        acc[Z] = int16_val_little_endian(data, 2);
+    }
+    gyro[X] = int16_val_little_endian(data, 3);
+    gyro[Y] = int16_val_little_endian(data, 4);
+    gyro[Z] = int16_val_little_endian(data, 5);
+}
+
+static const gyroDataReadyDriver_t bmi270DataReady = {
+    .withAccAndTemp = { BMI270_REG_ACC_DATA_X_LSB | 0x80, 13 },
+    .gyroOnly = { BMI270_REG_ACC_DATA_X_LSB | 0x80, 13 },
+    .parse = bmi270DataReadyParse,
+    .registerRead = bmi270yroReadScratchpad,
+    .tested = true,
+};
+#endif
+
 static void bmi270GyroInit(gyroDev_t *gyro)
 {
     bmi270AccAndGyroInit(gyro);
+#if defined(USE_SPI_DATA_READY)
+    gyro->dataReadyDriver = &bmi270DataReady;
+#endif
 }
 
 static void bmi270AccInit(accDev_t *acc)
diff --git a/src/main/drivers/accgyro/accgyro_data_ready.c b/src/main/drivers/accgyro/accgyro_data_ready.c
index 4b46ca9cd6b..37e9cd32d67 100644
--- a/src/main/drivers/accgyro/accgyro_data_ready.c
+++ b/src/main/drivers/accgyro/accgyro_data_ready.c
@@ -179,12 +179,19 @@ void gyroDataReadySuspend(void)
     }
 }
 
+bool gyroDataReadyWanted(const gyroDev_t *gyro)
+{
+    const gyroDataReadyDriver_t *driver = gyro->dataReadyDriver;
+    const busDevice_t *dev = gyro->busDev;
+    return driver && dev && dev->irqPin && gyro->readOnDataReady != GYRO_DEV_DATA_READY_OFF &&
+        (gyro->readOnDataReady != GYRO_DEV_DATA_READY_WHERE_TESTED || driver->tested);
+}
+
 void gyroDataReadyStart(gyroDev_t *gyro)
 {
     const gyroDataReadyDriver_t *driver = gyro->dataReadyDriver;
     busDevice_t *dev = gyro->busDev;
-    if (!driver || !dev || !dev->irqPin || gyro->readOnDataReady == GYRO_DEV_DATA_READY_OFF ||
-        (gyro->readOnDataReady == GYRO_DEV_DATA_READY_WHERE_TESTED && !driver->tested)) {
+    if (!gyroDataReadyWanted(gyro)) {
         return;
     }
     // A pin already owned stays with its owner; a wrong but free pin only means polling as before
@@ -216,7 +223,11 @@ void gyroDataReadyStart(gyroDev_t *gyro)
 
     IOInit(dev->irqPin, OWNER_MPU, RESOURCE_EXTI, RESOURCE_INDEX(gyro->imuSensorToUse));
     EXTIHandlerInit(&d->exti, gyroDataReadyExti);
-    EXTIConfig(dev->irqPin, &d->exti, NVIC_PRIO_GYRO_DATA_READY, IOCFG_IN_FLOATING);
+#if defined(STM32F7) || defined(STM32H7)
+    EXTIConfig(dev->irqPin, &d->exti, NVIC_PRIO_GYRO_DATA_READY, IOCFG_IN_FLOATING);   // always on the rising edge
+#else
+    EXTIConfig(dev->irqPin, &d->exti, NVIC_PRIO_GYRO_DATA_READY, EXTI_Trigger_Rising);
+#endif
     EXTIEnable(dev->irqPin, true);
 
     gyro->dataReadyState = d;
diff --git a/src/main/drivers/accgyro/accgyro_data_ready.h b/src/main/drivers/accgyro/accgyro_data_ready.h
index 721817c74e0..ff10c03ae5b 100644
--- a/src/main/drivers/accgyro/accgyro_data_ready.h
+++ b/src/main/drivers/accgyro/accgyro_data_ready.h
@@ -45,6 +45,8 @@ typedef struct gyroDataReadyDriver_s {
 typedef struct gyroDataReady_s gyroDataReady_t;
 
 #if defined(USE_SPI_DATA_READY)
+// Whether gyroDataReadyStart() will try, for a driver whose rate depends on it
+bool gyroDataReadyWanted(const gyroDev_t *gyro);
 void gyroDataReadyStart(gyroDev_t *gyro);
 void gyroDataReadySuspend(void);
 // For the driver's acc and temperature reads: true when the last data-ready read brought them
diff --git a/src/main/drivers/accgyro/accgyro_icm20689.c b/src/main/drivers/accgyro/accgyro_icm20689.c
index bd78f161332..161ff2d3433 100644
--- a/src/main/drivers/accgyro/accgyro_icm20689.c
+++ b/src/main/drivers/accgyro/accgyro_icm20689.c
@@ -109,6 +109,10 @@ static void icm20689AccAndGyroInit(gyroDev_t *gyro)
     busWrite(busDev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]); // Get Divider Drops
     delay(100);
 
+#if defined(USE_SPI_DATA_READY)
+    mpuDataReadySetup(gyro);
+#endif
+
     // Switch SPI to fast speed
     busSetSpeed(busDev, BUS_SPEED_FAST);
 }
diff --git a/src/main/drivers/accgyro/accgyro_icm42605.c b/src/main/drivers/accgyro/accgyro_icm42605.c
index 1c657aa8b87..4b70849c3a1 100644
--- a/src/main/drivers/accgyro/accgyro_icm42605.c
+++ b/src/main/drivers/accgyro/accgyro_icm42605.c
@@ -183,9 +183,7 @@ static const gyroDataReadyDriver_t icm426xxDataReady = {
     .hasTemp = true,
     .parse = icm426xxDataReadyParse,
     .registerRead = icm42605GyroRead,
-#if defined(STM32H7)
     .tested = true,
-#endif
 };
 #endif
 
diff --git a/src/main/drivers/accgyro/accgyro_icm45686.c b/src/main/drivers/accgyro/accgyro_icm45686.c
index 9b249fb607f..18d99aa275b 100644
--- a/src/main/drivers/accgyro/accgyro_icm45686.c
+++ b/src/main/drivers/accgyro/accgyro_icm45686.c
@@ -34,6 +34,7 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 #include "drivers/accgyro/accgyro.h"
+#include "drivers/accgyro/accgyro_data_ready.h"
 #include "accgyro_icm45686.h"
 
 #if defined(USE_IMU_ICM45686)
@@ -309,6 +310,17 @@ static void icm45686AccInit(accDev_t *acc)
 
 static bool icm45686AccRead(accDev_t *acc)
 {
+#if defined(USE_SPI_DATA_READY)
+    // The read on data-ready brought the accelerometer too
+    int16_t v[XYZ_AXIS_COUNT];
+    if (gyroDataReadyAcc(acc->busDev, v)) {
+        acc->ADCRaw[X] = v[X];
+        acc->ADCRaw[Y] = v[Y];
+        acc->ADCRaw[Z] = v[Z];
+        return true;
+    }
+#endif
+
     uint8_t data[6];
 
     const bool ack = busReadBuf(acc->busDev, ICM456XX_ACCEL_DATA_X1_UI, data, 6);
@@ -341,6 +353,14 @@ static bool icm45686GyroRead(gyroDev_t *gyro)
 
 static bool icm45686ReadTemperature(gyroDev_t *gyro, int16_t * temp)
 {
+#if defined(USE_SPI_DATA_READY)
+    int16_t raw;
+    if (gyroDataReadyTemperature(gyro->busDev, &raw)) {
+        *temp = (raw / 12.8f) + 250.0f; // as below, degC*10
+        return true;
+    }
+#endif
+
     uint8_t data[2];
 
     const bool ack = busReadBuf(gyro->busDev, ICM456XX_TEMP_DATA1, data, 2);
@@ -353,6 +373,34 @@ static bool icm45686ReadTemperature(gyroDev_t *gyro, int16_t * temp)
     return true;
 }
 
+#if defined(USE_SPI_DATA_READY)
+// From ACCEL_DATA_X1_UI: accelerometer X, Y, Z, gyro X, Y, Z and temperature, little-endian
+static void icm45686DataReadyParse(const uint8_t *data, bool withAccAndTemp, int16_t *gyro, int16_t *acc, int16_t *temp)
+{
+    if (withAccAndTemp) {
+        acc[X] = int16_val_little_endian(data, 0);
+        acc[Y] = int16_val_little_endian(data, 1);
+        acc[Z] = int16_val_little_endian(data, 2);
+        data += 6;
+    }
+    gyro[X] = int16_val_little_endian(data, 0);
+    gyro[Y] = int16_val_little_endian(data, 1);
+    gyro[Z] = int16_val_little_endian(data, 2);
+    if (withAccAndTemp) {
+        *temp = int16_val_little_endian(data, 3);
+    }
+}
+
+static const gyroDataReadyDriver_t icm45686DataReady = {
+    .withAccAndTemp = { ICM456XX_ACCEL_DATA_X1_UI | 0x80, 14 },
+    .gyroOnly = { ICM456XX_GYRO_DATA_X1_UI | 0x80, 6 },
+    .hasTemp = true,
+    .parse = icm45686DataReadyParse,
+    .registerRead = icm45686GyroRead,
+    .tested = false,                    // not run on hardware yet
+};
+#endif
+
 static void icm45686AccAndGyroInit(gyroDev_t *gyro)
 {
     busDevice_t * dev = gyro->busDev;
@@ -402,6 +450,10 @@ static void icm45686AccAndGyroInit(gyroDev_t *gyro)
 
     delay(ICM456XX_INT_CONFIG_DELAY_MS);
     busSetSpeed(dev, BUS_SPEED_FAST);
+
+#if defined(USE_SPI_DATA_READY)
+    gyro->dataReadyDriver = &icm45686DataReady;
+#endif
 }
 
 static bool icm45686DeviceDetect(busDevice_t * dev)
diff --git a/src/main/drivers/accgyro/accgyro_lsm6dxx.c b/src/main/drivers/accgyro/accgyro_lsm6dxx.c
index 18ff17969d9..66a96baa5cb 100644
--- a/src/main/drivers/accgyro/accgyro_lsm6dxx.c
+++ b/src/main/drivers/accgyro/accgyro_lsm6dxx.c
@@ -35,6 +35,7 @@
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_mpu.h"
 #include "drivers/accgyro/accgyro_lsm6dxx.h"
+#include "drivers/accgyro/accgyro_data_ready.h"
 
 #if defined(USE_IMU_LSM6DXX)
 
@@ -180,6 +181,12 @@ static void lsm6dxxConfig(gyroDev_t *gyro)
     busDevice_t * dev = gyro->busDev;
     const gyroFilterAndRateConfig_t * config = mpuChooseGyroConfig(gyro->lpf, 1000000 / gyro->requestedSampleIntervalUs);
     gyro->sampleRateIntervalUs = 1000000 / config->gyroRateHz;
+#if defined(USE_SPI_DATA_READY)
+    // On data-ready every sample reaches the gyro task and its first filter, so they run at the 6664 Hz set below
+    if (gyroDataReadyWanted(gyro)) {
+        gyro->sampleRateIntervalUs = 150;
+    }
+#endif
 
     busSetSpeed(dev, BUS_SPEED_INITIALIZATION);
     // Reset the device (wait 100ms before continuing config)
@@ -272,6 +279,17 @@ static void lsm6dxxSpiAccInit(accDev_t *acc)
 
 static bool lsm6dxxAccRead(accDev_t *acc)
 {
+#if defined(USE_SPI_DATA_READY)
+    // The read on data-ready brought the accelerometer too
+    int16_t v[XYZ_AXIS_COUNT];
+    if (gyroDataReadyAcc(acc->busDev, v)) {
+        acc->ADCRaw[X] = v[X];
+        acc->ADCRaw[Y] = v[Y];
+        acc->ADCRaw[Z] = v[Z];
+        return true;
+    }
+#endif
+
     uint8_t data[6];
     const bool ack = busReadBuf(acc->busDev, LSM6DXX_REG_OUTX_L_A, data, 6);
     if (!ack) {
@@ -296,6 +314,31 @@ static bool lsm6dxxGyroRead(gyroDev_t *gyro)
     return true;
 }
 
+#if defined(USE_SPI_DATA_READY)
+// From OUTX_L_G: gyro X, Y, Z, then accelerometer X, Y, Z, little-endian
+static void lsm6dxxDataReadyParse(const uint8_t *data, bool withAccAndTemp, int16_t *gyro, int16_t *acc, int16_t *temp)
+{
+    UNUSED(temp);
+    gyro[X] = int16_val_little_endian(data, 0);
+    gyro[Y] = int16_val_little_endian(data, 1);
+    gyro[Z] = int16_val_little_endian(data, 2);
+    if (withAccAndTemp) {
+        acc[X] = int16_val_little_endian(data, 3);
+        acc[Y] = int16_val_little_endian(data, 4);
+        acc[Z] = int16_val_little_endian(data, 5);
+    }
+}
+
+static const gyroDataReadyDriver_t lsm6dxxDataReady = {
+    .withAccAndTemp = { LSM6DXX_REG_OUTX_L_G | 0x80, 12 },
+    .gyroOnly = { LSM6DXX_REG_OUTX_L_G | 0x80, 6 },
+    .hasTemp = false,
+    .parse = lsm6dxxDataReadyParse,
+    .registerRead = lsm6dxxGyroRead,
+    .tested = true,
+};
+#endif
+
 // Init Gyro first,then Acc
 bool lsm6dGyroDetect(gyroDev_t *gyro)
 {
@@ -317,6 +360,10 @@ bool lsm6dGyroDetect(gyroDev_t *gyro)
     gyro->intStatusFn = gyroCheckDataReady;
     gyro->gyroAlign = gyro->busDev->param;
     gyro->scale = 1.0f / 16.4f; // 2000 dps
+#if defined(USE_SPI_DATA_READY)
+    // Both register maps configure gyro data-ready, pulsed, on INT1
+    gyro->dataReadyDriver = &lsm6dxxDataReady;
+#endif
     return true;
 
 }
diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c
index a52606946b1..b9daf344302 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.c
+++ b/src/main/drivers/accgyro/accgyro_mpu.c
@@ -39,6 +39,7 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/accgyro/accgyro_mpu.h"
+#include "drivers/accgyro/accgyro_data_ready.h"
 
 // Check busDevice scratchpad memory size
 STATIC_ASSERT(sizeof(mpuContextData_t) < BUS_SCRATCHPAD_MEMORY_SIZE, busDevice_scratchpad_memory_too_small);
@@ -96,6 +97,17 @@ bool mpuGyroReadScratchpad(gyroDev_t *gyro)
 
 bool mpuAccReadScratchpad(accDev_t *acc)
 {
+#if defined(USE_SPI_DATA_READY)
+    // The read on data-ready brought the accelerometer too
+    int16_t v[XYZ_AXIS_COUNT];
+    if (gyroDataReadyAcc(acc->busDev, v)) {
+        acc->ADCRaw[X] = v[X];
+        acc->ADCRaw[Y] = v[Y];
+        acc->ADCRaw[Z] = v[Z];
+        return true;
+    }
+#endif
+
     mpuContextData_t * ctx = busDeviceGetScratchpadMemory(acc->busDev);
 
     if (ctx->lastReadStatus) {
@@ -110,6 +122,14 @@ bool mpuAccReadScratchpad(accDev_t *acc)
 
 bool mpuTemperatureReadScratchpad(gyroDev_t *gyro, int16_t * data)
 {
+#if defined(USE_SPI_DATA_READY)
+    int16_t raw;
+    if (gyroDataReadyTemperature(gyro->busDev, &raw)) {
+        *data = raw / 34 + 365;
+        return true;
+    }
+#endif
+
     mpuContextData_t * ctx = busDeviceGetScratchpadMemory(gyro->busDev);
 
     if (ctx->lastReadStatus) {
@@ -120,3 +140,43 @@ bool mpuTemperatureReadScratchpad(gyroDev_t *gyro, int16_t * data)
 
     return false;
 }
+
+#if defined(USE_SPI_DATA_READY)
+// From ACCEL_XOUT_H: accelerometer X, Y, Z, temperature, gyro X, Y, Z, big-endian
+static void mpuDataReadyParse(const uint8_t *data, bool withAccAndTemp, int16_t *gyro, int16_t *acc, int16_t *temp)
+{
+    if (withAccAndTemp) {
+        acc[X] = int16_val_big_endian(data, 0);
+        acc[Y] = int16_val_big_endian(data, 1);
+        acc[Z] = int16_val_big_endian(data, 2);
+        *temp = int16_val_big_endian(data, 3);
+        data += 8;
+    }
+    gyro[X] = int16_val_big_endian(data, 0);
+    gyro[Y] = int16_val_big_endian(data, 1);
+    gyro[Z] = int16_val_big_endian(data, 2);
+}
+
+static const gyroDataReadyDriver_t mpuDataReady = {
+    .withAccAndTemp = { MPU_RA_ACCEL_XOUT_H | 0x80, 14 },
+    .gyroOnly = { MPU_RA_GYRO_XOUT_H | 0x80, 6 },
+    .hasTemp = true,
+    .parse = mpuDataReadyParse,
+    .registerRead = mpuGyroReadScratchpad,
+    .tested = false,                    // not run on hardware yet
+};
+
+// A 50 us pulse on INT at each new sample, only where data-ready will read it: otherwise the MPU stays as it was.
+// Written at the initialisation speed: the MPU6000 takes register writes at 1 MHz at most
+void mpuDataReadySetup(gyroDev_t *gyro)
+{
+    gyro->dataReadyDriver = &mpuDataReady;
+    if (!gyroDataReadyWanted(gyro)) {
+        return;
+    }
+    busWrite(gyro->busDev, MPU_RA_INT_PIN_CFG, MPU_INT_ANYRD_2CLEAR);
+    delayMicroseconds(15);
+    busWrite(gyro->busDev, MPU_RA_INT_ENABLE, MPU_RF_DATA_RDY_EN);
+    delayMicroseconds(15);
+}
+#endif
diff --git a/src/main/drivers/accgyro/accgyro_mpu.h b/src/main/drivers/accgyro/accgyro_mpu.h
index b382c2c331c..0db604aee42 100644
--- a/src/main/drivers/accgyro/accgyro_mpu.h
+++ b/src/main/drivers/accgyro/accgyro_mpu.h
@@ -128,6 +128,7 @@
 
