diff --git a/libuavcan/dsdl_compiler/data_type_template.tmpl b/libuavcan/dsdl_compiler/data_type_template.tmpl
index fab0b7b497..f3aceaad40 100644
--- a/libuavcan/dsdl_compiler/data_type_template.tmpl
+++ b/libuavcan/dsdl_compiler/data_type_template.tmpl
@@ -8,8 +8,8 @@
 
 #pragma once
 
-#include <uavcan/global_data_type_registry.hpp>
-#include <uavcan/internal/marshal/types.hpp>
+#include <uavcan/node/global_data_type_registry.hpp>
+#include <uavcan/marshal/types.hpp>
 
 % for inc in t.cpp_includes:
 #include <${inc}>
diff --git a/libuavcan/include/uavcan/can_driver.hpp b/libuavcan/include/uavcan/can_driver.hpp
index daaba7ead7..112a46843c 100644
--- a/libuavcan/include/uavcan/can_driver.hpp
+++ b/libuavcan/include/uavcan/can_driver.hpp
@@ -9,7 +9,7 @@
 #include <stdint.h>
 #include <algorithm>
 #include <string>
-#include <uavcan/internal/impl_constants.hpp>
+#include <uavcan/impl_constants.hpp>
 #include <uavcan/system_clock.hpp>
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/data_type.hpp b/libuavcan/include/uavcan/data_type.hpp
index fe276aa9f7..e1ba14fbe6 100644
--- a/libuavcan/include/uavcan/data_type.hpp
+++ b/libuavcan/include/uavcan/data_type.hpp
@@ -9,7 +9,7 @@
 #include <string>
 #include <stdint.h>
 #include <algorithm>
-#include <uavcan/internal/transport/transfer.hpp>
+#include <uavcan/transport/transfer.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/debug.hpp b/libuavcan/include/uavcan/debug.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/debug.hpp
rename to libuavcan/include/uavcan/debug.hpp
diff --git a/libuavcan/include/uavcan/internal/dynamic_memory.hpp b/libuavcan/include/uavcan/dynamic_memory.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/dynamic_memory.hpp
rename to libuavcan/include/uavcan/dynamic_memory.hpp
diff --git a/libuavcan/include/uavcan/internal/fatal_error.hpp b/libuavcan/include/uavcan/fatal_error.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/fatal_error.hpp
rename to libuavcan/include/uavcan/fatal_error.hpp
diff --git a/libuavcan/include/uavcan/internal/impl_constants.hpp b/libuavcan/include/uavcan/impl_constants.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/impl_constants.hpp
rename to libuavcan/include/uavcan/impl_constants.hpp
diff --git a/libuavcan/include/uavcan/internal/marshal/types.hpp b/libuavcan/include/uavcan/internal/marshal/types.hpp
deleted file mode 100644
index c5f0e75b38..0000000000
--- a/libuavcan/include/uavcan/internal/marshal/types.hpp
+++ /dev/null
@@ -1,10 +0,0 @@
-/*
- * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
-#pragma once
-
-#include <uavcan/internal/marshal/integer_spec.hpp>
-#include <uavcan/internal/marshal/float_spec.hpp>
-#include <uavcan/internal/marshal/array.hpp>
-#include <uavcan/internal/marshal/type_util.hpp>
diff --git a/libuavcan/include/uavcan/internal/linked_list.hpp b/libuavcan/include/uavcan/linked_list.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/linked_list.hpp
rename to libuavcan/include/uavcan/linked_list.hpp
diff --git a/libuavcan/include/uavcan/internal/map.hpp b/libuavcan/include/uavcan/map.hpp
similarity index 98%
rename from libuavcan/include/uavcan/internal/map.hpp
rename to libuavcan/include/uavcan/map.hpp
index f640fec38f..edb8135c17 100644
--- a/libuavcan/include/uavcan/internal/map.hpp
+++ b/libuavcan/include/uavcan/map.hpp
@@ -7,9 +7,9 @@
 #include <cassert>
 #include <cstdlib>
 #include <stdint.h>
-#include <uavcan/internal/linked_list.hpp>
-#include <uavcan/internal/impl_constants.hpp>
-#include <uavcan/internal/dynamic_memory.hpp>
+#include <uavcan/linked_list.hpp>
+#include <uavcan/impl_constants.hpp>
+#include <uavcan/dynamic_memory.hpp>
 #include <uavcan/util/compile_time.hpp>
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/internal/marshal/array.hpp b/libuavcan/include/uavcan/marshal/array.hpp
similarity index 99%
rename from libuavcan/include/uavcan/internal/marshal/array.hpp
rename to libuavcan/include/uavcan/marshal/array.hpp
index 45f1cf03d8..df87050dfd 100644
--- a/libuavcan/include/uavcan/internal/marshal/array.hpp
+++ b/libuavcan/include/uavcan/marshal/array.hpp
@@ -9,8 +9,8 @@
 #include <stdexcept>
 #include <cstring>
 #include <uavcan/util/compile_time.hpp>
-#include <uavcan/internal/impl_constants.hpp>
-#include <uavcan/internal/marshal/type_util.hpp>
+#include <uavcan/impl_constants.hpp>
+#include <uavcan/marshal/type_util.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/marshal/bit_stream.hpp b/libuavcan/include/uavcan/marshal/bit_stream.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/marshal/bit_stream.hpp
