diff --git a/canutils/libuavcan/.gitignore b/canutils/libuavcan/.gitignore
deleted file mode 100644
index bb6550f3b..000000000
--- a/canutils/libuavcan/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-/.built
-/dsdlc_generated
-/libuavcan
-/libuavcan-*
-/dsdl-*
-/pyuavcan-*
diff --git a/canutils/libuavcan/Kconfig b/canutils/libuavcan/Kconfig
deleted file mode 100644
index 64d7157dd..000000000
--- a/canutils/libuavcan/Kconfig
+++ /dev/null
@@ -1,232 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see the file kconfig-language.txt in the NuttX tools repository.
-#
-
-config CANUTILS_LIBUAVCAN
-	bool "libuavcan Library"
-	default n
-	depends on STM32_HAVE_CAN1
-	depends on !STM32_CAN1
-	depends on !STM32_CAN2
-	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
-	---help---
-		Enables support for the libuavcan library.
-
-if CANUTILS_LIBUAVCAN
-
-config LIBUAVCAN_URL
-	string "libuavcan URL"
-	default "https://github.com/UAVCAN/libuavcan/archive"
-	---help---
-		libuavcan URL.
-
-config LIBUAVCAN_VERSION
-	string "libuavcan Version"
-	default "b04396ace50155573e545ed9bf2fb09964ee2367"
-	---help---
-		libuavcan version.
-
-config LIBUAVCAN_DSDL_URL
-	string "DSDL URL"
-	default "https://github.com/UAVCAN/dsdl/archive"
-	---help---
-		DSDL URL.
-
-config LIBUAVCAN_DSDL_VERSION
-	string "DSDL Version"
-	default "9804a3e6972825586be252ce08dd899f44994b14"
-	---help---
-		DSDL version.
-
-config LIBUAVCAN_PYUAVCAN_URL
-	string "pyuavcan URL"
-	default "https://github.com/UAVCAN/pyuavcan/archive"
-	---help---
-		pyuavcan URL.
-
-config LIBUAVCAN_PYUAVCAN_VERSION
-	string "pyuavcan Version"
-	default "c58477a644d20ccf95a20c151f3a0402f271c3b8"
-	---help---
-		pyuavcan version.
-
-config LIBUAVCAN_STM32_NUM_IFACES
-	int "Number of CAN Interfaces"
-	default 1
-	range 1 1 if !STM32_HAVE_CAN2
-	range 1 2 if STM32_HAVE_CAN2
-
-choice
-	prompt "Timer"
-	default LIBUAVCAN_STM32_TIM2 if !STM32_TIM2
-	default LIBUAVCAN_STM32_TIM3 if STM32_HAVE_TIM3 && !STM32_TIM3
-	default LIBUAVCAN_STM32_TIM4 if STM32_HAVE_TIM4 && !STM32_TIM4
-	default LIBUAVCAN_STM32_TIM5 if STM32_HAVE_TIM5 && !STM32_TIM5
-	default LIBUAVCAN_STM32_TIM6 if STM32_HAVE_TIM6 && !STM32_TIM6
-	default LIBUAVCAN_STM32_TIM7 if STM32_HAVE_TIM7 && !STM32_TIM7
-
-config LIBUAVCAN_STM32_TIM2
-	bool "TIM2"
-	depends on !STM32_TIM2
-	---help---
-		The library will use TIM2.
-
-config LIBUAVCAN_STM32_TIM3
-	bool "TIM3"
-	depends on STM32_HAVE_TIM3 && !STM32_TIM3
-	---help---
-		The library will use TIM3.
-
-config LIBUAVCAN_STM32_TIM4
-	bool "TIM4"
-	depends on STM32_HAVE_TIM4 && !STM32_TIM4
-	---help---
-		The library will use TIM4.
-
-config LIBUAVCAN_STM32_TIM5
-	bool "TIM5"
-	depends on STM32_HAVE_TIM5 && !STM32_TIM5
-	---help---
-		The library will use TIM5.
-
-config LIBUAVCAN_STM32_TIM6
-	bool "TIM6"
-	depends on STM32_HAVE_TIM6 && !STM32_TIM6
-	---help---
-		The library will use TIM6.
-
-config LIBUAVCAN_STM32_TIM7
-	bool "TIM7"
-	depends on STM32_HAVE_TIM7 && !STM32_TIM7
-	---help---
-		The library will use TIM7.