 // RF = Register Flag
 #define MPU_RF_DATA_RDY_EN (1 << 0)
+#define MPU_INT_ANYRD_2CLEAR (1 << 4)
 
 #define MPU_DLPF_10HZ           0x05
 #define MPU_DLPF_20HZ           0x04
@@ -185,3 +186,6 @@ bool mpuGyroRead(struct gyroDev_s *gyro);
 bool mpuGyroReadScratchpad(struct gyroDev_s *gyro);
 bool mpuAccReadScratchpad(struct accDev_s *acc);
 bool mpuTemperatureReadScratchpad(struct gyroDev_s *gyro, int16_t * data);
+#if defined(USE_SPI_DATA_READY)
+void mpuDataReadySetup(struct gyroDev_s *gyro);
+#endif
diff --git a/src/main/drivers/accgyro/accgyro_mpu6000.c b/src/main/drivers/accgyro/accgyro_mpu6000.c
index 4ad6d99b5de..f25593a6f59 100644
--- a/src/main/drivers/accgyro/accgyro_mpu6000.c
+++ b/src/main/drivers/accgyro/accgyro_mpu6000.c
@@ -111,6 +111,10 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro)
     busWrite(busDev, MPU_RA_CONFIG, config->gyroConfigValues[0]);
     delayMicroseconds(1);
 
+#if defined(USE_SPI_DATA_READY)
+    mpuDataReadySetup(gyro);
+#endif
+
     busSetSpeed(busDev, BUS_SPEED_FAST);
 
     mpuGyroRead(gyro);
diff --git a/src/main/drivers/accgyro/accgyro_mpu6500.c b/src/main/drivers/accgyro/accgyro_mpu6500.c
index 5a2207a498b..31e74a92118 100644
--- a/src/main/drivers/accgyro/accgyro_mpu6500.c
+++ b/src/main/drivers/accgyro/accgyro_mpu6500.c
@@ -96,6 +96,10 @@ static void mpu6500AccAndGyroInit(gyroDev_t *gyro)
     busWrite(dev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]);
     delay(100);
 
+#if defined(USE_SPI_DATA_READY)
+    mpuDataReadySetup(gyro);
+#endif
+
     busSetSpeed(dev, BUS_SPEED_FAST);
 }
 
diff --git a/src/main/drivers/accgyro/accgyro_mpu9250.c b/src/main/drivers/accgyro/accgyro_mpu9250.c
index 1e9360f4b36..5b82e0abae7 100644
--- a/src/main/drivers/accgyro/accgyro_mpu9250.c
+++ b/src/main/drivers/accgyro/accgyro_mpu9250.c
@@ -96,6 +96,10 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro)
     busWrite(dev, MPU_RA_SMPLRT_DIV, config->gyroConfigValues[1]);
     delay(100);
 
+#if defined(USE_SPI_DATA_READY)
+    mpuDataReadySetup(gyro);
+#endif
+
     busSetSpeed(dev, BUS_SPEED_FAST);
 }
 
diff --git a/src/main/drivers/adc.h b/src/main/drivers/adc.h
index 1749c9fa63e..6955bbb987b 100644
--- a/src/main/drivers/adc.h
+++ b/src/main/drivers/adc.h
@@ -45,6 +45,12 @@ typedef struct drv_adc_config_s {
 
 void adcInit(drv_adc_config_t *init);
 uint16_t adcGetChannel(uint8_t channel);
+#if defined(STM32F4) || defined(STM32F7)
+struct dmaChannelDescriptor_s;
+// ADC1 can use DMA2 stream 0 or stream 4. If it has `stream` and the other one is free, it moves
+// there, for a user that can have only `stream`. For users that take their streams after everyone else
+bool adcDmaMoveOff(struct dmaChannelDescriptor_s *stream);
+#endif
 bool adcIsFunctionAssigned(uint8_t function);
 int adcGetFunctionChannelAllocation(uint8_t function);
 
diff --git a/src/main/drivers/adc_stm32f4xx.c b/src/main/drivers/adc_stm32f4xx.c
index 42f9583ed8c..f9ef7eb15cc 100644
--- a/src/main/drivers/adc_stm32f4xx.c
+++ b/src/main/drivers/adc_stm32f4xx.c
@@ -153,6 +153,32 @@ static void adcInstanceInit(ADCDevice adcDevice)
     ADC_SoftwareStartConv(adc->ADCx);
 }
 
+bool adcDmaMoveOff(DMA_t stream)
+{
+    adcDevice_t *adc = &adcHardware[ADCDEV_1];
+    if (!adc->enabled || dmaGetByRef(adc->DMAy_Streamx) != stream) {
+        return false;
+    }
+    DMA_Stream_TypeDef *other = adc->DMAy_Streamx == DMA2_Stream0 ? DMA2_Stream4 : DMA2_Stream0;
+    DMA_t otherDma = dmaGetByRef(other);
+    if (!otherDma || dmaGetOwner(otherDma) != OWNER_FREE) {
+        return false;
+    }
+
+    // Stopped first: a conversion the DMA misses would be an overrun, which stops its requests
+    ADC_Cmd(adc->ADCx, DISABLE);
+    ADC_DMACmd(adc->ADCx, DISABLE);
+    DMA_Cmd(adc->DMAy_Streamx, DISABLE);
+    while (DMA_GetCmdStatus(adc->DMAy_Streamx) != DISABLE) {
+    }
+    ADC_ClearFlag(adc->ADCx, ADC_FLAG_OVR);
+    dmaInit(stream, OWNER_FREE, 0);
+
+    adc->DMAy_Streamx = other;
+    adcInstanceInit(ADCDEV_1);
+    return true;
+}
+
 void adcHardwareInit(drv_adc_config_t *init)
 {
     UNUSED(init);
diff --git a/src/main/drivers/adc_stm32f7xx.c b/src/main/drivers/adc_stm32f7xx.c
index c680f2c379f..b9bea381237 100644
--- a/src/main/drivers/adc_stm32f7xx.c
+++ b/src/main/drivers/adc_stm32f7xx.c
@@ -164,6 +164,27 @@ static void adcInstanceInit(ADCDevice adcDevice)
     }
 }
 
+bool adcDmaMoveOff(DMA_t stream)
+{
+    adcDevice_t *adc = &adcHardware[ADCDEV_1];
+    if (!adc->enabled || dmaGetByRef(adc->DMAy_Streamx) != stream) {
+        return false;
+    }
+    DMA_Stream_TypeDef *other = adc->DMAy_Streamx == DMA2_Stream0 ? DMA2_Stream4 : DMA2_Stream0;
+    DMA_t otherDma = dmaGetByRef(other);
+    if (!otherDma || dmaGetOwner(otherDma) != OWNER_FREE) {
+        return false;
+    }
+
+    HAL_ADC_Stop_DMA(&adc->ADCHandle);
+    HAL_DMA_DeInit(&adc->DmaHandle);
+    dmaInit(stream, OWNER_FREE, 0);
+
+    adc->DMAy_Streamx = other;
+    adcInstanceInit(ADCDEV_1);
+    return true;
+}
+
 void adcHardwareInit(drv_adc_config_t *init)
 {
     UNUSED(init);
diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
index 8220ad01cd9..634772b285e 100644
--- a/src/main/drivers/bus_spi.c
+++ b/src/main/drivers/bus_spi.c
@@ -18,11 +18,14 @@
 #include <stdbool.h>
 #include <stdint.h>
 
+#include <string.h>
+
 #include <platform.h>
 
 #ifdef USE_SPI
 
 #include "drivers/bus_spi.h"
+#include "drivers/bus_spi_data_ready_impl.h"
 #include "drivers/exti.h"
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
@@ -248,6 +251,86 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
     return true;
 }
 
+#if defined(USE_SPI_DATA_READY)
+// Data-ready reads (see bus_spi_data_ready.c). The F4 SPI has no FIFO, so every read uses two
+// DMA streams; the buffers stay out of the CCM RAM, which the DMA can not reach
+
+// Longest read, address included
+#define SPI_DATA_READY_MAX  32
+
+typedef struct {
+    uint8_t len;                        // bytes after the address
+    spiDataReadyDma_t streams;
+} spiDataReadyHw_t;
+
+static spiDataReadyHw_t spiDataReadyHw[SPIDEV_COUNT];
+static uint8_t spiDataReadyTx[SPIDEV_COUNT][SPI_DATA_READY_MAX];
+static uint8_t spiDataReadyRx[SPIDEV_COUNT][SPI_DATA_READY_MAX];
+
+static void spiDataReadyDmaDone(DMA_t rx)
+{
+    const SPIDevice device = (SPIDevice)rx->userParam;
+    if (!spiDataReadyDmaEnded(rx)) {
+        // The read never ends: the main loop takes it off the bus when it next needs it
+        return;
+    }
+
+    // A copy: a data-ready that came meanwhile starts the next read into the same buffer
+    uint8_t data[SPI_DATA_READY_MAX];
+    memcpy(data, spiDataReadyRx[device] + 1, spiDataReadyHw[device].len);
+    spiDataReadyDone(device, data);
+}
+
+bool spiDataReadyHwInit(SPIDevice device, uint8_t reg, uint8_t len)
+{
+    spiDataReadyHw_t *h = &spiDataReadyHw[device];
+    if (!spiHardwareMap[device].dev || len + 1 > SPI_DATA_READY_MAX) {
+        return false;
+    }
+    if (!spiDataReadyDmaInit(device, &h->streams, spiDataReadyDmaDone, device)) {
+        return false;
+    }
+
+    h->len = len;
+    memset(spiDataReadyTx[device], 0xFF, SPI_DATA_READY_MAX);
+    spiDataReadyTx[device][0] = reg;
+    return true;
+}
+
+// Setting the DMA requests starts the read: receive first, as the reference manual has it
+void spiDataReadyHwStart(SPIDevice device)
+{
+    const spiDataReadyHw_t *h = &spiDataReadyHw[device];
+    SPI_TypeDef *instance = spiHardwareMap[device].dev;
+
+    // A byte left in the data register would be taken for the first one of this read
+    (void)instance->DR;
+    spiDataReadyDmaStart(&h->streams, &instance->DR, &instance->DR, spiDataReadyTx[device], spiDataReadyRx[device], h->len + 1);
+    instance->CR2 |= SPI_CR2_RXDMAEN;
+    instance->CR2 |= SPI_CR2_TXDMAEN;
+}
+
+void spiDataReadyHwStop(SPIDevice device)
+{
+    const spiDataReadyHw_t *h = &spiDataReadyHw[device];
+    SPI_TypeDef *instance = spiHardwareMap[device].dev;
+
+    spiDataReadyDmaStop(&h->streams);
+    instance->CR2 &= ~(SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN);
+
+    // A read stopped half way may leave a byte going out: let it finish and drop the echo.
+    // DR then SR also clears an overrun, which would hand the next transfer a stale byte
+    for (int timeout = 1000; timeout && (!(instance->SR & SPI_SR_TXE) || (instance->SR & SPI_SR_BSY)); timeout--);
+    (void)instance->DR;
+    (void)instance->SR;
+}
+
+void spiDataReadyHwDisable(SPIDevice device)
+{
+    spiDataReadyDmaDisable(&spiDataReadyHw[device].streams);
+}
+#endif
+
 void spiSetSpeed(SPI_TypeDef *instance, SPIClockSpeed_e speed)
 {
 #define BR_CLEAR_MASK 0xFFC7
diff --git a/src/main/drivers/bus_spi_data_ready_dma.c b/src/main/drivers/bus_spi_data_ready_dma.c
index 3cec396c896..844e3127ec7 100644
--- a/src/main/drivers/bus_spi_data_ready_dma.c
+++ b/src/main/drivers/bus_spi_data_ready_dma.c
@@ -26,19 +26,24 @@
 
 #include "drivers/bus_spi.h"
 
-#if defined(USE_SPI_DATA_READY) && defined(STM32H7)
+#if defined(USE_SPI_DATA_READY) && (defined(STM32F4) || defined(STM32F7) || defined(STM32H7))
 
 #include "drivers/bus_spi_data_ready_impl.h"
+#include "drivers/adc.h"
 #include "drivers/dma.h"
 #include "drivers/nvic.h"
 #include "drivers/resource.h"
 
+#if defined(STM32H7)
 #include "stm32h7xx_ll_dma.h"
+#endif
 
 // DMA streams for data-ready reads, taken at the end of init from those nobody owns; a bus with
-// no free pair reads without DMA. H7 routes any request through its DMAMUX
+// no free pair reads without DMA. H7 routes any request through its DMAMUX, F4/F7 have fixed ones
 
 #define SPI_DMA_FLAGS       (DMA_IT_TCIF | DMA_IT_HTIF | DMA_IT_TEIF | DMA_IT_DMEIF | DMA_IT_FEIF)
+// F4 and F7: the request's channel in the stream's CR (CHSEL)
+#define SPI_DMA_CHSEL(ch)   ((uint32_t)(ch) << 25)
 
 // Streams named for serial ports stay theirs: a port may open after init
 static const dmaTag_t spiDmaReserved[] = {
@@ -106,6 +111,7 @@ static bool spiDmaIsFree(DMA_t d)
     return true;
 }
 
