diff --git a/canutils/uavcan/.gitignore b/canutils/uavcan/.gitignore
index 38297bc61..bb6550f3b 100644
--- a/canutils/uavcan/.gitignore
+++ b/canutils/uavcan/.gitignore
@@ -1,3 +1,6 @@
 /.built
 /dsdlc_generated
 /libuavcan
+/libuavcan-*
+/dsdl-*
+/pyuavcan-*
diff --git a/canutils/uavcan/Kconfig b/canutils/uavcan/Kconfig
index 16ac492e4..81b65290c 100644
--- a/canutils/uavcan/Kconfig
+++ b/canutils/uavcan/Kconfig
@@ -16,6 +16,42 @@ config CANUTILS_UAVCAN
 
 if CANUTILS_UAVCAN
 
+config UAVCAN_LIBUAVCAN_URL
+	string "UAVCAN URL"
+	default "https://github.com/UAVCAN/libuavcan/archive"
+	---help---
+		UAVCAN URL.
+
+config UAVCAN_LIBUAVCAN_VERSION
+	string "UAVCAN Version"
+	default "531433a3261ff1568e824c240d0f1c6ecef73be1"
+	---help---
+		UAVCAN version.
+
+config UAVCAN_DSDL_URL
+	string "DSDL URL"
+	default "https://github.com/UAVCAN/dsdl/archive"
+	---help---
+		DSDL URL.
+
+config UAVCAN_DSDL_VERSION
+	string "DSDL Version"
+	default "9804a3e6972825586be252ce08dd899f44994b14"
+	---help---
+		DSDL version.
+
+config UAVCAN_PYUAVCAN_URL
+	string "Python UAVCAN URL"
+	default "https://github.com/UAVCAN/pyuavcan/archive"
+	---help---
+		Python UAVCAN URL.
+
+config UAVCAN_PYUAVCAN_VERSION
+	string "Python UAVCAN Version"
+	default "4e2798ec3da8e8493b769da514f3b96eea5773e2"
+	---help---
+		Python UAVCAN version.
+
 config UAVCAN_STM32_TIMER_NUMBER
 	int "Timer Number"
 	default 2
diff --git a/canutils/uavcan/Makefile b/canutils/uavcan/Makefile
index 0bd05c28e..8908e2018 100644
--- a/canutils/uavcan/Makefile
+++ b/canutils/uavcan/Makefile
@@ -33,19 +33,38 @@
 #
 ############################################################################
 
-CXXEXT = .cpp
+-include $(TOPDIR)/.config
+-include $(TOPDIR)/Make.defs
+include $(APPDIR)/Make.defs
 
-include libuavcan/libuavcan/include.mk
-include libuavcan/libuavcan_drivers/stm32/driver/include.mk
+WGET = wget
+UNPACK = unzip
+PACKEXT = .zip
 
-$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
+LIBUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_LIBUAVCAN_URL)))
+LIBUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_LIBUAVCAN_VERSION)))
+LIBUAVCAN_UNPACKNAME = libuavcan-$(LIBUAVCAN_VERSION)
+LIBUAVCAN_PACKNAME = $(LIBUAVCAN_UNPACKNAME)$(PACKEXT)
+LIBUAVCAN_DSDL_PATH = libuavcan$(DELIM)dsdl
+LIBUAVCAN_PYUAVCAN_PATH = libuavcan$(DELIM)libuavcan$(DELIM)dsdl_compiler$(DELIM)pyuavcan
 
-CXXSRCS += $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
+DSDL_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_DSDL_URL)))
+DSDL_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_DSDL_VERSION)))
+DSDL_UNPACKNAME = dsdl-$(DSDL_VERSION)
+DSDL_PACKNAME = $(DSDL_UNPACKNAME)$(PACKEXT)
 
-include $(APPDIR)/Application.mk
+PYUAVCAN_URL = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_PYUAVCAN_URL)))
+PYUAVCAN_VERSION = $(patsubst "%",%,$(strip $(CONFIG_UAVCAN_PYUAVCAN_VERSION)))
+PYUAVCAN_UNPACKNAME = pyuavcan-$(PYUAVCAN_VERSION)
+PYUAVCAN_PACKNAME = $(PYUAVCAN_UNPACKNAME)$(PACKEXT)
+
+-include libuavcan/libuavcan/include.mk
+-include libuavcan/libuavcan_drivers/stm32/driver/include.mk
+
+CXXSRCS = $(LIBUAVCAN_SRC) $(LIBUAVCAN_STM32_SRC)
 
 CXXFLAGS += -I$(LIBUAVCAN_INC) -I$(LIBUAVCAN_STM32_INC) -Idsdlc_generated
-CXXFLAGS += -I$(TOPDIR)/arch/arm/src/stm32
+CXXFLAGS += -I$(TOPDIR)/arch/arm/src/common -I$(TOPDIR)/arch/arm/src/stm32
 
