diff --git a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c
index 8d89c6d452..255630a384 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c
+++ b/platforms/nuttx/src/px4/nxp/imxrt/io_pins/imxrt_pinirq.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2020, 2023 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -47,6 +47,8 @@ typedef struct {
 	int hi;
 } lh_t;
 
+
+#if defined(CONFIG_ARCH_FAMILY_IMXRT106x)
 const lh_t port_to_irq[9] = {
 	{_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE}, {_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE},
 	{_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE}, {_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE},
@@ -54,6 +56,41 @@ const lh_t port_to_irq[9] = {
 	{_IMXRT_GPIO7_0_15_BASE, _IMXRT_GPIO7_16_31_BASE}, {_IMXRT_GPIO8_0_15_BASE, _IMXRT_GPIO8_16_31_BASE},
 	{_IMXRT_GPIO9_0_15_BASE, _IMXRT_GPIO9_16_31_BASE},
 };
+#endif
+
+#if defined(CONFIG_ARCH_FAMILY_IMXRT117x)
+const lh_t port_to_irq[13] = {
+	{_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE},
+	{_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE},
+	{_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE},
+	{_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE},
+	{_IMXRT_GPIO5_0_15_BASE, _IMXRT_GPIO5_16_31_BASE},
+	{_IMXRT_GPIO6_0_15_BASE, _IMXRT_GPIO6_16_31_BASE},
+	{0, 0}, // GPIO7 Not on CM7
+	{0, 0}, // GPIO8 Not on CM7
+	{0, 0}, // GPIO9 Not on CM7
+	{0, 0}, // GPIO10 Not on CM7
+	{0, 0}, // GPIO11 Not on CM7
+	{0, 0}, // GPIO12 Not on CM7
+	{_IMXRT_GPIO13_BASE, _IMXRT_GPIO13_BASE},
+};
+#endif
+
+static int imxrt_pin_irq(gpio_pinset_t pinset)
+{
+	volatile int irq = -1;
+	volatile int port   = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
+	volatile int pin    = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
+
+	lh_t irqlh = port_to_irq[port];
+
+	if (irqlh.low != 0 && irqlh.hi != 0) {
+		irq = (pin < 16) ? irqlh.low : irqlh.hi;
+		irq += pin % 16;
+	}
+
+	return irq;
+}
 
 /****************************************************************************
  * Name: imxrt_pin_irqattach
@@ -75,15 +112,16 @@ const lh_t port_to_irq[9] = {
 
 static int imxrt_pin_irqattach(gpio_pinset_t pinset, xcpt_t func, void *arg)
 {
-	volatile int port   = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
-	volatile int pin    = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
-	volatile int irq;
-	lh_t irqlh = port_to_irq[port];
-	irq = (pin < 16) ? irqlh.low : irqlh.hi;
-	irq += pin % 16;
-	irq_attach(irq, func, arg);
-	up_enable_irq(irq);
-	return 0;
+	int rv = -EINVAL;
+	int irq = imxrt_pin_irq(pinset);
+
+	if (irq != -1) {
+		rv = OK;
+		irq_attach(irq, func, arg);
+		up_enable_irq(irq);
+	}
+
+	return rv;
 }
 
 /****************************************************************************
@@ -109,28 +147,31 @@ int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge,
 		       bool event, xcpt_t func, void *arg)
 {
 	int ret = -ENOSYS;
+	int irq = imxrt_pin_irq(pinset);
 
-	if (func == NULL) {
-		imxrt_gpioirq_disable(pinset);
-		pinset &= ~GPIO_INTCFG_MASK;
-		ret = imxrt_config_gpio(pinset);
+	if (irq != -1) {
+		if (func == NULL) {
+			imxrt_gpioirq_disable(irq);
+			pinset &= ~GPIO_INTCFG_MASK;
+			ret = imxrt_config_gpio(pinset);
 
-	} else {
+		} else {
 
-		pinset &= ~GPIO_INTCFG_MASK;
+			pinset &= ~GPIO_INTCFG_MASK;
 
-		if (risingedge & fallingedge) {
-			pinset |= GPIO_INTBOTH_EDGES;
+			if (risingedge & fallingedge) {
+				pinset |= GPIO_INTBOTH_EDGES;
 
-		} else if (risingedge) {
-			pinset |= GPIO_INT_RISINGEDGE;
+			} else if (risingedge) {
+				pinset |= GPIO_INT_RISINGEDGE;
 
-		} else if (fallingedge) {
-			pinset |= GPIO_INT_FALLINGEDGE;
+			} else if (fallingedge) {
+				pinset |= GPIO_INT_FALLINGEDGE;
+			}
+
+			imxrt_gpioirq_configure(pinset);
+			ret = imxrt_pin_irqattach(pinset, func, arg);
 		}
-
-		imxrt_gpioirq_configure(pinset);
-		ret = imxrt_pin_irqattach(pinset, func, arg);
 	}
 