+#if defined(STM32H7)
 static const uint32_t spiDmaRequest[SPIDEV_COUNT][2] = {
     { DMA_REQUEST_SPI1_RX, DMA_REQUEST_SPI1_TX },
     { DMA_REQUEST_SPI2_RX, DMA_REQUEST_SPI2_TX },
@@ -125,9 +131,44 @@ static DMA_t spiDmaFindFree(DMA_t other)
     }
     return NULL;
 }
+#else
+// The streams, with their channel, each SPI's receive and transmit requests can use
+static const dmaTag_t spiDmaOptions[SPIDEV_COUNT][2][2] = {
+    { { DMA_TAG(2, 0, 3), DMA_TAG(2, 2, 3) }, { DMA_TAG(2, 3, 3), DMA_TAG(2, 5, 3) } },   // SPI1
+    { { DMA_TAG(1, 3, 0), DMA_NONE },         { DMA_TAG(1, 4, 0), DMA_NONE } },           // SPI2
+    { { DMA_TAG(1, 0, 0), DMA_TAG(1, 2, 0) }, { DMA_TAG(1, 5, 0), DMA_TAG(1, 7, 0) } },   // SPI3
+#if defined(STM32F7)
+    { { DMA_TAG(2, 0, 4), DMA_TAG(2, 3, 5) }, { DMA_TAG(2, 1, 4), DMA_TAG(2, 4, 5) } },   // SPI4
+#endif
+};
+
+static DMA_t spiDmaFindFree(const dmaTag_t *options, uint32_t *channel)
+{
+    for (int i = 0; i < 2; i++) {
+        DMA_t d = options[i] ? dmaGetByTag(options[i]) : NULL;
+        if (spiDmaIsFree(d)) {
+            *channel = SPI_DMA_CHSEL(DMATAG_GET_CHANNEL(options[i]));
+            return d;
+        }
+    }
+#if defined(USE_ADC)
+    // Both taken: move the ADC to its other stream (many boards give it DMA2 stream 0, and a timer
+    // the other stream SPI1 could receive on)
+    for (int i = 0; i < 2; i++) {
+        DMA_t d = options[i] ? dmaGetByTag(options[i]) : NULL;
+        if (d && dmaGetOwner(d) == OWNER_ADC && adcDmaMoveOff(d) && spiDmaIsFree(d)) {
+            *channel = SPI_DMA_CHSEL(DMATAG_GET_CHANNEL(options[i]));
+            return d;
+        }
+    }
+#endif
+    return NULL;
+}
+#endif
 
 bool spiDataReadyDmaInit(SPIDevice device, spiDataReadyDma_t *dma, dmaCallbackHandlerFuncPtr done, uint32_t userParam)
 {
+#if defined(STM32H7)
     DMA_t rx = spiDmaFindFree(NULL);
     DMA_t tx = spiDmaFindFree(rx);
     if (!rx || !tx) {
@@ -135,6 +176,19 @@ bool spiDataReadyDmaInit(SPIDevice device, spiDataReadyDma_t *dma, dmaCallbackHa
     }
     LL_DMA_SetPeriphRequest(rx->dma, DMATAG_GET_STREAM(rx->tag), spiDmaRequest[device][0]);
     LL_DMA_SetPeriphRequest(tx->dma, DMATAG_GET_STREAM(tx->tag), spiDmaRequest[device][1]);
+#else
+    DMA_t rx = spiDmaFindFree(spiDmaOptions[device][0], &dma->rxChannel);
+    if (!rx) {
+        return false;
+    }
+    // Owned before the transmit search: moving the ADC for that one must not put it back here
+    dmaInit(rx, OWNER_SPI, device + 1);
+    DMA_t tx = spiDmaFindFree(spiDmaOptions[device][1], &dma->txChannel);
+    if (!tx) {
+        dmaInit(rx, OWNER_FREE, 0);
+        return false;
+    }
+#endif
 
     dmaInit(rx, OWNER_SPI, device + 1);
     dmaInit(tx, OWNER_SPI, device + 1);
@@ -168,8 +222,13 @@ static void spiDmaStreamStart(DMA_t d, uint32_t cr, volatile void *periph, const
 
 void spiDataReadyDmaStart(const spiDataReadyDma_t *dma, volatile void *txReg, volatile void *rxReg, const uint8_t *tx, uint8_t *rx, uint16_t n)
 {
-    spiDmaStreamStart(dma->rx, DMA_SxCR_MINC | DMA_SxCR_PL_1 | DMA_SxCR_TCIE | DMA_SxCR_TEIE, rxReg, rx, n);
-    spiDmaStreamStart(dma->tx, DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PL_0, txReg, tx, n);
+#if defined(STM32H7)
+    const uint32_t rxChannel = 0, txChannel = 0;    // the DMAMUX routes the requests
+#else
+    const uint32_t rxChannel = dma->rxChannel, txChannel = dma->txChannel;
+#endif
+    spiDmaStreamStart(dma->rx, rxChannel | DMA_SxCR_MINC | DMA_SxCR_PL_1 | DMA_SxCR_TCIE | DMA_SxCR_TEIE, rxReg, rx, n);
+    spiDmaStreamStart(dma->tx, txChannel | DMA_SxCR_DIR_0 | DMA_SxCR_MINC | DMA_SxCR_PL_0, txReg, tx, n);
 }
 
 void spiDataReadyDmaStop(const spiDataReadyDma_t *dma)
diff --git a/src/main/drivers/bus_spi_data_ready_impl.h b/src/main/drivers/bus_spi_data_ready_impl.h
index 216219f9187..ce0f18a6001 100644
--- a/src/main/drivers/bus_spi_data_ready_impl.h
+++ b/src/main/drivers/bus_spi_data_ready_impl.h
@@ -40,13 +40,17 @@ void spiTimeoutUserCallback(SPI_TypeDef *instance);
 uint32_t spiTimeoutUserCallback(SPI_TypeDef *instance);
 #endif
 
-#if defined(STM32H7)
+#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
 #include "drivers/dma.h"
 
 // Reads longer than the SPI FIFO go through two DMA streams (bus_spi_data_ready_dma.c)
 typedef struct {
     DMA_t rx;
     DMA_t tx;
+#if defined(STM32F4) || defined(STM32F7)
+    uint32_t rxChannel;                 // the stream's channel for this SPI
+    uint32_t txChannel;
+#endif
 } spiDataReadyDma_t;
 
 // Takes a free stream for each direction. done() runs at the end of each read, or when the
diff --git a/src/main/drivers/bus_spi_hal_ll.c b/src/main/drivers/bus_spi_hal_ll.c
index a68c5e799c0..aeb67f2e28e 100644
--- a/src/main/drivers/bus_spi_hal_ll.c
+++ b/src/main/drivers/bus_spi_hal_ll.c
@@ -519,7 +519,7 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *rxData, const uint8_t *txData,
 #if defined(USE_SPI_DATA_READY)
 // Data-ready reads (see bus_spi_data_ready.c). On H7 a read that fits the SPI FIFO (16 bytes on
 // SPI1-3, 8 on SPI4-6) needs no DMA: the end-of-transfer interrupt takes it all back. Longer
-// reads use two DMA streams
+// reads, and all on F7 (4-byte FIFO), use two DMA streams
 
 // Longest read, address included
 #define SPI_DATA_READY_MAX  32
@@ -568,6 +568,7 @@ static bool spiDataReadyDmaSetup(SPIDevice device)
     return true;
 }
 
+#if defined(STM32H7)
 static const IRQn_Type spiIrq[SPIDEV_COUNT] = { SPI1_IRQn, SPI2_IRQn, SPI3_IRQn, SPI4_IRQn };
 
 static uint8_t spiFifoSize(SPI_TypeDef *instance)
@@ -676,6 +677,57 @@ void SPI3_IRQHandler(void) { spiDataReadyIrqHandler(SPIDEV_3); }
 void SPI4_IRQHandler(void) { spiDataReadyIrqHandler(SPIDEV_4); }
 #endif
 
+#else // STM32F7
+
+bool spiDataReadyHwInit(SPIDevice device, uint8_t reg, uint8_t len)
+{
+    SPI_TypeDef *instance = spiHardwareMap[device].dev;
+    spiDataReadyHw_t *h = &spiDataReadyHw[device];
+    if (!instance || len + 1 > SPI_DATA_READY_MAX) {
+        return false;
+    }
+
+    h->reg = reg;
+    h->len = len;
+    return spiDataReadyDmaSetup(device);
+}
+
+// Setting the DMA requests starts the read: receive first, as the reference manual has it
+void spiDataReadyHwStart(SPIDevice device)
+{
+    const spiDataReadyHw_t *h = &spiDataReadyHw[device];
+    SPI_TypeDef *instance = spiHardwareMap[device].dev;
+
+    // A byte left in the receive FIFO would be taken for the first one of this read
+    for (int n = 0; n < 8 && LL_SPI_GetRxFIFOLevel(instance) != LL_SPI_RX_FIFO_EMPTY; n++) {
+        (void)LL_SPI_ReceiveData8(instance);
+    }
+    spiDataReadyDmaStart(&h->streams, &instance->DR, &instance->DR, spiDataReadyTx[device], spiDataReadyRx[device], h->len + 1);
+    SET_BIT(instance->CR2, SPI_CR2_RXDMAEN);
+    SET_BIT(instance->CR2, SPI_CR2_TXDMAEN);
+}
+
+void spiDataReadyHwStop(SPIDevice device)
+{
+    const spiDataReadyHw_t *h = &spiDataReadyHw[device];
+    SPI_TypeDef *instance = spiHardwareMap[device].dev;
+
+    spiDataReadyDmaStop(&h->streams);
+    CLEAR_BIT(instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN);
+
+    // A read stopped half way leaves bytes behind: send them and drop what comes back, or the main
+    // loop's next transfer would take it for its own
+    for (int timeout = 1000; timeout && (LL_SPI_GetTxFIFOLevel(instance) != LL_SPI_TX_FIFO_EMPTY || LL_SPI_IsActiveFlag_BSY(instance)); timeout--);
+    for (int n = 0; n < 8 && LL_SPI_GetRxFIFOLevel(instance) != LL_SPI_RX_FIFO_EMPTY; n++) {
+        (void)LL_SPI_ReceiveData8(instance);
+    }
+}
+
+void spiDataReadyHwDisable(SPIDevice device)
+{
+    spiDataReadyDmaDisable(&spiDataReadyHw[device].streams);
+}
+#endif
 #endif
 
 void spiSetSpeed(SPI_TypeDef *instance, SPIClockSpeed_e speed)
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 749f348429e..db3f48d7bc8 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -353,7 +353,7 @@ groups:
         field: gyro_secondary_enabled
         type: bool
       - name: gyro_data_ready
-        description: "Read the gyro when it signals a new sample, on its data-ready interrupt, instead of polling it: every sample once, and the CPU no longer waits on the bus. Needs a supported IMU (ICM-42605, ICM-42688-P) and a target that declares the interrupt pin. AUTO and ON do it, OFF polls the gyro."
+        description: "Read the gyro when it signals a new sample, on its data-ready interrupt, instead of polling it: every sample once, and the CPU no longer waits on the bus. Needs a supported IMU and a target that declares the interrupt pin; without interrupts the gyro is read as before. AUTO does it with the ICM-42605, ICM-42688-P, BMI270 and LSM6DXX; ON also with the ICM-45686, MPU6000, MPU6500 (and the ICM-20602 and ICM-20608 it drives), MPU9250 and ICM-20689, not yet run on hardware. OFF polls the gyro."
         default_value: "AUTO"
         condition: USE_SPI_DATA_READY
         field: gyro_data_ready
diff --git a/src/main/target/AIKONF4/target.h b/src/main/target/AIKONF4/target.h
index cd057f8b871..3fe4a0e8aee 100644
--- a/src/main/target/AIKONF4/target.h
+++ b/src/main/target/AIKONF4/target.h
@@ -30,11 +30,13 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW0_DEG
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define SERIAL_PORT_COUNT       7   //VCP, UART1, UART2, UART3, UART4, SOFTSERIAL1, SOFTSERIAL2
diff --git a/src/main/target/AIKONF4V2/target.h b/src/main/target/AIKONF4V2/target.h
index a93415371bd..121e908ed4f 100644
--- a/src/main/target/AIKONF4V2/target.h
+++ b/src/main/target/AIKONF4V2/target.h
@@ -92,10 +92,12 @@
 // Gyro & ACC
 #define USE_IMU_MPU6000
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define USE_IMU_ICM42605
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define IMU_ICM42605_ALIGN      CW90_DEG
 // OSD
diff --git a/src/main/target/AIKONF7/target.h b/src/main/target/AIKONF7/target.h
index b29a2c9366c..8b2c3e5ef4e 100644
--- a/src/main/target/AIKONF7/target.h
+++ b/src/main/target/AIKONF7/target.h
@@ -87,10 +87,12 @@
 // Gyro & ACC
 #define USE_IMU_BMI270
 #define BMI270_CS_PIN       PA4
+#define BMI270_EXTI_PIN       PC4
 #define BMI270_SPI_BUS BUS_SPI1
 #define IMU_BMI270_ALIGN    CW0_DEG
 #define USE_IMU_MPU6000
 #define MPU6000_CS_PIN       PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS BUS_SPI1
 #define IMU_MPU6000_ALIGN    CW0_DEG
 // BARO
diff --git a/src/main/target/AIRBOTF4/target.h b/src/main/target/AIRBOTF4/target.h
index 9d5b0eef8bb..f4a3a5e784f 100644
--- a/src/main/target/AIRBOTF4/target.h
+++ b/src/main/target/AIRBOTF4/target.h
@@ -32,11 +32,13 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW270_DEG
 #define MPU6500_CS_PIN          PA4
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define USE_MAG
diff --git a/src/main/target/ALIENFLIGHTF4/target.h b/src/main/target/ALIENFLIGHTF4/target.h
index 52cd4cf4a9d..d3e8c116ff6 100644
--- a/src/main/target/ALIENFLIGHTF4/target.h
+++ b/src/main/target/ALIENFLIGHTF4/target.h
@@ -33,9 +33,11 @@
 #define INVERTER_PIN_USART2     PC15
 
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC14
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define MPU9250_CS_PIN          SPI1_NSS_PIN
+#define MPU9250_EXTI_PIN       PC14
 #define MPU9250_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
diff --git a/src/main/target/ALIENFLIGHTNGF7/target.h b/src/main/target/ALIENFLIGHTNGF7/target.h
index 1c8e0f901ef..a5ed2c92ad4 100644
--- a/src/main/target/ALIENFLIGHTNGF7/target.h
+++ b/src/main/target/ALIENFLIGHTNGF7/target.h
@@ -31,9 +31,11 @@
 #define BEEPER_INVERTED
 
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC14
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define MPU9250_CS_PIN          SPI1_NSS_PIN
+#define MPU9250_EXTI_PIN       PC14
 #define MPU9250_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
diff --git a/src/main/target/ANYFCF7/target.h b/src/main/target/ANYFCF7/target.h
index 179a7211f02..aa2625f1044 100644
--- a/src/main/target/ANYFCF7/target.h
+++ b/src/main/target/ANYFCF7/target.h
@@ -28,6 +28,9 @@
 #define BEEPER_INVERTED
 
 #define MPU6000_CS_PIN        PA4
+#if defined(ANYFCF7)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 #define MPU6000_SPI_BUS       BUS_SPI1
 
 #define USE_IMU_MPU6000
diff --git a/src/main/target/ANYFCM7/target.h b/src/main/target/ANYFCM7/target.h
index 2013ca40cb5..19e51904cb6 100644
--- a/src/main/target/ANYFCM7/target.h
+++ b/src/main/target/ANYFCM7/target.h
@@ -28,6 +28,7 @@
 #define BEEPER_INVERTED
 
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
diff --git a/src/main/target/AOCODARCF405AIO/target.c b/src/main/target/AOCODARCF405AIO/target.c
index d2f3d67c427..a8e8607180a 100644
--- a/src/main/target/AOCODARCF405AIO/target.c
+++ b/src/main/target/AOCODARCF405AIO/target.c
@@ -24,9 +24,9 @@
 #include "drivers/timer.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,  DEVHW_MPU6500,   MPU6500_SPI_BUS, MPU6500_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,   MPU6000_SPI_BUS, MPU6000_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,  DEVHW_BMI270,   BMI270_SPI_BUS, BMI270_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,  DEVHW_MPU6500,   MPU6500_SPI_BUS, MPU6500_CS_PIN,  PC4,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,   MPU6000_SPI_BUS, MPU6000_CS_PIN,  PC4,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,  DEVHW_BMI270,   BMI270_SPI_BUS, BMI270_CS_PIN,  PC4,  0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
 timerHardware_t timerHardware[] = {
     // DEF_TIM(TIM2, CH2, PA10,  TIM_USE_PPM, 0, 0),  // PPM
     
diff --git a/src/main/target/AOCODARCF405AIO/target.h b/src/main/target/AOCODARCF405AIO/target.h
index d732ebdd042..f7593f11ffd 100644
--- a/src/main/target/AOCODARCF405AIO/target.h
+++ b/src/main/target/AOCODARCF405AIO/target.h
@@ -65,19 +65,19 @@
 #define USE_IMU_MPU6500
 #define MPU6500_CS_PIN           PA4
 #define MPU6500_SPI_BUS          BUS_SPI1
-#define MPU6500_EXTI_PIN         PC5
+#define MPU6500_EXTI_PIN         PC4
 #define IMU_MPU6500_ALIGN        CW90_DEG
 
 #define USE_IMU_MPU6000
 #define MPU6000_CS_PIN           PA4
 #define MPU6000_SPI_BUS          BUS_SPI1
-#define MPU6000_EXTI_PIN         PC5
+#define MPU6000_EXTI_PIN         PC4
 #define IMU_MPU6000_ALIGN        CW90_DEG
 
