diff --git a/motors/button_board.cc b/motors/button_board.cc
index 4064725..2e3e2c1 100644
--- a/motors/button_board.cc
+++ b/motors/button_board.cc
@@ -87,31 +87,31 @@
     report0[2] = report1[2] = adc.analog2 / 16;
     report0[3] = report1[3] = adc.analog3 / 16;
 
-    report0[4] = ((GPIO_BITBAND(GPIOD_PDIR, 5) << 0) |
-                  (GPIO_BITBAND(GPIOD_PDIR, 6) << 1) |
-                  (GPIO_BITBAND(GPIOB_PDIR, 0) << 2) |
-                  (GPIO_BITBAND(GPIOB_PDIR, 1) << 3) |
-                  (GPIO_BITBAND(GPIOA_PDIR, 14) << 4) |
-                  (GPIO_BITBAND(GPIOE_PDIR, 26) << 5) |
-                  (GPIO_BITBAND(GPIOA_PDIR, 16) << 6) |
-                  (GPIO_BITBAND(GPIOA_PDIR, 15) << 7)) ^
+    report0[4] = ((PERIPHERAL_BITBAND(GPIOD_PDIR, 5) << 0) |
+                  (PERIPHERAL_BITBAND(GPIOD_PDIR, 6) << 1) |
+                  (PERIPHERAL_BITBAND(GPIOB_PDIR, 0) << 2) |
+                  (PERIPHERAL_BITBAND(GPIOB_PDIR, 1) << 3) |
+                  (PERIPHERAL_BITBAND(GPIOA_PDIR, 14) << 4) |
+                  (PERIPHERAL_BITBAND(GPIOE_PDIR, 26) << 5) |
+                  (PERIPHERAL_BITBAND(GPIOA_PDIR, 16) << 6) |
+                  (PERIPHERAL_BITBAND(GPIOA_PDIR, 15) << 7)) ^
                  0xff;
 
-    report0[5] = ((GPIO_BITBAND(GPIOE_PDIR, 25) << 0) |
-                  (GPIO_BITBAND(GPIOE_PDIR, 24) << 1) |
-                  (GPIO_BITBAND(GPIOC_PDIR, 3) << 2) |
-                  (GPIO_BITBAND(GPIOC_PDIR, 7) << 3) |
-                  (GPIO_BITBAND(GPIOD_PDIR, 3) << 4) |
-                  (GPIO_BITBAND(GPIOD_PDIR, 2) << 5) |
-                  (GPIO_BITBAND(GPIOD_PDIR, 7) << 6) |
-                  (GPIO_BITBAND(GPIOA_PDIR, 13) << 7)) ^
+    report0[5] = ((PERIPHERAL_BITBAND(GPIOE_PDIR, 25) << 0) |
+                  (PERIPHERAL_BITBAND(GPIOE_PDIR, 24) << 1) |
+                  (PERIPHERAL_BITBAND(GPIOC_PDIR, 3) << 2) |
+                  (PERIPHERAL_BITBAND(GPIOC_PDIR, 7) << 3) |
+                  (PERIPHERAL_BITBAND(GPIOD_PDIR, 3) << 4) |
+                  (PERIPHERAL_BITBAND(GPIOD_PDIR, 2) << 5) |
+                  (PERIPHERAL_BITBAND(GPIOD_PDIR, 7) << 6) |
+                  (PERIPHERAL_BITBAND(GPIOA_PDIR, 13) << 7)) ^
                  0xff;
 
     report1[4] =
-        ((GPIO_BITBAND(GPIOA_PDIR, 12) << 0) |
-         (GPIO_BITBAND(GPIOD_PDIR, 0) << 1) |
-         (GPIO_BITBAND(GPIOB_PDIR, 17) << 2) |
-         (GPIO_BITBAND(GPIOB_PDIR, 16) << 3) | (DecodeAnalog(report1[0]) << 4) |
+        ((PERIPHERAL_BITBAND(GPIOA_PDIR, 12) << 0) |
+         (PERIPHERAL_BITBAND(GPIOD_PDIR, 0) << 1) |
+         (PERIPHERAL_BITBAND(GPIOB_PDIR, 17) << 2) |
+         (PERIPHERAL_BITBAND(GPIOB_PDIR, 16) << 3) | (DecodeAnalog(report1[0]) << 4) |
          (DecodeAnalog(report1[1]) << 6)) ^
         0x0f;
     report1[5] = (DecodeAnalog(report1[2])) | (DecodeAnalog(report1[3]) << 2);
@@ -213,37 +213,37 @@
 
