diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
index 4beb8b980a..1fc697d09b 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -15,7 +15,7 @@
 # include <nuttx/irq.h>
 # include <arch/board/board.h>
 #elif UAVCAN_STM32_BAREMETAL
-#include <stm32f4xx.h>
+#include <chip.h>
 #elif UAVCAN_STM32_FREERTOS
 #include <stm32f4xx.h>
 #include <cmsis_os.h>
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
index 9f246427af..10befb184a 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
@@ -112,8 +112,6 @@ void BusEvent::signalFromInterrupt()
     xHigherPriorityTaskWoken = pdFALSE;
 
     xSemaphoreGiveFromISR( sem_, &xHigherPriorityTaskWoken );
-    
-    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
 }
 
 void BusEvent::yieldFromISR()