diff --git a/boards/airmind/mindpx-v2/src/can.c b/boards/airmind/mindpx-v2/src/can.c
index 9d07cf7a35..b826cf001e 100644
--- a/boards/airmind/mindpx-v2/src/can.c
+++ b/boards/airmind/mindpx-v2/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/airmind/mindpx-v2/src/usb.c b/boards/airmind/mindpx-v2/src/usb.c
index 1f942b04af..93a008cf0f 100644
--- a/boards/airmind/mindpx-v2/src/usb.c
+++ b/boards/airmind/mindpx-v2/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/ark/can-flow/src/can.c b/boards/ark/can-flow/src/can.c
index acc20252fa..7737965dc6 100644
--- a/boards/ark/can-flow/src/can.c
+++ b/boards/ark/can-flow/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/ark/can-gps/src/can.c b/boards/ark/can-gps/src/can.c
index acc20252fa..7737965dc6 100644
--- a/boards/ark/can-gps/src/can.c
+++ b/boards/ark/can-gps/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/ark/can-rtk-gps/src/can.c b/boards/ark/can-rtk-gps/src/can.c
index acc20252fa..7737965dc6 100644
--- a/boards/ark/can-rtk-gps/src/can.c
+++ b/boards/ark/can-rtk-gps/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/atl/mantis-edu/src/pwr.cpp b/boards/atl/mantis-edu/src/pwr.cpp
index e645d00529..d732370cb6 100644
--- a/boards/atl/mantis-edu/src/pwr.cpp
+++ b/boards/atl/mantis-edu/src/pwr.cpp
@@ -55,7 +55,7 @@
 #include <uORB/uORB.h>
 #include <uORB/Publication.hpp>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include "board_config.h"
 #include <stm32_pwr.h>
 
