diff --git a/src/main/drivers/accgyro_spi_mpu6000.c b/src/main/drivers/accgyro_spi_mpu6000.c
index b239cdc94..1ea48851b 100644
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@@ -126,8 +126,6 @@ void mpu6000SpiGyroInit(uint8_t lpf)
 
     mpu6000AccAndGyroInit();
 
-    mpuIntExtiInit();
-
     spiResetErrorCounter(MPU6000_SPI_INSTANCE);
 
     spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
@@ -139,8 +137,7 @@ void mpu6000SpiGyroInit(uint8_t lpf)
     int16_t data[3];
     mpuGyroRead(data);
 
-    if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
-        spiResetErrorCounter(MPU6000_SPI_INSTANCE);
+    if (((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) {
         failureMode(FAILURE_GYRO_INIT_FAILED);
     }
 }
diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
index af5fda360..1745eaf41 100644
--- a/src/main/drivers/bus_spi.c
+++ b/src/main/drivers/bus_spi.c
@@ -26,21 +26,13 @@
 
 #include "bus_spi.h"
 
-static volatile uint16_t spi1ErrorCount = 0;
-static volatile uint16_t spi2ErrorCount = 0;
-#ifdef STM32F303xC
-static volatile uint16_t spi3ErrorCount = 0;
-#endif
-
 #ifdef USE_SPI_DEVICE_1
 
 #ifndef SPI1_GPIO
-#define SPI1_NSS_GPIO           GPIOA
-#define SPI1_NSS_PERIPHERAL     RCC_AHBPeriph_GPIOA
-#define SPI1_NSS_PIN            GPIO_Pin_4
-#define SPI1_NSS_PIN_SOURCE     GPIO_PinSource4
 #define SPI1_GPIO               GPIOA
 #define SPI1_GPIO_PERIPHERAL    RCC_AHBPeriph_GPIOA
+#define SPI1_NSS_PIN            GPIO_Pin_4
+#define SPI1_NSS_PIN_SOURCE     GPIO_PinSource4
 #define SPI1_SCK_PIN            GPIO_Pin_5
 #define SPI1_SCK_PIN_SOURCE     GPIO_PinSource5
 #define SPI1_MISO_PIN           GPIO_Pin_6
@@ -73,10 +65,7 @@ void initSpi1(void)
     GPIO_PinAFConfig(SPI1_GPIO, SPI1_SCK_PIN_SOURCE, GPIO_AF_5);
     GPIO_PinAFConfig(SPI1_GPIO, SPI1_MISO_PIN_SOURCE, GPIO_AF_5);
     GPIO_PinAFConfig(SPI1_GPIO, SPI1_MOSI_PIN_SOURCE, GPIO_AF_5);
-
 #ifdef SPI1_NSS_PIN_SOURCE
-    RCC_AHBPeriphClockCmd(SPI1_NSS_PERIPHERAL, ENABLE);
-
     GPIO_PinAFConfig(SPI1_GPIO, SPI1_NSS_PIN_SOURCE, GPIO_AF_5);
 #endif
     // Init pins
@@ -94,7 +83,7 @@ void initSpi1(void)
     GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
     GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
 
-    GPIO_Init(SPI1_NSS_GPIO, &GPIO_InitStructure);
+    GPIO_Init(SPI1_GPIO, &GPIO_InitStructure);
 #endif
 
 #endif
@@ -105,20 +94,20 @@ void initSpi1(void)
     gpio.mode = Mode_AF_PP;
     gpio.pin = SPI1_MOSI_PIN | SPI1_SCK_PIN;
     gpio.speed = Speed_50MHz;
-    gpioInit(SPI1_GPIO, &gpio);
+    gpioInit(GPIOA, &gpio);
     // MISO as input
     gpio.pin = SPI1_MISO_PIN;
     gpio.mode = Mode_IN_FLOATING;
-    gpioInit(SPI1_GPIO, &gpio);
+    gpioInit(GPIOA, &gpio);
 #ifdef SPI1_NSS_PIN
     // NSS as gpio slave select
     gpio.pin = SPI1_NSS_PIN;
     gpio.mode = Mode_Out_PP;
-    gpioInit(SPI1_NSS_GPIO, &gpio);
+    gpioInit(GPIOA, &gpio);
 #endif
 #endif
 
-    // Init SPI1 hardware
+    // Init SPI hardware
     SPI_I2S_DeInit(SPI1);
 
     spi.SPI_Mode = SPI_Mode_Master;
@@ -138,23 +127,16 @@ void initSpi1(void)
 
