diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index 038a476a..0bc89eb4 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -68,6 +68,7 @@ jobs:
           - "--driver=SPIDEV"
           - "--driver=MRAA"
           - "--driver=pigpio"
+          # disable wiringPi due to needing cross-compiled deps (see comment below)
           # - "--soc=BCM2835 --driver=wiringPi"
 
     env:
@@ -83,18 +84,20 @@ jobs:
           arm-linux-gnueabihf-gcc -v
           arm-linux-gnueabihf-g++ -v
 
-      - name: provide WiringPi
-        if: ${{ matrix.config-options == '--soc=BCM2835 --driver=wiringPi' }}
-        env:
-          CC: /usr/bin/arm-linux-gnueabihf-gcc
-          CFLAGS: "-I /usr/local/include -L /usr/local/lib -marm -mtune=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard -lcrypt -lrt"
-        run: |
-          git clone https://github.com/WiringPi/WiringPi
-          cd WiringPi
-          ./build
+      # NOTE: To cross-compile wiringPi, there needs to be cross-compiled `crypt` and `rt` libs
+      # Skip cross-compiling wiringPi to avoid this headache.
+      # - name: provide WiringPi
+      #   if: ${{ matrix.config-options == '--soc=BCM2835 --driver=wiringPi' }}
+      #   env:
+      #     CC: /usr/bin/arm-linux-gnueabihf-gcc
+      #     CFLAGS: "-I /usr/local/include -L /usr/local/lib -marm -mtune=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard -lcrypt -lrt"
+      #   run: |
+      #     git clone https://github.com/WiringPi/WiringPi
+      #     cd WiringPi
+      #     ./build
       
       - name: provide pigpio
-        if: ${{ matrix.config-options == '--driver=pigpio' || endsWith(matrix.config-options, '--driver=RPi') }}
+        if: ${{ matrix.config-options == '--driver=pigpio' }}
         run: |
           git clone https://github.com/joan2937/pigpio.git
           cd pigpio
@@ -118,7 +121,11 @@ jobs:
           cd mraa
           mkdir build
           cd build
-          cmake .. -D BUILDSWIGNODE=OFF -D BUILDARCH=arm
+          cmake .. \
+          -D BUILDSWIGNODE=OFF \
+          -D BUILDARCH=arm \
+          -D CMAKE_INSTALL_PREFIX=/usr/arm-linux-gnueabihf \
+          -D CMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/cmake/toolchains/armhf.cmake
           sudo make install
           sudo bash -c 'echo "/usr/local/lib/arm-linux-gnueabihf" >> /etc/ld.so.conf'
           sudo ldconfig
@@ -133,10 +140,6 @@ jobs:
         run: sudo make install
 
       - name: make linux examples
-        # compiling examples for wiringPi is broken see issue #669
-        # executables linked to wiringPi additionally need to be linked to crypt and shm_open
-        # interruptConfigure.cpp example is incompatible with MRAA & wiringPi drivers
-        if: ${{ matrix.config-options != '--soc=BCM2835 --driver=wiringPi' && matrix.config-options != '--driver=MRAA' }}
         run: |
           cd examples_linux
           make
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 399c98b0..8887fc7d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,17 +137,12 @@ if(DEFINED RF24_SPI_SPEED)
     )
 endif()
 # allow user customization of default GPIO chip used with the SPIDEV driver
-if(DEFINED RF24_SPIDEV_GPIO_CHIP)
-    message(STATUS "RF24_SPIDEV_GPIO_CHIP set to ${RF24_SPIDEV_GPIO_CHIP}")
+if(DEFINED RF24_LINUX_GPIO_CHIP)
+    message(STATUS "RF24_LINUX_GPIO_CHIP set to ${RF24_LINUX_GPIO_CHIP}")
     target_compile_definitions(${LibTargetName} PUBLIC
-        RF24_SPIDEV_GPIO_CHIP="${RF24_SPIDEV_GPIO_CHIP}"
+        RF24_LINUX_GPIO_CHIP="${RF24_LINUX_GPIO_CHIP}"
     )
 endif()
-# conditionally disable interruot support (a pigpio specific feature)
-if("${LibPIGPIO}" STREQUAL "LibPIGPIO-NOTFOUND" OR DEFINED RF24_NO_INTERRUPT)
-    message(STATUS "Disabling IRQ pin support")
-    target_compile_definitions(${LibTargetName} PUBLIC RF24_NO_INTERRUPT)
-endif()
 
 
 #####################################
diff --git a/Makefile b/Makefile
index ada2ffec..84b15d47 100644
--- a/Makefile
+++ b/Makefile
@@ -21,15 +21,9 @@ OBJECTS=RF24.o
 ifeq ($(DRIVER), MRAA)
 OBJECTS+=spi.o gpio.o compatibility.o
 else ifeq ($(DRIVER), RPi)
-OBJECTS+=spi.o bcm2835.o compatibility.o
-ifneq (,$(findstring -lpigpio,$(SHARED_LINKER_LIBS)))
-OBJECTS+=interrupt.o
-endif
+OBJECTS+=spi.o bcm2835.o compatibility.o interrupt.o
 else ifeq ($(DRIVER), SPIDEV)
-OBJECTS+=spi.o gpio.o compatibility.o
-ifneq (,$(findstring -lpigpio,$(SHARED_LINKER_LIBS)))
-OBJECTS+=interrupt.o
-endif
+OBJECTS+=spi.o gpio.o compatibility.o interrupt.o
 else ifeq ($(DRIVER), wiringPi)
 OBJECTS+=spi.o
 else ifeq ($(DRIVER), pigpio)
diff --git a/configure b/configure
index 84dd4593..418bbb68 100755
--- a/configure
+++ b/configure
@@ -3,8 +3,6 @@
 CROSS_CC=arm-linux-gnueabihf-gcc
 CROSS_CXX=arm-linux-gnueabihf-g++
 
-pigpio_detected=0
-
 function help {
 cat <<EOF
 configure script for RF24 library.
@@ -58,11 +56,6 @@ function execute_check {
     fi
 }
 
-if [[ -f "/usr/lib/libpigpio.so" || -f "/usr/local/lib/libpigpio.so" || -f "/usr/arm-linux-gnueabihf/lib/libpigpio.so" ]]; then
-    echo "[INFO] pigpio lib found."
-    pigpio_detected=1
-fi
-
 function die {
     echo "[ERROR] $1"
     exit $2
@@ -192,7 +185,7 @@ function detect_driver {
         result=MRAA
     elif [[ $(execute_check "${REMOTE_LDCONFIG} -p | grep liblittlewire-spi") ]]; then
         result=LittleWire
-    elif [ $pigpio_detected -eq 1 ]; then
+    elif [[ -f "/usr/lib/libpigpio.so" || -f "/usr/local/lib/libpigpio.so" || -f "/usr/arm-linux-gnueabihf/lib/libpigpio.so" ]]; then
         result=pigpio
     else
         result=""
@@ -407,24 +400,12 @@ fi
 
 case ${DRIVER} in
 wiringPi)
-    SHARED_LINKER_LIBS+=" -lpigpio -lwiringPi"
+    SHARED_LINKER_LIBS+=" -lwiringPi"
     CFLAGS+=" -lwiringPi"
     ;;
 SPIDEV)
-    if [ $pigpio_detected -eq 1 ]; then
-        echo "[INFO] linking to pigpio for interrupt compatibility"
-        SHARED_LINKER_LIBS+=" -lpigpio"
-    else
-        CFLAGS+=" -DRF24_NO_INTERRUPT"
-    fi
     ;;
 RPi)
-    if [ $pigpio_detected -eq 1 ]; then
-        echo "[INFO] linking to pigpio for interrupt compatibility"
-        SHARED_LINKER_LIBS+=" -lpigpio"
-    else
-        CFLAGS+=" -DRF24_NO_INTERRUPT"
-    fi
     ;;
 MRAA)
     SHARED_LINKER_LIBS+=" -lmraa"
@@ -433,11 +414,7 @@ LittleWire)
     SHARED_LINKER_LIBS+=" -llittlewire-spi"
     ;;
 pigpio)
-    if [ $pigpio_detected -eq 0 ]; then
-        die "[ERROR] pigpio was not detected. Make sure pigpio is installed." 2
-    else
-        SHARED_LINKER_LIBS+=" -lpigpio"
-    fi
+    SHARED_LINKER_LIBS+=" -lpigpio"
     ;;
 *)
     die "Unsupported DRIVER: ${DRIVER}." 2
diff --git a/examples_linux/CMakeLists.txt b/examples_linux/CMakeLists.txt
index eb842104..40101a60 100644
--- a/examples_linux/CMakeLists.txt
+++ b/examples_linux/CMakeLists.txt
@@ -24,7 +24,7 @@ find_library(RF24 rf24 REQUIRED)
 message(STATUS "using RF24 library: ${RF24}")
 
 # conditionally append "interruptConfigure" to the EXAMPLES_LIST
-if("${RF24_DRIVER}" STREQUAL "MRAA" OR "${RF24_DRIVER}" STREQUAL "wiringPi" OR "${LibPIGPIO}" STREQUAL "LibPIGPIO-NOTFOUND")
+if("${RF24_DRIVER}" STREQUAL "MRAA")
     message(STATUS "Skipping interruptConfigure.cpp example as it is incompatible with selected driver library")
 else() # not using MRAA or wiringPi drivers (or pigpio lib was found)
     list(APPEND EXAMPLES_LIST interruptConfigure)
@@ -52,26 +52,15 @@ elseif("${RF24_DRIVER}" STREQUAL "wiringPi")
     else()
         message(FATAL "Lib ${RF24_DRIVER} not found.")
     endif()
-elseif(NOT "${LibPIGPIO}" STREQUAL "LibPIGPIO-NOTFOUND" AND NOT DEFINED RF24_NO_INTERUPT)
-    if(NOT "${RF24_DRIVER}" STREQUAL "pigpio")
-        message(STATUS "linking to ${LibPIGPIO} for interrupt support")
-    else()
-        message(STATUS "linking to ${LibPIGPIO}")
-    endif()
+elseif(NOT "${LibPIGPIO}" STREQUAL "LibPIGPIO-NOTFOUND")
+    message(STATUS "linking to ${LibPIGPIO}")
     # linking to pigpio requires pthread to be listed as last linked lib
     list(APPEND linked_libs ${LibPIGPIO} pthread)
-else()
-    message(STATUS "Disabling IRQ pin support")
 endif()
 
 foreach(example ${EXAMPLES_LIST})
     #make a target
     add_executable(${example} ${example}.cpp)
-    
-    # avoid including interrupt.h when pigpio is not available
-    if("${LibPIGPIO}" STREQUAL "LibPIGPIO-NOTFOUND" OR DEFINED RF24_NO_INTERRUPT)
-        target_compile_definitions(${example} PUBLIC RF24_NO_INTERRUPT)
-    endif()
 
     target_link_libraries(${example} PUBLIC ${linked_libs})
 endforeach()
diff --git a/examples_linux/Makefile b/examples_linux/Makefile
index bd9a7128..901a7402 100644
--- a/examples_linux/Makefile
+++ b/examples_linux/Makefile
@@ -19,7 +19,7 @@ include ../Makefile.inc
 