 #define USE_IMU_BMI270
 #define BMI270_CS_PIN           PA4
 #define BMI270_SPI_BUS          BUS_SPI1
-#define BMI270_EXTI_PIN         PC5
+#define BMI270_EXTI_PIN         PC4
 #define IMU_BMI270_ALIGN        CW90_DEG
 
 /*** I2C (Baro & Mag) ***/
diff --git a/src/main/target/AOCODARCF722AIO/target.c b/src/main/target/AOCODARCF722AIO/target.c
index 84ccbfd6708..6633a275959 100644
--- a/src/main/target/AOCODARCF722AIO/target.c
+++ b/src/main/target/AOCODARCF722AIO/target.c
@@ -24,9 +24,9 @@
 #include "drivers/timer.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,  DEVHW_MPU6500,   MPU6500_SPI_BUS, MPU6500_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,   MPU6000_SPI_BUS, MPU6000_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605,  ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE,  0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,  DEVHW_MPU6500,   MPU6500_SPI_BUS, MPU6500_CS_PIN,  PC4,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,   MPU6000_SPI_BUS, MPU6000_CS_PIN,  PC4,  0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42605, DEVHW_ICM42605,  ICM42605_SPI_BUS, ICM42605_CS_PIN, ICM42605_EXTI_PIN,  0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
 
 timerHardware_t timerHardware[] = {
     // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),  // PPM
diff --git a/src/main/target/AOCODARCF7DUAL/target.c b/src/main/target/AOCODARCF7DUAL/target.c
index 395d985f8d1..c810fb09270 100644
--- a/src/main/target/AOCODARCF7DUAL/target.c
+++ b/src/main/target/AOCODARCF7DUAL/target.c
@@ -26,8 +26,8 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE, 0,   DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      NONE,  0,   DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     PC4, 0,   DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,  0,   DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
 timerHardware_t timerHardware[] = {
     // DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM, 0, 0),    //PPM
diff --git a/src/main/target/AOCODARCF7DUAL/target.h b/src/main/target/AOCODARCF7DUAL/target.h
index 5d4b0fda527..774789ac898 100644
--- a/src/main/target/AOCODARCF7DUAL/target.h
+++ b/src/main/target/AOCODARCF7DUAL/target.h
@@ -46,6 +46,7 @@
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_CS_PIN           PA13
+#define BMI270_EXTI_PIN         PA8
 #define BMI270_SPI_BUS          BUS_SPI2
 
 // *************** I2C /Baro/Mag *********************
diff --git a/src/main/target/AXISFLYINGF7PRO/target.h b/src/main/target/AXISFLYINGF7PRO/target.h
index 39c94e47e9a..56359dea6ce 100644
--- a/src/main/target/AXISFLYINGF7PRO/target.h
+++ b/src/main/target/AXISFLYINGF7PRO/target.h
@@ -52,16 +52,19 @@
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 
 // *************** SPI2 OSD ***************//
 #define USE_MAX7456
diff --git a/src/main/target/BEEROTORF4/target.h b/src/main/target/BEEROTORF4/target.h
index 73f9e029116..4b13357b8fe 100644
--- a/src/main/target/BEEROTORF4/target.h
+++ b/src/main/target/BEEROTORF4/target.h
@@ -26,6 +26,7 @@
 #define BEEPER_INVERTED
 
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PA8
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
diff --git a/src/main/target/BETAFLIGHTF4/target.h b/src/main/target/BETAFLIGHTF4/target.h
index 05f35872986..a929804c04b 100755
--- a/src/main/target/BETAFLIGHTF4/target.h
+++ b/src/main/target/BETAFLIGHTF4/target.h
@@ -28,6 +28,7 @@
 #define BEEPER_INVERTED
 
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS		BUS_SPI1
 
 #define USE_IMU_MPU6000
diff --git a/src/main/target/BETAFPVF411/target.h b/src/main/target/BETAFPVF411/target.h
index 1f57281d2f4..8f0d8e4f732 100644
--- a/src/main/target/BETAFPVF411/target.h
+++ b/src/main/target/BETAFPVF411/target.h
@@ -40,6 +40,7 @@
 // *************** SPI Gyro & ACC **********************
 #define USE_IMU_MPU6000
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PA1
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define IMU_MPU6000_ALIGN       CW180_DEG
 
@@ -47,6 +48,7 @@
 #define IMU_BMI270_ALIGN                CW90_DEG
 #define BMI270_SPI_BUS                  BUS_SPI1
 #define BMI270_CS_PIN                   PA4
+#define BMI270_EXTI_PIN         PA1
 
 // *************** Baro *****************************
 
diff --git a/src/main/target/BETAFPVF722/target.h b/src/main/target/BETAFPVF722/target.h
index cab6d2ff146..6a07e63cf0b 100755
--- a/src/main/target/BETAFPVF722/target.h
+++ b/src/main/target/BETAFPVF722/target.h
@@ -35,6 +35,7 @@
 #define SPI1_MOSI_PIN           PA7
 
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
@@ -44,11 +45,13 @@
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         PC4
 
 // *************** I2C/Baro/Mag *********************
 #define USE_I2C
diff --git a/src/main/target/BLADE_F4/target.h b/src/main/target/BLADE_F4/target.h
index 71cf76cc0cf..0bd267d760a 100644
--- a/src/main/target/BLADE_F4/target.h
+++ b/src/main/target/BLADE_F4/target.h
@@ -62,6 +62,7 @@
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 
 
 // ICM42605/ICM42688P
@@ -69,12 +70,14 @@
 #define IMU_ICM42605_ALIGN       CW270_DEG
 #define ICM42605_SPI_BUS         BUS_SPI1
 #define ICM42605_CS_PIN          SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 
 //BMI270
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW270_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 
 
 /*** OSD ***/
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index e62120bdc86..52710e6fdcd 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -35,6 +35,7 @@
 
 // MPU6500
 #define MPU6500_CS_PIN          PC4
+#define MPU6500_EXTI_PIN       PC5
 #define MPU6500_SPI_BUS         BUS_SPI1
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW0_DEG
diff --git a/src/main/target/BOTWINGF405/target.h b/src/main/target/BOTWINGF405/target.h
index f4860c653a5..7e4312c753f 100644
--- a/src/main/target/BOTWINGF405/target.h
+++ b/src/main/target/BOTWINGF405/target.h
@@ -73,6 +73,7 @@
 */
 #define USE_IMU_ICM42605
 #define ICM42605_CS_PIN       PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS      BUS_SPI1
 #define IMU_ICM42605_ALIGN    CW0_DEG
 
diff --git a/src/main/target/BOTWINGF722/target.h b/src/main/target/BOTWINGF722/target.h
index 2d3823f2a04..e31d6859074 100644
--- a/src/main/target/BOTWINGF722/target.h
+++ b/src/main/target/BOTWINGF722/target.h
@@ -46,6 +46,7 @@
 
 // #define ICM42605_CS_PIN                              SPI3_NSS_PIN
 #define ICM42605_CS_PIN                                 PD2
+#define ICM42605_EXTI_PIN       PC13
 #define ICM42605_SPI_BUS                                BUS_SPI3
 
 #define USE_BEEPER
diff --git a/src/main/target/BRAHMA_F405/target.h b/src/main/target/BRAHMA_F405/target.h
index f9e59ea3ef9..f6896b09007 100644
--- a/src/main/target/BRAHMA_F405/target.h
+++ b/src/main/target/BRAHMA_F405/target.h
@@ -36,6 +36,7 @@
 #define IMU_BMI270_ALIGN                CW0_DEG
 #define BMI270_SPI_BUS                  BUS_SPI3
 #define BMI270_CS_PIN                   SPI3_NSS_PIN
+#define BMI270_EXTI_PIN       PB8
 
 // *************** Baro **************************
 #define USE_I2C
diff --git a/src/main/target/BROTHERHOBBYF405V3/target.h b/src/main/target/BROTHERHOBBYF405V3/target.h
index 9a9115bbf36..d01b4789af9 100644
--- a/src/main/target/BROTHERHOBBYF405V3/target.h
+++ b/src/main/target/BROTHERHOBBYF405V3/target.h
@@ -97,6 +97,7 @@
 // Gyro & ACC
 #define USE_IMU_ICM42605
 #define ICM42605_CS_PIN       PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS BUS_SPI1
 #define IMU_ICM42605_ALIGN    CW90_DEG
 
diff --git a/src/main/target/CADDXF4_AIO_ELRS/target.h b/src/main/target/CADDXF4_AIO_ELRS/target.h
index 85a1718f684..d6fd6f4520c 100644
--- a/src/main/target/CADDXF4_AIO_ELRS/target.h
+++ b/src/main/target/CADDXF4_AIO_ELRS/target.h
@@ -30,11 +30,13 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS		BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 #define USE_BARO
diff --git a/src/main/target/COLIBRI/target.h b/src/main/target/COLIBRI/target.h
index 6898448809d..7b2f72f3990 100755
--- a/src/main/target/COLIBRI/target.h
+++ b/src/main/target/COLIBRI/target.h
@@ -37,6 +37,9 @@
 #define BEEPER                  PC5
 
 #define MPU6000_CS_PIN          PC4
+#if defined(COLIBRI)
+#define MPU6000_EXTI_PIN       PC0
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define USE_IMU_MPU6000
 
diff --git a/src/main/target/DAKEFPVF405/target.h b/src/main/target/DAKEFPVF405/target.h
index 30834b7682b..2d855d6c78c 100644
--- a/src/main/target/DAKEFPVF405/target.h
+++ b/src/main/target/DAKEFPVF405/target.h
@@ -55,27 +55,32 @@
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW90_DEG
 #define MPU6500_CS_PIN          PA4
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW90_DEG
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW90_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW90_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         PC4
 
 #define USE_IMU_LSM6DXX
 #define IMU_LSM6DXX_ALIGN       CW90_DEG
 #define LSM6DXX_SPI_BUS         BUS_SPI1
 #define LSM6DXX_CS_PIN          PA4
+#define LSM6DXX_EXTI_PIN       PC4
 
 // ICM42688P driver handled by USE_IMU_ICM42605 above (shares WHO_AM_I detection)
 // LSM6DSV16X / LSM6DSK320X driver handled by USE_IMU_LSM6DXX above (shares WHO_AM_I detection)
diff --git a/src/main/target/DAKEFPVF722/target.h b/src/main/target/DAKEFPVF722/target.h
index 7d993971a40..0111e1b65b7 100644
--- a/src/main/target/DAKEFPVF722/target.h
+++ b/src/main/target/DAKEFPVF722/target.h
@@ -55,27 +55,32 @@
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW90_DEG
 #define MPU6500_CS_PIN          PA4
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW90_DEG
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW90_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW90_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         PC4
 
 #define USE_IMU_LSM6DXX
 #define IMU_LSM6DXX_ALIGN       CW90_DEG
 #define LSM6DXX_SPI_BUS         BUS_SPI1
 #define LSM6DXX_CS_PIN          PA4
+#define LSM6DXX_EXTI_PIN       PC4
 
 // LSM6DSV16X / LSM6DSK320X driver handled by USE_IMU_LSM6DXX above (shares WHO_AM_I detection)
 
diff --git a/src/main/target/DAKEFPVH743/target.c b/src/main/target/DAKEFPVH743/target.c
index 4040aa0fcaa..9aeef364505 100644
--- a/src/main/target/DAKEFPVH743/target.c
+++ b/src/main/target/DAKEFPVH743/target.c
@@ -35,8 +35,8 @@ BUSDEV_REGISTER_SPI_TAG(busdev_1_BMI270,    DEVHW_BMI270,   IMU_1_SPI_BUS,  IMU_
 BUSDEV_REGISTER_SPI_TAG(busdev_1_lsm6dxx,   DEVHW_LSM6D,    IMU_1_SPI_BUS,  IMU_1_CS_PIN,   IMU_1_IRQ_PIN,   0,  DEVFLAGS_NONE,  IMU_1_ALIGN);
 
 // // Board hardware definitions - IMU2 slot
-BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000,   DEVHW_MPU6000,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500,   DEVHW_MPU6500,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000,   DEVHW_MPU6000,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   PB2,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500,   DEVHW_MPU6500,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   PB2,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_2_ICM42605,  DEVHW_ICM42605, IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_2_BMI270,    DEVHW_BMI270,   IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_2_lsm6dxx,   DEVHW_LSM6D ,   IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
diff --git a/src/main/target/DALRCF405/target.h b/src/main/target/DALRCF405/target.h
index 6a9a5494ffe..f051f93a0ee 100644
--- a/src/main/target/DALRCF405/target.h
+++ b/src/main/target/DALRCF405/target.h
@@ -33,11 +33,13 @@
 #define SPI1_MOSI_PIN           PA7
 
 #define MPU6500_CS_PIN          PA4
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW90_DEG
 
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW90_DEG
diff --git a/src/main/target/DALRCF722DUAL/target.h b/src/main/target/DALRCF722DUAL/target.h
index 5c6dc15a3d7..eba741ae7d2 100644
--- a/src/main/target/DALRCF722DUAL/target.h
+++ b/src/main/target/DALRCF722DUAL/target.h
@@ -30,6 +30,7 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          PB0
+#define MPU6000_EXTI_PIN       PB10
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_VCP
diff --git a/src/main/target/DYSF4/target.h b/src/main/target/DYSF4/target.h
index 76e79106afa..4fd4f3abf0b 100644
--- a/src/main/target/DYSF4/target.h
+++ b/src/main/target/DYSF4/target.h
@@ -48,6 +48,9 @@
 #define UG2864_I2C_BUS I2C_EXT_BUS
 
 #define MPU6000_CS_PIN          PA4
+#if defined(DYSF4PRO)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
diff --git a/src/main/target/F4BY/target.h b/src/main/target/F4BY/target.h
index 21f91c1d49b..b36d2a2e91c 100644
--- a/src/main/target/F4BY/target.h
+++ b/src/main/target/F4BY/target.h
@@ -28,8 +28,10 @@
 #define BEEPER_INVERTED
 
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PB0
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define ICM20689_CS_PIN         PA4
+#define ICM20689_EXTI_PIN       PB0
 #define ICM20689_SPI_BUS        BUS_SPI1
 
 
diff --git a/src/main/target/FF_FORTINIF4/target.h b/src/main/target/FF_FORTINIF4/target.h
index 5af579aba89..38d43dde1ec 100644
--- a/src/main/target/FF_FORTINIF4/target.h
+++ b/src/main/target/FF_FORTINIF4/target.h
@@ -35,6 +35,7 @@
 /*---------------------------------*/
 