diff --git a/boards/bitcraze/crazyflie/src/spi.cpp b/boards/bitcraze/crazyflie/src/spi.cpp
index e9beabbdb3..bd5f6db353 100644
--- a/boards/bitcraze/crazyflie/src/spi.cpp
+++ b/boards/bitcraze/crazyflie/src/spi.cpp
@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"
diff --git a/boards/bitcraze/crazyflie/src/usb.c b/boards/bitcraze/crazyflie/src/usb.c
index af187d8df6..29bae3dcf9 100644
--- a/boards/bitcraze/crazyflie/src/usb.c
+++ b/boards/bitcraze/crazyflie/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/bitcraze/crazyflie21/src/spi.cpp b/boards/bitcraze/crazyflie21/src/spi.cpp
index e9beabbdb3..bd5f6db353 100644
--- a/boards/bitcraze/crazyflie21/src/spi.cpp
+++ b/boards/bitcraze/crazyflie21/src/spi.cpp
@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"
diff --git a/boards/bitcraze/crazyflie21/src/usb.c b/boards/bitcraze/crazyflie21/src/usb.c
index af187d8df6..29bae3dcf9 100644
--- a/boards/bitcraze/crazyflie21/src/usb.c
+++ b/boards/bitcraze/crazyflie21/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/cuav/can-gps-v1/src/can.c b/boards/cuav/can-gps-v1/src/can.c
index 5a32d62832..89b8ba2281 100644
--- a/boards/cuav/can-gps-v1/src/can.c
+++ b/boards/cuav/can-gps-v1/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/freefly/can-rtk-gps/src/can.c b/boards/freefly/can-rtk-gps/src/can.c
index 9e9d09c4f9..4fd810d041 100644
--- a/boards/freefly/can-rtk-gps/src/can.c
+++ b/boards/freefly/can-rtk-gps/src/can.c
@@ -48,7 +48,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/freefly/can-rtk-gps/src/usb.c b/boards/freefly/can-rtk-gps/src/usb.c
index 587516cb8d..553bd8f0f7 100644
--- a/boards/freefly/can-rtk-gps/src/usb.c
+++ b/boards/freefly/can-rtk-gps/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/holybro/can-gps-v1/src/can.c b/boards/holybro/can-gps-v1/src/can.c
index 5a32d62832..89b8ba2281 100644
--- a/boards/holybro/can-gps-v1/src/can.c
+++ b/boards/holybro/can-gps-v1/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/holybro/can-gps-v1/src/usb.c b/boards/holybro/can-gps-v1/src/usb.c
index 7705c0d907..ac46c4a4fe 100644
--- a/boards/holybro/can-gps-v1/src/usb.c
+++ b/boards/holybro/can-gps-v1/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/holybro/durandal-v1/src/can.c b/boards/holybro/durandal-v1/src/can.c
index 3834074f37..c71b2e8793 100644
--- a/boards/holybro/durandal-v1/src/can.c
+++ b/boards/holybro/durandal-v1/src/can.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/holybro/durandal-v1/src/usb.c b/boards/holybro/durandal-v1/src/usb.c
index 9d5915c0e6..6d42476b71 100644
--- a/boards/holybro/durandal-v1/src/usb.c
+++ b/boards/holybro/durandal-v1/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/holybro/kakutef7/src/usb.c b/boards/holybro/kakutef7/src/usb.c
index 0ea22da849..4ac9829971 100644
--- a/boards/holybro/kakutef7/src/usb.c
+++ b/boards/holybro/kakutef7/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/holybro/kakuteh7/src/usb.c b/boards/holybro/kakuteh7/src/usb.c
index 9d5915c0e6..6d42476b71 100644
--- a/boards/holybro/kakuteh7/src/usb.c
+++ b/boards/holybro/kakuteh7/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/holybro/pix32v5/src/can.c b/boards/holybro/pix32v5/src/can.c
index d25a500cd4..fb3ecceb2d 100644
--- a/boards/holybro/pix32v5/src/can.c
+++ b/boards/holybro/pix32v5/src/can.c
@@ -69,7 +69,7 @@ uint16_t board_get_can_interfaces(void)
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/holybro/pix32v5/src/usb.c b/boards/holybro/pix32v5/src/usb.c
index ef279653d9..0e28676586 100644
--- a/boards/holybro/pix32v5/src/usb.c
+++ b/boards/holybro/pix32v5/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/matek/gnss-m9n-f4/src/can.c b/boards/matek/gnss-m9n-f4/src/can.c
index acc20252fa..7737965dc6 100755
--- a/boards/matek/gnss-m9n-f4/src/can.c
+++ b/boards/matek/gnss-m9n-f4/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/matek/gnss-m9n-f4/src/usb.c b/boards/matek/gnss-m9n-f4/src/usb.c
index d90fa31c30..6ecbb60321 100755
--- a/boards/matek/gnss-m9n-f4/src/usb.c
+++ b/boards/matek/gnss-m9n-f4/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/modalai/fc-v1/src/can.c b/boards/modalai/fc-v1/src/can.c
index 471eac6274..1523056e8f 100644
--- a/boards/modalai/fc-v1/src/can.c
+++ b/boards/modalai/fc-v1/src/can.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/modalai/fc-v1/src/usb.c b/boards/modalai/fc-v1/src/usb.c
index 8fbe73df91..28965c442d 100644
--- a/boards/modalai/fc-v1/src/usb.c
+++ b/boards/modalai/fc-v1/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/modalai/fc-v2/src/can.c b/boards/modalai/fc-v2/src/can.c
index fb8f730d4b..f65a1952ad 100644
--- a/boards/modalai/fc-v2/src/can.c
+++ b/boards/modalai/fc-v2/src/can.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/modalai/fc-v2/src/usb.c b/boards/modalai/fc-v2/src/usb.c
index 9d5915c0e6..6d42476b71 100644
--- a/boards/modalai/fc-v2/src/usb.c
+++ b/boards/modalai/fc-v2/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/mro/ctrl-zero-f7-oem/src/usb.c b/boards/mro/ctrl-zero-f7-oem/src/usb.c
index 0ea22da849..4ac9829971 100644
--- a/boards/mro/ctrl-zero-f7-oem/src/usb.c
+++ b/boards/mro/ctrl-zero-f7-oem/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/mro/ctrl-zero-f7/src/usb.c b/boards/mro/ctrl-zero-f7/src/usb.c
index 0ea22da849..4ac9829971 100644
--- a/boards/mro/ctrl-zero-f7/src/usb.c
+++ b/boards/mro/ctrl-zero-f7/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/mro/ctrl-zero-h7-oem/src/usb.c b/boards/mro/ctrl-zero-h7-oem/src/usb.c
index e60a93bb59..fe32ce71ac 100644
--- a/boards/mro/ctrl-zero-h7-oem/src/usb.c
+++ b/boards/mro/ctrl-zero-h7-oem/src/usb.c
@@ -47,7 +47,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/mro/ctrl-zero-h7/src/usb.c b/boards/mro/ctrl-zero-h7/src/usb.c
index e60a93bb59..fe32ce71ac 100644
--- a/boards/mro/ctrl-zero-h7/src/usb.c
+++ b/boards/mro/ctrl-zero-h7/src/usb.c
@@ -47,7 +47,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/mro/x21-777/src/usb.c b/boards/mro/x21-777/src/usb.c
index 0ea22da849..4ac9829971 100644
--- a/boards/mro/x21-777/src/usb.c
+++ b/boards/mro/x21-777/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/mro/x21/src/can.c b/boards/mro/x21/src/can.c
index 5a32d62832..89b8ba2281 100644
--- a/boards/mro/x21/src/can.c
+++ b/boards/mro/x21/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/mro/x21/src/usb.c b/boards/mro/x21/src/usb.c
index 6fbea86a0b..eed786901e 100644
--- a/boards/mro/x21/src/usb.c
+++ b/boards/mro/x21/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 
 #include "board_config.h"
diff --git a/boards/nxp/fmuk66-e/src/can.c b/boards/nxp/fmuk66-e/src/can.c
index 7589439f48..934e3f4fce 100644
--- a/boards/nxp/fmuk66-e/src/can.c
+++ b/boards/nxp/fmuk66-e/src/can.c
@@ -51,7 +51,7 @@
 