-
-endchoice
-
-choice
-	prompt "C++ Version"
-	default LIBUAVCAN_CPP03
-
-config LIBUAVCAN_CPP03
-	bool "C++03"
-	---help---
-		The library will use C++03.
-
-config LIBUAVCAN_CPP11
-	bool "C++11"
-	---help---
-		The library will use C++11.
-
-endchoice
-
-config LIBUAVCAN_DEBUG
-	bool "Debug"
-	default n
-	---help---
-		Enables debug.
-
-config LIBUAVCAN_EXCEPTIONS
-	bool "Exceptions"
-	default n
-	---help---
-		Enables exceptions.
-
-config LIBUAVCAN_TINY
-	bool "Tiny"
-	default n
-	---help---
-		Removes some features to save memory.
-
-config LIBUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY
-	bool "No Global Data Type Registry"
-	default n
-	---help---
-		Removes the global data type registry.
-
-config LIBUAVCAN_TOSTRING
-	bool "Implement toString"
-	default n
-	depends on LIBUAVCAN_EXCEPTIONS
-	---help---
-		The library will add a toString method to most of its classes.
-
-config LIBUAVCAN_IMPLEMENT_PLACEMENT_NEW
-	bool "Implement Placement new"
-	default n
-	---help---
-		The library will implement placement new.
-
-config LIBUAVCAN_USE_EXTERNAL_SNPRINTF
-	bool "Use External snprintf"
-	default n
-	---help---
-		The library will use an external snprintf.
-
-config LIBUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION
-	bool "Use External float16 Conversion"
-	default n
-	---help---
-		The library will use an external float16 conversion.
-
-config LIBUAVCAN_NO_ASSERTIONS
-	bool "No Assertions"
-	default n
-	---help---
-		Disables assertions.
-
-config LIBUAVCAN_MEM_POOL_BLOCK_SIZE
-	int "Memory Pool Block Size"
-	default 0
-	---help---
-		Specifies the memory pool block size.  If the value is 0, the
-		library will use a default value.
-
-config LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT
-	int "Float Comparion Epsilon Mult"
-	default 0
-	---help---
-		Specifies the float comparison epsilon mult.  If the value is
-		0, the library will use a default value.
-
-config LIBUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS
-	int "Max CAN Acceptance Filters"
-	default 0
-	---help---
-		Specifies the maximum number of CAN acceptance filters.  If
-		the value is 0, the library will use a default value.
-
-config LIBUAVCAN_MAX_NETWORK_SIZE_HINT
-	int "Max Network Size Hint"
-	default 0
-	---help---
-		Specifies the maximum network size.  If the value is 0, the
-		library will use a default value.
-
-config LIBUAVCAN_RX_QUEUE_CAPACITY
-	int "Rx Queue Capacity"
-	default 0
-	---help---
-		Specifies the rx queue capacity.  If the value is 0, the
-		library will use a default value.
-
-config LIBUAVCAN_BIT_RATE
-	int "Bit Rate"
-	default 0
-	range 0 1000000
-	---help---
-		Specifies the CAN bit rate.  If the value is 0, the library
-		will automatically detect the bit rate.
-
-config LIBUAVCAN_INIT_RETRIES
-	int "Initialization Retries"
-	default 0
-	---help---
-		Specifies the number of times to try initializing the CAN
-		peripherals before panicking.  A value of 0 means to try
-		forever.
-
-endif
diff --git a/canutils/libuavcan/Make.defs b/canutils/libuavcan/Make.defs
deleted file mode 100644
index de45b2130..000000000
--- a/canutils/libuavcan/Make.defs
+++ /dev/null
@@ -1,38 +0,0 @@
-############################################################################
-# apps/canutils/libuavcan/Make.defs
-#
-#   Copyright (C) 2015-2016 Omni Hoverboards Inc. All rights reserved.
-#   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-ifeq ($(CONFIG_CANUTILS_LIBUAVCAN),y)
-CONFIGURED_APPS += canutils/libuavcan
-endif
diff --git a/canutils/libuavcan/Makefile b/canutils/libuavcan/Makefile
deleted file mode 100644
index 5cf5b1dcd..000000000
--- a/canutils/libuavcan/Makefile
+++ /dev/null
@@ -1,272 +0,0 @@
-############################################################################
-# apps/canutils/libuavcan/Makefile
-#
-#   Copyright (C) 2015-2016 Omni Hoverboards Inc. All rights reserved.
