diff --git a/ext/arm/arm_math.h.in b/ext/arm/arm_math.h.in
index 704f49d023..f4b5936f20 100644
--- a/ext/arm/arm_math.h.in
+++ b/ext/arm/arm_math.h.in
@@ -31,6 +31,13 @@ extern "C"
 {
 #endif
 
+#include <modm/platform/device.hpp>
+
+/* Local configuration file */
+#if __has_include(<arm_math_local.h>)
+#include <arm_math_local.h>
+#endif
+
 #include "arm_math_types.h"
 #include "arm_math_memory.h"
 
diff --git a/ext/arm/arm_math_types.h.in b/ext/arm/arm_math_types.h.in
deleted file mode 100644
index 7a00b8b4a9..0000000000
--- a/ext/arm/arm_math_types.h.in
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * Copyright (c) 2021, Niklas Hauser
- *
- * This file is part of the modm project.
- *
- * This Source Code Form is subject to the terms of the Mozilla Public
- * License, v. 2.0. If a copy of the MPL was not distributed with this
- * file, You can obtain one at http://mozilla.org/MPL/2.0/.
- */
-
-#ifndef _ARM_MATH_TYPES_WRAPPER_H_
-#define _ARM_MATH_TYPES_WRAPPER_H_
-
-#define ARM_MATH_CM{{core}}
-#define __ARM_FEATURE_MVE 0
-
-%% if with_fpu
-#ifndef __FPU_PRESENT
-#define __FPU_PRESENT 1
-#endif
-%% endif
-
-/* Local configuration file */
-#if __has_include(<arm_math_local.h>)
-#  include <arm_math_local.h>
-#endif
-
-#include "arm_math_types_internal.h"
-
-#endif /* ifndef _ARM_MATH_TYPES_WRAPPER_H_ */
diff --git a/ext/arm/cmsis.md b/ext/arm/cmsis.md
index 46b21192a6..63c1cc4c62 100644
--- a/ext/arm/cmsis.md
+++ b/ext/arm/cmsis.md
@@ -14,8 +14,8 @@ We use only use these parts of CMSIS:
   via CMSIS-CORE.
 - The `modm:cmsis:device` module provides access to the peripherals of the
   `modm:target` devices via the vendor's CMSIS implementation.
-- The `modm:cmsis:dsp` module provides a basic digital signal processing library
-  via CMSIS-DSP.
+- The `modm:cmsis:dsp` module provides an optimized compute library via
+  CMSIS-DSP.
 
 [cmsis]: https://developer.arm.com/embedded/cmsis
 [overview]: https://developer.arm.com/-/media/Arm%20Developer%20Community/Images/Block%20Diagrams/Cortex%20Microcontroller%20Software%20Interface%20Standard%20-%20CMSIS/CMSIS%20Diagram%20v2.png
diff --git a/ext/arm/dsp.lb b/ext/arm/dsp.lb
index e51cc6f122..94c1425fd5 100644
--- a/ext/arm/dsp.lb
+++ b/ext/arm/dsp.lb
@@ -118,13 +118,12 @@ def build(env):
     for path in Path(localpath("cmsis-dsp/CMSIS-DSP/Include/")).iterdir():
         if path.is_file() and not ("_f16" in path.name and not env["with_f16"]):
             # We need to replace this file to include the <cmsis_dsp_local.h>
-            if path.name in ["arm_math_types.h", "arm_math.h", "arm_math_f16.h"]: continue;
+            if path.name in ["arm_math.h", "arm_math_f16.h"]: continue;
             env.copy(path, path.name)
 
     env.copy("cmsis-dsp/CMSIS-DSP/Include/dsp/none.h", "dsp/none.h")
     env.copy("cmsis-dsp/CMSIS-DSP/Include/dsp/utils.h", "dsp/utils.h")
     env.copy("cmsis-dsp/CMSIS-DSP/Include/dsp/debug.h", "dsp/debug.h")
-    env.copy("cmsis-dsp/CMSIS-DSP/Include/arm_math_types.h", "arm_math_types_internal.h")
 
     core = env[":target"].get_driver("core")["type"][8:]
     core = core.replace("+", "PLUS").replace("f", "").replace("d", "")
@@ -134,7 +133,6 @@ def build(env):
         "includes": includes,
         "with_fpu": env.get(":platform:cortex-m:float-abi", "soft") != "soft",
     }
-    env.template("arm_math_types.h.in")
     env.template("arm_math.h.in")
     if env["with_f16"]: env.template("arm_math_f16.h.in")
 
diff --git a/ext/arm/dsp.md b/ext/arm/dsp.md
index fcd5765bb6..b1c602682b 100644
--- a/ext/arm/dsp.md
+++ b/ext/arm/dsp.md
@@ -3,18 +3,20 @@
 This module provides the CMSIS-DSP library.
 Please [see the API documentation][docs] for details.
 
-Note that this module splits up the library into submodule to speed up
+Note:
+- The library should be accessed through the `arm_math.h` and `arm_math_f16.h`
+headers, as these include necessary configuration options.
+- This module splits up the library into submodules to speed up
 compilation by only including the math functions you really need.
-You can enable 16-bit floating point support separately via option.
+- You can enable 16-bit floating point support via the option `with_f16`.
 
 
 ## Configuration
 
 You can define your own configuration in the `<arm_math_local.h>` file which
-will automatically be included at the *beginning* of the `arm_math_types.h` file
-which is included by all CMSIS-DSP source files. This way changes to your
-CMSIS-DSP configuration will only affect its source files and not recompile your
-whole project.
+will automatically be included at the *beginning* of the `arm_math.h` and
+`arm_math_f16.h` files. This way changes to your CMSIS-DSP configuration will
+only affect its source files and not recompile your whole project.
 
 Example `<arm_math_local.h>` configuration: