--- libuavcan/libuavcan_drivers/stm32/driver/src/internal.hpp.orig	2016-02-15 18:43:32.799005338 -0600
+++ libuavcan/libuavcan_drivers/stm32/driver/src/internal.hpp	2016-02-15 18:45:09.621004803 -0600
@@ -9,6 +9,7 @@
 #if UAVCAN_STM32_CHIBIOS
 # include <hal.h>
 #elif UAVCAN_STM32_NUTTX
+# include <nuttx/irq.h>
 # include <nuttx/arch.h>
 # include <arch/board/board.h>
 # include <chip/stm32_tim.h>
@@ -97,12 +98,12 @@
     const irqstate_t flags_;
 
     CriticalSectionLocker()
-        : flags_(irqsave())
+        : flags_(enter_critical_section())
     { }
 
     ~CriticalSectionLocker()
     {
-        irqrestore(flags_);
+        leave_critical_section(flags_);
     }
 };