-#   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/.config
--include $(TOPDIR)/Make.defs
-
-DELIM ?= $(strip /)
-include $(APPDIR)$(DELIM)Make.defs
-
-WGET = wget
-UNPACK = unzip
-PACKEXT = .zip
-
-LIBUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_URL)))
-LIBUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_VERSION)))
-LIBUAVCAN_UNPACKNAME = libuavcan-$(LIBUAVCAN_VERSION)
-LIBUAVCAN_PACKNAME = $(LIBUAVCAN_UNPACKNAME)$(PACKEXT)
-LIBUAVCAN_DSDL_PATH = libuavcan$(DELIM)dsdl
-LIBUAVCAN_PYUAVCAN_PATH = libuavcan$(DELIM)libuavcan$(DELIM)dsdl_compiler$(DELIM)pyuavcan
-LIBUAVCAN_PATCHNAME = nuttx-$(LIBUAVCAN_VERSION).patch
-
-DSDL_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_DSDL_URL)))
-DSDL_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_DSDL_VERSION)))
-DSDL_UNPACKNAME = dsdl-$(DSDL_VERSION)
-DSDL_PACKNAME = $(DSDL_UNPACKNAME)$(PACKEXT)
-
-PYUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_PYUAVCAN_URL)))
-PYUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBUAVCAN_PYUAVCAN_VERSION)))
-PYUAVCAN_UNPACKNAME = pyuavcan-$(PYUAVCAN_VERSION)
-PYUAVCAN_PACKNAME = $(PYUAVCAN_UNPACKNAME)$(PACKEXT)
-
--include libuavcan$(DELIM)libuavcan$(DELIM)include.mk
--include libuavcan$(DELIM)libuavcan_drivers$(DELIM)stm32$(DELIM)driver$(DELIM)include.mk
-
-CXXSRCS = platform_stm32.cpp $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
-
-CXXFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" "$(LIBUAVCAN_INC)"}
-CXXFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" "$(LIBUAVCAN_STM32_INC)"}
-CXXFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" dsdlc_generated}
-CXXFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" "$(TOPDIR)$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)common"}
-CXXFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" "$(TOPDIR)$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)stm32"}
-
-CXXFLAGS += -D__KERNEL__
-CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
-CXXFLAGS += -DUAVCAN_STM32_NUM_IFACES=$(CONFIG_LIBUAVCAN_STM32_NUM_IFACES)
-
-ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM2),y)
-CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=2
-else
-ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM3),y)
-CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=3
-else
-ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM4),y)
-CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=4
-else
-ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM5),y)
-CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=5
-else
-ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM6),y)
-CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=6
-else
-ifeq ($(CONFIG_LIBUAVCAN_STM32_TIM7),y)
-CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=7
-endif
-endif
-endif
-endif
-endif
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_CPP03),y)
-CXXFLAGS += -std=c++03 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-else
-ifeq ($(CONFIG_LIBUAVCAN_CPP11),y)
-CXXFLAGS += -std=c++11 -DUAVCAN_CPP_VERSION=UAVCAN_CPP11
-endif
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_DEBUG),y)
-CXXFLAGS += -DUAVCAN_DEBUG=1
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_EXCEPTIONS),y)
-CXXFLAGS += -DUAVCAN_EXCEPTIONS=1
-else
-CXXFLAGS += -DUAVCAN_EXCEPTIONS=0
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_TINY),y)
-CXXFLAGS += -DUAVCAN_TINY=1
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY),y)
-CXXFLAGS += -DUAVCAN_NO_GLOBAL_DATA_TYPE_REGISTRY=1
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_TOSTRING),y)