 #define MPU6500_CS_PIN          PA8
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
diff --git a/src/main/target/FISHDRONEF4/target.h b/src/main/target/FISHDRONEF4/target.h
index 86206826c38..483b47440fc 100644
--- a/src/main/target/FISHDRONEF4/target.h
+++ b/src/main/target/FISHDRONEF4/target.h
@@ -34,8 +34,10 @@
 // *************** ICM20608 *****************************
 #define USE_SPI_DEVICE_1
 #define MPU6500_CS_PIN          PA4
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 #define MPU9250_CS_PIN          PA4
+#define MPU9250_EXTI_PIN       PC4
 #define MPU9250_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
diff --git a/src/main/target/FLASHHOBBYF405/target.h b/src/main/target/FLASHHOBBYF405/target.h
index 937917c95c1..dc384e6bcd0 100644
--- a/src/main/target/FLASHHOBBYF405/target.h
+++ b/src/main/target/FLASHHOBBYF405/target.h
@@ -39,16 +39,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS          BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/FLASHHOBBYF722/target.h b/src/main/target/FLASHHOBBYF722/target.h
index f0cc7881352..c8f622e9423 100644
--- a/src/main/target/FLASHHOBBYF722/target.h
+++ b/src/main/target/FLASHHOBBYF722/target.h
@@ -37,16 +37,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS          BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/FLYCOLORF4/target.h b/src/main/target/FLYCOLORF4/target.h
index 42112ee297f..5729fa84fb7 100644
--- a/src/main/target/FLYCOLORF4/target.h
+++ b/src/main/target/FLYCOLORF4/target.h
@@ -51,6 +51,7 @@
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW180_DEG
 #define MPU6500_CS_PIN          PA4
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 /*** Onboard flash ***/
diff --git a/src/main/target/FLYCOLORF7MINI/target.c b/src/main/target/FLYCOLORF7MINI/target.c
index 411a4fbe403..f178d09a4a3 100644
--- a/src/main/target/FLYCOLORF7MINI/target.c
+++ b/src/main/target/FLYCOLORF7MINI/target.c
@@ -26,7 +26,7 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     NONE,       0,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     PC3,       0,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH4, PB1,     TIM_USE_OUTPUT_AUTO, 0, 0),   // S1 
diff --git a/src/main/target/FLYCOLORF7V2/target.h b/src/main/target/FLYCOLORF7V2/target.h
index 8222e379d8d..bf593287764 100644
--- a/src/main/target/FLYCOLORF7V2/target.h
+++ b/src/main/target/FLYCOLORF7V2/target.h
@@ -37,6 +37,7 @@
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW180_DEG_FLIP
 #define MPU6500_CS_PIN          PA4
+#define MPU6500_EXTI_PIN       PC3
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 // *************** I2C /Baro/Mag *********************
diff --git a/src/main/target/FLYWOOF405PRO/target.h b/src/main/target/FLYWOOF405PRO/target.h
index 22ddd0a6fd2..c28f8ee0f73 100644
--- a/src/main/target/FLYWOOF405PRO/target.h
+++ b/src/main/target/FLYWOOF405PRO/target.h
@@ -40,16 +40,21 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW90_DEG
 #define MPU6000_CS_PIN          PB12
+#if defined(FLYWOOF405PRO)
+#define MPU6000_EXTI_PIN       PB13
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN       CW180_DEG_FLIP
 #define BMI270_CS_PIN          PB12
+#define BMI270_EXTI_PIN         GYRO_INT_EXTI
 #define BMI270_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW180_DEG_FLIP
 #define ICM42605_CS_PIN         PB12
+#define ICM42605_EXTI_PIN       GYRO_INT_EXTI
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 #define USE_EXTI
diff --git a/src/main/target/FLYWOOF405S_AIO/target.h b/src/main/target/FLYWOOF405S_AIO/target.h
index 4250943633e..60231587a79 100644
--- a/src/main/target/FLYWOOF405S_AIO/target.h
+++ b/src/main/target/FLYWOOF405S_AIO/target.h
@@ -36,16 +36,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          PB12
+#define MPU6000_EXTI_PIN       PB13
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN       CW270_DEG
 #define BMI270_CS_PIN          PB12
+#define BMI270_EXTI_PIN         GYRO_INT_EXTI
 #define BMI270_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_CS_PIN         PB12
+#define ICM42605_EXTI_PIN       PB13
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 #define USE_EXTI
diff --git a/src/main/target/FLYWOOF411/target.h b/src/main/target/FLYWOOF411/target.h
index ed263d5ee3d..242c88e9759 100644
--- a/src/main/target/FLYWOOF411/target.h
+++ b/src/main/target/FLYWOOF411/target.h
@@ -48,11 +48,17 @@
 
 #define USE_IMU_MPU6000
 #define MPU6000_CS_PIN          PA4
+#if defined(FLYWOOF411_V2)
+#define MPU6000_EXTI_PIN       PB5
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define IMU_MPU6000_ALIGN       CW180_DEG
 
 #define USE_IMU_ICM20689
 #define ICM20689_CS_PIN         PA4
+#if defined(FLYWOOF411_V2)
+#define ICM20689_EXTI_PIN       PB5
+#endif
 #define ICM20689_SPI_BUS        BUS_SPI1
 #define IMU_ICM20689_ALIGN      CW180_DEG
 
diff --git a/src/main/target/FLYWOOF722PRO/target.c b/src/main/target/FLYWOOF722PRO/target.c
index e8b78979f95..0b9b1a7f2c4 100644
--- a/src/main/target/FLYWOOF722PRO/target.c
+++ b/src/main/target/FLYWOOF722PRO/target.c
@@ -26,9 +26,9 @@
 #include "drivers/sensor.h"
 
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_ICM42605,    DEVHW_ICM42605,     ICM42605_SPI_BUS,   ICM42605_CS_PIN,    NONE,      0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_BMI270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      NONE,        0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     PC3,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_ICM42605,    DEVHW_ICM42605,     ICM42605_SPI_BUS,   ICM42605_CS_PIN,    ICM42605_EXTI_PIN,      0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_BMI270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,        0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
 timerHardware_t timerHardware[] = {
     //DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PPM,0, 0),  // PPM&SBUS  
diff --git a/src/main/target/FLYWOOF722PRO/target.h b/src/main/target/FLYWOOF722PRO/target.h
index 3f11b44e317..69119763877 100644
--- a/src/main/target/FLYWOOF722PRO/target.h
+++ b/src/main/target/FLYWOOF722PRO/target.h
@@ -42,11 +42,13 @@
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC3
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         PC3
 
 
 #define USE_SPI_DEVICE_2        // MAX7456
diff --git a/src/main/target/FLYWOOF745/target.h b/src/main/target/FLYWOOF745/target.h
index d00c2455945..2efc3790296 100644
--- a/src/main/target/FLYWOOF745/target.h
+++ b/src/main/target/FLYWOOF745/target.h
@@ -39,16 +39,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          SPI4_NSS_PIN
+#define MPU6000_EXTI_PIN       PE1
 #define MPU6000_SPI_BUS         BUS_SPI4
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN       CW270_DEG
 #define BMI270_CS_PIN          SPI4_NSS_PIN
+#define BMI270_EXTI_PIN         PE1
 #define BMI270_SPI_BUS         BUS_SPI4
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_CS_PIN         SPI4_NSS_PIN
+#define ICM42605_EXTI_PIN       PE1
 #define ICM42605_SPI_BUS        BUS_SPI4
 
 #define USB_IO
diff --git a/src/main/target/FLYWOOF7DUAL/target.c b/src/main/target/FLYWOOF7DUAL/target.c
index 28d5a2ee471..67be532ce9b 100644
--- a/src/main/target/FLYWOOF7DUAL/target.c
+++ b/src/main/target/FLYWOOF7DUAL/target.c
@@ -30,12 +30,12 @@
 #include "io/piniobox.h"
 
 // IMU 1
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_1,   DEVHW_MPU6000,  GYRO_1_SPI_BUS, GYRO_1_CS_PIN,  NONE,    0,  DEVFLAGS_NONE,  GYRO_1_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_1,   DEVHW_MPU6500,  GYRO_1_SPI_BUS, GYRO_1_CS_PIN,  NONE,    0,  DEVFLAGS_NONE,  GYRO_1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_1,   DEVHW_MPU6000,  GYRO_1_SPI_BUS, GYRO_1_CS_PIN,  PC3,    0,  DEVFLAGS_NONE,  GYRO_1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_1,   DEVHW_MPU6500,  GYRO_1_SPI_BUS, GYRO_1_CS_PIN,  PC3,    0,  DEVFLAGS_NONE,  GYRO_1_ALIGN);
 
 // IMU 2
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,   DEVHW_MPU6000,  GYRO_2_SPI_BUS, GYRO_2_CS_PIN,  NONE,    1,  DEVFLAGS_NONE,  GYRO_2_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_2,   DEVHW_MPU6500,  GYRO_2_SPI_BUS, GYRO_2_CS_PIN,  NONE,    1,  DEVFLAGS_NONE,  GYRO_2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,   DEVHW_MPU6000,  GYRO_2_SPI_BUS, GYRO_2_CS_PIN,  PC4,    1,  DEVFLAGS_NONE,  GYRO_2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_2,   DEVHW_MPU6500,  GYRO_2_SPI_BUS, GYRO_2_CS_PIN,  PC4,    1,  DEVFLAGS_NONE,  GYRO_2_ALIGN);
 
 timerHardware_t timerHardware[] = {
     // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PPM,                          0, 0),  // PPM&SBUS  
diff --git a/src/main/target/FOXEERF405/target.h b/src/main/target/FOXEERF405/target.h
index a5b74bcd3b5..6ceb0d48361 100644
--- a/src/main/target/FOXEERF405/target.h
+++ b/src/main/target/FOXEERF405/target.h
@@ -29,12 +29,14 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW90_DEG
 #define MPU6000_CS_PIN          PB2
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 // ICM20689 - handled by MPU6500 driver
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW90_DEG
 #define MPU6500_CS_PIN          PB2
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 /*** SPI/I2C bus ***/
diff --git a/src/main/target/FOXEERF405V2/target.h b/src/main/target/FOXEERF405V2/target.h
index 1b0a3e65134..c0c30322272 100644
--- a/src/main/target/FOXEERF405V2/target.h
+++ b/src/main/target/FOXEERF405V2/target.h
@@ -66,16 +66,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW270_DEG
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN       CW270_DEG
 #define ICM42605_CS_PIN          SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS         BUS_SPI1
 
 
diff --git a/src/main/target/FOXEERF722DUAL/target.c b/src/main/target/FOXEERF722DUAL/target.c
index e81731651e3..7a2ac090aba 100644
--- a/src/main/target/FOXEERF722DUAL/target.c
+++ b/src/main/target/FOXEERF722DUAL/target.c
@@ -24,7 +24,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/pinio.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     PC4,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
 #if defined(FOXEERF722DUAL)
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     NONE,       1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
 #endif
diff --git a/src/main/target/FOXEERF722V4/target.h b/src/main/target/FOXEERF722V4/target.h
index fe6d4279d26..14c24e33e66 100644
--- a/src/main/target/FOXEERF722V4/target.h
+++ b/src/main/target/FOXEERF722V4/target.h
@@ -31,15 +31,22 @@
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PB2
+#define ICM42605_EXTI_PIN       PC4
 
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          PB2
+#if defined(FOXEERF722V4)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW270_DEG
 #define MPU6500_CS_PIN          PB2
+#if defined(FOXEERF722V4)
+#define MPU6500_EXTI_PIN       PC4
+#endif
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 /*** SPI/I2C bus ***/
diff --git a/src/main/target/FOXEERF745AIO/target.h b/src/main/target/FOXEERF745AIO/target.h
index 860ea18d861..f725ba7b318 100644
--- a/src/main/target/FOXEERF745AIO/target.h
+++ b/src/main/target/FOXEERF745AIO/target.h
@@ -32,6 +32,7 @@
 #define IMU_ICM42605_ALIGN      CW90_DEG
 #define ICM42605_SPI_BUS        BUS_SPI3
 #define ICM42605_CS_PIN         PA15
+#define ICM42605_EXTI_PIN       PD0
 
 #else
 
@@ -39,6 +40,9 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          PA15
+#if defined(FOXEERF745AIO)
+#define MPU6000_EXTI_PIN       PD0
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI3
 
 #endif
diff --git a/src/main/target/FOXEERH743/target.h b/src/main/target/FOXEERH743/target.h
index f2e2f83eb40..40692c17c26 100644
--- a/src/main/target/FOXEERH743/target.h
+++ b/src/main/target/FOXEERH743/target.h
@@ -48,6 +48,7 @@
 #define IMU_MPU6000_ALIGN CW0_DEG
 #define MPU6000_SPI_BUS BUS_SPI2
 #define MPU6000_CS_PIN PB12
+#define MPU6000_EXTI_PIN       PD0
 
 // *************** SPI3 FLASH ***********************
 #define USE_SPI_DEVICE_3
diff --git a/src/main/target/FRSKYF4/target.h b/src/main/target/FRSKYF4/target.h
index c014283f33e..5e3b47efe59 100755
--- a/src/main/target/FRSKYF4/target.h
+++ b/src/main/target/FRSKYF4/target.h
@@ -23,6 +23,7 @@
 #define BEEPER_INVERTED
 
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
diff --git a/src/main/target/FURYF4OSD/target.h b/src/main/target/FURYF4OSD/target.h
index 71abc9a8c68..85ce3ab2c1c 100644
--- a/src/main/target/FURYF4OSD/target.h
+++ b/src/main/target/FURYF4OSD/target.h
@@ -38,11 +38,17 @@
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW180_DEG
 #define MPU6500_CS_PIN          PA4
+#if defined(FURYF4OSD)
+#define MPU6500_EXTI_PIN       PC4
+#endif
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          PA4
+#if defined(FURYF4OSD)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 // ICM42605/ICM42688P
@@ -50,6 +56,9 @@
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
+#ifndef MAMBAF405
+#define ICM42605_EXTI_PIN       PC4
+#endif
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
 #define USE_SPI_DEVICE_3
diff --git a/src/main/target/GEPRCF405/target.h b/src/main/target/GEPRCF405/target.h
index 0b96d5b8b1e..e13bae3ce9f 100644
--- a/src/main/target/GEPRCF405/target.h
+++ b/src/main/target/GEPRCF405/target.h
@@ -44,16 +44,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          PA15
+#define MPU6000_EXTI_PIN       PC3
 #define MPU6000_SPI_BUS         BUS_SPI3
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_CS_PIN           PA15
+#define BMI270_EXTI_PIN         PC3
 #define BMI270_SPI_BUS          BUS_SPI3
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_CS_PIN         PA15
+#define ICM42605_EXTI_PIN       PC3
 #define ICM42605_SPI_BUS        BUS_SPI3
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/GEPRCF405_BT_HD/target.h b/src/main/target/GEPRCF405_BT_HD/target.h
index 185a3970a11..d1e5676559e 100644
--- a/src/main/target/GEPRCF405_BT_HD/target.h
+++ b/src/main/target/GEPRCF405_BT_HD/target.h
@@ -42,16 +42,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          PA15
+#define MPU6000_EXTI_PIN       PC3
 #define MPU6000_SPI_BUS         BUS_SPI3
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_CS_PIN           PA15
+#define BMI270_EXTI_PIN         PC3
 #define BMI270_SPI_BUS          BUS_SPI3
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_CS_PIN         PA15
+#define ICM42605_EXTI_PIN       PC3
 #define ICM42605_SPI_BUS        BUS_SPI3
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/GEPRCF722/target.h b/src/main/target/GEPRCF722/target.h
index df7cc6d3eca..27949faa381 100644
--- a/src/main/target/GEPRCF722/target.h
+++ b/src/main/target/GEPRCF722/target.h
@@ -41,16 +41,19 @@
 #define IMU_MPU6000_ALIGN       CW270_DEG
 
 #define MPU6000_CS_PIN          PA15
+#define MPU6000_EXTI_PIN       PC3
 #define MPU6000_SPI_BUS         BUS_SPI3
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_CS_PIN           PA15
+#define BMI270_EXTI_PIN         PC3
 #define BMI270_SPI_BUS          BUS_SPI3
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_CS_PIN         PA15
+#define ICM42605_EXTI_PIN       PC3
 #define ICM42605_SPI_BUS        BUS_SPI3
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/GEPRCF722_BT_HD/target.h b/src/main/target/GEPRCF722_BT_HD/target.h
index e388203c6aa..d0b4a76ab3e 100644
--- a/src/main/target/GEPRCF722_BT_HD/target.h
+++ b/src/main/target/GEPRCF722_BT_HD/target.h
@@ -39,16 +39,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          PA15
+#define MPU6000_EXTI_PIN       PA8
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_CS_PIN           PA15
+#define BMI270_EXTI_PIN         PA8
 #define BMI270_SPI_BUS          BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_CS_PIN         PA15
+#define ICM42605_EXTI_PIN       PA8
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/GEPRCF745_BT_HD/target.c b/src/main/target/GEPRCF745_BT_HD/target.c
index 91f9957fefc..de23e37be15 100644
--- a/src/main/target/GEPRCF745_BT_HD/target.c
+++ b/src/main/target/GEPRCF745_BT_HD/target.c
@@ -26,11 +26,11 @@
 #include "drivers/sensor.h"
 
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,  DEVHW_MPU6000, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,   IMU1_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2,  DEVHW_MPU6000, IMU2_SPI_BUS,   IMU2_CS_PIN,   IMU2_EXTI_PIN,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
 
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_ICM42605,  IMU1_SPI_BUS,   IMU1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, IMU2_SPI_BUS,   IMU2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_ICM42605,  IMU1_SPI_BUS,   IMU1_CS_PIN,   IMU1_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, IMU2_SPI_BUS,   IMU2_CS_PIN,   IMU2_EXTI_PIN,   1,  DEVFLAGS_NONE,  IMU2_ALIGN);
 