 #include <chip.h>
 #include <kinetis.h>
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "board_config.h"
 
diff --git a/boards/nxp/fmuk66-e/src/init.c b/boards/nxp/fmuk66-e/src/init.c
index ecb7f1bd87..affa94492e 100644
--- a/boards/nxp/fmuk66-e/src/init.c
+++ b/boards/nxp/fmuk66-e/src/init.c
@@ -67,7 +67,7 @@
 #include <kinetis_lpuart.h>
 #include "board_config.h"
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include <arch/board/board.h>
 
 #include <drivers/drv_hrt.h>
diff --git a/boards/nxp/fmuk66-e/src/spi.cpp b/boards/nxp/fmuk66-e/src/spi.cpp
index ba6669f8b9..543fb3d372 100644
--- a/boards/nxp/fmuk66-e/src/spi.cpp
+++ b/boards/nxp/fmuk66-e/src/spi.cpp
@@ -47,7 +47,7 @@
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "chip.h"
 #include <kinetis.h>
 #include "board_config.h"
diff --git a/boards/nxp/fmuk66-e/src/usb.c b/boards/nxp/fmuk66-e/src/usb.c
index 3c7098437e..20dd7e78cf 100644
--- a/boards/nxp/fmuk66-e/src/usb.c
+++ b/boards/nxp/fmuk66-e/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <kinetis.h>
 #include <kinetis_usbotg.h>
 #include "board_config.h"
diff --git a/boards/nxp/fmuk66-v3/src/init.c b/boards/nxp/fmuk66-v3/src/init.c
index 6d0c2f91fa..57e8633459 100644
--- a/boards/nxp/fmuk66-v3/src/init.c
+++ b/boards/nxp/fmuk66-v3/src/init.c
@@ -67,7 +67,7 @@
 #include <kinetis_lpuart.h>
 #include "board_config.h"
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include <arch/board/board.h>
 
 #include <drivers/drv_hrt.h>
diff --git a/boards/nxp/fmuk66-v3/src/spi.cpp b/boards/nxp/fmuk66-v3/src/spi.cpp
index 65a562f32b..14490e2a26 100644
--- a/boards/nxp/fmuk66-v3/src/spi.cpp
+++ b/boards/nxp/fmuk66-v3/src/spi.cpp
@@ -47,7 +47,7 @@
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "chip.h"
 #include <kinetis.h>
 #include "board_config.h"
diff --git a/boards/nxp/fmuk66-v3/src/usb.c b/boards/nxp/fmuk66-v3/src/usb.c
index 3c7098437e..20dd7e78cf 100644
--- a/boards/nxp/fmuk66-v3/src/usb.c
+++ b/boards/nxp/fmuk66-v3/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <kinetis.h>
 #include <kinetis_usbotg.h>
 #include "board_config.h"
diff --git a/boards/nxp/fmurt1062-v1/src/can.c b/boards/nxp/fmurt1062-v1/src/can.c
index eb5c40d188..f5d9a2280b 100644
--- a/boards/nxp/fmurt1062-v1/src/can.c
+++ b/boards/nxp/fmurt1062-v1/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include <chip.h>
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "board_config.h"
 