-CXXFLAGS += -DUAVCAN_TOSTRING=1
-else
-CXXFLAGS += -DUAVCAN_TOSTRING=0
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_IMPLEMENT_PLACEMENT_NEW),y)
-CXXFLAGS += -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_USE_EXTERNAL_SNPRINTF),y)
-CXXFLAGS += -DUAVCAN_USE_EXTERNAL_SNPRINTF=1
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION),y)
-CXXFLAGS += -DUAVCAN_USE_EXTERNAL_FLOAT16_CONVERSION=1
-endif
-
-ifeq ($(CONFIG_LIBUAVCAN_NO_ASSERTIONS),y)
-CXXFLAGS += -DUAVCAN_NO_ASSERTIONS=1
-endif
-
-ifneq ($(CONFIG_LIBUAVCAN_MEM_POOL_BLOCK_SIZE),0)
-CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_LIBUAVCAN_MEM_POOL_BLOCK_SIZE)
-endif
-
-ifneq ($(CONFIG_LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT),0)
-CXXFLAGS += -DUAVCAN_FLOAT_COMPARISON_EPSILON_MULT=$(CONFIG_LIBUAVCAN_FLOAT_COMPARISON_EPSILON_MULT)
-endif
-
-ifneq ($(CONFIG_LIBUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS),0)
-CXXFLAGS += -DUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS=$(CONFIG_LIBUAVCAN_MAX_CAN_ACCEPTANCE_FILTERS)
-endif
-
-ifneq ($(CONFIG_LIBUAVCAN_MAX_NETWORK_SIZE_HINT),0)
-CXXFLAGS += -DUAVCAN_MAX_NETWORK_SIZE_HINT=$(CONFIG_LIBUAVCAN_MAX_NETWORK_SIZE_HINT)
-endif
-
-CXXEXT = .cpp
-CXXOBJS = $(CXXSRCS:$(CXXEXT)=$(OBJEXT))
-
-ifeq ($(WINTOOL),y)
-  BIN = "${shell cygpath -w $(APPDIR)$(DELIM)libapps$(LIBEXT)}"
-else
-  BIN = $(APPDIR)$(DELIM)libapps$(LIBEXT)
-endif
-DEPBIN = $(APPDIR)/libapps$(LIBEXT)
-
-ROOTDEPPATH = --dep-path .
-
-VPATH =
-
-all: .built
-.PHONY: clean depend distclean preconfig
-.PRECIOUS: ../../libapps$(LIBEXT)
-
-$(LIBUAVCAN_PACKNAME):
-	@echo "Downloading: $@"
-	$(Q) $(WGET) -O $@ $(LIBUAVCAN_URL)$(DELIM)$(LIBUAVCAN_VERSION)$(PACKEXT)
-
-$(LIBUAVCAN_UNPACKNAME): $(LIBUAVCAN_PACKNAME)
-	@echo "Unpacking: $< -> $@"
-	$(call DELDIR, $@)
-	$(Q) $(UNPACK) $<
-	$(Q) touch $@
-
-$(DSDL_PACKNAME):
-	@echo "Downloading: $@"
-	$(Q) $(WGET) -O $@ $(DSDL_URL)$(DELIM)$(DSDL_VERSION)$(PACKEXT)
-
-$(DSDL_UNPACKNAME): $(DSDL_PACKNAME)
-	@echo "Unpacking: $< -> $@"
-	$(call DELDIR, $@)
-	$(Q) $(UNPACK) $<
-	$(Q) touch $@
-
-$(PYUAVCAN_PACKNAME):
-	@echo "Downloading: $@"
-	$(Q) $(WGET) -O $@ $(PYUAVCAN_URL)$(DELIM)$(PYUAVCAN_VERSION)$(PACKEXT)
-
-$(PYUAVCAN_UNPACKNAME): $(PYUAVCAN_PACKNAME)
-	@echo "Unpacking: $< -> $@"
-	$(call DELDIR, $@)
-	$(Q) $(UNPACK) $<
-	$(Q) touch $@
-
-libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
-	$(call DELDIR, $@)
-	$(Q) cp -R $(LIBUAVCAN_UNPACKNAME) $@
-	$(Q) if [ -r $(LIBUAVCAN_PATCHNAME) ]; then \
-		cat $(LIBUAVCAN_PATCHNAME) | patch -p0 || { echo "ERROR: Patch failed"; exit 1; }; \
-		fi
-	$(call DELDIR, $(LIBUAVCAN_DSDL_PATH))
-	$(Q) cp -R $(DSDL_UNPACKNAME) $(LIBUAVCAN_DSDL_PATH)
-	$(call DELDIR, $(LIBUAVCAN_PYUAVCAN_PATH))
-	$(Q) cp -R $(PYUAVCAN_UNPACKNAME) $(LIBUAVCAN_PYUAVCAN_PATH)
-	$(Q) touch $@
-
-dsdlc_generated: libuavcan
-	$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
-
-$(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, $<, $@)
-
-.built: $(CXXOBJS)
-	$(call ARCHIVE, $(BIN), $(CXXOBJS))
-	$(Q) touch $@
-
-install:
-
-context: libuavcan
-	$(Q) $(MAKE) $(APPDIR)$(DELIM)include$(DELIM)uavcan TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
-
-.depend: Makefile $(CXXSRCS)
-	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(CXXSRCS) >Make.dep
-	$(Q) touch $@
-
-depend: .depend
-
-clean:
-	$(call DELFILE, .built)
-	$(foreach CXXOBJ, $(CXXOBJS), $(call DELFILE, $(CXXOBJ)))
-	$(call DELDIR, dsdlc_generated)
-	$(call DELDIR, $(APPDIR)$(DELIM)include$(DELIM)uavcan)
-
-distclean: clean
-	$(call DELFILE, Make.dep)