 
 
diff --git a/src/main/target/GEPRCF745_BT_HD/target.h b/src/main/target/GEPRCF745_BT_HD/target.h
index c6c84a32ad3..dbd5772c40e 100644
--- a/src/main/target/GEPRCF745_BT_HD/target.h
+++ b/src/main/target/GEPRCF745_BT_HD/target.h
@@ -65,6 +65,7 @@
 #define IMU1_ALIGN              CW180_DEG
 #define IMU1_SPI_BUS            BUS_SPI1
 #define IMU1_CS_PIN             PA4
+#define IMU1_EXTI_PIN           PD0
 
 
 
@@ -72,6 +73,7 @@
 #define IMU2_ALIGN              CW0_DEG
 #define IMU2_SPI_BUS            BUS_SPI2
 #define IMU2_CS_PIN             PB12
+#define IMU2_EXTI_PIN           PD8
 
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/GEPRC_F722_AIO/target.h b/src/main/target/GEPRC_F722_AIO/target.h
index ee2b9330552..9f964084933 100644
--- a/src/main/target/GEPRC_F722_AIO/target.h
+++ b/src/main/target/GEPRC_F722_AIO/target.h
@@ -43,16 +43,21 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW90_DEG
 #define MPU6000_CS_PIN          PA15
+#if defined(GEPRC_F722_AIO)
+#define MPU6000_EXTI_PIN       PA8
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW90_DEG
 #define BMI270_CS_PIN           PA15
+#define BMI270_EXTI_PIN         PA8
 #define BMI270_SPI_BUS          BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW90_DEG
 #define ICM42605_CS_PIN         PA15
+#define ICM42605_EXTI_PIN       PA8
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/HAKRCF405D/target.c b/src/main/target/HAKRCF405D/target.c
index 14447efed4b..cda185ce71a 100644
--- a/src/main/target/HAKRCF405D/target.c
+++ b/src/main/target/HAKRCF405D/target.c
@@ -24,9 +24,9 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_ICM42605, ICM42605_SPI_BUS,  ICM42605_CS_PIN,  NONE,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000, MPU6000_SPI_BUS,  MPU6000_CS_PIN,  NONE,  0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_ICM42605, ICM42605_SPI_BUS,  ICM42605_CS_PIN,  ICM42605_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000, MPU6000_SPI_BUS,  MPU6000_CS_PIN,  PC3,  0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
 
 
 timerHardware_t timerHardware[] = {
diff --git a/src/main/target/HAKRCF405D/target.h b/src/main/target/HAKRCF405D/target.h
index d47ec61dc99..43349a06823 100644
--- a/src/main/target/HAKRCF405D/target.h
+++ b/src/main/target/HAKRCF405D/target.h
@@ -67,12 +67,14 @@
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC3
 
 //BMI270
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW270_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC3
 
 /*** OSD ***/
 #define USE_MAX7456
diff --git a/src/main/target/HAKRCF405V2/target.h b/src/main/target/HAKRCF405V2/target.h
index 85cc164230b..81f34522f10 100644
--- a/src/main/target/HAKRCF405V2/target.h
+++ b/src/main/target/HAKRCF405V2/target.h
@@ -61,6 +61,7 @@
 #define IMU_MPU6000_ALIGN       CW90_DEG
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 
 
 // ICM42605/ICM42688P
@@ -68,12 +69,14 @@
 #define IMU_ICM42605_ALIGN       CW90_DEG
 #define ICM42605_SPI_BUS         BUS_SPI1
 #define ICM42605_CS_PIN          SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 
 //BMI270
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW90_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 
 
 /*** OSD ***/
diff --git a/src/main/target/HAKRCF411D/target.h b/src/main/target/HAKRCF411D/target.h
index 5b3a479ed19..db6dfe9f201 100644
--- a/src/main/target/HAKRCF411D/target.h
+++ b/src/main/target/HAKRCF411D/target.h
@@ -53,18 +53,21 @@
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PA1
 
 // ICM42605/ICM42688P
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PA1
 
 //BMI270
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PA1
 
 /*** OSD ***/
 #define USE_MAX7456
diff --git a/src/main/target/HAKRCF722V2/target.c b/src/main/target/HAKRCF722V2/target.c
index 9738db56d0c..14ef569f08f 100644
--- a/src/main/target/HAKRCF722V2/target.c
+++ b/src/main/target/HAKRCF722V2/target.c
@@ -23,14 +23,14 @@
 #include "drivers/sensor.h"
 #include "drivers/pwm_mapping.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, GYRO_SPI_BUS, GYRO1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2, DEVHW_MPU6000, GYRO_SPI_BUS, GYRO2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, GYRO_SPI_BUS, GYRO1_CS_PIN, GYRO1_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2, DEVHW_MPU6000, GYRO_SPI_BUS, GYRO2_CS_PIN, GYRO2_EXTI_PIN, 1, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
 
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, GYRO_SPI_BUS, GYRO1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, GYRO_SPI_BUS, GYRO2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, GYRO_SPI_BUS, GYRO1_CS_PIN, GYRO1_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, GYRO_SPI_BUS, GYRO2_CS_PIN, GYRO2_EXTI_PIN, 1, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
 
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, GYRO_SPI_BUS, GYRO1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, GYRO_SPI_BUS, GYRO2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, GYRO_SPI_BUS, GYRO1_CS_PIN, GYRO1_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, GYRO_SPI_BUS, GYRO2_CS_PIN, GYRO2_EXTI_PIN, 1, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
diff --git a/src/main/target/HAKRCF722V2/target.h b/src/main/target/HAKRCF722V2/target.h
index 52c07b6545a..814cfa65d5a 100644
--- a/src/main/target/HAKRCF722V2/target.h
+++ b/src/main/target/HAKRCF722V2/target.h
@@ -63,7 +63,9 @@
 
 #define GYRO_SPI_BUS         BUS_SPI1
 #define GYRO1_CS_PIN          SPI1_NSS1_PIN
+#define GYRO1_EXTI_PIN          PC4
 #define GYRO2_CS_PIN          SPI1_NSS2_PIN
+#define GYRO2_EXTI_PIN          PB10
 
 // MPU6000
 #define USE_IMU_MPU6000
diff --git a/src/main/target/HGLRCF405V2/target.h b/src/main/target/HGLRCF405V2/target.h
index 9f3a02b48f7..fa4afebf8bd 100644
--- a/src/main/target/HGLRCF405V2/target.h
+++ b/src/main/target/HGLRCF405V2/target.h
@@ -60,12 +60,14 @@
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 
 // ICM42605/ICM42688P
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN       CW270_DEG
 #define ICM42605_SPI_BUS         BUS_SPI1
 #define ICM42605_CS_PIN          SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 
 /*** OSD ***/
 #define USE_MAX7456
diff --git a/src/main/target/HGLRCF722/target.c b/src/main/target/HGLRCF722/target.c
index e0e4a73e2ad..41ecf6315f0 100644
--- a/src/main/target/HGLRCF722/target.c
+++ b/src/main/target/HGLRCF722/target.c
@@ -33,8 +33,8 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      NONE,        0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     PC4,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,        0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH1, PB4,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S1   UP1-2   D(1, 4, 5)
diff --git a/src/main/target/HGLRCF722/target.h b/src/main/target/HGLRCF722/target.h
index 348f30d2416..17bea753c84 100644
--- a/src/main/target/HGLRCF722/target.h
+++ b/src/main/target/HGLRCF722/target.h
@@ -54,6 +54,7 @@
 #define IMU_BMI270_ALIGN        CW180_DEG_FLIP
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PB2
+#define BMI270_EXTI_PIN         PC4
 
 // *************** I2C /Baro/Mag *********************
 #define USE_I2C
diff --git a/src/main/target/HUMMINGBIRD_FC305/target.c b/src/main/target/HUMMINGBIRD_FC305/target.c
index 476d31c71b3..e2fe703a85f 100644
--- a/src/main/target/HUMMINGBIRD_FC305/target.c
+++ b/src/main/target/HUMMINGBIRD_FC305/target.c
@@ -24,7 +24,7 @@
 #include "drivers/bus.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, ICM42605_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
 BUSDEV_REGISTER_SPI(busdev_sdcard_spi,  DEVHW_SDCARD,       SDCARD_SPI_BUS,     SDCARD_CS_PIN,      NONE,           DEVFLAGS_SPI_MODE_0,  0);
 BUSDEV_REGISTER_SPI(busdev_max7456,    DEVHW_MAX7456,  MAX7456_SPI_BUS,    MAX7456_CS_PIN, NONE, DEVFLAGS_USE_RAW_REGISTERS,  0);
 BUSDEV_REGISTER_I2C(busdev_dps310_0,   DEVHW_DPS310_0,     BARO_I2C_BUS,       DPS310_I2C_ADDR,               NONE,           DEVFLAGS_NONE,      0);
diff --git a/src/main/target/HUMMINGBIRD_FC305/target.h b/src/main/target/HUMMINGBIRD_FC305/target.h
index 7b121a775b2..52fd3e7fddf 100644
--- a/src/main/target/HUMMINGBIRD_FC305/target.h
+++ b/src/main/target/HUMMINGBIRD_FC305/target.h
@@ -46,6 +46,7 @@
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_SPI_BUS        BUS_SPI2
 #define ICM42605_CS_PIN         SPI2_NSS_PIN
+#define ICM42605_EXTI_PIN       PB6
 
 // *************** I2C /Baro/Mag *********************
 #define USE_I2C
diff --git a/src/main/target/IFLIGHT_BLITZ_F722/target.h b/src/main/target/IFLIGHT_BLITZ_F722/target.h
index cea6b4422ac..4ca8a4eaef4 100644
--- a/src/main/target/IFLIGHT_BLITZ_F722/target.h
+++ b/src/main/target/IFLIGHT_BLITZ_F722/target.h
@@ -35,17 +35,20 @@
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN       CW0_DEG
 #define BMI270_CS_PIN          PA4
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 
 // *************** I2C /Baro/Mag *********************
 #define USE_I2C
diff --git a/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h
index 03196254420..3f346faa721 100644
--- a/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h
+++ b/src/main/target/IFLIGHT_BLITZ_F722_X1/target.h
@@ -35,6 +35,7 @@
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN       CW90_DEG_FLIP
 #define BMI270_CS_PIN          PA4
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS         BUS_SPI1
 
 // ICM42605
@@ -42,6 +43,7 @@
 #define IMU_ICM42605_ALIGN      CW90_DEG_FLIP
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 
 // *************** I2C /Baro/Mag *********************
 #define USE_I2C
diff --git a/src/main/target/IFLIGHT_BLITZ_F7_AIO/target.h b/src/main/target/IFLIGHT_BLITZ_F7_AIO/target.h
index 69ea37e5357..e88ae211504 100644
--- a/src/main/target/IFLIGHT_BLITZ_F7_AIO/target.h
+++ b/src/main/target/IFLIGHT_BLITZ_F7_AIO/target.h
@@ -62,11 +62,13 @@
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PD0
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PD0
 
 // *************** I2C/Baro/Mag *********************
 #define USE_I2C
diff --git a/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c b/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c
index 664ff354b4c..e6245d39288 100644
--- a/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c
+++ b/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c
@@ -26,8 +26,8 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, PA8, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, BMI270_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
 
 timerHardware_t timerHardware[] = {
     // DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0),  // PPM
diff --git a/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.h b/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.h
index a5361a51904..7cb714798d8 100644
--- a/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.h
+++ b/src/main/target/IFLIGHT_BLITZ_F7_PRO/target.h
@@ -47,6 +47,7 @@
 #define IMU_BMI270_ALIGN        CW0_DEG_FLIP
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA15
+#define BMI270_EXTI_PIN         PA8
 
 // *************** I2C/Baro/Mag *********************
 #define USE_I2C
diff --git a/src/main/target/IFLIGHT_H743_AIO_V2/target.h b/src/main/target/IFLIGHT_H743_AIO_V2/target.h
index a5257993798..90bfae915de 100644
--- a/src/main/target/IFLIGHT_H743_AIO_V2/target.h
+++ b/src/main/target/IFLIGHT_H743_AIO_V2/target.h
@@ -39,11 +39,13 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PD0
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PD0
 #define BMI270_SPI_BUS          BUS_SPI1
 
 // *************** I2C1 Baro/Mag *********************
diff --git a/src/main/target/JHEF405PRO/target.h b/src/main/target/JHEF405PRO/target.h
index 43547cd2efa..4d288f83a44 100644
--- a/src/main/target/JHEF405PRO/target.h
+++ b/src/main/target/JHEF405PRO/target.h
@@ -33,6 +33,7 @@
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW90_DEG
 #define ICM42605_CS_PIN         PB12
+#define ICM42605_EXTI_PIN       GYRO_INT_EXTI
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 #define USE_EXTI
diff --git a/src/main/target/KAKUTEF4/target.h b/src/main/target/KAKUTEF4/target.h
index 92cbcf13414..7dd557ed32b 100644
--- a/src/main/target/KAKUTEF4/target.h
+++ b/src/main/target/KAKUTEF4/target.h
@@ -50,16 +50,25 @@
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW270_DEG
 #define MPU6500_CS_PIN          PC4
+#if defined(KAKUTEF4) || defined(KAKUTEF4V2)
+#define MPU6500_EXTI_PIN       PC5
+#endif
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          PC4
+#if defined(KAKUTEF4) || defined(KAKUTEF4V2)
+#define MPU6000_EXTI_PIN       PC5
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN       CW270_DEG
 #define ICM42605_CS_PIN          PC4
+#if defined(KAKUTEF4) || defined(KAKUTEF4V2)
+#define ICM42605_EXTI_PIN       PC5
+#endif
 #define ICM42605_SPI_BUS         BUS_SPI1
 
 #if defined(KAKUTEF4V2) || defined(KAKUTEF4V23) || defined(KAKUTEF4V24)
diff --git a/src/main/target/KAKUTEF4WING/target.h b/src/main/target/KAKUTEF4WING/target.h
index 70eb125646a..fde9f45fbd8 100644
--- a/src/main/target/KAKUTEF4WING/target.h
+++ b/src/main/target/KAKUTEF4WING/target.h
@@ -37,7 +37,7 @@
 #define IMU_ICM42605_ALIGN       CW270_DEG
 #define ICM42605_SPI_BUS         BUS_SPI1
 #define ICM42605_CS_PIN          PA4
-#define ICM42605_EXTI_PIN        PB12
+#define ICM42605_EXTI_PIN        PB2
 
 // *************** I2C ****************
 #define USE_I2C     
diff --git a/src/main/target/KAKUTEF7/target.h b/src/main/target/KAKUTEF7/target.h
index 79f9d079353..45c2b6f2eef 100644
--- a/src/main/target/KAKUTEF7/target.h
+++ b/src/main/target/KAKUTEF7/target.h
@@ -42,11 +42,13 @@
 #define USE_IMU_ICM20689
 #define IMU_ICM20689_ALIGN       CW270_DEG
 #define ICM20689_CS_PIN          SPI4_NSS_PIN
+#define ICM20689_EXTI_PIN       PE1
 #define ICM20689_SPI_BUS         BUS_SPI4
 
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          SPI4_NSS_PIN
+#define MPU6000_EXTI_PIN       PE1
 #define MPU6000_SPI_BUS         BUS_SPI4
 
 
diff --git a/src/main/target/KAKUTEF7MINIV3/target.h b/src/main/target/KAKUTEF7MINIV3/target.h
index 89ba7c632b5..3cfb1039921 100644
--- a/src/main/target/KAKUTEF7MINIV3/target.h
+++ b/src/main/target/KAKUTEF7MINIV3/target.h
@@ -87,6 +87,7 @@
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          PB2
+#define MPU6000_EXTI_PIN       PA4
 
 // ICM42688
 #define USE_IMU_ICM42605
diff --git a/src/main/target/KAKUTEH7/target.h b/src/main/target/KAKUTEH7/target.h
index 2265abd509a..d218efd36ec 100644
--- a/src/main/target/KAKUTEH7/target.h
+++ b/src/main/target/KAKUTEH7/target.h
@@ -101,11 +101,13 @@
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_SPI_BUS         BUS_SPI4
 #define MPU6000_CS_PIN          PE4
+#define MPU6000_EXTI_PIN       PE1
 
 //BMI270
 #define USE_IMU_BMI270
 #define BMI270_SPI_BUS          BUS_SPI4
 #define BMI270_CS_PIN           PE4
+#define BMI270_EXTI_PIN         PE1
 