 CXXFLAGS += -DUAVCAN_STM32_NUTTX=1
 CXXFLAGS += -DUAVCAN_STM32_TIMER_NUMBER=$(CONFIG_UAVCAN_STM32_TIMER_NUMBER)
@@ -91,3 +110,90 @@ endif
 ifneq ($(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE),0)
 CXXFLAGS += -DUAVCAN_MEM_POOL_BLOCK_SIZE=$(CONFIG_UAVCAN_MEM_POOL_BLOCK_SIZE)
 endif
+
+CXXEXT = .cpp
+CXXOBJS = $(CXXSRCS:$(CXXEXT)=$(OBJEXT))
+
+ifeq ($(WINTOOL),y)
+  BIN = "${shell cygpath -w $(APPDIR)$(DELIM)libapps$(LIBEXT)}"
+else
+  BIN = $(APPDIR)$(DELIM)libapps$(LIBEXT)
+endif
+
+ROOTDEPPATH = --dep-path .
+
+VPATH =
+
+all: .built
+.PHONY: clean depend distclean
+
+$(LIBUAVCAN_PACKNAME):
+	@echo "Downloading: $(LIBUAVCAN_PACKNAME)"
+	$(Q) $(WGET) -O $(LIBUAVCAN_PACKNAME) $(LIBUAVCAN_URL)/$(LIBUAVCAN_VERSION)$(PACKEXT)
+
+$(LIBUAVCAN_UNPACKNAME): $(LIBUAVCAN_PACKNAME)
+	@echo "Unpacking: $(LIBUAVCAN_PACKNAME) -> $(LIBUAVCAN_UNPACKNAME)"
+	$(Q) $(UNPACK) $(LIBUAVCAN_PACKNAME)
+	$(Q) touch $(LIBUAVCAN_UNPACKNAME)
+
+$(DSDL_PACKNAME):
+	@echo "Downloading: $(DSDL_PACKNAME)"
+	$(Q) $(WGET) -O $(DSDL_PACKNAME) $(DSDL_URL)/$(DSDL_VERSION)$(PACKEXT)
+
+$(DSDL_UNPACKNAME): $(DSDL_PACKNAME)
+	@echo "Unpacking: $(DSDL_PACKNAME) -> $(DSDL_UNPACKNAME)"
+	$(Q) $(UNPACK) $(DSDL_PACKNAME)
+	$(Q) touch $(DSDL_UNPACKNAME)
+
+$(PYUAVCAN_PACKNAME):
+	@echo "Downloading: $(PYUAVCAN_PACKNAME)"
+	$(Q) $(WGET) -O $(PYUAVCAN_PACKNAME) $(PYUAVCAN_URL)/$(PYUAVCAN_VERSION)$(PACKEXT)
+
+$(PYUAVCAN_UNPACKNAME): $(PYUAVCAN_PACKNAME)
+	@echo "Unpacking: $(PYUAVCAN_PACKNAME) -> $(PYUAVCAN_UNPACKNAME)"
+	$(Q) $(UNPACK) $(PYUAVCAN_PACKNAME)
+	$(Q) touch $(PYUAVCAN_UNPACKNAME)
+
+libuavcan: $(LIBUAVCAN_UNPACKNAME) $(DSDL_UNPACKNAME) $(PYUAVCAN_UNPACKNAME)
+	$(Q) cp -R $(LIBUAVCAN_UNPACKNAME) libuavcan
+	$(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)
+
+dsdlc_generated: libuavcan
+	$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
+
+$(CXXOBJS): %$(OBJEXT): %$(CXXEXT)
+	$(call COMPILEXX, $<, $@)
+
+.built: $(CXXOBJS)
+	$(call ARCHIVE, $(BIN), $(CXXOBJS))
+	$(Q) touch .built
+
+install:
+
+context:
+
+.depend: Makefile $(CXXSRCS) dsdlc_generated
+	$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(CXXSRCS) >Make.dep
+	$(Q) touch $@
+
+depend: .depend
+
+clean:
+	$(call DELFILE, .built)
+	$(call DELDIR, libuavcan)
+	$(call DELDIR, dsdlc_generated)
+
+distclean: clean
+	$(call DELFILE, Make.dep)
+	$(call DELFILE, .depend)
+	$(call DELDIR, $(LIBUAVCAN_UNPACKNAME))
+	$(call DELFILE, $(LIBUAVCAN_PACKNAME))
+	$(call DELDIR, $(DSDL_UNPACKNAME))
+	$(call DELFILE, $(DSDL_PACKNAME))
+	$(call DELDIR, $(PYUAVCAN_UNPACKNAME))
+	$(call DELFILE, $(PYUAVCAN_PACKNAME))
+
+-include Make.dep