-	$(call DELFILE, .depend)
-	$(call DELDIR, libuavcan)
-	$(call DELDIR, $(LIBUAVCAN_UNPACKNAME))
-	$(call DELFILE, $(LIBUAVCAN_PACKNAME))
-	$(call DELDIR, $(DSDL_UNPACKNAME))
-	$(call DELFILE, $(DSDL_PACKNAME))
-	$(call DELDIR, $(PYUAVCAN_UNPACKNAME))
-	$(call DELFILE, $(PYUAVCAN_PACKNAME))
-
-preconfig:
-
--include Make.dep
diff --git a/canutils/libuavcan/nuttx-b04396ace50155573e545ed9bf2fb09964ee2367.patch b/canutils/libuavcan/nuttx-b04396ace50155573e545ed9bf2fb09964ee2367.patch
deleted file mode 100644
index 7ad7d9170..000000000
--- a/canutils/libuavcan/nuttx-b04396ace50155573e545ed9bf2fb09964ee2367.patch
+++ /dev/null
@@ -1,65 +0,0 @@
---- 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
diff --git a/canutils/libuavcan/platform_stm32.cpp b/canutils/libuavcan/platform_stm32.cpp
deleted file mode 100644
index e1adeddf0..000000000
--- a/canutils/libuavcan/platform_stm32.cpp
+++ /dev/null
@@ -1,103 +0,0 @@
-/****************************************************************************
- * canutils/libuavcan/platform_stm32.cpp
- *
- *   Copyright (C) 2015-2016 Omni Hoverboards Inc. All rights reserved.
- *   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <cunistd>
-
-#include <uavcan_stm32/uavcan_stm32.hpp>
-
-/****************************************************************************
- * Configuration
- ****************************************************************************/
-
-#if CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY == 0
-#  undef CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY
-#  define CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-static void delay(void)
-{
-  std::usleep(uavcan_stm32::
-              CanInitHelper<CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY>::
-              getRecommendedListeningDelay().toUSec());
-}
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-uavcan::ICanDriver &getCanDriver(void)
-{
-  static uavcan_stm32::CanInitHelper<CONFIG_LIBUAVCAN_RX_QUEUE_CAPACITY> can;
-  static bool initialized = false;
-
-  if (!initialized)
-    {
-      uavcan::uint32_t bitrate = CONFIG_LIBUAVCAN_BIT_RATE;
-
-#if CONFIG_LIBUAVCAN_INIT_RETRIES > 0
-      int retries = 0;
-#endif
-
-      while (can.init(delay, bitrate) < 0)
-        {
-#if CONFIG_LIBUAVCAN_INIT_RETRIES > 0
-          retries++;
-          if (retries >= CONFIG_LIBUAVCAN_INIT_RETRIES)
-            {
-              PANIC();
-            }
-#endif
-        }
-
-      initialized = true;
-    }
-
-  return can.driver;
-}
-
-uavcan::ISystemClock &getSystemClock(void)
-{
-  return uavcan_stm32::SystemClock::instance();
-}
diff --git a/examples/README.txt b/examples/README.txt
index 94bfbf772..ad0a36fa8 100644
--- a/examples/README.txt
+++ b/examples/README.txt
@@ -2005,12 +2005,6 @@ examples/touchscreen
 
     int board_tsc_setup(int minor);
 
-examples/uavcan
-^^^^^^^^^^^^^^^
-
-  Illustrates use of canutils/uavcan.  Contributed by Paul Alexander
-  Patience.
-
 examples/udp
 ^^^^^^^^^^^^
 
diff --git a/examples/uavcan/.gitignore b/examples/uavcan/.gitignore
deleted file mode 100644
index fa1ec7579..000000000
--- a/examples/uavcan/.gitignore
+++ /dev/null
@@ -1,11 +0,0 @@
-/Make.dep
-/.depend
-/.built
-/*.asm
-/*.obj
-/*.rel
-/*.lst
-/*.sym
-/*.adb
-/*.lib
-/*.src
diff --git a/examples/uavcan/Kconfig b/examples/uavcan/Kconfig
deleted file mode 100644
index a8b980fb5..000000000
--- a/examples/uavcan/Kconfig
+++ /dev/null
@@ -1,34 +0,0 @@
-#
-# For a description of the syntax of this configuration file,
-# see the file kconfig-language.txt in the NuttX tools repository.