     SPI_Init(SPI1, &spi);
     SPI_Cmd(SPI1, ENABLE);
-
-#ifdef SPI1_NSS_PIN
-    // Drive NSS high to disable connected SPI device.
-    GPIO_SetBits(SPI1_NSS_GPIO, SPI1_NSS_PIN);
-#endif
 }
 #endif
 
 #ifdef USE_SPI_DEVICE_2
 
 #ifndef SPI2_GPIO
-#define SPI2_NSS_GPIO           GPIOB
-#define SPI2_NSS_PERIPHERAL     RCC_AHBPeriph_GPIOB
-#define SPI2_NSS_PIN            GPIO_Pin_12
-#define SPI2_NSS_PIN_SOURCE     GPIO_PinSource12
 #define SPI2_GPIO               GPIOB
 #define SPI2_GPIO_PERIPHERAL    RCC_AHBPeriph_GPIOB
+#define SPI2_NSS_PIN            GPIO_Pin_12
+#define SPI2_NSS_PIN_SOURCE     GPIO_PinSource12
 #define SPI2_SCK_PIN            GPIO_Pin_13
 #define SPI2_SCK_PIN_SOURCE     GPIO_PinSource13
 #define SPI2_MISO_PIN           GPIO_Pin_14
@@ -187,10 +169,7 @@ void initSpi2(void)
     GPIO_PinAFConfig(SPI2_GPIO, SPI2_SCK_PIN_SOURCE, GPIO_AF_5);
     GPIO_PinAFConfig(SPI2_GPIO, SPI2_MISO_PIN_SOURCE, GPIO_AF_5);
     GPIO_PinAFConfig(SPI2_GPIO, SPI2_MOSI_PIN_SOURCE, GPIO_AF_5);
-
 #ifdef SPI2_NSS_PIN_SOURCE
-    RCC_AHBPeriphClockCmd(SPI2_NSS_PERIPHERAL, ENABLE);
-
     GPIO_PinAFConfig(SPI2_GPIO, SPI2_NSS_PIN_SOURCE, GPIO_AF_5);
 #endif
 
@@ -208,13 +187,14 @@ void initSpi2(void)
     GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
     GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
 
-    GPIO_Init(SPI2_NSS_GPIO, &GPIO_InitStructure);
+    GPIO_Init(SPI2_GPIO, &GPIO_InitStructure);
 #endif
 
 #endif
 
 #ifdef STM32F10X
     gpio_config_t gpio;
+
     // MOSI + SCK as output
     gpio.mode = Mode_AF_PP;
     gpio.pin = SPI2_SCK_PIN | SPI2_MOSI_PIN;
@@ -224,135 +204,45 @@ void initSpi2(void)
     gpio.pin = SPI2_MISO_PIN;
     gpio.mode = Mode_IN_FLOATING;
     gpioInit(SPI2_GPIO, &gpio);
+
 #ifdef SPI2_NSS_PIN
     // NSS as gpio slave select
     gpio.pin = SPI2_NSS_PIN;
     gpio.mode = Mode_Out_PP;
-    gpioInit(SPI2_NSS_GPIO, &gpio);
+    gpioInit(SPI2_GPIO, &gpio);
 #endif
 #endif
 
     // Init SPI2 hardware
     SPI_I2S_DeInit(SPI2);
 
-    spi.SPI_Mode = SPI_Mode_Master;
     spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+    spi.SPI_Mode = SPI_Mode_Master;
     spi.SPI_DataSize = SPI_DataSize_8b;
-    spi.SPI_NSS = SPI_NSS_Soft;
-    spi.SPI_FirstBit = SPI_FirstBit_MSB;
-    spi.SPI_CRCPolynomial = 7;
     spi.SPI_CPOL = SPI_CPOL_High;
     spi.SPI_CPHA = SPI_CPHA_2Edge;
+    spi.SPI_NSS = SPI_NSS_Soft;
     spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
+    spi.SPI_FirstBit = SPI_FirstBit_MSB;
+    spi.SPI_CRCPolynomial = 7;
 
 #ifdef STM32F303xC
     // Configure for 8-bit reads.
     SPI_RxFIFOThresholdConfig(SPI2, SPI_RxFIFOThreshold_QF);
 #endif
-
     SPI_Init(SPI2, &spi);
     SPI_Cmd(SPI2, ENABLE);
 