 	return ret;
diff --git a/platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt
index b274d7e2ad..c4e7069c73 100644
--- a/platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt
+++ b/platforms/nuttx/src/px4/nxp/rt117x/CMakeLists.txt
@@ -39,7 +39,7 @@ add_subdirectory(../imxrt/board_reset board_reset)
 #add_subdirectory(../imxrt/dshot dshot)
 add_subdirectory(../imxrt/hrt hrt)
 add_subdirectory(../imxrt/led_pwm led_pwm)
-add_subdirectory(io_pins)
+add_subdirectory(../imxrt/io_pins io_pins)
 add_subdirectory(../imxrt/tone_alarm tone_alarm)
 add_subdirectory(../imxrt/version version)
 add_subdirectory(../imxrt/spi spi)
diff --git a/platforms/nuttx/src/px4/nxp/rt117x/io_pins/CMakeLists.txt b/platforms/nuttx/src/px4/nxp/rt117x/io_pins/CMakeLists.txt
deleted file mode 100644
index 3ddf7ac38a..0000000000
--- a/platforms/nuttx/src/px4/nxp/rt117x/io_pins/CMakeLists.txt
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015-2019 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_compile_options(
-	-Wno-unused-function
-	) # TODO: remove once io_timer_handlerX are used
-
-px4_add_library(arch_io_pins
-	../../imxrt/io_pins/io_timer.c
-	../../imxrt/io_pins/pwm_servo.c
-	../../imxrt/io_pins/pwm_trigger.c
-	../../imxrt/io_pins/input_capture.c
-	imxrt_pinirq.c
-)
diff --git a/platforms/nuttx/src/px4/nxp/rt117x/io_pins/imxrt_pinirq.c b/platforms/nuttx/src/px4/nxp/rt117x/io_pins/imxrt_pinirq.c
deleted file mode 100644
index e1bf45040b..0000000000
--- a/platforms/nuttx/src/px4/nxp/rt117x/io_pins/imxrt_pinirq.c
+++ /dev/null
@@ -1,161 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <systemlib/px4_macros.h>
-
-#include <arch/board/board.h>
-
-#include <errno.h>
-
-#include "chip.h"
-#include "imxrt_irq.h"
-#include "hardware/imxrt_gpio.h"
-
-typedef struct {
-	int low;
-	int hi;
-} lh_t;
-
-
-const lh_t port_to_irq[13] = {
-	{_IMXRT_GPIO1_0_15_BASE, _IMXRT_GPIO1_16_31_BASE},
-	{_IMXRT_GPIO2_0_15_BASE, _IMXRT_GPIO2_16_31_BASE},
-	{_IMXRT_GPIO3_0_15_BASE, _IMXRT_GPIO3_16_31_BASE},
-	{_IMXRT_GPIO4_0_15_BASE, _IMXRT_GPIO4_16_31_BASE},
-	{_IMXRT_GPIO5_0_15_BASE, _IMXRT_GPIO5_16_31_BASE},
-	{_IMXRT_GPIO6_0_15_BASE, _IMXRT_GPIO6_16_31_BASE},
-	{0, 0}, // GPIO7 Not on CM7
-	{0, 0}, // GPIO8 Not on CM7
-	{0, 0}, // GPIO9 Not on CM7
-	{0, 0}, // GPIO10 Not on CM7
-	{0, 0}, // GPIO11 Not on CM7
-	{0, 0}, // GPIO12 Not on CM7
-	{_IMXRT_GPIO13_BASE, _IMXRT_GPIO13_BASE},
-};
-
-static bool imxrt_pin_irq_valid(gpio_pinset_t pinset)
-{
-	int port   = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
-	lh_t irqlh = port_to_irq[port];
-	return (irqlh.low != 0 && irqlh.hi != 0);
-}
-/****************************************************************************
- * Name: imxrt_pin_irqattach
- *
- * Description:
- *   Sets/clears GPIO based event and interrupt triggers.
- *
- * Input Parameters:
- *  - pinset: gpio pin configuration
- *  - rising/falling edge: enables
- *  - func:   when non-NULL, generate interrupt
- *  - arg:    Argument passed to the interrupt callback
- *
- * Returned Value:
- *   Zero (OK) on success; a negated errno value on failure indicating the
- *   nature of the failure.
- *
- ****************************************************************************/
-
-static int imxrt_pin_irqattach(gpio_pinset_t pinset, xcpt_t func, void *arg)
-{
-	int rv = -EINVAL;
-	volatile int port   = (pinset & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
-	volatile int pin    = (pinset & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
-	volatile int irq;
-	lh_t irqlh = port_to_irq[port];
-
-	if (irqlh.low != 0 && irqlh.hi != 0) {
-		rv = OK;
-		irq = (pin < 16) ? irqlh.low : irqlh.hi;
-		irq += pin % 16;
-		irq_attach(irq, func, arg);
-		up_enable_irq(irq);
-	}
-
-	return rv;
-}
-
-/****************************************************************************
- * Name: imxrt_gpiosetevent
- *
- * Description:
- *   Sets/clears GPIO based event and interrupt triggers.
- *
- * Input Parameters:
- *  - pinset: gpio pin configuration
- *  - rising/falling edge: enables
- *  - event:  generate event when set
- *  - func:   when non-NULL, generate interrupt
- *  - arg:    Argument passed to the interrupt callback
- *
- * Returned Value:
- *   Zero (OK) on success; a negated errno value on failure indicating the
- *   nature of the failure.
- *
- ****************************************************************************/
-#if defined(CONFIG_IMXRT_GPIO_IRQ)
-int imxrt_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge,
-		       bool event, xcpt_t func, void *arg)
-{
-	int ret = -ENOSYS;
-
-	if (imxrt_pin_irq_valid(pinset)) {
-		if (func == NULL) {
-			imxrt_gpioirq_disable(pinset);
-			pinset &= ~GPIO_INTCFG_MASK;
-			ret = imxrt_config_gpio(pinset);
-
-		} else {
-
-			pinset &= ~GPIO_INTCFG_MASK;
-
-			if (risingedge & fallingedge) {
-				pinset |= GPIO_INTBOTH_EDGES;
-
-			} else if (risingedge) {
-				pinset |= GPIO_INT_RISINGEDGE;
-
-			} else if (fallingedge) {
-				pinset |= GPIO_INT_FALLINGEDGE;
-			}
-
-			imxrt_gpioirq_configure(pinset);
-			ret = imxrt_pin_irqattach(pinset, func, arg);
-		}
-	}
-
-	return ret;
-}
-#endif /* CONFIG_IMXRT_GPIO_IRQ */