diff --git a/boards/nxp/fmurt1062-v1/src/init.c b/boards/nxp/fmurt1062-v1/src/init.c
index 9f2bb13b98..1b6feae537 100644
--- a/boards/nxp/fmurt1062-v1/src/init.c
+++ b/boards/nxp/fmurt1062-v1/src/init.c
@@ -63,7 +63,7 @@
 #include <nuttx/analog/adc.h>
 #include <nuttx/mm/gran.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "arm_internal.h"
 #include "imxrt_flexspi_nor_boot.h"
 #include "imxrt_iomuxc.h"
diff --git a/boards/nxp/fmurt1062-v1/src/spi.cpp b/boards/nxp/fmurt1062-v1/src/spi.cpp
index 5e9fa6131f..04274128f0 100644
--- a/boards/nxp/fmurt1062-v1/src/spi.cpp
+++ b/boards/nxp/fmurt1062-v1/src/spi.cpp
@@ -53,7 +53,7 @@
 #include <systemlib/px4_macros.h>
 #include <px4_platform/gpio.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include "imxrt_lpspi.h"
 #include "imxrt_gpio.h"
diff --git a/boards/nxp/fmurt1062-v1/src/usb.c b/boards/nxp/fmurt1062-v1/src/usb.c
index 24fe740fed..0d3c71348d 100644
--- a/boards/nxp/fmurt1062-v1/src/usb.c
+++ b/boards/nxp/fmurt1062-v1/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <hardware/imxrt_usb_analog.h>
 #include "board_config.h"
diff --git a/boards/nxp/ucans32k146/src/autoleds.c b/boards/nxp/ucans32k146/src/autoleds.c
index c4b67f8ca9..a762b71d28 100644
--- a/boards/nxp/ucans32k146/src/autoleds.c
+++ b/boards/nxp/ucans32k146/src/autoleds.c
@@ -72,7 +72,7 @@
 #include <nuttx/board.h>
 #include <arch/board/board.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "arm_internal.h"
 
 #include "s32k1xx_pin.h"
diff --git a/boards/nxp/ucans32k146/src/spi.c b/boards/nxp/ucans32k146/src/spi.c
index 9136edb2cc..e6e75202f3 100644
--- a/boards/nxp/ucans32k146/src/spi.c
+++ b/boards/nxp/ucans32k146/src/spi.c
@@ -48,7 +48,7 @@
 #include <nuttx/spi/spi_transfer.h>
 #include <arch/board/board.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "s32k1xx_config.h"
 #include "s32k1xx_lpspi.h"
diff --git a/boards/nxp/ucans32k146/src/spi.cpp b/boards/nxp/ucans32k146/src/spi.cpp
index 1e5708d259..2781daa537 100644
--- a/boards/nxp/ucans32k146/src/spi.cpp
+++ b/boards/nxp/ucans32k146/src/spi.cpp
@@ -47,7 +47,7 @@
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "chip.h"
 #include <systemlib/px4_macros.h>
 
diff --git a/boards/nxp/ucans32k146/src/userleds.c b/boards/nxp/ucans32k146/src/userleds.c
index e9fce1b85a..1361c129da 100644
--- a/boards/nxp/ucans32k146/src/userleds.c
+++ b/boards/nxp/ucans32k146/src/userleds.c
@@ -45,7 +45,7 @@
 
 #include <nuttx/board.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "arm_internal.h"
 