-#ifdef SPI2_NSS_PIN
     // Drive NSS high to disable connected SPI device.
-    GPIO_SetBits(SPI2_NSS_GPIO, SPI2_NSS_PIN);
-#endif
-}
-#endif
+    GPIO_SetBits(SPI2_GPIO, SPI2_NSS_PIN);
 
-#if defined(USE_SPI_DEVICE_3) && defined(STM32F303xC)
 
-#ifndef SPI3_GPIO
-#define SPI3_NSS_GPIO           GPIOA
-#define SPI3_NSS_PERIPHERAL     RCC_AHBPeriph_GPIOA
-#define SPI3_NSS_PIN            GPIO_Pin_15
-#define SPI3_NSS_PIN_SOURCE     GPIO_PinSource15
-#define SPI3_GPIO               GPIOB
-#define SPI3_GPIO_PERIPHERAL    RCC_AHBPeriph_GPIOB
-#define SPI3_SCK_PIN            GPIO_Pin_3
-#define SPI3_SCK_PIN_SOURCE     GPIO_PinSource3
-#define SPI3_MISO_PIN           GPIO_Pin_4
-#define SPI3_MISO_PIN_SOURCE    GPIO_PinSource4
-#define SPI3_MOSI_PIN           GPIO_Pin_5
-#define SPI3_MOSI_PIN_SOURCE    GPIO_PinSource5
-#endif
-
-void initSpi3(void)
-{
-    // Specific to the STM32F303 (AF6)
-    // SPI3 Driver
-    // PA15   38    SPI3_NSS
-    // PB3    39    SPI3_SCK
-    // PB4    40    SPI3_MISO
-    // PB5    41    SPI3_MOSI
-
-    SPI_InitTypeDef spi;
-
-    // Enable SPI3 clock
-    RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE);
-    RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);
-
-    GPIO_InitTypeDef GPIO_InitStructure;
-
-    RCC_AHBPeriphClockCmd(SPI3_GPIO_PERIPHERAL, ENABLE);
-
-    GPIO_PinAFConfig(SPI3_GPIO, SPI3_SCK_PIN_SOURCE, GPIO_AF_6);
-    GPIO_PinAFConfig(SPI3_GPIO, SPI3_MISO_PIN_SOURCE, GPIO_AF_6);
-    GPIO_PinAFConfig(SPI3_GPIO, SPI3_MOSI_PIN_SOURCE, GPIO_AF_6);
-
-#ifdef SPI2_NSS_PIN_SOURCE
-    RCC_AHBPeriphClockCmd(SPI3_NSS_PERIPHERAL, ENABLE);
-
-    GPIO_PinAFConfig(SPI3_NSS_GPIO, SPI3_NSS_PIN_SOURCE, GPIO_AF_6);
-#endif
-
-    // Init pins
-    GPIO_InitStructure.GPIO_Pin = SPI3_SCK_PIN | SPI3_MISO_PIN | SPI3_MOSI_PIN;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
-    GPIO_Init(SPI3_GPIO, &GPIO_InitStructure);
-
-#ifdef SPI3_NSS_PIN
-    GPIO_InitStructure.GPIO_Pin = SPI3_NSS_PIN;
-    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
-    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
-    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
-
-    GPIO_Init(SPI3_NSS_GPIO, &GPIO_InitStructure);
-#endif
-
-    // Init SPI hardware
-    SPI_I2S_DeInit(SPI3);
-
-    spi.SPI_Mode = SPI_Mode_Master;
-    spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
-    spi.SPI_DataSize = SPI_DataSize_8b;
-    spi.SPI_NSS = SPI_NSS_Soft;
-    spi.SPI_FirstBit = SPI_FirstBit_MSB;
-    spi.SPI_CRCPolynomial = 7;
-    spi.SPI_CPOL = SPI_CPOL_High;
-    spi.SPI_CPHA = SPI_CPHA_2Edge;
-    spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
-
-    // Configure for 8-bit reads.
-    SPI_RxFIFOThresholdConfig(SPI3, SPI_RxFIFOThreshold_QF);
-
-    SPI_Init(SPI3, &spi);
-    SPI_Cmd(SPI3, ENABLE);
-
-#ifdef SPI3_NSS_PIN
-    // Drive NSS high to disable connected SPI device.
-    GPIO_SetBits(SPI3_NSS_GPIO, SPI3_NSS_PIN);
-#endif
 }
 #endif
 
 bool spiInit(SPI_TypeDef *instance)
 {
-#if (!(defined(USE_SPI_DEVICE_1) && defined(USE_SPI_DEVICE_2) && defined(USE_SPI_DEVICE_3)))
+#if (!(defined(USE_SPI_DEVICE_1) && defined(USE_SPI_DEVICE_2)))
     UNUSED(instance);
 #endif
 
