diff --git a/canutils/uavcan/Kconfig b/canutils/uavcan/Kconfig
index 81b65290c..4a66485f8 100644
--- a/canutils/uavcan/Kconfig
+++ b/canutils/uavcan/Kconfig
@@ -6,8 +6,10 @@
 config CANUTILS_UAVCAN
 	bool "UAVCAN Library"
 	default n
-	depends on STM32_CAN1
-	depends on STM32_TIM2 || STM32_TIM3 || STM32_TIM4 || STM32_TIM5 || STM32_TIM6 || STM32_TIM7
+	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 C99_BOOL8
 	depends on HAVE_CXX
 	depends on !DISABLE_POLL
@@ -52,9 +54,39 @@ config UAVCAN_PYUAVCAN_VERSION
 	---help---
 		Python UAVCAN version.
 
+config UAVCAN_STM32_NUM_IFACES
+	int "Number of CAN Interfaces"
+	default 1
+	range 1 1 if !STM32_HAVE_CAN2
+	range 1 2 if STM32_HAVE_CAN2
+
+if UAVCAN_STM32_TIMER_NUMBER = 2 && STM32_TIM2
+comment "Timer 2 is already configured for NuttX"
+endif
+if UAVCAN_STM32_TIMER_NUMBER = 3 && STM32_TIM3
+comment "Timer 3 is already configured for NuttX"
+endif
+if UAVCAN_STM32_TIMER_NUMBER = 4 && STM32_TIM4
+comment "Timer 4 is already configured for NuttX"
+endif
+if UAVCAN_STM32_TIMER_NUMBER = 5 && STM32_TIM5
+comment "Timer 5 is already configured for NuttX"
+endif
+if UAVCAN_STM32_TIMER_NUMBER = 6 && STM32_TIM6
+comment "Timer 6 is already configured for NuttX"
+endif
+if UAVCAN_STM32_TIMER_NUMBER = 7 && STM32_TIM7
+comment "Timer 7 is already configured for NuttX"
+endif
+
 config UAVCAN_STM32_TIMER_NUMBER
 	int "Timer Number"
-	default 2
+	default 2 if STM32_HAVE_TIM2 && !STM32_TIM2
+	default 3 if STM32_HAVE_TIM3 && !STM32_TIM3
+	default 4 if STM32_HAVE_TIM4 && !STM32_TIM4
+	default 5 if STM32_HAVE_TIM5 && !STM32_TIM5
+	default 6 if STM32_HAVE_TIM6 && !STM32_TIM6
+	default 7 if STM32_HAVE_TIM7 && !STM32_TIM7
 	range 2 7
 	---help---
 		Specifies the timer number.
diff --git a/canutils/uavcan/Makefile b/canutils/uavcan/Makefile
index 8908e2018..7cd43033d 100644
--- a/canutils/uavcan/Makefile
+++ b/canutils/uavcan/Makefile
@@ -67,14 +67,9 @@ CXXFLAGS += -I$(LIBUAVCAN_INC) -I$(LIBUAVCAN_STM32_INC) -Idsdlc_generated
 CXXFLAGS += -I$(TOPDIR)/arch/arm/src/common -I$(TOPDIR)/arch/arm/src/stm32
 
 CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
+CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=$(CONFIG_UAVCAN_STM32_NUM_IFACES)
 CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=$(CONFIG_UAVCAN_STM32_TIMER_NUMBER)
 
-ifeq ($(CONFIG_STM32_CAN2),y)
-CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=2
-else
-CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=1
-endif
-
 ifeq ($(CONFIG_UAVCAN_CPP03),y)
 CXXFLAGS += -std=c++03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
 else
@@ -164,6 +159,9 @@ libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
 dsdlc_generated: libuavcan
 	$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
 
+$(APPDIR)/include/uavcan: libuavcan/libuavcan/include/uavcan
+	$(Q) cp -R libuavcan/libuavcan/include/uavcan $(APPDIR)/include
+
 $(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
 	$(call COMPILEXX, $<, $@)
 
@@ -173,9 +171,9 @@ $(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
 
 install:
 
-context:
+context: libuavcan dsdlc_generated $(APPDIR)/include/uavcan
 
-.depend: Makefile $(CXXSRCS) dsdlc_generated
+.depend: Makefile $(CXXSRCS)
 	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(CXXSRCS) >Make.dep
 	$(Q) touch $@
 
@@ -185,6 +183,7 @@ clean:
 	$(call DELFILE, .built)
 	$(call DELDIR, libuavcan)
 	$(call DELDIR, dsdlc_generated)
+	$(call DELDIR, $(APPDIR)/include/uavcan)
 
 distclean: clean
 	$(call DELFILE, Make.dep)
diff --git a/include/.gitignore b/include/.gitignore
index bee9a7372..a86d54aac 100644
--- a/include/.gitignore
+++ b/include/.gitignore
@@ -1 +1,2 @@
 /pcode
+/uavcan