 #include "s32k1xx_pin.h"
diff --git a/boards/omnibus/f4sd/src/usb.c b/boards/omnibus/f4sd/src/usb.c
index f02ec76bb8..09f0cde408 100644
--- a/boards/omnibus/f4sd/src/usb.c
+++ b/boards/omnibus/f4sd/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/px4/fmu-v2/src/can.c b/boards/px4/fmu-v2/src/can.c
index 5eea9bef17..25943d53e1 100644
--- a/boards/px4/fmu-v2/src/can.c
+++ b/boards/px4/fmu-v2/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v2/src/usb.c b/boards/px4/fmu-v2/src/usb.c
index 09920c9dfe..023ec0701e 100644
--- a/boards/px4/fmu-v2/src/usb.c
+++ b/boards/px4/fmu-v2/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/px4/fmu-v3/src/can.c b/boards/px4/fmu-v3/src/can.c
index 5eea9bef17..25943d53e1 100644
--- a/boards/px4/fmu-v3/src/can.c
+++ b/boards/px4/fmu-v3/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v3/src/usb.c b/boards/px4/fmu-v3/src/usb.c
index 09920c9dfe..023ec0701e 100644
--- a/boards/px4/fmu-v3/src/usb.c
+++ b/boards/px4/fmu-v3/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/px4/fmu-v4/src/can.c b/boards/px4/fmu-v4/src/can.c
index 5a32d62832..89b8ba2281 100644
--- a/boards/px4/fmu-v4/src/can.c
+++ b/boards/px4/fmu-v4/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v4/src/usb.c b/boards/px4/fmu-v4/src/usb.c
index 1b148e6eb0..5791d52cb0 100644
--- a/boards/px4/fmu-v4/src/usb.c
+++ b/boards/px4/fmu-v4/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/px4/fmu-v4pro/src/can.c b/boards/px4/fmu-v4pro/src/can.c
index 5eea9bef17..25943d53e1 100644
--- a/boards/px4/fmu-v4pro/src/can.c
+++ b/boards/px4/fmu-v4pro/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v4pro/src/usb.c b/boards/px4/fmu-v4pro/src/usb.c
index 09920c9dfe..023ec0701e 100644
--- a/boards/px4/fmu-v4pro/src/usb.c
+++ b/boards/px4/fmu-v4pro/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/boards/px4/fmu-v5/nuttx-config/uavcanv1/defconfig b/boards/px4/fmu-v5/nuttx-config/uavcanv1/defconfig
index 34b198428f..11370d7af6 100644
--- a/boards/px4/fmu-v5/nuttx-config/uavcanv1/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/uavcanv1/defconfig
@@ -136,6 +136,7 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
diff --git a/boards/px4/fmu-v5/src/can.c b/boards/px4/fmu-v5/src/can.c
index d25a500cd4..fb3ecceb2d 100644
--- a/boards/px4/fmu-v5/src/can.c
+++ b/boards/px4/fmu-v5/src/can.c
@@ -69,7 +69,7 @@ uint16_t board_get_can_interfaces(void)
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v5/src/usb.c b/boards/px4/fmu-v5/src/usb.c
index ef279653d9..0e28676586 100644
--- a/boards/px4/fmu-v5/src/usb.c
+++ b/boards/px4/fmu-v5/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/px4/fmu-v5x/src/can.c b/boards/px4/fmu-v5x/src/can.c
index 1a2775d698..3074b01cfb 100644
--- a/boards/px4/fmu-v5x/src/can.c
+++ b/boards/px4/fmu-v5x/src/can.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v5x/src/usb.c b/boards/px4/fmu-v5x/src/usb.c
index 8fbe73df91..28965c442d 100644
--- a/boards/px4/fmu-v5x/src/usb.c
+++ b/boards/px4/fmu-v5x/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/px4/fmu-v6u/src/can.c b/boards/px4/fmu-v6u/src/can.c
index 3834074f37..c71b2e8793 100644
--- a/boards/px4/fmu-v6u/src/can.c
+++ b/boards/px4/fmu-v6u/src/can.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v6u/src/usb.c b/boards/px4/fmu-v6u/src/usb.c
index 9d5915c0e6..6d42476b71 100644
--- a/boards/px4/fmu-v6u/src/usb.c
+++ b/boards/px4/fmu-v6u/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/px4/fmu-v6x/src/can.c b/boards/px4/fmu-v6x/src/can.c
index 3834074f37..c71b2e8793 100644
--- a/boards/px4/fmu-v6x/src/can.c
+++ b/boards/px4/fmu-v6x/src/can.c
@@ -46,7 +46,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"
diff --git a/boards/px4/fmu-v6x/src/usb.c b/boards/px4/fmu-v6x/src/usb.c
index 9d5915c0e6..6d42476b71 100644
--- a/boards/px4/fmu-v6x/src/usb.c
+++ b/boards/px4/fmu-v6x/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/raspberrypi/pico/src/usb.c b/boards/raspberrypi/pico/src/usb.c
index 393f80960e..bc6306ae6b 100644
--- a/boards/raspberrypi/pico/src/usb.c
+++ b/boards/raspberrypi/pico/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include "board_config.h"
 