@@ -367,41 +257,14 @@ bool spiInit(SPI_TypeDef *instance)
         initSpi2();
         return true;
     }
-#endif
-#if defined(USE_SPI_DEVICE_3) && defined(STM32F303xC)
-    if (instance == SPI3) {
-        initSpi3();
-        return true;
-    }
 #endif
     return false;
 }
 
-uint32_t spiTimeoutUserCallback(SPI_TypeDef *instance)
-{
-    if (instance == SPI1) {
-        spi1ErrorCount++;
-        return spi1ErrorCount;
-    } else if (instance == SPI2) {
-        spi2ErrorCount++;
-        return spi2ErrorCount;
-#ifdef STM32F303xC
-    } else if (instance == SPI3) {
-        spi3ErrorCount++;
-        return spi3ErrorCount;
-#endif
-    }
-    return -1;
-}
-
-// return uint8_t value or -1 when failure
 uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
 {
-    uint16_t spiTimeout = 1000;
-
-    while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET)
-        if ((spiTimeout--) == 0)
-            return spiTimeoutUserCallback(instance);
+    while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET) {
+    }
 
 #ifdef STM32F303xC
     SPI_SendData8(instance, data);
@@ -409,10 +272,8 @@ uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
 #ifdef STM32F10X
     SPI_I2S_SendData(instance, data);
 #endif
-    spiTimeout = 1000;
-    while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET)
-        if ((spiTimeout--) == 0)
-            return spiTimeoutUserCallback(instance);
+    while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET){
+    }
 
 #ifdef STM32F303xC
     return ((uint8_t)SPI_ReceiveData8(instance));
@@ -436,17 +297,13 @@ bool spiIsBusBusy(SPI_TypeDef *instance)
 
 }
 
-bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len)
+void spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len)
 {
-    uint16_t spiTimeout = 1000;
-
     uint8_t b;
     instance->DR;
     while (len--) {
         b = in ? *(in++) : 0xFF;
         while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET) {
-            if ((spiTimeout--) == 0)
-                return spiTimeoutUserCallback(instance);
         }
 #ifdef STM32F303xC
         SPI_SendData8(instance, b);
@@ -456,8 +313,6 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
         SPI_I2S_SendData(instance, b);
 #endif
         while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET) {
-            if ((spiTimeout--) == 0)
-                return spiTimeoutUserCallback(instance);
         }
 #ifdef STM32F303xC
         b = SPI_ReceiveData8(instance);
@@ -469,8 +324,6 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
         if (out)
             *(out++) = b;
     }
-
-    return true;
 }
 
 
@@ -530,31 +383,3 @@ void spiSetDivisor(SPI_TypeDef *instance, uint16_t divisor)
 
     SPI_Cmd(instance, ENABLE);
 }
-
-uint16_t spiGetErrorCounter(SPI_TypeDef *instance)
-{
-    if (instance == SPI1) {
-        return spi1ErrorCount;
-    } else if (instance == SPI2) {
-        return spi2ErrorCount;
-#ifdef STM32F303xC
-    } else if (instance == SPI3) {
-        return spi3ErrorCount;
-#endif
-    }
-    return 0;
-}
-
-void spiResetErrorCounter(SPI_TypeDef *instance)
-{
-    if (instance == SPI1) {
-        spi1ErrorCount = 0;
-    } else if (instance == SPI2) {
-        spi2ErrorCount = 0;
-#ifdef STM32F303xC
-    } else if (instance == SPI3) {
-        spi3ErrorCount = 0;
-#endif
-    }
-}
-
diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index a171facd5..1dcead625 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -26,7 +26,4 @@ void spiSetDivisor(SPI_TypeDef *instance, uint16_t divisor);
 uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t in);
 bool spiIsBusBusy(SPI_TypeDef *instance);
 
-bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len);
-
-uint16_t spiGetErrorCounter(SPI_TypeDef *instance);
-void spiResetErrorCounter(SPI_TypeDef *instance);
+void spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len);