   // Set all the LED pins to output, slew rate controlled, high drive strength.
   // Builtin
-  GPIO_BITBAND(GPIOC_PDOR, 5) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 5) = 1;
   PORTC_PCR5 = PORT_PCR_DSE | PORT_PCR_SRE | PORT_PCR_MUX(1);
-  GPIO_BITBAND(GPIOC_PDDR, 5) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 5) = 1;
   // LED0 FTM0_CH1
-  GPIO_BITBAND(GPIOC_PDOR, 2) = 0;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 2) = 0;
   PORTC_PCR2 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(4);
-  GPIO_BITBAND(GPIOC_PDDR, 2) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 2) = 1;
   // LED1 FTM0_CH0
-  GPIO_BITBAND(GPIOC_PDOR, 1) = 0;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 1) = 0;
   PORTC_PCR1 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(4);
-  GPIO_BITBAND(GPIOC_PDDR, 1) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 1) = 1;
   // LED2 FTM0_CH4
-  GPIO_BITBAND(GPIOD_PDOR, 4) = 0;
+  PERIPHERAL_BITBAND(GPIOD_PDOR, 4) = 0;
   PORTD_PCR4 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(4);
-  GPIO_BITBAND(GPIOD_PDDR, 4) = 1;
+  PERIPHERAL_BITBAND(GPIOD_PDDR, 4) = 1;
   // LED3 FTM0_CH3
-  GPIO_BITBAND(GPIOC_PDOR, 4) = 0;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 4) = 0;
   PORTC_PCR4 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(4);
-  GPIO_BITBAND(GPIOC_PDDR, 4) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 4) = 1;
   // LED4 FTM3_CH4 yellow
-  GPIO_BITBAND(GPIOC_PDOR, 8) = 0;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 8) = 0;
   PORTC_PCR8 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(1);
-  GPIO_BITBAND(GPIOC_PDDR, 8) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 8) = 1;
   // LED5 FTM3_CH5 green
-  GPIO_BITBAND(GPIOC_PDOR, 9) = 0;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 9) = 0;
   PORTC_PCR9 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(1);
-  GPIO_BITBAND(GPIOC_PDDR, 9) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 9) = 1;
   // LED6 FTM3_CH6 red
-  GPIO_BITBAND(GPIOC_PDOR, 10) = 0;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 10) = 0;
   PORTC_PCR10 = PORT_PCR_DSE | PORT_PCR_ODE | PORT_PCR_SRE | PORT_PCR_MUX(1);
-  GPIO_BITBAND(GPIOC_PDDR, 10) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 10) = 1;
 
   // Set up the CAN pins.
   PORTB_PCR18 = PORT_PCR_DSE | PORT_PCR_MUX(2);
@@ -343,14 +343,14 @@
   printf("Done starting up\n");
 
   // Done starting up, now turn all the LEDs off.
-  GPIO_BITBAND(GPIOC_PDOR, 5) = 0;
-  GPIO_BITBAND(GPIOC_PDOR, 2) = 1;
-  GPIO_BITBAND(GPIOC_PDOR, 1) = 1;
-  GPIO_BITBAND(GPIOD_PDOR, 4) = 1;
-  GPIO_BITBAND(GPIOC_PDOR, 4) = 1;
-  GPIO_BITBAND(GPIOC_PDOR, 8) = 1;
-  GPIO_BITBAND(GPIOC_PDOR, 9) = 1;
-  GPIO_BITBAND(GPIOC_PDOR, 10) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 5) = 0;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 2) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 1) = 1;
+  PERIPHERAL_BITBAND(GPIOD_PDOR, 4) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 4) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 8) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 9) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDOR, 10) = 1;
 
