--- 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_);
     }
 };
 
--- libuavcan/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp.orig	2016-06-05 09:12:29.086814547 -0600
+++ libuavcan/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp	2016-06-05 09:15:03.676810202 -0600
@@ -31,17 +31,30 @@
 
 # if UAVCAN_STM32_NUTTX
 #  define TIMX                    UAVCAN_STM32_GLUE3(STM32_TIM, UAVCAN_STM32_TIMER_NUMBER, _BASE)
-#  define  TMR_REG(o)              (TIMX + (o))
-#  define TIMX_INPUT_CLOCK         STM32_TIM27_FREQUENCY
+#  define  TMR_REG(o)             (TIMX + (o))
 
-#  define TIMX_IRQn                UAVCAN_STM32_GLUE2(STM32_IRQ_TIM, UAVCAN_STM32_TIMER_NUMBER)
+#  if UAVCAN_STM32_TIMER_NUMBER == 2
+#    define TIMX_INPUT_CLOCK      BOARD_TIM2_FREQUENCY
+#  elif UAVCAN_STM32_TIMER_NUMBER == 3
+#    define TIMX_INPUT_CLOCK      BOARD_TIM3_FREQUENCY
+#  elif UAVCAN_STM32_TIMER_NUMBER == 4
+#    define TIMX_INPUT_CLOCK      BOARD_TIM4_FREQUENCY
+#  elif UAVCAN_STM32_TIMER_NUMBER == 5
+#    define TIMX_INPUT_CLOCK      BOARD_TIM5_FREQUENCY
+#  elif UAVCAN_STM32_TIMER_NUMBER == 6
+#    define TIMX_INPUT_CLOCK      BOARD_TIM6_FREQUENCY
+#  elif UAVCAN_STM32_TIMER_NUMBER == 7
+#    define TIMX_INPUT_CLOCK      BOARD_TIM7_FREQUENCY
+#  endif
+
+#  define TIMX_IRQn               UAVCAN_STM32_GLUE2(STM32_IRQ_TIM, UAVCAN_STM32_TIMER_NUMBER)
 # endif
 
 # if UAVCAN_STM32_TIMER_NUMBER >= 2 && UAVCAN_STM32_TIMER_NUMBER <= 7
-#  define TIMX_RCC_ENR           RCC->APB1ENR
-#  define TIMX_RCC_RSTR          RCC->APB1RSTR
-#  define TIMX_RCC_ENR_MASK      UAVCAN_STM32_GLUE3(RCC_APB1ENR_TIM,  UAVCAN_STM32_TIMER_NUMBER, EN)
-#  define TIMX_RCC_RSTR_MASK     UAVCAN_STM32_GLUE3(RCC_APB1RSTR_TIM, UAVCAN_STM32_TIMER_NUMBER, RST)
+#  define TIMX_RCC_ENR            RCC->APB1ENR
+#  define TIMX_RCC_RSTR           RCC->APB1RSTR
+#  define TIMX_RCC_ENR_MASK       UAVCAN_STM32_GLUE3(RCC_APB1ENR_TIM,  UAVCAN_STM32_TIMER_NUMBER, EN)
+#  define TIMX_RCC_RSTR_MASK      UAVCAN_STM32_GLUE3(RCC_APB1RSTR_TIM, UAVCAN_STM32_TIMER_NUMBER, RST)
 # else
 #  error "This UAVCAN_STM32_TIMER_NUMBER is not supported yet"
 # endif