diff --git a/canutils/uavcan/Kconfig b/canutils/uavcan/Kconfig
index 841d5d20f..3103be4ca 100644
--- a/canutils/uavcan/Kconfig
+++ b/canutils/uavcan/Kconfig
@@ -9,7 +9,7 @@ config CANUTILS_UAVCAN
 	depends on STM32_HAVE_CAN1
 	depends on !STM32_CAN1
 	depends on !STM32_CAN2
-	depends on (STM32_HAVE_TIM2 && !STM32_TIM2) || (STM32_HAVE_TIM3 && !STM32_TIM3) || (STM32_HAVE_TIM4 && !STM32_TIM4) || (STM32_HAVE_TIM5 && !STM32_TIM5) || (STM32_HAVE_TIM6 && !STM32_TIM6) || (STM32_HAVE_TIM7 && !STM32_TIM7)
+	depends on !STM32_TIM2 || (STM32_HAVE_TIM3 && !STM32_TIM3) || (STM32_HAVE_TIM4 && !STM32_TIM4) || (STM32_HAVE_TIM5 && !STM32_TIM5) || (STM32_HAVE_TIM6 && !STM32_TIM6) || (STM32_HAVE_TIM7 && !STM32_TIM7)
 	depends on C99_BOOL8
 	depends on HAVE_CXX
 	depends on !DISABLE_POLL
@@ -62,7 +62,7 @@ config UAVCAN_STM32_NUM_IFACES
 
 choice
 	prompt "Timer"
-	default UAVCAN_STM32_TIM2 if STM32_HAVE_TIM2 && !STM32_TIM2
+	default UAVCAN_STM32_TIM2 if !STM32_TIM2
 	default UAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3
 	default UAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4
 	default UAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5
@@ -71,7 +71,7 @@ choice
 
 config UAVCAN_STM32_TIM2
 	bool "TIM2"
-	depends on STM32_HAVE_TIM2 && !STM32_TIM2
+	depends on !STM32_TIM2
 	---help---
 		The library will use TIM2.
 
diff --git a/canutils/uavcan/Makefile b/canutils/uavcan/Makefile
index 4fa9b6cc6..90551ef95 100644
--- a/canutils/uavcan/Makefile
+++ b/canutils/uavcan/Makefile
@@ -64,7 +64,8 @@ PYUAVCAN_PACKNAME = $(PYUAVCAN_UNPACKNAME)$(PACKEXT)
 CXXSRCS = platform_stm32.cpp $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
 
 CXXFLAGS += -I$(LIBUAVCAN_INC) -I$(LIBUAVCAN_STM32_INC) -Idsdlc_generated
-CXXFLAGS += -I$(TOPDIR)/arch/arm/src/common -I$(TOPDIR)/arch/arm/src/stm32
+CXXFLAGS += -I$(TOPDIR)$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)common
+CXXFLAGS += -I$(TOPDIR)$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)stm32
 
 CXXFLAGS += -D__KERNEL__
 CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
@@ -176,7 +177,7 @@ all: .built
 
 $(LIBUAVCAN_PACKNAME):
 	@echo "Downloading: $(LIBUAVCAN_PACKNAME)"
-	$(Q) $(WGET) -O $(LIBUAVCAN_PACKNAME) $(LIBUAVCAN_URL)/$(LIBUAVCAN_VERSION)$(PACKEXT)
+	$(Q) $(WGET) -O $(LIBUAVCAN_PACKNAME) $(LIBUAVCAN_URL)$(DELIM)$(LIBUAVCAN_VERSION)$(PACKEXT)
 
 $(LIBUAVCAN_UNPACKNAME): $(LIBUAVCAN_PACKNAME)
 	@echo "Unpacking: $(LIBUAVCAN_PACKNAME) -> $(LIBUAVCAN_UNPACKNAME)"
@@ -185,7 +186,7 @@ $(LIBUAVCAN_UNPACKNAME): $(LIBUAVCAN_PACKNAME)
 
 $(DSDL_PACKNAME):
 	@echo "Downloading: $(DSDL_PACKNAME)"
-	$(Q) $(WGET) -O $(DSDL_PACKNAME) $(DSDL_URL)/$(DSDL_VERSION)$(PACKEXT)
+	$(Q) $(WGET) -O $(DSDL_PACKNAME) $(DSDL_URL)$(DELIM)$(DSDL_VERSION)$(PACKEXT)
 
 $(DSDL_UNPACKNAME): $(DSDL_PACKNAME)
 	@echo "Unpacking: $(DSDL_PACKNAME) -> $(DSDL_UNPACKNAME)"
@@ -194,7 +195,7 @@ $(DSDL_UNPACKNAME): $(DSDL_PACKNAME)
 