 # define all programs
 PROGRAMS = gettingstarted acknowledgementPayloads manualAcknowledgements streamingData multiceiverDemo scanner
-ifneq (,$(findstring -lpigpio,$(SHARED_LINKER_LIBS)))
+ifneq ($(DRIVER), MRAA)
 PROGRAMS+=interruptConfigure
 endif
 
diff --git a/examples_linux/Makefile.examples b/examples_linux/Makefile.examples
index a03483e1..b8741943 100644
--- a/examples_linux/Makefile.examples
+++ b/examples_linux/Makefile.examples
@@ -17,6 +17,8 @@ SOURCES = $(PROGRAMS:=.cpp)
 LIBS=-l$(LIB)
 ifeq ($(DRIVER), LittleWire)
 	LIBS+= -llittlewire-spi
+else ifeq ($(DRIVER), wiringPi)
+	LIBS+= -lwiringPi -lcrypt -lrt
 endif
 
 all: $(PROGRAMS)
diff --git a/examples_linux/acknowledgementPayloads.cpp b/examples_linux/acknowledgementPayloads.cpp
index 7ce4623d..2138c19a 100644
--- a/examples_linux/acknowledgementPayloads.cpp
+++ b/examples_linux/acknowledgementPayloads.cpp
@@ -27,6 +27,8 @@ using namespace std;
 #define CSN_PIN 0
 #ifdef MRAA
     #define CE_PIN 15 // GPIO22
+#elif defined(RF24_WIRINGPI)
+    #define CE_PIN 3 // GPIO22
 #else
     #define CE_PIN 22
 #endif
diff --git a/examples_linux/gettingstarted.cpp b/examples_linux/gettingstarted.cpp
index 78e244ac..88991177 100644
--- a/examples_linux/gettingstarted.cpp
+++ b/examples_linux/gettingstarted.cpp
@@ -26,6 +26,8 @@ using namespace std;
 #define CSN_PIN 0
 #ifdef MRAA
     #define CE_PIN 15 // GPIO22
+#elif defined(RF24_WIRINGPI)
+    #define CE_PIN 3 // GPIO22
 #else
     #define CE_PIN 22
 #endif
diff --git a/examples_linux/interruptConfigure.cpp b/examples_linux/interruptConfigure.cpp
index 99694d5f..f032e163 100644
--- a/examples_linux/interruptConfigure.cpp
+++ b/examples_linux/interruptConfigure.cpp
@@ -22,7 +22,7 @@
 using namespace std;
 
 // We will be using the nRF24L01's IRQ pin for this example
-#define IRQ_PIN 12 // this needs to be a digital input capable pin
+#define IRQ_PIN 24 // this needs to be a digital input capable pin
 
 // this example is a sequential program. so we need to wait for the event to be handled
 volatile bool got_interrupt = false; // used to signify that the event started
@@ -35,6 +35,8 @@ volatile bool got_interrupt = false; // used to signify that the event started
 #define CSN_PIN 0
 #ifdef MRAA
     #define CE_PIN 15 // GPIO22
+#elif defined(RF24_WIRINGPI)
+    #define CE_PIN 3 // GPIO22
 #else
     #define CE_PIN 22
 #endif
@@ -167,14 +169,14 @@ void master()
     // Test the "data ready" event with the IRQ pin
     cout << "\nConfiguring IRQ pin to ignore the 'data sent' event\n";
     radio.maskIRQ(true, false, false); // args = "data_sent", "data_fail", "data_ready"
-    cout << "   Pinging RX node for 'data ready' event...";
+    cout << "   Pinging RX node for 'data ready' event..." << endl;
     ping_n_wait(); // transmit a payload and detect the IRQ pin
     pl_iterator++; // increment iterator for next test
 
     // Test the "data sent" event with the IRQ pin
     cout << "\nConfiguring IRQ pin to ignore the 'data ready' event\n";
     radio.maskIRQ(false, false, true); // args = "data_sent", "data_fail", "data_ready"
-    cout << "   Pinging RX node for 'data sent' event...";
+    cout << "   Pinging RX node for 'data sent' event..." << endl;
     radio.flush_tx(); // flush payloads from any failed prior test
     ping_n_wait();    // transmit a payload and detect the IRQ pin
     pl_iterator++;    // increment iterator for next test
@@ -196,7 +198,7 @@ void master()
     // test the "data fail" event with the IRQ pin
     cout << "\nConfiguring IRQ pin to reflect all events\n";
     radio.maskIRQ(0, 0, 0); // args = "data_sent", "data_fail", "data_ready"
-    cout << "   Pinging inactive RX node for 'data fail' event...";
+    cout << "   Pinging inactive RX node for 'data fail' event..." << endl;
     ping_n_wait(); // transmit a payload and detect the IRQ pin
 
     // CE pin is still HIGH which consumes more power. Example is now idling so...
@@ -250,7 +252,12 @@ void ping_n_wait()
     // use the non-blocking call to write a payload and begin transmission
     // the "false" argument means we are expecting an ACK packet response
     radio.startFastWrite(tx_payloads[pl_iterator], tx_pl_size, false);
+    uint32_t timer = millis();
     while (!got_interrupt) {
+        if (millis() - timer > 500) {
+            cout << "\tIRQ NOT received" << endl;
+            break;
+        }
         /*
          * IRQ pin is LOW when activated. Otherwise it is always HIGH
          * Wait in this empty loop until IRQ pin is activated.
diff --git a/examples_linux/manualAcknowledgements.cpp b/examples_linux/manualAcknowledgements.cpp
index 5f35e483..83bf77ba 100644
--- a/examples_linux/manualAcknowledgements.cpp
+++ b/examples_linux/manualAcknowledgements.cpp
@@ -32,6 +32,8 @@ using namespace std;
 #define CSN_PIN 0
 #ifdef MRAA
     #define CE_PIN 15 // GPIO22
+#elif defined(RF24_WIRINGPI)
+    #define CE_PIN 3 // GPIO22
 #else
     #define CE_PIN 22
 #endif
diff --git a/examples_linux/multiceiverDemo.cpp b/examples_linux/multiceiverDemo.cpp
index 86e8a148..d46463c9 100644
--- a/examples_linux/multiceiverDemo.cpp
+++ b/examples_linux/multiceiverDemo.cpp
@@ -30,6 +30,8 @@ using namespace std;
 #define CSN_PIN 0
 #ifdef MRAA
     #define CE_PIN 15 // GPIO22
+#elif defined(RF24_WIRINGPI)
+    #define CE_PIN 3 // GPIO22
 #else
     #define CE_PIN 22
 #endif
diff --git a/examples_linux/ncurses/CMakeLists.txt b/examples_linux/ncurses/CMakeLists.txt
index d7718e1b..65943dc3 100644
--- a/examples_linux/ncurses/CMakeLists.txt
+++ b/examples_linux/ncurses/CMakeLists.txt
@@ -18,6 +18,3 @@ target_link_libraries(${example} PUBLIC
     ${linked_libs}
     ${CURSES_LIBRARIES}
 )
-if("${LibPIGPIO}" STREQUAL "LibPIGPIO-NOTFOUND" OR DEFINED RF24_NO_INTERRUPT)
-    target_compile_definitions(${example} PUBLIC RF24_NO_INTERRUPT)
-endif()
diff --git a/examples_linux/ncurses/scanner_curses.cpp b/examples_linux/ncurses/scanner_curses.cpp
index 1c45bf3d..28270198 100644
--- a/examples_linux/ncurses/scanner_curses.cpp
+++ b/examples_linux/ncurses/scanner_curses.cpp
@@ -33,6 +33,8 @@ using namespace std;
 #define CSN_PIN 0
 #ifdef MRAA
     #define CE_PIN 15 // GPIO22
+#elif defined(RF24_WIRINGPI)
+    #define CE_PIN 3 // GPIO22
 #else
     #define CE_PIN 22
 #endif
diff --git a/examples_linux/readme.md b/examples_linux/readme.md
index 4728bd32..0fcad99a 100644
--- a/examples_linux/readme.md
+++ b/examples_linux/readme.md
@@ -1,3 +1,3 @@
 Note: These examples were originally designed for RPi, but should work on any supported Linux platform, with the proper pin configuration.
 
-See http://tmrh20.github.io/RF24 for more information
\ No newline at end of file
+See http://nRF24.github.io/RF24 for more information
\ No newline at end of file
diff --git a/examples_linux/scanner.cpp b/examples_linux/scanner.cpp
index e50becc5..4f35f4fe 100644
--- a/examples_linux/scanner.cpp
+++ b/examples_linux/scanner.cpp
@@ -58,6 +58,8 @@ using namespace std;
 #define CSN_PIN 0
 #ifdef MRAA
     #define CE_PIN 15 // GPIO22
+#elif defined(RF24_WIRINGPI)
+    #define CE_PIN 3 // GPIO22
 #else
     #define CE_PIN 22
 #endif
diff --git a/examples_linux/streamingData.cpp b/examples_linux/streamingData.cpp
index d63a888e..f7b1c543 100644
--- a/examples_linux/streamingData.cpp
+++ b/examples_linux/streamingData.cpp
@@ -28,6 +28,8 @@ using namespace std;
 #define CSN_PIN 0
 #ifdef MRAA
     #define CE_PIN 15 // GPIO22
+#elif defined(RF24_WIRINGPI)
+    #define CE_PIN 3 // GPIO22
 #else
     #define CE_PIN 22
 #endif
diff --git a/pyRF24/setup.py b/pyRF24/setup.py
index bc9f0f7f..10129b07 100644
--- a/pyRF24/setup.py
+++ b/pyRF24/setup.py
@@ -35,7 +35,6 @@
                 os.environ[identifier] = value
 
 except FileNotFoundError:  # assuming lib was built & installed with CMake
-
     # get LIB_VERSION from library.properties file for Arduino IDE
     with open(os.path.join(git_dir, "library.properties"), "r", encoding="utf-8") as f:
         for line in f.read().splitlines():
@@ -44,7 +43,6 @@
 
 # check C++ RF24 lib is installed
 finally:
-
     # check for possible linker flags set via CFLAGS environment variable
     for flag in cflags.split("-"):
         if flag.startswith("L"):
@@ -71,13 +69,6 @@
             )
         )
 
-    # avoid IRQ support if pigpio is not available; link to pigpio if it is found
-    found_pigpio = False
-    for symlink_loc in symlink_directory:
-        if os.path.exists(symlink_loc + "/libpigpio.so"):
-            found_pigpio = True
-    # IRQ pin features will be implemented in python via pigpio's python API or RPi.GPIO
-    cflags += " -DRF24_NO_INTERRUPT"
 
 # append any additionally found compiler flags
 os.environ["CFLAGS"] = cflags
@@ -114,7 +105,7 @@
         Extension(
             "RF24",
             sources=["pyRF24.cpp"],
-            libraries=["rf24", BOOST_LIB] + (["pigpio"] if found_pigpio else [])
+            libraries=["rf24", BOOST_LIB],
         )
     ],
 )
diff --git a/utility/CMakeLists.txt b/utility/CMakeLists.txt
index 656c89b1..d18bce7a 100644
--- a/utility/CMakeLists.txt
+++ b/utility/CMakeLists.txt
@@ -8,12 +8,14 @@ if ("${RF24_DRIVER}" STREQUAL  "wiringPi") # Use wiringPi
         ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
         ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/spi.cpp
         ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/RF24_arch_config.h
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/interrupt.h
         PARENT_SCOPE
     )
     install(FILES
             ${RF24_DRIVER}/includes.h
             ${RF24_DRIVER}/spi.h
             ${RF24_DRIVER}/RF24_arch_config.h
+            ${RF24_DRIVER}/interrupt.h
         DESTINATION include/RF24/utility/${RF24_DRIVER}
     )
 elseif("${RF24_DRIVER}" STREQUAL "RPi") # use RPi
@@ -23,34 +25,18 @@ elseif("${RF24_DRIVER}" STREQUAL "RPi") # use RPi
             ${RF24_DRIVER}/spi.h
             ${RF24_DRIVER}/compatibility.h
             ${RF24_DRIVER}/RF24_arch_config.h
+            ${RF24_DRIVER}/interrupt.h
         DESTINATION include/RF24/utility/${RF24_DRIVER}
     )
-    if(NOT "${LibPIGPIO}" STREQUAL "LibPIGPIO-NOTFOUND" AND NOT DEFINED RF24_NO_INTERRUPT)
-        set(RF24_LINKED_DRIVER ${LibPIGPIO} PARENT_SCOPE)
-        message(STATUS "linking to pigpio lib for interrupt functionality")
-        install(FILES
-                ${RF24_DRIVER}/interrupt.h
-            DESTINATION include/RF24/utility/${RF24_DRIVER}
-        )
-        set(RF24_DRIVER_SOURCES
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/bcm2835.c
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/spi.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/compatibility.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/RF24_arch_config.h
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/interrupt.cpp
-            PARENT_SCOPE
-        )
-    else()
-        set(RF24_DRIVER_SOURCES
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/bcm2835.c
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/spi.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/compatibility.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/RF24_arch_config.h
-            PARENT_SCOPE
-        )
-    endif()
+    set(RF24_DRIVER_SOURCES
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/bcm2835.c
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/spi.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/compatibility.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/RF24_arch_config.h
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/interrupt.cpp
+        PARENT_SCOPE
+    )
 elseif("${RF24_DRIVER}" STREQUAL "SPIDEV") # use SPIDEV
     if(NOT SPIDEV_EXISTS)
         message(WARNING "Detecting /dev/spidev0.0 failed - continuing anyway. Please make sure SPI is enabled.")
@@ -61,34 +47,18 @@ elseif("${RF24_DRIVER}" STREQUAL "SPIDEV") # use SPIDEV
             ${RF24_DRIVER}/spi.h
             ${RF24_DRIVER}/compatibility.h
             ${RF24_DRIVER}/RF24_arch_config.h
+            ${RF24_DRIVER}/interrupt.h
         DESTINATION include/RF24/utility/${RF24_DRIVER}
     )
-    if(NOT "${LibPIGPIO}" STREQUAL "LibPIGPIO-NOTFOUND" AND NOT DEFINED RF24_NO_INTERRUPT)
-        set(RF24_LINKED_DRIVER ${LibPIGPIO} PARENT_SCOPE)
-        message(STATUS "linking to pigpio lib for interrupt functionality")
-        install(FILES
-                ${RF24_DRIVER}/interrupt.h
-            DESTINATION include/RF24/utility/${RF24_DRIVER}
-        )
-        set(RF24_DRIVER_SOURCES
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/gpio.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/spi.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/compatibility.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/RF24_arch_config.h
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/interrupt.cpp
-            PARENT_SCOPE
-        )
-    else()
-        set(RF24_DRIVER_SOURCES
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/gpio.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/spi.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/compatibility.cpp
-            ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/RF24_arch_config.h
-            PARENT_SCOPE
-        )
-    endif()
+    set(RF24_DRIVER_SOURCES
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/includes.h
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/gpio.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/spi.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/compatibility.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/RF24_arch_config.h
+        ${CMAKE_CURRENT_LIST_DIR}/${RF24_DRIVER}/interrupt.cpp
+        PARENT_SCOPE
+    )
 elseif("${RF24_DRIVER}" STREQUAL "MRAA") # use MRAA
     set(RF24_LINKED_DRIVER ${LibMRAA} PARENT_SCOPE)
     set(RF24_DRIVER_SOURCES
diff --git a/utility/MRAA/RF24_arch_config.h b/utility/MRAA/RF24_arch_config.h
index 72a783c4..a3c63629 100644
--- a/utility/MRAA/RF24_arch_config.h
+++ b/utility/MRAA/RF24_arch_config.h
@@ -1,21 +1,14 @@
 #ifndef RF24_UTILITY_MRAA_RF24_ARCH_CONFIG_H_
 #define RF24_UTILITY_MRAA_RF24_ARCH_CONFIG_H_
 
+#include <stdint.h> // uint16_t
+#include <stdio.h>  // printf
+#include <string.h> // strlen
 #include "mraa.h"
 #include "spi.h"
 #include "gpio.h"
 #include "compatibility.h"
 
-#include <stdint.h>
-#include <stdio.h>
-#include <time.h>
-#include <string.h>
-#include <sys/time.h>
-#include <stddef.h>
-#include <iostream>
-#include <unistd.h>
-#include <stdlib.h>
-
 //#include <UtilTime.h> // Precompiled arduino x86 based utiltime for timing functions
 
 // GCC a Arduino Missing
diff --git a/utility/MRAA/compatibility.cpp b/utility/MRAA/compatibility.cpp
index 1b1eac31..68f99b31 100644
--- a/utility/MRAA/compatibility.cpp
+++ b/utility/MRAA/compatibility.cpp
@@ -1,12 +1,7 @@
-#include "compatibility.h"
 #include <time.h>
 #include <chrono>
+#include "compatibility.h"
 
-/**********************************************************************/
-/**
- * This function is added in order to simulate arduino delay() function
- * @param milisec
- */
 void __msleep(int milisec)
 {
     struct timespec req; // = {0};
@@ -23,9 +18,6 @@ void __usleep(int microsec)
     clock_nanosleep(CLOCK_REALTIME, 0, &req, NULL);
 }
 
-/**
- * This function is added in order to simulate arduino millis() function
- */
 void __start_timer()
 {
 }
diff --git a/utility/MRAA/compatibility.h b/utility/MRAA/compatibility.h
index 8e55ae8b..3658033b 100644
--- a/utility/MRAA/compatibility.h
+++ b/utility/MRAA/compatibility.h
@@ -12,9 +12,6 @@
 extern "C" {
 #endif
 
-#include <stddef.h>
-#include <time.h>
-#include <sys/time.h>
 #include <stdint.h>
 
 void __msleep(int milisec);
diff --git a/utility/MRAA/gpio.h b/utility/MRAA/gpio.h
index 4252d3f2..7d343f73 100644
--- a/utility/MRAA/gpio.h
+++ b/utility/MRAA/gpio.h
@@ -1,13 +1,11 @@
 /**
- * @file spi.h
+ * @file gpio.h
  * @author TMRh20 2015
  * Class declaration for GPIO helper files
  */
 #ifndef RF24_UTILITY_MRAA_GPIO_H_
 #define RF24_UTILITY_MRAA_GPIO_H_
 
-#include <cstdio>
-#include <stdio.h>
 #include "mraa.hpp"
 
 class GPIO
diff --git a/utility/MRAA/spi.h b/utility/MRAA/spi.h
index a27fdeb1..f5fb246c 100644
--- a/utility/MRAA/spi.h
+++ b/utility/MRAA/spi.h
@@ -10,7 +10,6 @@
  * Class declaration for SPI helper files
  */
 
-#include <stdio.h>
 #include "mraa.h"
 #include "mraa.hpp"
 
diff --git a/utility/RPi/RF24_arch_config.h b/utility/RPi/RF24_arch_config.h
index bdd70364..bb74c600 100644
--- a/utility/RPi/RF24_arch_config.h
+++ b/utility/RPi/RF24_arch_config.h
@@ -3,13 +3,9 @@
 
 #define RF24_LINUX
 
-#include <stdint.h>
-#include <stdio.h>
-#include <time.h>
-#include <string.h>
-#include <sys/time.h>
-#include <stddef.h>
-
+#include <stdint.h> // uint8_t
+#include <stdio.h>  // printf
+#include <string.h> // strlen
 #include "bcm2835.h"
 #include "spi.h"
 #include "compatibility.h"
@@ -31,6 +27,14 @@
 typedef uint8_t rf24_gpio_pin_t;
 #define RF24_PIN_INVALID 0xFF
 
+#ifndef RF24_LINUX_GPIO_CHIP
+    /**
+     * The default GPIO chip to use.  Defaults to `/dev/gpiochip4` (for RPi5).
+     * Falls back to `/dev/gpiochip0` if this value is somehow incorrect.
+     */
+    #define RF24_LINUX_GPIO_CHIP "/dev/gpiochip4"
+#endif
+
 #define PSTR(x)  (x)
 #define printf_P printf
 #define strlen_P strlen
diff --git a/utility/RPi/compatibility.cpp b/utility/RPi/compatibility.cpp
index 7363ec28..1573eddb 100644
--- a/utility/RPi/compatibility.cpp
+++ b/utility/RPi/compatibility.cpp
@@ -1,5 +1,9 @@
-#include "compatibility.h"
 #include <chrono>
+#include "compatibility.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 auto start = std::chrono::steady_clock::now();
 
@@ -9,3 +13,7 @@ uint32_t millis(void)
 
     return std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count();
 }
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/utility/RPi/compatibility.h b/utility/RPi/compatibility.h
index 58562bea..0a17471a 100644
--- a/utility/RPi/compatibility.h
+++ b/utility/RPi/compatibility.h
@@ -1,14 +1,13 @@
 #ifndef RF24_UTILITY_RPI_COMPATIBLITY_H_
 #define RF24_UTILITY_RPI_COMPATIBLITY_H_
 
-#include <sys/time.h>
 #include <stdint.h>
-#include <stddef.h>
 
 #ifdef __cplusplus
 extern "C" {
 #endif
-extern uint32_t millis(void);
+
+uint32_t millis(void);
 
 #ifdef __cplusplus
 }
diff --git a/utility/RPi/includes.h b/utility/RPi/includes.h
index d73f5cf6..e5eb025a 100644
--- a/utility/RPi/includes.h
+++ b/utility/RPi/includes.h
@@ -3,10 +3,9 @@
 
 #define RF24_RPi
 
+#include <cstring> // memcpy() used in RF24.cpp
 #include "RPi/bcm2835.h"
 #include "RPi/RF24_arch_config.h"
-#ifndef RF24_NO_INTERRUPT
-    #include "RPi/interrupt.h"
-#endif
+#include "RPi/interrupt.h"
 
