diff --git a/canutils/libcanard/Kconfig b/canutils/libcanard/Kconfig
index e4635cb63..1b61d4ad9 100644
--- a/canutils/libcanard/Kconfig
+++ b/canutils/libcanard/Kconfig
@@ -6,7 +6,7 @@
 config CANUTILS_LIBCANARD
 	bool "libcanard UAVCAN Library"
 	default n
-	depends on CAN && CAN_EXTID
+	depends on CAN && CAN_EXTID && !DISABLE_POLL
 	---help---
 		Enable the libcanard UAVCAN library.
 
@@ -20,7 +20,7 @@ config LIBCANARD_URL
 
 config LIBCANARD_VERSION
 	string "libcanard Version"
-	default "34195e7f13637bdc79198c94bd1b2e5ecffe9383"
+	default "a7a6d4c6b105976cccac36e05c42abee566b70c4"
 	---help---
 		libcanard version.
 
diff --git a/canutils/libcanard/Makefile b/canutils/libcanard/Makefile
index 9f15c15f3..a19dd99e5 100644
--- a/canutils/libcanard/Makefile
+++ b/canutils/libcanard/Makefile
@@ -44,9 +44,14 @@ LIBCANARD_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARD_URL)))
 LIBCANARD_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARD_VERSION)))
 LIBCANARD_UNPACKNAME = libcanard-$(LIBCANARD_VERSION)
 LIBCANARD_PACKNAME = $(LIBCANARD_UNPACKNAME)$(PACKEXT)
-LIBCANARD_SRCDIR = $(LIBCANARD_UNPACKNAME)$(DELIM)src
+LIBCANARD_SRCDIR = $(LIBCANARD_UNPACKNAME)
+LIBCANARD_DRVDIR = $(LIBCANARD_SRCDIR)$(DELIM)drivers$(DELIM)nuttx
 
-CSRCS = $(LIBCANARD_SRCDIR)$(DELIM)canard.c
+APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils
+
+CFLAGS += -I$(APPS_INCDIR)
+
+CSRCS = $(LIBCANARD_SRCDIR)$(DELIM)canard.c $(LIBCANARD_DRVDIR)$(DELIM)nuttx.c
 COBJS = $(CSRCS:.c=$(OBJEXT))
 
 SRCS = $(CSRCS)
@@ -71,12 +76,18 @@ $(LIBCANARD_PACKNAME):
 
 $(LIBCANARD_UNPACKNAME): $(LIBCANARD_PACKNAME)
 	@echo "Unpacking: $< -> $@"
+	$(call DELDIR, $@)
 	$(Q) $(UNPACK) $<
 	$(Q) touch $@
 
 $(LIBCANARD_SRCDIR)$(DELIM)canard.h: $(LIBCANARD_UNPACKNAME)
 
-$(APPDIR)$(DELIM)include$(DELIM)canutils$(DELIM)canard.h: $(LIBCANARD_SRCDIR)$(DELIM)canard.h
+$(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.h: $(LIBCANARD_UNPACKNAME)
+
+$(APPS_INCDIR)$(DELIM)canard.h: $(LIBCANARD_SRCDIR)$(DELIM)canard.h
+	$(Q) cp $< $@
+
+$(APPS_INCDIR)$(DELIM)canard_nuttx.h: $(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.h
 	$(Q) cp $< $@
 
 $(COBJS): %$(OBJEXT): %.c
@@ -88,7 +99,7 @@ $(COBJS): %$(OBJEXT): %.c
 
 install:
 
-context: $(APPDIR)$(DELIM)include$(DELIM)canutils$(DELIM)canard.h
+context: $(APPS_INCDIR)$(DELIM)canard.h $(APPS_INCDIR)$(DELIM)canard_nuttx.h
 
 .depend: Makefile $(SRCS)
 	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
@@ -104,7 +115,8 @@ clean:
 distclean: clean
 	$(call DELFILE, Make.dep)
 	$(call DELFILE, .depend)
-	$(call DELFILE, $(APPDIR)$(DELIM)include$(DELIM)canutils$(DELIM)canard.h)
+	$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard.h)
+	$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard_nuttx.h)
 	$(call DELDIR, $(LIBCANARD_UNPACKNAME))
 	$(call DELFILE, $(LIBCANARD_PACKNAME))
 
diff --git a/include/canutils/.gitignore b/include/canutils/.gitignore
index 369d64802..4396c63a2 100644
--- a/include/canutils/.gitignore
+++ b/include/canutils/.gitignore
@@ -1 +1,2 @@
 /canard.h
+/canard_nuttx.h