 /************************************************************************************
diff --git a/boards/spracing/h7extreme/src/qspi.c b/boards/spracing/h7extreme/src/qspi.c
index 5e8df9e816..262045a622 100644
--- a/boards/spracing/h7extreme/src/qspi.c
+++ b/boards/spracing/h7extreme/src/qspi.c
@@ -59,7 +59,7 @@
 #include <nuttx/spi/qspi.h>
 
 #include "arm_internal.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "barriers.h"
 
 #include "stm32_gpio.h"
diff --git a/boards/spracing/h7extreme/src/usb.c b/boards/spracing/h7extreme/src/usb.c
index 9d5915c0e6..6d42476b71 100644
--- a/boards/spracing/h7extreme/src/usb.c
+++ b/boards/spracing/h7extreme/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
diff --git a/boards/uvify/core/src/can.c b/boards/uvify/core/src/can.c
index 87e4ae6ec1..f35924dd26 100644
--- a/boards/uvify/core/src/can.c
+++ b/boards/uvify/core/src/can.c
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"
diff --git a/boards/uvify/core/src/usb.c b/boards/uvify/core/src/usb.c
index 9c089afb79..32f853b747 100644
--- a/boards/uvify/core/src/usb.c
+++ b/boards/uvify/core/src/usb.c
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 
diff --git a/platforms/nuttx/src/bootloader/stm/stm32_common/systick.c b/platforms/nuttx/src/bootloader/stm/stm32_common/systick.c
index 3bc2d00720..ebc83c400d 100644
--- a/platforms/nuttx/src/bootloader/stm/stm32_common/systick.c
+++ b/platforms/nuttx/src/bootloader/stm/stm32_common/systick.c
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "lib/systick.h"
 #include <nvic.h>
 
diff --git a/platforms/nuttx/src/px4/nxp/imxrt/board_critmon/board_critmon.c b/platforms/nuttx/src/px4/nxp/imxrt/board_critmon/board_critmon.c
index a11632c3a6..723f21505f 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/board_critmon/board_critmon.c
+++ b/platforms/nuttx/src/px4/nxp/imxrt/board_critmon/board_critmon.c
@@ -42,7 +42,7 @@
 #include <fixedmath.h>
 
 #include "dwt.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include <nuttx/clock.h>
 
diff --git a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
index b067e1c242..b60d57a4d4 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
+++ b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
@@ -40,7 +40,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <errno.h>
 #include <nuttx/board.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <hardware/imxrt_snvs.h>
 
 #define PX4_IMXRT_RTC_REBOOT_REG 3 // Must be common with bootloader and:
diff --git a/platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c b/platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c
index 522c7400b7..36345e5bb4 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c
+++ b/platforms/nuttx/src/px4/nxp/imxrt/version/board_identity.c
@@ -41,7 +41,7 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <string.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <hardware/imxrt_ocotp.h>
 
 #define CPU_UUID_BYTE_FORMAT_ORDER          {3, 2, 1, 0, 7, 6, 5, 4}
diff --git a/platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c b/platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c
index a9e4a07609..d28253894e 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c
+++ b/platforms/nuttx/src/px4/nxp/imxrt/version/board_mcu_version.c
@@ -42,7 +42,7 @@
 
 #include <chip.h>
 #include <hardware/imxrt_usb_analog.h>
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #define DIGPROG_MINOR_SHIFT           0
 #define DIGPROG_MINOR_MASK            (0xff << DIGPROG_MINOR_SHIFT)
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/version/board_mcu_version.c b/platforms/nuttx/src/px4/nxp/kinetis/version/board_mcu_version.c
index 8b0d174bc1..e92cb1dcda 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/version/board_mcu_version.c
+++ b/platforms/nuttx/src/px4/nxp/kinetis/version/board_mcu_version.c
@@ -40,7 +40,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "hardware/kinetis_sim.h"
 