 #endif // RF24_UTILITY_INCLUDES_H_
diff --git a/utility/RPi/interrupt.cpp b/utility/RPi/interrupt.cpp
index 31a5f894..a2e6ea12 100644
--- a/utility/RPi/interrupt.cpp
+++ b/utility/RPi/interrupt.cpp
@@ -1,19 +1,191 @@
-/*
-Interrupt functions
-*/
-
+/**
+ * Interrupt implementations
+ */
+#include <linux/gpio.h>
+#include <unistd.h>    // close()
+#include <fcntl.h>     // open()
+#include <sys/ioctl.h> // ioctl()
+#include <errno.h>     // errno, strerror()
+#include <string.h>    // std::string, strcpy()
+#include <pthread.h>
+#include <map>
 #include "interrupt.h"
-#include <pigpio.h>
 
-int attachInterrupt(int pin, int mode, void (*function)(void))
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+static pthread_mutex_t irq_mutex = PTHREAD_MUTEX_INITIALIZER;
+std::map<rf24_gpio_pin_t, IrqPinCache> irqCache;
+
+void IrqChipCache::openDevice()
+{
+    if (fd < 0) {
+        fd = open(chip, O_RDONLY);
+        if (fd < 0) {
+            std::string msg = "Can't open device ";
+            msg += chip;
+            msg += "; ";
+            msg += strerror(errno);
+            throw IRQException(msg);
+        }
+    }
+}
+
+void IrqChipCache::closeDevice()
+{
+    if (fd >= 0) {
+        close(fd);
+        fd = -1;
+    }
+}
+
+IrqChipCache::IrqChipCache()
 {
-    gpioInitialise();
-    return gpioSetISRFunc(pin, mode, 0, (gpioISRFunc_t)function);
 }
 
-int detachInterrupt(int pin)
+IrqChipCache::~IrqChipCache()
 {
-    return gpioSetISRFunc(pin, 0, 0, NULL);
+    for (std::map<rf24_gpio_pin_t, IrqPinCache>::iterator i = irqCache.begin(); i != irqCache.end(); ++i) {
+        pthread_cancel(i->second.id);     // send cancel request
+        pthread_join(i->second.id, NULL); // wait till thread terminates
+        close(i->second.fd);
+    }
+    irqCache.clear();
+}
+
+IrqChipCache irqChipCache;
+
+void* poll_irq(void* arg)
+{
+    IrqPinCache* pinCache = (IrqPinCache*)(arg);
+    unsigned int lastEventSeqNo = 0;
+    gpio_v2_line_event irqEventInfo;
+    memset(&irqEventInfo, 0, sizeof(irqEventInfo));
+
+    for (;;) {
+        int ret = read(pinCache->fd, &irqEventInfo, sizeof(gpio_v2_line_event));
+        if (ret < 0) {
+            std::string msg = "[poll_irq] Could not read event info; ";
+            msg += strerror(errno);
+            throw IRQException(msg);
+            return NULL;
+        }
+        if (ret > 0 && irqEventInfo.line_seqno != lastEventSeqNo) {
+            lastEventSeqNo = irqEventInfo.line_seqno;
+            pinCache->function();
+        }
+        pthread_testcancel();
+    }
+    return NULL;
+}
+
+int attachInterrupt(rf24_gpio_pin_t pin, int mode, void (*function)(void))
+{
+    // ensure pin is not already being used in a separate thread
+    detachInterrupt(pin);
+
+    try {
+        irqChipCache.openDevice();
+    }
+    catch (IRQException& exc) {
+        irqChipCache.chip = "/dev/gpiochip0";
+        irqChipCache.openDevice();
+    }
+
+    // get chip info
+    gpiochip_info info;
+    memset(&info, 0, sizeof(info));
+    int ret = ioctl(irqChipCache.fd, GPIO_GET_CHIPINFO_IOCTL, &info);
+    if (ret < 0) {
+        std::string msg = "[attachInterrupt] Could not gather info about ";
+        msg += irqChipCache.chip;
+        throw IRQException(msg);
+        return 0;
+    }
+
+    if (pin > info.lines) {
+        std::string msg = "[attachInterrupt] pin " + std::to_string(pin) + " is not available on " + irqChipCache.chip;
+        throw IRQException(msg);
+        return 0;
+    }
+
+    // create a request object to configure the specified pin
+    gpio_v2_line_request request;
+    memset(&request, 0, sizeof(request));
+    strcpy(request.consumer, "RF24 IRQ");
+    request.num_lines = 1U;
+    request.offsets[0] = pin;
+    request.event_buffer_size = sizeof(gpio_v2_line_event);
+
+    // set debounce for the pin
+    // request.config.attrs[0].mask = 1LL;
+    // request.config.attrs[0].attr.id = GPIO_V2_LINE_ATTR_ID_DEBOUNCE;
+    // request.config.attrs[0].attr.debounce_period_us = 10U;
+    // request.config.num_attrs = 1U;
+
+    // set pin as input and configure edge detection
+    request.config.flags = GPIO_V2_LINE_FLAG_INPUT | GPIO_V2_LINE_FLAG_EVENT_CLOCK_REALTIME;
+    switch (mode) {
+        case INT_EDGE_BOTH:
+        case INT_EDGE_RISING:
+        case INT_EDGE_FALLING:
+            request.config.flags |= mode;
+            break;
+        default:
+            // bad user input!
+            return 0; // stop here
+    }
+
+    // write pin request's config
+    ret = ioctl(irqChipCache.fd, GPIO_V2_GET_LINE_IOCTL, &request);
+    if (ret < 0 || request.fd <= 0) {
+        std::string msg = "[attachInterrupt] Could not get line handle from ioctl; ";
+        msg += strerror(errno);
+        throw IRQException(msg);
+        return 0;
+    }
+    irqChipCache.closeDevice();
+
+    ret = ioctl(request.fd, GPIO_V2_LINE_SET_CONFIG_IOCTL, &request.config);
+    if (ret < 0) {
+        std::string msg = "[attachInterrupt] Could not set line config; ";
+        msg += strerror(errno);
+        throw IRQException(msg);
+        return 0;
+    }
+
+    // cache details
+    IrqPinCache irqPinCache;
+    irqPinCache.fd = request.fd;
+    irqPinCache.function = function;
+    std::pair<std::map<rf24_gpio_pin_t, IrqPinCache>::iterator, bool> indexPair = irqCache.insert(std::pair<rf24_gpio_pin_t, IrqPinCache>(pin, irqPinCache));
+
+    if (!indexPair.second) {
+        // this should not be reached, but indexPair.first needs to be the inserted map element
+        throw IRQException("[attachInterrupt] Could not cache the IRQ pin with function pointer");
+        return 0;
+    }
+
+    // create and start thread
+    pthread_mutex_lock(&irq_mutex);
+    pthread_create(&indexPair.first->second.id, nullptr, poll_irq, &indexPair.first->second);
+    pthread_mutex_unlock(&irq_mutex);
+
+    return 1;
+}
+
+int detachInterrupt(rf24_gpio_pin_t pin)
+{
+    std::map<rf24_gpio_pin_t, IrqPinCache>::iterator cachedPin = irqCache.find(pin);
+    if (cachedPin == irqCache.end()) {
+        return 0; // pin not in cache; just exit
+    }
+    pthread_cancel(cachedPin->second.id);     // send cancel request
+    pthread_join(cachedPin->second.id, NULL); // wait till thread terminates
+    close(cachedPin->second.fd);
+    irqCache.erase(cachedPin);
+    return 1;
 }
 
 void rfNoInterrupts()
@@ -22,4 +194,8 @@ void rfNoInterrupts()
 
 void rfInterrupts()
 {
-}
\ No newline at end of file
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/utility/RPi/interrupt.h b/utility/RPi/interrupt.h
index 00e6dca5..7fe7dcf0 100644
--- a/utility/RPi/interrupt.h
+++ b/utility/RPi/interrupt.h
@@ -1,48 +1,86 @@
-/*
-Interrupt functions
-*/
-#ifndef __RF24_INTERRUPT_H__
-#define __RF24_INTERRUPT_H__
+/**
+ * Interrupt functions
+ */
+#ifndef RF24_UTILITY_RPI_INTERRUPT_H_
+#define RF24_UTILITY_RPI_INTERRUPT_H_
 
-#include "RF24_arch_config.h"
-#include <pigpio.h>
+#include <pthread.h> // pthread_t
+#include <stdexcept>
+#include <linux/gpio.h>       // GPIO_V2_LINE_FLAG_EDGE_***
+#include "RF24_arch_config.h" // rf24_gpio_pin_t
 
-#define INT_EDGE_SETUP   0
-#define INT_EDGE_FALLING FALLING_EDGE
-#define INT_EDGE_RISING  RISING_EDGE
-#define INT_EDGE_BOTH    EITHER_EDGE
+#define INT_EDGE_FALLING GPIO_V2_LINE_FLAG_EDGE_FALLING
+#define INT_EDGE_RISING  GPIO_V2_LINE_FLAG_EDGE_RISING
+#define INT_EDGE_BOTH    GPIO_V2_LINE_FLAG_EDGE_FALLING | GPIO_V2_LINE_FLAG_EDGE_RISING
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/*
- * attachInterrupt (Original: wiringPiISR):
- *      Pi Specific.
- *      Take the details and create an interrupt handler that will do a call-
- *      back to the user supplied function.
- *********************************************************************************
- */
-extern int attachInterrupt(int pin, int mode, void (*function)(void));
-
-/*
- * detachInterrupt:
- *      Pi Specific detachInterrupt.
- *      Will cancel the interrupt thread, close the filehandle and
- *		setting wiringPi back to 'none' mode.
- *********************************************************************************
- */
-extern int detachInterrupt(int pin);
+/** Specific exception for IRQ errors */
+class IRQException : public std::runtime_error
+{
+public:
+    explicit IRQException(const std::string& msg)
+        : std::runtime_error(msg)
+    {
+    }
+};
+
+/// A struct to manage the GPIO chip file descriptor.
+/// This struct's destructor should close any cached GPIO pin requests' file descriptors.
+struct IrqChipCache
+{
+    const char* chip = RF24_LINUX_GPIO_CHIP;
+    int fd = -1;
+
+    /// Open the File Descriptor for the GPIO chip
+    void openDevice();
+
+    /// Close the File Descriptor for the GPIO chip
+    void closeDevice();
+
+    /// should be called automatically on program start.
+    /// Here, we do some one-off configuration.
+    IrqChipCache();
 
-/* Deprecated, no longer functional
+    /// Should be called automatically on program exit.
+    /// What we need here is to make sure that the File Descriptors used to
+    /// control GPIO pins are properly closed.
+    ~IrqChipCache();
+};
+
+/** Details related to a certain pin's ISR. */
+struct IrqPinCache
+{
+    /// The pin request's file descriptor
+    int fd = 0;
+
+    /// The posix thread ID.
+    pthread_t id = 0;
+
+    /// The user-designated ISR function (used as a callback)
+    void (*function)(void) = nullptr;
+};
+
+/**
+ * Take the details and create an interrupt handler that will
+ * callback to the user-supplied function.
  */
-extern void rfNoInterrupts();
+int attachInterrupt(rf24_gpio_pin_t pin, int mode, void (*function)(void));
 