rename to libuavcan/include/uavcan/marshal/bit_stream.hpp
diff --git a/libuavcan/include/uavcan/internal/marshal/float_spec.hpp b/libuavcan/include/uavcan/marshal/float_spec.hpp
similarity index 98%
rename from libuavcan/include/uavcan/internal/marshal/float_spec.hpp
rename to libuavcan/include/uavcan/marshal/float_spec.hpp
index 6bf371d23e..3d6f96ecc7 100644
--- a/libuavcan/include/uavcan/internal/marshal/float_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/float_spec.hpp
@@ -9,8 +9,8 @@
 #include <math.h>            // Needed for isfinite
 #include <uavcan/data_type.hpp>
 #include <uavcan/util/compile_time.hpp>
-#include <uavcan/internal/marshal/type_util.hpp>
-#include <uavcan/internal/marshal/integer_spec.hpp>
+#include <uavcan/marshal/type_util.hpp>
+#include <uavcan/marshal/integer_spec.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/marshal/integer_spec.hpp b/libuavcan/include/uavcan/marshal/integer_spec.hpp
similarity index 97%
rename from libuavcan/include/uavcan/internal/marshal/integer_spec.hpp
rename to libuavcan/include/uavcan/marshal/integer_spec.hpp
index 432e858818..94b8e03d6d 100644
--- a/libuavcan/include/uavcan/internal/marshal/integer_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/integer_spec.hpp
@@ -8,8 +8,8 @@
 #include <limits>
 #include <uavcan/data_type.hpp>
 #include <uavcan/util/compile_time.hpp>
-#include <uavcan/internal/marshal/scalar_codec.hpp>
-#include <uavcan/internal/marshal/type_util.hpp>
+#include <uavcan/marshal/scalar_codec.hpp>
+#include <uavcan/marshal/type_util.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/marshal/scalar_codec.hpp b/libuavcan/include/uavcan/marshal/scalar_codec.hpp
similarity index 98%
rename from libuavcan/include/uavcan/internal/marshal/scalar_codec.hpp
rename to libuavcan/include/uavcan/marshal/scalar_codec.hpp
index c632ff63be..15425fae92 100644
--- a/libuavcan/include/uavcan/internal/marshal/scalar_codec.hpp
+++ b/libuavcan/include/uavcan/marshal/scalar_codec.hpp
@@ -9,7 +9,7 @@
 #include <limits>
 #include <string>
 #include <uavcan/util/compile_time.hpp>
-#include <uavcan/internal/marshal/bit_stream.hpp>
+#include <uavcan/marshal/bit_stream.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/marshal/type_util.hpp b/libuavcan/include/uavcan/marshal/type_util.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/marshal/type_util.hpp
rename to libuavcan/include/uavcan/marshal/type_util.hpp
diff --git a/libuavcan/include/uavcan/marshal/types.hpp b/libuavcan/include/uavcan/marshal/types.hpp
new file mode 100644
index 0000000000..a9df753a21
--- /dev/null
+++ b/libuavcan/include/uavcan/marshal/types.hpp
@@ -0,0 +1,10 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/marshal/integer_spec.hpp>
+#include <uavcan/marshal/float_spec.hpp>
+#include <uavcan/marshal/array.hpp>
+#include <uavcan/marshal/type_util.hpp>
diff --git a/libuavcan/include/uavcan/internal/node/generic_publisher.hpp b/libuavcan/include/uavcan/node/generic_publisher.hpp
similarity index 93%
rename from libuavcan/include/uavcan/internal/node/generic_publisher.hpp
rename to libuavcan/include/uavcan/node/generic_publisher.hpp
index 91c167c6e9..6f95d341e9 100644
--- a/libuavcan/include/uavcan/internal/node/generic_publisher.hpp
+++ b/libuavcan/include/uavcan/node/generic_publisher.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <uavcan/internal/node/scheduler.hpp>
+#include <uavcan/node/scheduler.hpp>
 #include <uavcan/data_type.hpp>
-#include <uavcan/internal/node/marshal_buffer.hpp>
-#include <uavcan/global_data_type_registry.hpp>
+#include <uavcan/node/marshal_buffer.hpp>
+#include <uavcan/node/global_data_type_registry.hpp>
 #include <uavcan/util/lazy_constructor.hpp>
-#include <uavcan/internal/debug.hpp>
-#include <uavcan/internal/transport/transfer_sender.hpp>
-#include <uavcan/internal/marshal/scalar_codec.hpp>
-#include <uavcan/internal/marshal/types.hpp>
+#include <uavcan/debug.hpp>
+#include <uavcan/transport/transfer_sender.hpp>
+#include <uavcan/marshal/scalar_codec.hpp>
+#include <uavcan/marshal/types.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/node/generic_subscriber.hpp b/libuavcan/include/uavcan/node/generic_subscriber.hpp
similarity index 95%
rename from libuavcan/include/uavcan/internal/node/generic_subscriber.hpp
rename to libuavcan/include/uavcan/node/generic_subscriber.hpp
index 14095058bb..08ad06ea13 100644
--- a/libuavcan/include/uavcan/internal/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/node/generic_subscriber.hpp
@@ -4,15 +4,15 @@
 