 #ifdef KAKUTEH7MINI
 #define IMU_BMI270_ALIGN        CW270_DEG
diff --git a/src/main/target/MAMBAF405US/target.h b/src/main/target/MAMBAF405US/target.h
index 1b21fe60e3d..00bfb36523e 100644
--- a/src/main/target/MAMBAF405US/target.h
+++ b/src/main/target/MAMBAF405US/target.h
@@ -39,11 +39,17 @@
 #define IMU_MPU6000_ALIGN               CW180_DEG
 #define MPU6000_SPI_BUS                 BUS_SPI1
 #define MPU6000_CS_PIN                  PA4
+#if defined(MAMBAF405US)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN               CW180_DEG
 #define MPU6500_SPI_BUS                 BUS_SPI1
 #define MPU6500_CS_PIN                  PA4
+#if defined(MAMBAF405US)
+#define MPU6500_EXTI_PIN       PC4
+#endif
 
 // *************** Baro **************************
 #define USE_I2C
diff --git a/src/main/target/MAMBAF405_2022A/target.h b/src/main/target/MAMBAF405_2022A/target.h
index 5a24771288d..843b9440cae 100644
--- a/src/main/target/MAMBAF405_2022A/target.h
+++ b/src/main/target/MAMBAF405_2022A/target.h
@@ -41,11 +41,13 @@
 #define IMU_MPU6000_ALIGN               CW180_DEG
 #define MPU6000_SPI_BUS                 BUS_SPI1
 #define MPU6000_CS_PIN                  PA4
+#define MPU6000_EXTI_PIN       PC4
 
 //MPU6500
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN               CW180_DEG
 #define MPU6500_CS_PIN                  SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS                 BUS_SPI1
 
 //BMI270
@@ -53,6 +55,7 @@
 #define IMU_BMI270_ALIGN                CW180_DEG
 #define BMI270_SPI_BUS                  BUS_SPI1
 #define BMI270_CS_PIN                   SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 
 #ifdef MAMBAF405_2022B
 
@@ -60,6 +63,7 @@
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 
 #endif
 
diff --git a/src/main/target/MAMBAF722/target.h b/src/main/target/MAMBAF722/target.h
index 20e907fa87c..0d8d4d905cd 100644
--- a/src/main/target/MAMBAF722/target.h
+++ b/src/main/target/MAMBAF722/target.h
@@ -35,6 +35,7 @@
 #define BEEPER_INVERTED
 
 #define MPU6000_CS_PIN                  SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS                 BUS_SPI1
 
 #define USE_IMU_MPU6000
@@ -44,6 +45,7 @@
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN               CW180_DEG
 #define MPU6500_CS_PIN                  SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS                 BUS_SPI1
 
 #define USE_I2C
diff --git a/src/main/target/MAMBAF722_2022A/target.h b/src/main/target/MAMBAF722_2022A/target.h
index cf834b11ea6..474e304b377 100644
--- a/src/main/target/MAMBAF722_2022A/target.h
+++ b/src/main/target/MAMBAF722_2022A/target.h
@@ -44,12 +44,14 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN               CW180_DEG
 #define MPU6000_CS_PIN                  SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS                 BUS_SPI1
 
 //MPU6500
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN               CW180_DEG
 #define MPU6500_CS_PIN                  SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC4
 #define MPU6500_SPI_BUS                 BUS_SPI1
 
 //BMI270
@@ -57,6 +59,7 @@
 #define IMU_BMI270_ALIGN                CW180_DEG
 #define BMI270_SPI_BUS                  BUS_SPI1
 #define BMI270_CS_PIN                   SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 
 #ifdef MAMBAF722_2022B
 
@@ -64,6 +67,7 @@
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 
 #endif
 
diff --git a/src/main/target/MAMBAF722_X8/target.h b/src/main/target/MAMBAF722_X8/target.h
index 1a89d3bf31f..12048c2dd28 100644
--- a/src/main/target/MAMBAF722_X8/target.h
+++ b/src/main/target/MAMBAF722_X8/target.h
@@ -31,6 +31,7 @@
 #define BEEPER_INVERTED
 
 #define MPU6000_CS_PIN                  SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS                 BUS_SPI1
 
 #define USE_IMU_MPU6000
diff --git a/src/main/target/MAMBAH743/target.c b/src/main/target/MAMBAH743/target.c
index 30db292ae9f..a5c96fc27d5 100644
--- a/src/main/target/MAMBAH743/target.c
+++ b/src/main/target/MAMBAH743/target.c
@@ -27,7 +27,7 @@
 #include "drivers/sensor.h"
 
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,   DEVHW_MPU6000,  MPU6000_SPI_BUS,   MPU6000_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
 #ifdef USE_IMU_ICM42605
 BUSDEV_REGISTER_SPI_TAG(busdev_icm42605,    DEVHW_ICM42605, ICM42605_SPI_BUS,   ICM42605_CS_PIN,    ICM42605_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
diff --git a/src/main/target/MAMBAH743/target.h b/src/main/target/MAMBAH743/target.h
index cac57dfe6f6..fab5a29ac22 100644
--- a/src/main/target/MAMBAH743/target.h
+++ b/src/main/target/MAMBAH743/target.h
@@ -62,6 +62,7 @@
 #define IMU_BMI270_ALIGN CW180_DEG
 #define BMI270_SPI_BUS BUS_SPI1
 #define BMI270_CS_PIN PA4
+#define BMI270_EXTI_PIN         PC4
 
 #define USE_SPI_DEVICE_4
 #define SPI4_SCK_PIN            PE12
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index a33807c06a5..3c308b63e13 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -36,9 +36,15 @@
 #define SPI1_MOSI_PIN   	    PA7
 
 #define MPU6500_CS_PIN          PC2
+#if defined(MATEKF405MINI)
+#define MPU6500_EXTI_PIN       PC3
+#endif
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 #define MPU6000_CS_PIN          PC2
+#if defined(MATEKF405MINI)
+#define MPU6000_EXTI_PIN       PC3
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
diff --git a/src/main/target/MATEKF405SE/target.h b/src/main/target/MATEKF405SE/target.h
index 38c8f56f5d9..c31dab3f058 100644
--- a/src/main/target/MATEKF405SE/target.h
+++ b/src/main/target/MATEKF405SE/target.h
@@ -40,12 +40,16 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          PA4
+#if defined(MATEKF405SE)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 // ICM42688P
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG_FLIP
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C /Baro/Mag *********************
diff --git a/src/main/target/MATEKF405TE/target.h b/src/main/target/MATEKF405TE/target.h
index fc7c1ad0ce9..808f26607e1 100644
--- a/src/main/target/MATEKF405TE/target.h
+++ b/src/main/target/MATEKF405TE/target.h
@@ -45,11 +45,13 @@
 #define IMU_ICM42605_ALIGN      CW270_DEG_FLIP
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PC14
+#define ICM42605_EXTI_PIN       PC15
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW270_DEG_FLIP
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PC14
+#define BMI270_EXTI_PIN         PC15
 
 
 
diff --git a/src/main/target/MATEKF411/target.h b/src/main/target/MATEKF411/target.h
index 6be5949419c..40d5f6143da 100755
--- a/src/main/target/MATEKF411/target.h
+++ b/src/main/target/MATEKF411/target.h
@@ -38,11 +38,17 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          PA4
+#if defined(MATEKF411)
+#define MPU6000_EXTI_PIN       PA1
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW180_DEG
 #define MPU6500_CS_PIN          PA4
+#if defined(MATEKF411)
+#define MPU6500_EXTI_PIN       PA1
+#endif
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 // *************** SPI2 OSD *****************************
diff --git a/src/main/target/MATEKF411SE/target.h b/src/main/target/MATEKF411SE/target.h
index db5652e0cac..371937184cd 100755
--- a/src/main/target/MATEKF411SE/target.h
+++ b/src/main/target/MATEKF411SE/target.h
@@ -37,6 +37,9 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          PA4
+#if defined(MATEKF411SE)
+#define MPU6000_EXTI_PIN       PA14
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 // *************** SPI2 OSD *****************************
diff --git a/src/main/target/MATEKF722/target.h b/src/main/target/MATEKF722/target.h
index 1908c6a5b4c..8b535d644ca 100644
--- a/src/main/target/MATEKF722/target.h
+++ b/src/main/target/MATEKF722/target.h
@@ -38,6 +38,7 @@
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW180_DEG
 #define MPU6500_CS_PIN          PC2
+#define MPU6500_EXTI_PIN       PC3
 #define MPU6500_SPI_BUS         BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/MATEKF722SE/target.c b/src/main/target/MATEKF722SE/target.c
index 585f3bb3994..2358427f8e2 100644
--- a/src/main/target/MATEKF722SE/target.c
+++ b/src/main/target/MATEKF722SE/target.c
@@ -26,8 +26,8 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     NONE,       1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     PC4,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     PC3,       1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH1, PB4,   TIM_USE_OUTPUT_AUTO, 0, 0),   // S1   UP1-2   D(1, 4, 5)
diff --git a/src/main/target/OMNIBUSF4/target.h b/src/main/target/OMNIBUSF4/target.h
index af906bb8b12..1abedae9ac1 100644
--- a/src/main/target/OMNIBUSF4/target.h
+++ b/src/main/target/OMNIBUSF4/target.h
@@ -34,6 +34,7 @@
 #define UG2864_I2C_BUS I2C_EXT_BUS
 
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
diff --git a/src/main/target/PRINCIPIOTF7/target.h b/src/main/target/PRINCIPIOTF7/target.h
index 0208f55a361..5e241023fde 100644
--- a/src/main/target/PRINCIPIOTF7/target.h
+++ b/src/main/target/PRINCIPIOTF7/target.h
@@ -113,6 +113,7 @@
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW90_DEG
 #define ICM42605_CS_PIN         PB2
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // BARO
diff --git a/src/main/target/RADIOLINKF405/target.h b/src/main/target/RADIOLINKF405/target.h
index 9a1afd47739..44a170e420d 100644
--- a/src/main/target/RADIOLINKF405/target.h
+++ b/src/main/target/RADIOLINKF405/target.h
@@ -39,16 +39,19 @@
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW90_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 
 #define USE_IMU_MPU6500
 #define IMU_MPU6500_ALIGN       CW90_DEG
 #define MPU6500_SPI_BUS         BUS_SPI1
 #define MPU6500_CS_PIN          SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC4
 
 // *************** SPI2 OSD  ****************
 #define USE_SPI_DEVICE_2
diff --git a/src/main/target/RADIOLINKF722/target.c b/src/main/target/RADIOLINKF722/target.c
index 6ebb384b046..18e99f1182d 100644
--- a/src/main/target/RADIOLINKF722/target.c
+++ b/src/main/target/RADIOLINKF722/target.c
@@ -28,8 +28,8 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42688_SPI_BUS, ICM42688_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42688_SPI_BUS, ICM42688_CS_PIN, ICM42688_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
 
 timerHardware_t timerHardware[] = {
 
diff --git a/src/main/target/RADIOLINKF722/target.h b/src/main/target/RADIOLINKF722/target.h
index efa3bdea750..ff8532f90b7 100644
--- a/src/main/target/RADIOLINKF722/target.h
+++ b/src/main/target/RADIOLINKF722/target.h
@@ -76,12 +76,14 @@
 #define IMU_ICM42605_ALIGN       CW180_DEG
 #define ICM42688_SPI_BUS         BUS_SPI1
 #define ICM42688_CS_PIN          PB2
+#define ICM42688_EXTI_PIN       PC4
 
 //BMI270
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PB2
+#define BMI270_EXTI_PIN         PC4
 
 // *************** I2C(Baro & I2C) **************************
 #define USE_I2C
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 713c1a8ce38..1eeff29fbb1 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -35,6 +35,7 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_MAG
diff --git a/src/main/target/SEQUREH7/target.h b/src/main/target/SEQUREH7/target.h
index 1502aa82cbd..0fc50b0e715 100644
--- a/src/main/target/SEQUREH7/target.h
+++ b/src/main/target/SEQUREH7/target.h
@@ -121,6 +121,7 @@
 #else
 #define USE_IMU_MPU6000
 #define MPU6000_CS_PIN      PB12
+#define MPU6000_EXTI_PIN       PD0
 #define MPU6000_SPI_BUS     BUS_SPI2
 #define IMU_MPU6000_ALIGN   CW0_DEG
 #endif
diff --git a/src/main/target/SKYSTARSF405HD/target.h b/src/main/target/SKYSTARSF405HD/target.h
index c3711fcb4c2..166cc332d70 100644
--- a/src/main/target/SKYSTARSF405HD/target.h
+++ b/src/main/target/SKYSTARSF405HD/target.h
@@ -38,14 +38,23 @@
 #define USE_IMU_MPU6000
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          PA4
+#if defined(SKYSTARSF405AIO)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 
 #define USE_IMU_BMI270
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA4
+#if defined(SKYSTARSF405AIO)
+#define BMI270_EXTI_PIN         PC4
+#endif
 
 #define USE_IMU_ICM42605
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
+#if defined(SKYSTARSF405AIO)
+#define ICM42605_EXTI_PIN       PC4
+#endif
 
 // *************** M25P256 flash ********************
 #define USE_FLASHFS
diff --git a/src/main/target/SKYSTARSF405V2/target.h b/src/main/target/SKYSTARSF405V2/target.h
index 1fe4e2614c4..1591e4ff3e3 100644
--- a/src/main/target/SKYSTARSF405V2/target.h
+++ b/src/main/target/SKYSTARSF405V2/target.h
@@ -37,6 +37,7 @@
 #define SPI1_MOSI_PIN	        PA7
 
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW270_DEG
diff --git a/src/main/target/SOLOGOODF722/target.h b/src/main/target/SOLOGOODF722/target.h
index dd017691ef3..efeec61a896 100644
--- a/src/main/target/SOLOGOODF722/target.h
+++ b/src/main/target/SOLOGOODF722/target.h
@@ -39,16 +39,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW180_DEG
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS          BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW180_DEG
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/SPARKY2/target.h b/src/main/target/SPARKY2/target.h
index 78f80cd609d..037055d32d8 100644
--- a/src/main/target/SPARKY2/target.h
+++ b/src/main/target/SPARKY2/target.h
@@ -34,6 +34,7 @@
 
 #define MPU9250_SPI_BUS         BUS_SPI1
 #define MPU9250_CS_PIN          PC4
+#define MPU9250_EXTI_PIN       PC5
 
 #define USE_MAG
 
diff --git a/src/main/target/SPEDIXF405/target.h b/src/main/target/SPEDIXF405/target.h
index 3f46890b48d..7b484c5a554 100644
--- a/src/main/target/SPEDIXF405/target.h
+++ b/src/main/target/SPEDIXF405/target.h
@@ -38,16 +38,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS          BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/SPEDIXF722/target.h b/src/main/target/SPEDIXF722/target.h
index 511381587a0..c9c4edfbda8 100644
--- a/src/main/target/SPEDIXF722/target.h
+++ b/src/main/target/SPEDIXF722/target.h
@@ -39,16 +39,19 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS          BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/SPEEDYBEEF4/target.h b/src/main/target/SPEEDYBEEF4/target.h
index 310f6e9b456..9352a9f6ec3 100644
--- a/src/main/target/SPEEDYBEEF4/target.h
+++ b/src/main/target/SPEEDYBEEF4/target.h
@@ -30,6 +30,9 @@
 /*** MPU6000 ***/
 #define USE_IMU_MPU6000
 #define MPU6000_CS_PIN          PB11
+#if defined(SPEEDYBEEF4)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define IMU_MPU6000_ALIGN       CW0_DEG
 
diff --git a/src/main/target/SPEEDYBEEF405MINI/target.h b/src/main/target/SPEEDYBEEF405MINI/target.h
index c20ee9aa0ff..52541254a31 100644
--- a/src/main/target/SPEEDYBEEF405MINI/target.h
+++ b/src/main/target/SPEEDYBEEF405MINI/target.h
@@ -94,6 +94,7 @@
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 /*
diff --git a/src/main/target/SPEEDYBEEF405V3/target.c b/src/main/target/SPEEDYBEEF405V3/target.c
index 2a7b6272dae..633f36454f4 100644
--- a/src/main/target/SPEEDYBEEF405V3/target.c
+++ b/src/main/target/SPEEDYBEEF405V3/target.c
@@ -32,7 +32,7 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0), // S1
diff --git a/src/main/target/SPEEDYBEEF405V3/target.h b/src/main/target/SPEEDYBEEF405V3/target.h
index 6653ea56c0c..d3a6c5c05d0 100644
--- a/src/main/target/SPEEDYBEEF405V3/target.h
+++ b/src/main/target/SPEEDYBEEF405V3/target.h
@@ -80,6 +80,7 @@
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         PC4
 