-/* Deprecated, no longer functional
+/**
+ * Will cancel the interrupt thread, close the filehandle and release the pin.
  */
-extern void rfInterrupts();
+int detachInterrupt(rf24_gpio_pin_t pin);
+
+/** Deprecated, no longer functional */
+void rfNoInterrupts();
+
+/** Deprecated, no longer functional */
+void rfInterrupts();
 
 #ifdef __cplusplus
 }
 #endif
-#endif
+#endif // RF24_UTILITY_RPI_INTERRUPT_H_
diff --git a/utility/SPIDEV/RF24_arch_config.h b/utility/SPIDEV/RF24_arch_config.h
index 219bc051..33280d4e 100644
--- a/utility/SPIDEV/RF24_arch_config.h
+++ b/utility/SPIDEV/RF24_arch_config.h
@@ -11,15 +11,13 @@
 
 #define RF24_LINUX
 
-#include <stddef.h>
+#include <stdint.h> // uint16_t
+#include <stdio.h>  // printf
+#include <string.h> // strlen
 #include "spi.h"
 #include "gpio.h"
 #include "compatibility.h"
-#include <stdint.h>
-#include <stdio.h>
-#include <time.h>
-#include <string.h>
-#include <sys/time.h>
+#include "interrupt.h"
 
 //#define RF24_SPI_SPEED RF24_SPIDEV_SPEED
 
diff --git a/utility/SPIDEV/compatibility.cpp b/utility/SPIDEV/compatibility.cpp
index 20107d85..14b0b518 100644
--- a/utility/SPIDEV/compatibility.cpp
+++ b/utility/SPIDEV/compatibility.cpp
@@ -1,15 +1,15 @@
+#include <time.h>
+#include <chrono>
 #include "compatibility.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 long long mtime, seconds, useconds;
 //static struct timeval start, end;
 //struct timespec start, end;
-#include <time.h>
-#include <chrono>
-/**********************************************************************/
-/**
- * This function is added in order to simulate arduino delay() function
- * @param milisec
- */
+
 void __msleep(int milisec)
 {
     struct timespec req; // = {0};
@@ -46,3 +46,7 @@ uint32_t __millis()
 
     return std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count();
 }
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/utility/SPIDEV/compatibility.h b/utility/SPIDEV/compatibility.h
index 70153233..6158d0ad 100644
--- a/utility/SPIDEV/compatibility.h
+++ b/utility/SPIDEV/compatibility.h
@@ -14,9 +14,6 @@ extern "C" {
 #endif
 
 #include <stdint.h> // for uintXX_t types
-#include <stddef.h>
-#include <time.h>
-#include <sys/time.h>
 
 void __msleep(int milisec);
 
diff --git a/utility/SPIDEV/gpio.cpp b/utility/SPIDEV/gpio.cpp
index f27e2c9b..e153444b 100644
--- a/utility/SPIDEV/gpio.cpp
+++ b/utility/SPIDEV/gpio.cpp
@@ -20,7 +20,6 @@ typedef int gpio_fd; // for readability
 std::map<rf24_gpio_pin_t, gpio_fd> cachedPins;
 struct gpio_v2_line_request request;
 struct gpio_v2_line_values data;
-struct gpiochip_info chipMeta;
 
 void GPIOChipCache::openDevice()
 {
@@ -46,26 +45,9 @@ void GPIOChipCache::closeDevice()
 
 GPIOChipCache::GPIOChipCache()
 {
-    try {
-        openDevice();
-    }
-    catch (GPIOException& exc) {
-        chip = "/dev/gpiochip0";
-        openDevice();
-    }
     request.num_lines = 1;
     strcpy(request.consumer, "RF24 lib");
     data.mask = 1ULL; // only change value for specified pin
-
-    // cache chip info
-    int ret = ioctl(fd, GPIO_GET_CHIPINFO_IOCTL, &chipMeta);
-    if (ret < 0) {
-        std::string msg = "Could not gather info about ";
-        msg += chip;
-        throw GPIOException(msg);
-        return;
-    }
-    closeDevice(); // in case other apps want to access it
 }
 
 GPIOChipCache::~GPIOChipCache()
@@ -91,7 +73,26 @@ GPIO::~GPIO()
 
 void GPIO::open(rf24_gpio_pin_t port, int DDR)
 {
-    if (port > chipMeta.lines) {
+    try {
+        gpioCache.openDevice();
+    }
+    catch (GPIOException& exc) {
+        gpioCache.chip = "/dev/gpiochip0";
+        gpioCache.openDevice();
+    }
+
+    // get chip info
+    gpiochip_info info;
+    memset(&info, 0, sizeof(info));
+    int ret = ioctl(gpioCache.fd, GPIO_GET_CHIPINFO_IOCTL, &info);
+    if (ret < 0) {
+        std::string msg = "Could not gather info about ";
+        msg += gpioCache.chip;
+        throw GPIOException(msg);
+        return;
+    }
+
+    if (port > info.lines) {
         std::string msg = "pin number " + std::to_string(port) + " not available for " + gpioCache.chip;
         throw GPIOException(msg);
         return;
@@ -107,8 +108,6 @@ void GPIO::open(rf24_gpio_pin_t port, int DDR)
         request.fd = pin->second;
     }
 
-    gpioCache.openDevice();
-    int ret;
     if (request.fd <= 0) {
         ret = ioctl(gpioCache.fd, GPIO_V2_GET_LINE_IOCTL, &request);
         if (ret == -1 || request.fd <= 0) {
@@ -135,8 +134,14 @@ void GPIO::open(rf24_gpio_pin_t port, int DDR)
 
 void GPIO::close(rf24_gpio_pin_t port)
 {
-    // This is not really used in RF24 convention (designed for embedded apps).
-    // Instead rely on gpioCache destructor (see above)
+    std::map<rf24_gpio_pin_t, gpio_fd>::iterator pin = cachedPins.find(port);
+    if (pin == cachedPins.end()) {
+        return;
+    }
+    if (pin->second > 0) {
+        ::close(pin->second);
+    }
+    cachedPins.erase(pin);
 }
 
 int GPIO::read(rf24_gpio_pin_t port)
diff --git a/utility/SPIDEV/gpio.h b/utility/SPIDEV/gpio.h
index 006d5d2c..e780244d 100644
--- a/utility/SPIDEV/gpio.h
+++ b/utility/SPIDEV/gpio.h
@@ -13,23 +13,22 @@
 #ifndef RF24_UTILITY_SPIDEV_GPIO_H_
 #define RF24_UTILITY_SPIDEV_GPIO_H_
 
-#include <cstdio>
-#include <map>
 #include <stdexcept>
 #include <cstdint>
+#include <linux/gpio.h> // gpiochip_info
 
 typedef uint16_t rf24_gpio_pin_t;
 #define RF24_PIN_INVALID 0xFFFF
 
-#ifndef RF24_SPIDEV_GPIO_CHIP
+#ifndef RF24_LINUX_GPIO_CHIP
     /**
      * The default GPIO chip to use.  Defaults to `/dev/gpiochip4` (for RPi5).
      * Falls back to `/dev/gpiochip0` if this value is somehow incorrect.
      */
-    #define RF24_SPIDEV_GPIO_CHIP "/dev/gpiochip4"
+    #define RF24_LINUX_GPIO_CHIP "/dev/gpiochip4"
 #endif
 
-/** Specific exception for SPI errors */
+/** Specific exception for GPIO errors */
 class GPIOException : public std::runtime_error
 {
 public:
@@ -43,7 +42,7 @@ class GPIOException : public std::runtime_error
 /// This struct's destructor should close any cached GPIO pin requests' file descriptors.
 struct GPIOChipCache
 {
-    const char* chip = RF24_SPIDEV_GPIO_CHIP;
+    const char* chip = RF24_LINUX_GPIO_CHIP;
     int fd = -1;
 
     /// Open the File Descriptor for the GPIO chip
diff --git a/utility/SPIDEV/includes.h b/utility/SPIDEV/includes.h
index fd82fd5d..8473f541 100644
--- a/utility/SPIDEV/includes.h
+++ b/utility/SPIDEV/includes.h
@@ -3,9 +3,7 @@
 
 #define RF24_SPIDEV
 
+#include <cstring> // memcpy() used in RF24.cpp
 #include "SPIDEV/RF24_arch_config.h"
-#ifndef RF24_NO_INTERRUPT
-    #include "SPIDEV/interrupt.h"
-#endif
 
 #endif // RF24_UTILITY_INCLUDES_H_
diff --git a/utility/SPIDEV/interrupt.cpp b/utility/SPIDEV/interrupt.cpp
index 4893dc51..98a28136 100644
--- a/utility/SPIDEV/interrupt.cpp
+++ b/utility/SPIDEV/interrupt.cpp
@@ -1,19 +1,171 @@
-/*
-Interrupt functions
-*/
-
+/**
+ * Interrupt implementations
+ */
+#include <linux/gpio.h>
+#include <unistd.h>    // close()
+#include <fcntl.h>     // open()
+#include <sys/ioctl.h> // ioctl()
+#include <errno.h>     // errno, strerror()
+#include <string.h>    // std::string, strcpy()
+#include <pthread.h>
+#include <map>
 #include "interrupt.h"
-#include <pigpio.h>
+#include "gpio.h" // GPIOChipCache, GPIOException
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+static pthread_mutex_t irq_mutex = PTHREAD_MUTEX_INITIALIZER;
+std::map<rf24_gpio_pin_t, IrqPinCache> irqCache;
+
+struct IrqChipCache : public GPIOChipCache
+{
+    IrqChipCache() : GPIOChipCache() {};
+    ~IrqChipCache()
+    {
+        for (std::map<rf24_gpio_pin_t, IrqPinCache>::iterator i = irqCache.begin(); i != irqCache.end(); ++i) {
+            pthread_cancel(i->second.id);     // send cancel request
+            pthread_join(i->second.id, NULL); // wait till thread terminates
+            close(i->second.fd);
+        }
+        irqCache.clear();
+    }
+};
+
+IrqChipCache irqChipCache;
 