-#
-
-config EXAMPLES_UAVCAN
-	bool "UAVCAN example"
-	default n
-	depends on CANUTILS_LIBUAVCAN
-	---help---
-		Enable the UAVCAN example
-
-if EXAMPLES_UAVCAN
-
-config EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE
-	int "Node Memory Pool Size"
-	default 4096
-	---help---
-		Specifies the node's memory pool size
-
-config EXAMPLES_UAVCAN_NODE_ID
-	int "Node ID"
-	default 1
-	range 1 127
-	---help---
-		Specifies the node's ID
-
-config EXAMPLES_UAVCAN_NODE_NAME
-	string "Node Name"
-	default "org.nuttx.apps.examples.uavcan"
-	---help---
-		Specifies the node's name
-
-endif
diff --git a/examples/uavcan/Make.defs b/examples/uavcan/Make.defs
deleted file mode 100644
index e72f62ca2..000000000
--- a/examples/uavcan/Make.defs
+++ /dev/null
@@ -1,39 +0,0 @@
-############################################################################
-# apps/examples/uavcan/Make.defs
-# Adds selected applications to apps/ build
-#
-#   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
-#   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-ifeq ($(CONFIG_EXAMPLES_UAVCAN),y)
-CONFIGURED_APPS += examples/uavcan
-endif
diff --git a/examples/uavcan/Makefile b/examples/uavcan/Makefile
deleted file mode 100644
index 1d1712f2b..000000000
--- a/examples/uavcan/Makefile
+++ /dev/null
@@ -1,44 +0,0 @@
-############################################################################
-# apps/examples/uavcan/Makefile
-#
-#   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
-#   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name NuttX nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
--include $(TOPDIR)/Make.defs
-
-APPNAME = uavcan
-
-MAINSRC = uavcan_main.cxx
-
-CXXFLAGS += -I$(TOPDIR)/include/apps
-
-include $(APPDIR)/Application.mk
diff --git a/examples/uavcan/uavcan_main.cxx b/examples/uavcan/uavcan_main.cxx
deleted file mode 100644
index a2db8186c..000000000
--- a/examples/uavcan/uavcan_main.cxx
+++ /dev/null
@@ -1,97 +0,0 @@
-/****************************************************************************
- * examples/uavcan/uavcan_main.cxx
- *
- *   Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
- *   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <cstdio>
-#include <cstdlib>
-
-#include "platform/cxxinitialize.h"
-
-#include <uavcan/uavcan.hpp>
-
-/****************************************************************************
- * Public Function Prototypes
- ****************************************************************************/
-
-extern uavcan::ICanDriver &getCanDriver(void);
-extern uavcan::ISystemClock &getSystemClock(void);
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: uavcan_main
- ****************************************************************************/
-
-#ifdef CONFIG_BUILD_KERNEL
-int main(int argc, FAR char *argv[])
-#else
-extern "C" int uavcan_main(int argc, FAR char *argv[])
-#endif
-{
-  up_cxxinitialize();
-
-  static uavcan::Node<CONFIG_EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE>
-    node(getCanDriver(), getSystemClock());
-
-  node.setNodeID(CONFIG_EXAMPLES_UAVCAN_NODE_ID);
-  node.setName(CONFIG_EXAMPLES_UAVCAN_NODE_NAME);
-
-  int ret = node.start();
-  if (ret < 0)
-    {
-      std::fprintf(stderr, "ERROR: node.start failed: %d\n", ret);
-      return EXIT_FAILURE;
-    }
-
-  node.setModeOperational();
-
-  for (;;)
-    {
-      ret = node.spin(uavcan::MonotonicDuration::fromMSec(100));
-      if (ret < 0)
-        {
-          std::fprintf(stderr, "ERROR: node.spin failed: %d\n", ret);
-        }
-    }
-
-  return EXIT_SUCCESS;
-}
diff --git a/include/.gitignore b/include/.gitignore
index a86d54aac..2a43b26b7 100644
--- a/include/.gitignore
+++ b/include/.gitignore
@@ -1,2 +1,2 @@
 /pcode
-/uavcan
+