   SendJoystickData(&joystick0, &joystick1);
 
diff --git a/motors/medium_salsa.cc b/motors/medium_salsa.cc
index 3ac0337..f2ee181 100644
--- a/motors/medium_salsa.cc
+++ b/motors/medium_salsa.cc
@@ -110,7 +110,7 @@
 void ZeroMotor() {
 #if 0
   while (true) {
-    if (GPIO_BITBAND(GPIOE_PDIR, 24)) {
+    if (PERIPHERAL_BITBAND(GPIOE_PDIR, 24)) {
       encoder_ftm_->CNT = 0;
       break;
     }
@@ -137,7 +137,7 @@
       // value we store because writing anything resets it to CNTIN (ie 0).
       "str %[scratch], [%[cnt]]\n"
       : [scratch] "=&l"(scratch)
-      : [pdir_word] "l"(&GPIO_BITBAND(GPIOE_PDIR, 24)),
+      : [pdir_word] "l"(&PERIPHERAL_BITBAND(GPIOE_PDIR, 24)),
         [cnt] "l"(&FTM1->CNT));
   __enable_irq();
 #endif
@@ -161,10 +161,10 @@
   NVIC_SET_SANE_PRIORITY(IRQ_FTM0, 0x3);
 
   // Set the LED's pin to output mode.
-  GPIO_BITBAND(GPIOC_PDDR, 5) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 5) = 1;
   PORTC_PCR5 = PORT_PCR_DSE | PORT_PCR_MUX(1);
 
-  GPIO_BITBAND(GPIOA_PDDR, 15) = 1;
+  PERIPHERAL_BITBAND(GPIOA_PDDR, 15) = 1;
   PORTA_PCR15 = PORT_PCR_DSE | PORT_PCR_MUX(1);
 
   // Set up the CAN pins.
@@ -181,7 +181,7 @@
   can_init(0, 1);
 
   GPIOD_PCOR = 1 << 3;
-  GPIO_BITBAND(GPIOD_PDDR, 3) = 1;
+  PERIPHERAL_BITBAND(GPIOD_PDDR, 3) = 1;
   PORTD_PCR3 = PORT_PCR_DSE | PORT_PCR_MUX(1);
   delay(1000);
   GPIOD_PSOR = 1 << 3;
diff --git a/motors/pistol_grip/controller.cc b/motors/pistol_grip/controller.cc
index 6e1c710..a77977b 100644
--- a/motors/pistol_grip/controller.cc
+++ b/motors/pistol_grip/controller.cc
@@ -419,16 +419,16 @@
                               ::std::memory_order_relaxed);
 
   uint8_t buttons = 0;
-  if (!GPIO_BITBAND(GPIOA_PDIR, 14)) {
+  if (!PERIPHERAL_BITBAND(GPIOA_PDIR, 14)) {
     buttons |= 0x1;
   }
-  if (!GPIO_BITBAND(GPIOE_PDIR, 26)) {
+  if (!PERIPHERAL_BITBAND(GPIOE_PDIR, 26)) {
     buttons |= 0x2;
   }
-  if (!GPIO_BITBAND(GPIOC_PDIR, 7)) {
+  if (!PERIPHERAL_BITBAND(GPIOC_PDIR, 7)) {
     buttons |= 0x4;
   }
-  if (!GPIO_BITBAND(GPIOD_PDIR, 0)) {
+  if (!PERIPHERAL_BITBAND(GPIOD_PDIR, 0)) {
     buttons |= 0x8;
   }
 
@@ -587,7 +587,7 @@
   NVIC_SET_SANE_PRIORITY(IRQ_PIT_CH3, 0x5);
 
   // Set the LED's pin to output mode.
-  GPIO_BITBAND(GPIOC_PDDR, 5) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 5) = 1;
   PORTC_PCR5 = PORT_PCR_DSE | PORT_PCR_MUX(1);
 
   // Set up the CAN pins.
@@ -634,12 +634,12 @@
   can_init(2, 3);
 
   GPIOD_PCOR = 1 << 3;
-  GPIO_BITBAND(GPIOD_PDDR, 3) = 1;
+  PERIPHERAL_BITBAND(GPIOD_PDDR, 3) = 1;
   PORTD_PCR3 = PORT_PCR_DSE | PORT_PCR_MUX(1);
   GPIOD_PSOR = 1 << 3;
 
   GPIOC_PCOR = 1 << 4;
-  GPIO_BITBAND(GPIOC_PDDR, 4) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 4) = 1;
   PORTC_PCR4 = PORT_PCR_DSE | PORT_PCR_MUX(1);
   GPIOC_PSOR = 1 << 4;
 
@@ -774,7 +774,7 @@
   }
 
   // Turn an LED on for Austin.
-  GPIO_BITBAND(GPIOC_PDDR, 6) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 6) = 1;
   GPIOC_PCOR = 1 << 6;
   PORTC_PCR6 = PORT_PCR_DSE | PORT_PCR_MUX(1);
 
@@ -839,26 +839,26 @@
 
   // TODO(Brian): Use SLEEPONEXIT to reduce interrupt latency?
   while (true) {
-    if (!GPIO_BITBAND(GPIOC_PDIR, 11)) {
-      if (!GPIO_BITBAND(GPIOC_PDOR, 5)) {
+    if (!PERIPHERAL_BITBAND(GPIOC_PDIR, 11)) {
+      if (!PERIPHERAL_BITBAND(GPIOC_PDOR, 5)) {
         printf("M0_THW\n");
       }
       GPIOC_PSOR = 1 << 5;
     }
-    if (!GPIO_BITBAND(GPIOD_PDIR, 6)) {
-      if (!GPIO_BITBAND(GPIOC_PDOR, 5)) {
+    if (!PERIPHERAL_BITBAND(GPIOD_PDIR, 6)) {
+      if (!PERIPHERAL_BITBAND(GPIOC_PDOR, 5)) {
         printf("M0_FAULT\n");
       }
       GPIOC_PSOR = 1 << 5;
     }
-    if (!GPIO_BITBAND(GPIOC_PDIR, 2)) {
-      if (!GPIO_BITBAND(GPIOC_PDOR, 5)) {
+    if (!PERIPHERAL_BITBAND(GPIOC_PDIR, 2)) {
+      if (!PERIPHERAL_BITBAND(GPIOC_PDOR, 5)) {
         printf("M1_THW\n");
       }
       GPIOC_PSOR = 1 << 5;
     }
-    if (!GPIO_BITBAND(GPIOD_PDIR, 5)) {
-      if (!GPIO_BITBAND(GPIOC_PDOR, 5)) {
+    if (!PERIPHERAL_BITBAND(GPIOD_PDIR, 5)) {
+      if (!PERIPHERAL_BITBAND(GPIOC_PDOR, 5)) {
         printf("M1_FAULT\n");
       }
       GPIOC_PSOR = 1 << 5;
diff --git a/motors/pistol_grip/drivers_station.cc b/motors/pistol_grip/drivers_station.cc
index 893aa9f..33c6caa 100644
--- a/motors/pistol_grip/drivers_station.cc
+++ b/motors/pistol_grip/drivers_station.cc
@@ -260,7 +260,7 @@
   NVIC_SET_SANE_PRIORITY(IRQ_USBOTG, 0x7);
 
   // Set the LED's pin to output mode.
-  GPIO_BITBAND(GPIOC_PDDR, 5) = 1;
+  PERIPHERAL_BITBAND(GPIOC_PDDR, 5) = 1;
   PORTC_PCR5 = PORT_PCR_DSE | PORT_PCR_MUX(1);
 
   // Set up the CAN pins.
diff --git a/motors/util.h b/motors/util.h
index d1eaf53..458cf20 100644
--- a/motors/util.h
+++ b/motors/util.h
@@ -11,11 +11,11 @@
 {
 #endif
 
-// The GPIO bitband register for a specific bit of a given GPIO register.
+// This bitband register for a specific bit of a given peripheral register.
 //
-// reg really must be one of the GPIO module's addresses
-// (0x400FF000 - 0x400FFFFF).
-#define GPIO_BITBAND(reg, bit)                                             \
+// reg must be an address in one of the peripheral modules (on AIPS0, AIPS1, or
+// GPIO) (0x40000000 - 0x400FFFFF).
+#define PERIPHERAL_BITBAND(reg, bit)                                       \
   (*(volatile uint32_t *)(((uint32_t) & (reg)-0x40000000) * 32 + (bit)*4 + \
                           0x42000000))