-int attachInterrupt(int pin, int mode, void (*function)(void))
+void* poll_irq(void* arg)
 {
-    gpioInitialise();
-    return gpioSetISRFunc(pin, mode, 0, (gpioISRFunc_t)function);
+    IrqPinCache* pinCache = (IrqPinCache*)(arg);
+    unsigned int lastEventSeqNo = 0;
+    gpio_v2_line_event irqEventInfo;
+    memset(&irqEventInfo, 0, sizeof(irqEventInfo));
+
+    for (;;) {
+        int ret = read(pinCache->fd, &irqEventInfo, sizeof(gpio_v2_line_event));
+        if (ret < 0) {
+            std::string msg = "[poll_irq] Could not read event info; ";
+            msg += strerror(errno);
+            throw IRQException(msg);
+            return NULL;
+        }
+        if (ret > 0 && irqEventInfo.line_seqno != lastEventSeqNo) {
+            lastEventSeqNo = irqEventInfo.line_seqno;
+            pinCache->function();
+        }
+        pthread_testcancel();
+    }
+    return NULL;
+}
+
+int attachInterrupt(rf24_gpio_pin_t pin, int mode, void (*function)(void))
+{
+    // ensure pin is not already being used in a separate thread
+    detachInterrupt(pin);
+    GPIO::close(pin);
+
+    try {
+        irqChipCache.openDevice();
+    }
+    catch (GPIOException& exc) {
+        irqChipCache.chip = "/dev/gpiochip0";
+        irqChipCache.openDevice();
+    }
+
+    // get chip info
+    gpiochip_info info;
+    memset(&info, 0, sizeof(info));
+    int ret = ioctl(irqChipCache.fd, GPIO_GET_CHIPINFO_IOCTL, &info);
+    if (ret < 0) {
+        std::string msg = "[attachInterrupt] Could not gather info about ";
+        msg += irqChipCache.chip;
+        throw IRQException(msg);
+        return 0;
+    }
+
+    if (pin > info.lines) {
+        std::string msg = "[attachInterrupt] pin " + std::to_string(pin) + " is not available on " + irqChipCache.chip;
+        throw IRQException(msg);
+        return 0;
+    }
+
+    // create a request object to configure the specified pin
+    struct gpio_v2_line_request request;
+    memset(&request, 0, sizeof(request));
+    strcpy(request.consumer, "RF24 IRQ");
+    request.num_lines = 1U;
+    request.offsets[0] = pin;
+    request.event_buffer_size = sizeof(gpio_v2_line_event);
+
+    // set debounce for the pin
+    // request.config.attrs[0].mask = 1LL;
+    // request.config.attrs[0].attr.id = GPIO_V2_LINE_ATTR_ID_DEBOUNCE;
+    // request.config.attrs[0].attr.debounce_period_us = 10U;
+    // request.config.num_attrs = 1U;
+
+    // set pin as input and configure edge detection
+    request.config.flags = GPIO_V2_LINE_FLAG_INPUT | GPIO_V2_LINE_FLAG_EVENT_CLOCK_REALTIME;
+    switch (mode) {
+        case INT_EDGE_BOTH:
+        case INT_EDGE_RISING:
+        case INT_EDGE_FALLING:
+            request.config.flags |= mode;
+            break;
+        default:
+            // bad user input!
+            return 0; // stop here
+    }
+
+    // write pin request's config
+    ret = ioctl(irqChipCache.fd, GPIO_V2_GET_LINE_IOCTL, &request);
+    if (ret < 0 || request.fd <= 0) {
+        std::string msg = "[attachInterrupt] Could not get line handle from ioctl; ";
+        msg += strerror(errno);
+        throw IRQException(msg);
+        return 0;
+    }
+    irqChipCache.closeDevice();
+
+    ret = ioctl(request.fd, GPIO_V2_LINE_SET_CONFIG_IOCTL, &request.config);
+    if (ret < 0) {
+        std::string msg = "[attachInterrupt] Could not set line config; ";
+        msg += strerror(errno);
+        throw IRQException(msg);
+        return 0;
+    }
+
+    // cache details
+    IrqPinCache irqPinCache;
+    irqPinCache.fd = request.fd;
+    irqPinCache.function = function;
+    std::pair<std::map<rf24_gpio_pin_t, IrqPinCache>::iterator, bool> indexPair = irqCache.insert(std::pair<rf24_gpio_pin_t, IrqPinCache>(pin, irqPinCache));
+
+    if (!indexPair.second) {
+        // this should not be reached, but indexPair.first needs to be the inserted map element
+        throw IRQException("[attachInterrupt] Could not cache the IRQ pin with function pointer");
+        return 0;
+    }
+
+    // create and start thread
+    pthread_mutex_lock(&irq_mutex);
+    pthread_create(&indexPair.first->second.id, nullptr, poll_irq, &indexPair.first->second);
+    pthread_mutex_unlock(&irq_mutex);
+
+    return 1;
 }
 
-int detachInterrupt(int pin)
+int detachInterrupt(rf24_gpio_pin_t pin)
 {
-    return gpioSetISRFunc(pin, 0, 0, NULL);
+    std::map<rf24_gpio_pin_t, IrqPinCache>::iterator cachedPin = irqCache.find(pin);
+    if (cachedPin == irqCache.end()) {
+        return 0; // pin not in cache; just exit
+    }
+    pthread_cancel(cachedPin->second.id);     // send cancel request
+    pthread_join(cachedPin->second.id, NULL); // wait till thread terminates
+    close(cachedPin->second.fd);
+    irqCache.erase(cachedPin);
+    return 1;
 }
 
 void rfNoInterrupts()
@@ -23,3 +175,7 @@ void rfNoInterrupts()
 void rfInterrupts()
 {
 }
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/utility/SPIDEV/interrupt.h b/utility/SPIDEV/interrupt.h
index 00e6dca5..8a6e80bf 100644
--- a/utility/SPIDEV/interrupt.h
+++ b/utility/SPIDEV/interrupt.h
@@ -1,48 +1,62 @@
-/*
-Interrupt functions
-*/
-#ifndef __RF24_INTERRUPT_H__
-#define __RF24_INTERRUPT_H__
+/**
+ * Interrupt functions
+ */
+#ifndef RF24_UTILITY_SPIDEV_INTERRUPT_H_
+#define RF24_UTILITY_SPIDEV_INTERRUPT_H_
 
-#include "RF24_arch_config.h"
-#include <pigpio.h>
+#include <pthread.h> // pthread_t
+#include <stdexcept>
+#include "gpio.h" // rf24_gpio_pin_t
 
-#define INT_EDGE_SETUP   0
-#define INT_EDGE_FALLING FALLING_EDGE
-#define INT_EDGE_RISING  RISING_EDGE
-#define INT_EDGE_BOTH    EITHER_EDGE
+#define INT_EDGE_FALLING GPIO_V2_LINE_FLAG_EDGE_FALLING
+#define INT_EDGE_RISING  GPIO_V2_LINE_FLAG_EDGE_RISING
+#define INT_EDGE_BOTH    GPIO_V2_LINE_FLAG_EDGE_FALLING | GPIO_V2_LINE_FLAG_EDGE_RISING
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-/*
- * attachInterrupt (Original: wiringPiISR):
- *      Pi Specific.
- *      Take the details and create an interrupt handler that will do a call-
- *      back to the user supplied function.
- *********************************************************************************
- */
-extern int attachInterrupt(int pin, int mode, void (*function)(void));
-
-/*
- * detachInterrupt:
- *      Pi Specific detachInterrupt.
- *      Will cancel the interrupt thread, close the filehandle and
- *		setting wiringPi back to 'none' mode.
- *********************************************************************************
+/** Specific exception for IRQ errors */
+class IRQException : public std::runtime_error
+{
+public:
+    explicit IRQException(const std::string& msg)
+        : std::runtime_error(msg)
+    {
+    }
+};
+
+/** Details related to a certain pin's ISR. */
+struct IrqPinCache
+{
+    /// The pin request's file descriptor
+    int fd = 0;
+
+    /// The posix thread ID.
+    pthread_t id = 0;
+
+    /// The user-designated ISR function (used as a callback)
+    void (*function)(void) = nullptr;
+};
+
+/**
+ * Take the details and create an interrupt handler that will
+ * callback to the user-supplied function.
  */
-extern int detachInterrupt(int pin);
+int attachInterrupt(rf24_gpio_pin_t pin, int mode, void (*function)(void));
 
-/* Deprecated, no longer functional
+/**
+ * Will cancel the interrupt thread, close the filehandle and release the pin.
  */
-extern void rfNoInterrupts();
+int detachInterrupt(rf24_gpio_pin_t pin);
 
-/* Deprecated, no longer functional
- */
-extern void rfInterrupts();
+/** Deprecated, no longer functional */
+void rfNoInterrupts();
+
+/** Deprecated, no longer functional */
+void rfInterrupts();
 
 #ifdef __cplusplus
 }
 #endif
-#endif
+#endif // RF24_UTILITY_SPIDEV_INTERRUPT_H_
diff --git a/utility/SPIDEV/spi.cpp b/utility/SPIDEV/spi.cpp
index 4fb0113b..4a5ba903 100644
--- a/utility/SPIDEV/spi.cpp
+++ b/utility/SPIDEV/spi.cpp
@@ -10,15 +10,15 @@
  * www.kernel.org/doc/Documentation/spi/spidev_test.c
  */
 
-#include "spi.h"
-
 #include <fcntl.h>
 #include <linux/spi/spidev.h>
-#include <memory.h>
 #include <stdio.h>
-#include <stdlib.h>
 #include <sys/ioctl.h>
 #include <unistd.h>
+#include <errno.h>
+#include <string.h>
+
+#include "spi.h"
 
 #define RF24_SPIDEV_BITS 8
 
@@ -51,14 +51,13 @@ void SPI::begin(int busNo, uint32_t spi_speed)
 
     this->fd = open(device, O_RDWR);
     if (this->fd < 0) {
-        throw SPIException("can't open device");
+        std::string msg = "[SPI::begin] Can't open device ";
+        msg += device;
+        msg += "; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*
-  {
-        perror("can't open device");
-        abort();
 
-  }*/
     this->spiIsInitialized = true;
     init(spi_speed);
 }
@@ -74,62 +73,52 @@ void SPI::init(uint32_t speed)
      */
     ret = ioctl(this->fd, SPI_IOC_WR_MODE, &mode);
     if (ret == -1) {
-        throw SPIException("cant set WR spi mode");
+        std::string msg = "[SPI::init] Can't set WR spi mode; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*{
-        perror("can't set spi mode");
-        abort();
-    }*/
 
     ret = ioctl(this->fd, SPI_IOC_RD_MODE, &mode);
     if (ret == -1) {
-        throw SPIException("can't set RD spi mode");
+        std::string msg = "[SPI::init] Can't set RD spi mode; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*{
-        perror("can't set spi mode");
-        abort();
-    }*/
 
     /*
      * bits per word
      */
     ret = ioctl(this->fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
     if (ret == -1) {
-        throw SPIException("can't set WR bits per word");
+        std::string msg = "[SPI::init] Can't set WR bits per word; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*{
-        perror("can't set bits per word");
-        abort();
-    }*/
 
     ret = ioctl(this->fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
     if (ret == -1) {
-        throw SPIException("can't set RD bits per word");
+        std::string msg = "[SPI::init] Can't set RD bits per word; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*{
-        perror("can't set bits per word");
-        abort();
-    }*/
+
     /*
      * max speed hz
      */
     ret = ioctl(this->fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
     if (ret == -1) {
-        throw SPIException("can't WR set max speed hz");
+        std::string msg = "[SPI::init] Can't set max WR speed hz; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*{
-        perror("can't set max speed hz");
-        abort();
-    }*/
 
     ret = ioctl(this->fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
     if (ret == -1) {
-        throw SPIException("can't RD set max speed hz");
+        std::string msg = "[SPI::init] Can't set max RD speed hz; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*{
-        perror("can't set max speed hz");
-        abort();
-    }*/
+
     _spi_speed = speed;
 }
 