 // *************** I2C(Baro & I2C) **************************
 #define USE_I2C
diff --git a/src/main/target/SPEEDYBEEF405V4/target.c b/src/main/target/SPEEDYBEEF405V4/target.c
index 2d398bd1bbe..926589f4482 100644
--- a/src/main/target/SPEEDYBEEF405V4/target.c
+++ b/src/main/target/SPEEDYBEEF405V4/target.c
@@ -32,7 +32,7 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_ICM42605, ICM42605_SPI_BUS,  ICM42605_CS_PIN,  NONE,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688,  DEVHW_ICM42605, ICM42605_SPI_BUS,  ICM42605_CS_PIN,  ICM42605_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4,   CH1, PB6,  TIM_USE_OUTPUT_AUTO, 1, 0), // S1
diff --git a/src/main/target/SPEEDYBEEF405V4/target.h b/src/main/target/SPEEDYBEEF405V4/target.h
index 1c5c847597f..2130ddde499 100644
--- a/src/main/target/SPEEDYBEEF405V4/target.h
+++ b/src/main/target/SPEEDYBEEF405V4/target.h
@@ -88,6 +88,7 @@
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW90_DEG
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C(Baro & I2C) **************************
diff --git a/src/main/target/SPEEDYBEEF7/target.h b/src/main/target/SPEEDYBEEF7/target.h
index 032f7479b5b..c5d94cb27ec 100644
--- a/src/main/target/SPEEDYBEEF7/target.h
+++ b/src/main/target/SPEEDYBEEF7/target.h
@@ -63,6 +63,7 @@
 #define IMU_ICM20689_ALIGN          CW0_DEG
 
 #define ICM20689_CS_PIN             PA4
+#define ICM20689_EXTI_PIN       PC4
 #define ICM20689_SPI_BUS            BUS_SPI1
 
 #define SPI1_SCK_PIN                PA5
diff --git a/src/main/target/SPEEDYBEEF745AIO/target.h b/src/main/target/SPEEDYBEEF745AIO/target.h
index 3e82678f552..f090069f462 100644
--- a/src/main/target/SPEEDYBEEF745AIO/target.h
+++ b/src/main/target/SPEEDYBEEF745AIO/target.h
@@ -74,6 +74,7 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW90_DEG
 #define MPU6000_CS_PIN          PE4
+#define MPU6000_EXTI_PIN       PE1
 #define MPU6000_SPI_BUS         BUS_SPI4
 
 //BMI270
@@ -81,6 +82,7 @@
 #define IMU_BMI270_ALIGN                CW90_DEG
 #define BMI270_SPI_BUS                  BUS_SPI4
 #define BMI270_CS_PIN                   PE4
+#define BMI270_EXTI_PIN         PE1
 
 // *************** I2C(Baro & I2C) **************************
 #define USE_I2C
diff --git a/src/main/target/SPEEDYBEEF7MINI/target.c b/src/main/target/SPEEDYBEEF7MINI/target.c
index 2b0777ab573..b5291e4a968 100644
--- a/src/main/target/SPEEDYBEEF7MINI/target.c
+++ b/src/main/target/SPEEDYBEEF7MINI/target.c
@@ -27,9 +27,9 @@
 #include "drivers/sensor.h"
 
 #ifdef SPEEDYBEEF7MINIV2
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      NONE,       0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,       0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 #else
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     PC4,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
 #endif
 
 timerHardware_t timerHardware[] = {
diff --git a/src/main/target/SPEEDYBEEF7MINI/target.h b/src/main/target/SPEEDYBEEF7MINI/target.h
index d267ade336d..49bad659f6c 100644
--- a/src/main/target/SPEEDYBEEF7MINI/target.h
+++ b/src/main/target/SPEEDYBEEF7MINI/target.h
@@ -45,6 +45,7 @@
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_CS_PIN           PB2
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS          BUS_SPI1
 
 #else 
diff --git a/src/main/target/SPEEDYBEEF7V2/target.h b/src/main/target/SPEEDYBEEF7V2/target.h
index 9dfcdf232b8..222cb1775df 100644
--- a/src/main/target/SPEEDYBEEF7V2/target.h
+++ b/src/main/target/SPEEDYBEEF7V2/target.h
@@ -70,6 +70,7 @@
 #define SPI1_MOSI_PIN           PA7
 
 #define MPU6000_CS_PIN           PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS     BUS_SPI1
 
 #define USE_BEEPER
diff --git a/src/main/target/SPEEDYBEEF7V3/target.c b/src/main/target/SPEEDYBEEF7V3/target.c
index 5d5b064f81d..a10d7d924f0 100644
--- a/src/main/target/SPEEDYBEEF7V3/target.c
+++ b/src/main/target/SPEEDYBEEF7V3/target.c
@@ -28,8 +28,8 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000, MPU6000_SPI_BUS,  MPU6000_CS_PIN,  NONE,  0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000, MPU6000_SPI_BUS,  MPU6000_CS_PIN,  PC4,  0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
 
 timerHardware_t timerHardware[] = {
 
diff --git a/src/main/target/SPEEDYBEEF7V3/target.h b/src/main/target/SPEEDYBEEF7V3/target.h
index 87eeb7114f7..f35d716844b 100644
--- a/src/main/target/SPEEDYBEEF7V3/target.h
+++ b/src/main/target/SPEEDYBEEF7V3/target.h
@@ -81,6 +81,7 @@
 #define IMU_BMI270_ALIGN        CW0_DEG_FLIP
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PC15
+#define BMI270_EXTI_PIN         PC3
 
 // *************** I2C(Baro & I2C) **************************
 #define USE_I2C
diff --git a/src/main/target/SPRACINGF4EVO/target.h b/src/main/target/SPRACINGF4EVO/target.h
index 8af6981e54f..1201f18af46 100755
--- a/src/main/target/SPRACINGF4EVO/target.h
+++ b/src/main/target/SPRACINGF4EVO/target.h
@@ -116,9 +116,11 @@
 #define SDCARD_CS_PIN           SPI2_NSS_PIN
 
 #define MPU6500_CS_PIN                      SPI1_NSS_PIN
+#define MPU6500_EXTI_PIN       PC13
 #define MPU6500_SPI_BUS                     BUS_SPI1
 
 #define MPU9250_CS_PIN                      SPI1_NSS_PIN
+#define MPU9250_EXTI_PIN       PC13
 #define MPU9250_SPI_BUS                     BUS_SPI1
 
 #define USE_ADC
diff --git a/src/main/target/SPRACINGF7DUAL/target.c b/src/main/target/SPRACINGF7DUAL/target.c
index ead356956a4..94231637271 100644
--- a/src/main/target/SPRACINGF7DUAL/target.c
+++ b/src/main/target/SPRACINGF7DUAL/target.c
@@ -30,8 +30,8 @@
 #include "drivers/sensor.h"
 
 // Register both MPU6500
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_1,     DEVHW_MPU6500,      MPU6500_1_SPI_BUS,    MPU6500_1_CS_PIN,     NONE,  0,  DEVFLAGS_NONE,  IMU_1_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_2,     DEVHW_MPU6500,      MPU6500_2_SPI_BUS,    MPU6500_2_CS_PIN,     NONE,  0,  DEVFLAGS_NONE,  IMU_2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_1,     DEVHW_MPU6500,      MPU6500_1_SPI_BUS,    MPU6500_1_CS_PIN,     PC13,  0,  DEVFLAGS_NONE,  IMU_1_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500_2,     DEVHW_MPU6500,      MPU6500_2_SPI_BUS,    MPU6500_2_CS_PIN,     PC14,  0,  DEVFLAGS_NONE,  IMU_2_ALIGN);
 
 timerHardware_t timerHardware[] = {
 
diff --git a/src/main/target/TAKERF722SE/target.h b/src/main/target/TAKERF722SE/target.h
index 599d5610ad4..f2da5225824 100644
--- a/src/main/target/TAKERF722SE/target.h
+++ b/src/main/target/TAKERF722SE/target.h
@@ -98,12 +98,14 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // *************** I2C/Baro/Mag *********************
diff --git a/src/main/target/TMOTORF7/target.h b/src/main/target/TMOTORF7/target.h
index a62b42d0990..acbaaaa45e2 100644
--- a/src/main/target/TMOTORF7/target.h
+++ b/src/main/target/TMOTORF7/target.h
@@ -42,16 +42,25 @@
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW0_DEG
 #define MPU6000_CS_PIN          PA4
+#if defined(TMOTORF7)
+#define MPU6000_EXTI_PIN       PC4
+#endif
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_CS_PIN         PA4
+#ifdef TMOTORF7
+#define ICM42605_EXTI_PIN       PC4
+#endif
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW0_DEG
 #define BMI270_CS_PIN           PA4
+#ifdef TMOTORF7
+#define BMI270_EXTI_PIN         PC4
+#endif
 #define BMI270_SPI_BUS          BUS_SPI1
 
 // *************** I2C Mag *********************
diff --git a/src/main/target/TMOTORF7V2/target.h b/src/main/target/TMOTORF7V2/target.h
index f5def98a403..fe42ebc07e4 100644
--- a/src/main/target/TMOTORF7V2/target.h
+++ b/src/main/target/TMOTORF7V2/target.h
@@ -62,6 +62,7 @@
 #define SPI1_MOSI_PIN           PA7
 
 #define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN       PC4
 #define MPU6000_SPI_BUS         BUS_SPI1
 
 #define USE_IMU_MPU6000
@@ -70,6 +71,7 @@
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW0_DEG
 #define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 // OSD -- SPI2
diff --git a/src/main/target/TMOTORVELOXF7V2/target.h b/src/main/target/TMOTORVELOXF7V2/target.h
index 09f30857ec8..9207e5e88e5 100644
--- a/src/main/target/TMOTORVELOXF7V2/target.h
+++ b/src/main/target/TMOTORVELOXF7V2/target.h
@@ -50,6 +50,7 @@
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_CS_PIN         PB2
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS        BUS_SPI1
 
 
diff --git a/src/main/target/TUNERCF405/target.h b/src/main/target/TUNERCF405/target.h
index b359545e697..48ad9e90604 100644
--- a/src/main/target/TUNERCF405/target.h
+++ b/src/main/target/TUNERCF405/target.h
@@ -43,6 +43,7 @@
 #define USE_IMU_BMI270
 #define IMU_BMI270_ALIGN        CW180_DEG
 #define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         PC4
 #define BMI270_SPI_BUS          BUS_SPI1
 
 // OSD
diff --git a/src/main/target/WARPF7/target.h b/src/main/target/WARPF7/target.h
index e06d6e2ae1d..b535af98f33 100644
--- a/src/main/target/WARPF7/target.h
+++ b/src/main/target/WARPF7/target.h
@@ -107,6 +107,7 @@
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN          CW270_DEG
 #define ICM42605_CS_PIN             PA4
+#define ICM42605_EXTI_PIN       PC4
 #define ICM42605_SPI_BUS            BUS_SPI1
 
 // BARO
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 5239e5ac65e..1096b56b74a 100644
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -18,7 +18,7 @@
 #pragma once
 
 // SPI reads started by a device's data-ready interrupt (drivers/bus_spi_data_ready.c)
-#if defined(STM32H7)
+#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7)
 #define USE_SPI_DATA_READY
 #endif
 
diff --git a/src/main/target/common_hardware.c b/src/main/target/common_hardware.c
index bb3bef5b419..197dfb193c2 100755
--- a/src/main/target/common_hardware.c
+++ b/src/main/target/common_hardware.c
@@ -30,12 +30,18 @@
     #endif
 
     #if defined(USE_IMU_MPU6000)
-        BUSDEV_REGISTER_SPI(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     NONE,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+        #if !defined(MPU6000_EXTI_PIN)
+            #define MPU6000_EXTI_PIN NONE
+        #endif
+        BUSDEV_REGISTER_SPI(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
     #endif
 
     #if defined(USE_IMU_MPU6500)
         #if defined(MPU6500_SPI_BUS)
-        BUSDEV_REGISTER_SPI(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     NONE,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+        #if !defined(MPU6500_EXTI_PIN)
+            #define MPU6500_EXTI_PIN NONE
+        #endif
+        BUSDEV_REGISTER_SPI(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     MPU6500_EXTI_PIN,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
         #elif defined(MPU6500_I2C_BUS)
         BUSDEV_REGISTER_I2C(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_I2C_BUS,    MPU_ADDRESS,        NONE,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
         #endif
@@ -43,14 +49,20 @@
 
     #if defined(USE_IMU_MPU9250)
         #if defined(MPU9250_SPI_BUS)
-        BUSDEV_REGISTER_SPI(busdev_mpu9250,     DEVHW_MPU9250,      MPU9250_SPI_BUS,    MPU9250_CS_PIN,     NONE,  DEVFLAGS_NONE,  IMU_MPU9250_ALIGN);
+        #if !defined(MPU9250_EXTI_PIN)
+            #define MPU9250_EXTI_PIN NONE
+        #endif
+        BUSDEV_REGISTER_SPI(busdev_mpu9250,     DEVHW_MPU9250,      MPU9250_SPI_BUS,    MPU9250_CS_PIN,     MPU9250_EXTI_PIN,  DEVFLAGS_NONE,  IMU_MPU9250_ALIGN);
         #elif defined(MPU9250_I2C_BUS)
         BUSDEV_REGISTER_I2C(busdev_mpu9250,     DEVHW_MPU9250,      MPU9250_I2C_BUS,    MPU_ADDRESS,        NONE,  DEVFLAGS_NONE,  IMU_MPU9250_ALIGN);
         #endif
     #endif
 
     #if defined(USE_IMU_ICM20689)
-        BUSDEV_REGISTER_SPI(busdev_icm20689,    DEVHW_ICM20689,     ICM20689_SPI_BUS,   ICM20689_CS_PIN,    NONE,  DEVFLAGS_NONE,  IMU_ICM20689_ALIGN);
+        #if !defined(ICM20689_EXTI_PIN)
+            #define ICM20689_EXTI_PIN NONE
+        #endif
+        BUSDEV_REGISTER_SPI(busdev_icm20689,    DEVHW_ICM20689,     ICM20689_SPI_BUS,   ICM20689_CS_PIN,    ICM20689_EXTI_PIN,  DEVFLAGS_NONE,  IMU_ICM20689_ALIGN);
     #endif
 
     #if defined(USE_IMU_ICM42605)
@@ -78,15 +90,24 @@
     #endif
 
     #if defined(USE_IMU_BMI270)
-        BUSDEV_REGISTER_SPI(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      NONE,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+        #if !defined(BMI270_EXTI_PIN)
+            #define BMI270_EXTI_PIN NONE
+        #endif
+        BUSDEV_REGISTER_SPI(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
     #endif
 
     #if defined(USE_IMU_LSM6DXX)
-        BUSDEV_REGISTER_SPI(busdev_lsm6dxx,      DEVHW_LSM6D,       LSM6DXX_SPI_BUS,     LSM6DXX_CS_PIN,      NONE,  DEVFLAGS_NONE,  IMU_LSM6DXX_ALIGN);
+        #if !defined(LSM6DXX_EXTI_PIN)
+            #define LSM6DXX_EXTI_PIN NONE
+        #endif
+        BUSDEV_REGISTER_SPI(busdev_lsm6dxx,      DEVHW_LSM6D,       LSM6DXX_SPI_BUS,     LSM6DXX_CS_PIN,      LSM6DXX_EXTI_PIN,  DEVFLAGS_NONE,  IMU_LSM6DXX_ALIGN);
     #endif
 
     #if defined(USE_IMU_ICM45686)
-        BUSDEV_REGISTER_SPI(busdev_icm45686,    DEVHW_ICM45686,     ICM45686_SPI_BUS,   ICM45686_CS_PIN,    NONE,  DEVFLAGS_NONE,  IMU_ICM45686_ALIGN);
+        #if !defined(ICM45686_EXTI_PIN)
+            #define ICM45686_EXTI_PIN NONE
+        #endif
+        BUSDEV_REGISTER_SPI(busdev_icm45686,    DEVHW_ICM45686,     ICM45686_SPI_BUS,   ICM45686_CS_PIN,    ICM45686_EXTI_PIN,  DEVFLAGS_NONE,  IMU_ICM45686_ALIGN);
     #endif
 
 #endif