 $(PYUAVCAN_PACKNAME):
 	@echo "Downloading: $(PYUAVCAN_PACKNAME)"
-	$(Q) $(WGET) -O $(PYUAVCAN_PACKNAME) $(PYUAVCAN_URL)/$(PYUAVCAN_VERSION)$(PACKEXT)
+	$(Q) $(WGET) -O $(PYUAVCAN_PACKNAME) $(PYUAVCAN_URL)$(DELIM)$(PYUAVCAN_VERSION)$(PACKEXT)
 
 $(PYUAVCAN_UNPACKNAME): $(PYUAVCAN_PACKNAME)
 	@echo "Unpacking: $(PYUAVCAN_PACKNAME) -> $(PYUAVCAN_UNPACKNAME)"
@@ -211,10 +212,10 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
 dsdlc_generated: libuavcan
 	$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
 
-$(APPDIR)/include/uavcan: libuavcan dsdlc_generated
-	$(Q) mkdir -p $(APPDIR)/include/uavcan
-	$(Q) cp -R libuavcan/libuavcan/include/uavcan/* $(APPDIR)/include/uavcan
-	$(Q) cp -R dsdlc_generated/uavcan/* $(APPDIR)/include/uavcan
+$(APPDIR)$(DELIM)include$(DELIM)uavcan: dsdlc_generated
+	$(Q) mkdir -p $(APPDIR)$(DELIM)include$(DELIM)uavcan
+	$(Q) cp -R libuavcan$(DELIM)libuavcan$(DELIM)include$(DELIM)uavcan$(DELIM)* $(APPDIR)$(DELIM)include$(DELIM)uavcan
+	$(Q) cp -R dsdlc_generated$(DELIM)uavcan$(DELIM)* $(APPDIR)$(DELIM)include$(DELIM)uavcan
 
 $(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
 	$(call COMPILEXX, $<, $@)
@@ -225,7 +226,8 @@ $(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
 
 install:
 
-context: libuavcan dsdlc_generated $(APPDIR)/include/uavcan
+context: libuavcan
+	$(Q) $(MAKE) $(APPDIR)$(DELIM)include$(DELIM)uavcan TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
 
 .depend: Makefile $(CXXSRCS)
 	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(CXXSRCS) >Make.dep
@@ -235,9 +237,9 @@ depend: .depend
 
 clean:
 	$(call DELFILE, .built)
-	$(call DELDIR, libuavcan)
+	$(foreach CXXOBJ, $(CXXOBJS), $(call DELFILE, $(CXXOBJ)))
 	$(call DELDIR, dsdlc_generated)
-	$(call DELDIR, $(APPDIR)/include/uavcan)
+	$(call DELDIR, $(APPDIR)$(DELIM)include$(DELIM)uavcan)
 
 distclean: clean
 	$(call DELFILE, Make.dep)
diff --git a/examples/uavcan/Kconfig b/examples/uavcan/Kconfig
index 2804cf972..6d47c3b57 100644
--- a/examples/uavcan/Kconfig
+++ b/examples/uavcan/Kconfig
@@ -6,7 +6,7 @@
 config EXAMPLES_UAVCAN
 	bool "UAVCAN example"
 	default n
-	depends on CANUTILS_UAVCAN && LIB_BOARDCTL
+	depends on CANUTILS_UAVCAN
 	---help---
 		Enable the UAVCAN example
 
diff --git a/examples/uavcan/uavcan_main.cxx b/examples/uavcan/uavcan_main.cxx
index fb8206416..7181356a0 100644
--- a/examples/uavcan/uavcan_main.cxx
+++ b/examples/uavcan/uavcan_main.cxx
@@ -39,8 +39,6 @@
 
 #include <nuttx/config.h>
 
-#include <sys/boardctl.h>
-
 #include <cstdio>
 #include <cstdlib>
 
@@ -67,17 +65,9 @@ int main(int argc, FAR char *argv[])
 extern "C" int uavcan_main(int argc, FAR char *argv[])
 #endif
 {
-  int ret;
-
-  ret = boardctl(BOARDIOC_INIT, 0);
-  if (ret < 0)
-    {
-      std::fprintf(stderr, "ERROR: boardctl failed: %d\n", ret);
-      return EXIT_FAILURE;
-    }
-
   uavcan::Node<CONFIG_EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE>
     node(getCanDriver(), getSystemClock());
+  int ret;
 
   node.setNodeID(CONFIG_EXAMPLES_UAVCAN_NODE_ID);
   node.setName(CONFIG_EXAMPLES_UAVCAN_NODE_NAME);