@@ -149,12 +138,10 @@ uint8_t SPI::transfer(uint8_t tx)
     int ret;
     ret = ioctl(this->fd, SPI_IOC_MESSAGE(1), &tr);
     if (ret < 1) {
-        throw SPIException("can't send spi message");
+        std::string msg = "[SPI::transfer] Can't send spi message; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*{
-        perror("can't send spi message");
-        abort();
-    }*/
 
     return rx;
 }
@@ -174,12 +161,10 @@ void SPI::transfernb(char* tbuf, char* rbuf, uint32_t len)
     int ret;
     ret = ioctl(this->fd, SPI_IOC_MESSAGE(1), &tr);
     if (ret < 1) {
-        throw SPIException("can't send spi message");
+        std::string msg = "[SPI::transfernb] Can't send spi message; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
-    /*{
-        perror("can't send spi message");
-        abort();
-    }*/
 }
 
 void SPI::transfern(char* buf, uint32_t len)
diff --git a/utility/SPIDEV/spi.h b/utility/SPIDEV/spi.h
index 63ef5e12..8dcc291c 100644
--- a/utility/SPIDEV/spi.h
+++ b/utility/SPIDEV/spi.h
@@ -10,10 +10,12 @@
 #ifndef RF24_UTILITY_SPIDEV_SPI_H_
 #define RF24_UTILITY_SPIDEV_SPI_H_
 
-#include <inttypes.h>
+#include <stdint.h>
 #include <stdexcept>
 
-#include "../../RF24_config.h" // This is cyclical and should be fixed
+#ifndef RF24_SPI_SPEED
+    #define RF24_SPI_SPEED 10000000
+#endif
 
 /** Specific exception for SPI errors */
 class SPIException : public std::runtime_error
diff --git a/utility/Template/compatibility.h b/utility/Template/compatibility.h
index 1441302e..2408b073 100644
--- a/utility/Template/compatibility.h
+++ b/utility/Template/compatibility.h
@@ -17,9 +17,7 @@
 extern "C" {
 #endif
 
-#include <stddef.h>
-#include <time.h>
-#include <sys/time.h>
+#include <stdint.h>
 
 void __msleep(int milisec);
 
@@ -27,7 +25,7 @@ void __usleep(int milisec);
 
 void __start_timer();
 
-long __millis();
+uint32_t __millis();
 
 #ifdef __cplusplus
 }
diff --git a/utility/Template/includes.h b/utility/Template/includes.h
index 064bfe2a..2dd24123 100644
--- a/utility/Template/includes.h
+++ b/utility/Template/includes.h
@@ -16,12 +16,12 @@
 /**
  * Define a specific platform for this configuration
  */
-#define RF24_BBB
+#define RF24_TEMPLATE
 
 /**
  * Load the correct configuration for this platform
  */
-#include "BBB/RF24_arch_config.h"
+#include "Template/RF24_arch_config.h"
 
 /**@}*/
 
diff --git a/utility/Template/spi.h b/utility/Template/spi.h
index ddb8b750..22ac04fe 100644
--- a/utility/Template/spi.h
+++ b/utility/Template/spi.h
@@ -12,19 +12,7 @@
 #ifndef RF24_UTILITY_TEMPLATE_SPI_H_
 #define RF24_UTILITY_TEMPLATE_SPI_H_
 
-#include <string>
 #include <stdint.h>
-#include <unistd.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <getopt.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <inttypes.h>
-#include <linux/types.h>
-#include <linux/spi/spidev.h>
-
-using namespace std;
 
 #ifndef DOXYGEN_FORCED
 // exclude this line from the docs to prevent displaying in the list of classes
@@ -71,17 +59,14 @@ class SPI
 #endif
 
 private:
-    /** Default SPI device */
-    string device;
+    /** SPI bus */
+    int bus;
     /** SPI Mode set */
     uint8_t mode;
-    /** word size*/
+    /** SPI word size */
     uint8_t bits;
-    /** Set SPI speed*/
+    /** SPI speed */
     uint32_t speed;
-    int fd;
-
-    void init();
 };
 
 /**@}*/
diff --git a/utility/pigpio/RF24_arch_config.h b/utility/pigpio/RF24_arch_config.h
index f5acdf4a..c310034a 100644
--- a/utility/pigpio/RF24_arch_config.h
+++ b/utility/pigpio/RF24_arch_config.h
@@ -6,20 +6,17 @@
  version 2 as published by the Free Software Foundation.
 
  */
-#ifndef __ARCH_CONFIG_H__
-#define __ARCH_CONFIG_H__
+#ifndef RF24_UTILITY_PIGPIO_RF24_ARCH_CONFIG_H_
+#define RF24_UTILITY_PIGPIO_RF24_ARCH_CONFIG_H_
 
 #define RF24_LINUX
 
-#include <stddef.h>
+#include <stdint.h> // uint16_t
+#include <stdio.h>  // printf
+#include <string.h> // strlen
 #include "spi.h"
 #include "gpio.h"
 #include "compatibility.h"
-#include <stdint.h>
-#include <stdio.h>
-#include <time.h>
-#include <string.h>
-#include <sys/time.h>
 
 //#define RF24_SPI_SPEED RF24_SPIDEV_SPEED
 
@@ -72,4 +69,4 @@ typedef uint8_t rf24_gpio_pin_t;
 #define delayMicroseconds(usec)  __usleep(usec)
 #define millis()                 __millis()
 
-#endif // __ARCH_CONFIG_H__
+#endif // RF24_UTILITY_PIGPIO_RF24_ARCH_CONFIG_H_
diff --git a/utility/pigpio/compatibility.cpp b/utility/pigpio/compatibility.cpp
index a9deb311..65ba305e 100644
--- a/utility/pigpio/compatibility.cpp
+++ b/utility/pigpio/compatibility.cpp
@@ -1,15 +1,11 @@
+#include <time.h>
+#include <chrono>
 #include "compatibility.h"
 
 long long mtime, seconds, useconds;
 //static struct timeval start, end;
 //struct timespec start, end;
-#include <time.h>
-#include <chrono>
-/**********************************************************************/
-/**
- * This function is added in order to simulate arduino delay() function
- * @param milisec
- */
+
 void __msleep(int milisec)
 {
     struct timespec req; // = {0};
diff --git a/utility/pigpio/compatibility.h b/utility/pigpio/compatibility.h
index fff69d2a..25cbd052 100644
--- a/utility/pigpio/compatibility.h
+++ b/utility/pigpio/compatibility.h
@@ -1,23 +1,15 @@
 /*
- * File:   compatiblity.h
- * Author: purinda
- *
- * Created on 24 June 2012, 3:08 PM
- * patch for safer monotonic clock & millis() correction for 64bit LDV 2018
+ * Time keeping functions
  */
+#ifndef RF24_UTILITY_PIGPIO_COMPATIBLITY_H_
+#define RF24_UTILITY_PIGPIO_COMPATIBLITY_H_
 
-#ifndef COMPATIBLITY_H
-#define COMPATIBLITY_H
+#include <stdint.h> // for uintXX_t types
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#include <stdint.h> // for uintXX_t types
-#include <stddef.h>
-#include <time.h>
-#include <sys/time.h>
-
 void __msleep(int milisec);
 
 void __usleep(int milisec);
@@ -30,4 +22,4 @@ uint32_t __millis();
 }
 #endif
 
-#endif /* COMPATIBLITY_H */
+#endif /* RF24_UTILITY_PIGPIO_COMPATIBLITY_H_ */
diff --git a/utility/pigpio/gpio.cpp b/utility/pigpio/gpio.cpp
index f57c3e95..3c9a63e1 100644
--- a/utility/pigpio/gpio.cpp
+++ b/utility/pigpio/gpio.cpp
@@ -1,9 +1,8 @@
 /*
  * GPIO Functions
  */
-
-#include "gpio.h"
 #include <pigpio.h>
+#include "gpio.h"
 
 bool initialized = 0;
 
diff --git a/utility/pigpio/gpio.h b/utility/pigpio/gpio.h
index 8247183a..8fe245c0 100644
--- a/utility/pigpio/gpio.h
+++ b/utility/pigpio/gpio.h
@@ -2,14 +2,12 @@
  *
  */
 
-#ifndef RF24_GPIO_H
-#define RF24_GPIO_H
+#ifndef RF24_UTILITY_PIGPIO_GPIO_H_
+#define RF24_UTILITY_PIGPIO_GPIO_H_
 
-#include <cstdio>
-#include <map>
 #include <stdexcept>
 
-/** Specific exception for SPI errors */
+/** Specific exception for GPIO errors */
 class GPIOException : public std::runtime_error
 {
 public:
@@ -19,21 +17,6 @@ class GPIOException : public std::runtime_error
     }
 };
 
-/**
- * @file gpio.h
- * @cond HIDDEN_SYMBOLS
- * Class declaration for GPIO helper files
- */
-
-/**
- * Example GPIO.h file
- *
- * @defgroup GPIO GPIO Example
- *
- * See RF24_arch_config.h for additional information
- * @{
- */
-
 class GPIO
 {
 public:
@@ -76,8 +59,5 @@ class GPIO
 
 private:
 };
-/**
- * @endcond
- */
-/**@}*/
-#endif /* H */
+
+#endif /* RF24_UTILITY_PIGPIO_GPIO_H_ */
diff --git a/utility/pigpio/includes.h b/utility/pigpio/includes.h
index b7e76d98..9f4c2e8e 100644
--- a/utility/pigpio/includes.h
+++ b/utility/pigpio/includes.h
@@ -1,11 +1,10 @@
-#ifndef __RF24_INCLUDES_H__
-#define __RF24_INCLUDES_H__
+#ifndef RF24_UTILITY_INCLUDES_H_
+#define RF24_UTILITY_INCLUDES_H_
 
 #define RF24_PIGPIO
 
+#include <cstring> // memcpy() used in RF24.cpp
 #include "pigpio/RF24_arch_config.h"
-#ifndef RF24_NO_INTERRUPT
-    #include "pigpio/interrupt.h"
-#endif
+#include "pigpio/interrupt.h"
 
 #endif
diff --git a/utility/pigpio/interrupt.cpp b/utility/pigpio/interrupt.cpp
index 3b970c37..ad89af49 100644
--- a/utility/pigpio/interrupt.cpp
+++ b/utility/pigpio/interrupt.cpp
@@ -1,9 +1,12 @@
-/*
-
-*/
-
-#include "interrupt.h"
+/**
+ * Interrupt implementation wrapped from pigpio library
+ */
 #include <pigpio.h>
+#include "interrupt.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 int attachInterrupt(int pin, int mode, void (*function)(void))
 {
@@ -22,4 +25,8 @@ void rfNoInterrupts()
 
 void rfInterrupts()
 {
-}
\ No newline at end of file
+}
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/utility/pigpio/interrupt.h b/utility/pigpio/interrupt.h
index 8acdf920..80272cdc 100644
--- a/utility/pigpio/interrupt.h
+++ b/utility/pigpio/interrupt.h
@@ -1,18 +1,11 @@
-/*
-Interrupts functions extruded from wiringPi library by Oitzu.
-
-wiringPi Copyright (c) 2012 Gordon Henderson
-https://projects.drogon.net/raspberry-pi/wiringpi
-wiringPi is free software: GNU Lesser General Public License
-see <http://www.gnu.org/licenses/>
-*/
-#ifndef __RF24_INTERRUPT_H__
-#define __RF24_INTERRUPT_H__
-
-#include "RF24_arch_config.h"
+/**
+ * Interrupt functions wrapped from pigpio library
+ */
+#ifndef RF24_UTILITY_PIGPIO_INTERRUPT_H_
+#define RF24_UTILITY_PIGPIO_INTERRUPT_H_
+
 #include <pigpio.h>
 