 #define CHIP_TAG     "Kinetis K??"
diff --git a/platforms/nuttx/src/px4/nxp/s32k1xx/version/board_mcu_version.c b/platforms/nuttx/src/px4/nxp/s32k1xx/version/board_mcu_version.c
index 93ebd40505..61e8819303 100644
--- a/platforms/nuttx/src/px4/nxp/s32k1xx/version/board_mcu_version.c
+++ b/platforms/nuttx/src/px4/nxp/s32k1xx/version/board_mcu_version.c
@@ -41,7 +41,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
 
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "hardware/s32k1xx_sim.h"
 
 #define CHIP_TAG     "S32KXXX"
diff --git a/platforms/nuttx/src/px4/rpi/rpi_common/spi/spi.cpp b/platforms/nuttx/src/px4/rpi/rpi_common/spi/spi.cpp
index 350b914342..9b05e6542a 100644
--- a/platforms/nuttx/src/px4/rpi/rpi_common/spi/spi.cpp
+++ b/platforms/nuttx/src/px4/rpi/rpi_common/spi/spi.cpp
@@ -43,7 +43,7 @@
 
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 
 static const px4_spi_bus_t *_spi_bus0;
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/board_critmon/board_critmon.c b/platforms/nuttx/src/px4/stm/stm32_common/board_critmon/board_critmon.c
index 7b05384ab7..480bfc0250 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/board_critmon/board_critmon.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/board_critmon/board_critmon.c
@@ -42,7 +42,7 @@
 #include <fixedmath.h>
 
 #include "dwt.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include <nuttx/clock.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/spi/spi.cpp b/platforms/nuttx/src/px4/stm/stm32_common/spi/spi.cpp
index a4e12318b6..989a543893 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/spi/spi.cpp
+++ b/platforms/nuttx/src/px4/stm/stm32_common/spi/spi.cpp
@@ -42,7 +42,7 @@
 
 #include <nuttx/spi/spi.h>
 #include <arch/board/board.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32f7/watchdog/iwdg.c b/platforms/nuttx/src/px4/stm/stm32f7/watchdog/iwdg.c
index a2c272a385..57fcfd067a 100644
--- a/platforms/nuttx/src/px4/stm/stm32f7/watchdog/iwdg.c
+++ b/platforms/nuttx/src/px4/stm/stm32f7/watchdog/iwdg.c
@@ -34,7 +34,7 @@
 
 #include <nuttx/config.h>
 #include "arm_internal.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "chip.h"
 
 #include "nvic.h"
diff --git a/src/drivers/bootloaders/boot_app_shared.c b/src/drivers/bootloaders/boot_app_shared.c
index a63efa5430..cdee0d4649 100644
--- a/src/drivers/bootloaders/boot_app_shared.c
+++ b/src/drivers/bootloaders/boot_app_shared.c
@@ -43,7 +43,7 @@
 #include <errno.h>
 
 #include <px4_arch/micro_hal.h>
-#include "arm_arch.h"
+#include "arm_internal.h"
 #include "boot_app_shared.h"
 
 #include <lib/systemlib/crc.h>
diff --git a/src/drivers/uavcan/uavcan_drivers/kinetis/driver/src/internal.hpp b/src/drivers/uavcan/uavcan_drivers/kinetis/driver/src/internal.hpp
index 0dc4331a77..a76b5fde5b 100644
--- a/src/drivers/uavcan/uavcan_drivers/kinetis/driver/src/internal.hpp
+++ b/src/drivers/uavcan/uavcan_drivers/kinetis/driver/src/internal.hpp
@@ -9,7 +9,7 @@
 
 #if UAVCAN_KINETIS_NUTTX
 # include <nuttx/arch.h>
-# include "arm_arch.h"
+# include "arm_internal.h"
 # include <arch/board/board.h>
 # include <hardware/kinetis_pit.h>
 # include <hardware/kinetis_sim.h>
diff --git a/src/modules/px4iofirmware/serial.c b/src/modules/px4iofirmware/serial.c
index 55bcfb6633..75cf0a9d3b 100644
--- a/src/modules/px4iofirmware/serial.c
+++ b/src/modules/px4iofirmware/serial.c
@@ -49,7 +49,7 @@
 /* XXX might be able to prune these */
 #include <chip.h>
 #include <arm_internal.h>
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 
 //#define DEBUG