-#define INT_EDGE_SETUP   0
 #define INT_EDGE_FALLING FALLING_EDGE
 #define INT_EDGE_RISING  RISING_EDGE
 #define INT_EDGE_BOTH    EITHER_EDGE
@@ -21,33 +14,17 @@ see <http://www.gnu.org/licenses/>
 extern "C" {
 #endif
 
-/*
- * attachInterrupt (Original: wiringPiISR):
- *      Pi Specific.
- *      Take the details and create an interrupt handler that will do a call-
- *      back to the user supplied function.
- *********************************************************************************
- */
-extern int attachInterrupt(int pin, int mode, void (*function)(void));
-
-/*
- * detachInterrupt:
- *      Pi Specific detachInterrupt.
- *      Will cancel the interrupt thread, close the filehandle and
- *		setting wiringPi back to 'none' mode.
- *********************************************************************************
- */
-extern int detachInterrupt(int pin);
+int attachInterrupt(int pin, int mode, void (*function)(void));
 
-/* Deprecated, no longer functional
- */
-extern void rfNoInterrupts();
+int detachInterrupt(int pin);
 
-/* Deprecated, no longer functional
- */
-extern void rfInterrupts();
+/* Deprecated, no longer functional */
+void rfNoInterrupts();
+
+/* Deprecated, no longer functional */
+void rfInterrupts();
 
 #ifdef __cplusplus
 }
 #endif
-#endif
\ No newline at end of file
+#endif // RF24_UTILITY_PIGPIO_INTERRUPT_H_
\ No newline at end of file
diff --git a/utility/pigpio/spi.cpp b/utility/pigpio/spi.cpp
index 6768f261..cb982426 100644
--- a/utility/pigpio/spi.cpp
+++ b/utility/pigpio/spi.cpp
@@ -2,8 +2,8 @@
  *
  */
 
-#include "spi.h"
 #include <pigpio.h>
+#include "spi.h"
 
 SPI::SPI()
 {
diff --git a/utility/pigpio/spi.h b/utility/pigpio/spi.h
index 1af63b8a..12f8f06b 100644
--- a/utility/pigpio/spi.h
+++ b/utility/pigpio/spi.h
@@ -2,29 +2,12 @@
  *
  */
 
-#ifndef SPI_H
-#define SPI_H
+#ifndef RF24_UTILITY_PIGPIO_SPI_H_
+#define RF24_UTILITY_PIGPIO_SPI_H_
 
-/**
- * @file spi.h
- * \cond HIDDEN_SYMBOLS
- * Class declaration for SPI helper files
- */
-
-/**
- * Example GPIO.h file
- *
- * @defgroup SPI SPI Example
- *
- * See RF24_arch_config.h for additional information
- * @{
- */
-
-#include <inttypes.h>
+#include <cstdint>
 #include <stdexcept>
 
-#include "../../RF24_config.h"
-
 /** Specific exception for SPI errors */
 class SPIException : public std::runtime_error
 {
@@ -82,8 +65,4 @@ class SPI
     void init(uint32_t spi_speed);
 };
 
-/**
- * \endcond
- */
-/*@}*/
-#endif /* SPI_H */
+#endif /* RF24_UTILITY_PIGPIO_SPI_H_ */
diff --git a/utility/wiringPi/RF24_arch_config.h b/utility/wiringPi/RF24_arch_config.h
index 342809f7..b23aad2d 100644
--- a/utility/wiringPi/RF24_arch_config.h
+++ b/utility/wiringPi/RF24_arch_config.h
@@ -11,14 +11,11 @@
 
 #define RF24_LINUX
 
-#include <stddef.h>
+#include <stdint.h> // uint16_t
+#include <stdio.h>  // printf
+#include <string.h> // strlen
 #include "spi.h"
 #include "wiringPi.h"
-#include <stdint.h>
-#include <stdio.h>
-#include <time.h>
-#include <string.h>
-#include <sys/time.h>
 
 #define _BV(x) (1 << (x))
 #define _SPI   spi
diff --git a/utility/wiringPi/includes.h b/utility/wiringPi/includes.h
index 195c0eb5..d1012e54 100644
--- a/utility/wiringPi/includes.h
+++ b/utility/wiringPi/includes.h
@@ -1,19 +1,10 @@
-/**
- * @file includes.h
- * Configuration defines for RF24/Linux
- */
-
 #ifndef RF24_UTILITY_INCLUDES_H_
 #define RF24_UTILITY_INCLUDES_H_
 
-/**
- * Define RF24_WIRINGPI configuration for RaspberryPi platform
- */
 #define RF24_WIRINGPI
 
-/**
- * Load the correct configuration for this platform
- */
+#include <cstring> // memcpy() used in RF24.cpp
 #include "wiringPi/RF24_arch_config.h"
+#include "wiringPi/interrupt.h"
 
 #endif // RF24_UTILITY_INCLUDES_H_
diff --git a/utility/wiringPi/interrupt.h b/utility/wiringPi/interrupt.h
new file mode 100644
index 00000000..8001fe6c
--- /dev/null
+++ b/utility/wiringPi/interrupt.h
@@ -0,0 +1,14 @@
+/**
+ * Interrupt functions wrapped from pigpio library
+ */
+#ifndef RF24_UTILITY_WIRINGPI_INTERRUPT_H__
+#define RF24_UTILITY_WIRINGPI_INTERRUPT_H__
+
+#include <wiringPi.h>
+
+#define attachInterrupt wiringPiISR
+
+// wiringPi has no detachInterrupt() implementation. Therefor, we will not define it here.
+// Invoking detachInterrupt() with this wiringPi driver/wrapper should trigger compilation errors
+
+#endif // RF24_UTILITY_WIRINGPI_INTERRUPT_H__
diff --git a/utility/wiringPi/spi.cpp b/utility/wiringPi/spi.cpp
index d6abd4d8..992ae1f2 100644
--- a/utility/wiringPi/spi.cpp
+++ b/utility/wiringPi/spi.cpp
@@ -8,76 +8,69 @@
  * wiringPi/examples/spiSpeed.c
  */
 
-#include "spi.h"
-
-#include <wiringPi.h>
-#include <wiringPiSPI.h>
-
-#include <stdlib.h>
 #include <unistd.h>
 #include <stdint.h>
 #include <string.h>
 #include <errno.h>
 
-#define RF24_SPI_CHANNEL 0
+#include <wiringPi.h>
+#include <wiringPiSPI.h>
+#include "spi.h"
 
-SPI::SPI() : fd(-1)
+SPI::SPI() : fd(-1), channel(0)
 {
-    printf("wiringPi RF24 DRIVER\n");
 }
 
 void SPI::begin(int csn_pin, uint32_t spi_speed)
 {
+    channel = csn_pin % 10;
+
     // initialize the wiringPiSPI
     wiringPiSetup();
-    if ((this->fd = wiringPiSPISetup(RF24_SPI_CHANNEL, spi_speed)) < 0) {
-        printf("Cannot configure the SPI device!\n");
-        fflush(stdout);
-        abort();
-    }
-    else {
-        printf("Configured SPI fd: %d - pin: %d\n", fd, csn_pin);
+    if ((this->fd = wiringPiSPISetup(channel, spi_speed)) < 0) {
+        std::string msg = "[SPI::begin] Cannot configure the SPI device!; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
 }
 
 uint8_t SPI::transfer(uint8_t tx)
 {
-    memset(&msgByte, 0, sizeof(msgByte));
-    memcpy(&msgByte, &tx, sizeof(tx));
+    memset(&xferByte, 0, sizeof(xferByte));
+    memcpy(&xferByte, &tx, sizeof(tx));
 
-    if (wiringPiSPIDataRW(RF24_SPI_CHANNEL, &msgByte, sizeof(tx)) < 0) {
-        printf("transfer(): Cannot send data: %s\n", strerror(errno));
-        fflush(stdout);
-        abort();
+    if (wiringPiSPIDataRW(channel, &xferByte, sizeof(tx)) < 0) {
+        std::string msg = "[SPI::transfer] Cannot send spi message; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
+        return 0;
     }
 
-    return msgByte;
+    return xferByte;
 }
 
 void SPI::transfern(char* buf, uint32_t len)
 {
-    printf("transfern(tx: %s)\n", buf);
-
-    if (wiringPiSPIDataRW(RF24_SPI_CHANNEL, (uint8_t*)buf, len) < 0) {
-        printf("transfern(): Cannot send data %s\n", strerror(errno));
-        fflush(stdout);
-        abort();
+    if (wiringPiSPIDataRW(channel, (uint8_t*)buf, len) < 0) {
+        std::string msg = "[SPI::transfern] Cannot send spi message; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
 }
 
 void SPI::transfernb(char* tbuf, char* rbuf, uint32_t len)
 {
     // using an auxiliary buffer to keep tx and rx different
-    memset(msg, 0, sizeof(msg));
-    memcpy(msg, tbuf, len);
+    memset(xferBuf, 0, sizeof(xferBuf));
+    memcpy(xferBuf, tbuf, len);
 
-    if (wiringPiSPIDataRW(RF24_SPI_CHANNEL, msg, len) < 0) {
-        printf("transfernb() Cannot send data %s\n", strerror(errno));
-        fflush(stdout);
-        abort();
+    if (wiringPiSPIDataRW(channel, xferBuf, len) < 0) {
+        std::string msg = "[SPI::transfernb] Cannot send spi message; ";
+        msg += strerror(errno);
+        throw SPIException(msg);
     }
 
-    memcpy(rbuf, msg, len);
+    memcpy(rbuf, xferBuf, len);
 }
 
 SPI::~SPI()
diff --git a/utility/wiringPi/spi.h b/utility/wiringPi/spi.h
index efafce09..30cf61f4 100644
--- a/utility/wiringPi/spi.h
+++ b/utility/wiringPi/spi.h
@@ -6,12 +6,23 @@
 #ifndef RF24_UTILITY_WIRINGPI_SPI_H_
 #define RF24_UTILITY_WIRINGPI_SPI_H_
 
-#include <stdio.h>
-#include <inttypes.h>
+#include <stdint.h>
+#include <stdexcept>
+#include <string>
 
-#include "../../RF24_config.h" // This is cyclical and should be fixed
+#ifndef RF24_SPI_SPEED
+    #define RF24_SPI_SPEED 10000000
+#endif
 
-using namespace std;
+/** Specific exception for SPI errors */
+class SPIException : public std::runtime_error
+{
+public:
+    explicit SPIException(const std::string& msg)
+        : std::runtime_error(msg)
+    {
+    }
+};
 
 class SPI
 {
@@ -31,8 +42,9 @@ class SPI
 
 private:
     int fd;
-    uint8_t msg[32 + 1];
-    uint8_t msgByte;
+    int channel;
+    uint8_t xferBuf[32 + 1];
+    uint8_t xferByte;
 };
 
 #endif // RF24_UTILITY_WIRINGPI_SPI_H_