 #pragma once
 
-#include <uavcan/internal/node/scheduler.hpp>
+#include <uavcan/node/scheduler.hpp>
 #include <uavcan/data_type.hpp>
-#include <uavcan/global_data_type_registry.hpp>
+#include <uavcan/node/global_data_type_registry.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/util/lazy_constructor.hpp>
-#include <uavcan/internal/debug.hpp>
-#include <uavcan/internal/transport/transfer_listener.hpp>
-#include <uavcan/internal/marshal/scalar_codec.hpp>
-#include <uavcan/internal/marshal/types.hpp>
+#include <uavcan/debug.hpp>
+#include <uavcan/transport/transfer_listener.hpp>
+#include <uavcan/marshal/scalar_codec.hpp>
+#include <uavcan/marshal/types.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
similarity index 96%
rename from libuavcan/include/uavcan/global_data_type_registry.hpp
rename to libuavcan/include/uavcan/node/global_data_type_registry.hpp
index 1bd376427c..48ca6277d3 100644
--- a/libuavcan/include/uavcan/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -10,10 +10,10 @@
 #include <algorithm>
 #include <uavcan/data_type.hpp>
 #include <uavcan/util/compile_time.hpp>
-#include <uavcan/internal/fatal_error.hpp>
-#include <uavcan/internal/linked_list.hpp>
+#include <uavcan/fatal_error.hpp>
+#include <uavcan/linked_list.hpp>
 #if UAVCAN_DEBUG
-#include <uavcan/internal/debug.hpp>
+#include <uavcan/debug.hpp>
 #endif
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/internal/node/marshal_buffer.hpp b/libuavcan/include/uavcan/node/marshal_buffer.hpp
similarity index 92%
rename from libuavcan/include/uavcan/internal/node/marshal_buffer.hpp
rename to libuavcan/include/uavcan/node/marshal_buffer.hpp
index 0e82eb77d2..78744fad94 100644
--- a/libuavcan/include/uavcan/internal/node/marshal_buffer.hpp
+++ b/libuavcan/include/uavcan/node/marshal_buffer.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <uavcan/internal/transport/transfer.hpp>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/transport/transfer.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/publisher.hpp b/libuavcan/include/uavcan/node/publisher.hpp
similarity index 96%
rename from libuavcan/include/uavcan/publisher.hpp
rename to libuavcan/include/uavcan/node/publisher.hpp
index c4985436d7..09adf32902 100644
--- a/libuavcan/include/uavcan/publisher.hpp
+++ b/libuavcan/include/uavcan/node/publisher.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <uavcan/internal/node/generic_publisher.hpp>
+#include <uavcan/node/generic_publisher.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/node/scheduler.hpp b/libuavcan/include/uavcan/node/scheduler.hpp
similarity index 97%
rename from libuavcan/include/uavcan/internal/node/scheduler.hpp
rename to libuavcan/include/uavcan/node/scheduler.hpp
index df5f4bcc9f..9e01005b55 100644
--- a/libuavcan/include/uavcan/internal/node/scheduler.hpp
+++ b/libuavcan/include/uavcan/node/scheduler.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <uavcan/internal/linked_list.hpp>
-#include <uavcan/internal/transport/dispatcher.hpp>
+#include <uavcan/linked_list.hpp>
+#include <uavcan/transport/dispatcher.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/service_client.hpp b/libuavcan/include/uavcan/node/service_client.hpp
similarity index 98%
rename from libuavcan/include/uavcan/service_client.hpp
rename to libuavcan/include/uavcan/node/service_client.hpp
index 9e0e07a99b..54e6707080 100644
--- a/libuavcan/include/uavcan/service_client.hpp
+++ b/libuavcan/include/uavcan/node/service_client.hpp
@@ -2,8 +2,8 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <uavcan/internal/node/generic_publisher.hpp>
-#include <uavcan/internal/node/generic_subscriber.hpp>
+#include <uavcan/node/generic_publisher.hpp>
+#include <uavcan/node/generic_subscriber.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/service_server.hpp b/libuavcan/include/uavcan/node/service_server.hpp
similarity index 97%
rename from libuavcan/include/uavcan/service_server.hpp
rename to libuavcan/include/uavcan/node/service_server.hpp
index cbe8e436ff..b44ada6cd2 100644
--- a/libuavcan/include/uavcan/service_server.hpp
+++ b/libuavcan/include/uavcan/node/service_server.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <uavcan/internal/node/generic_publisher.hpp>
-#include <uavcan/internal/node/generic_subscriber.hpp>
+#include <uavcan/node/generic_publisher.hpp>
+#include <uavcan/node/generic_subscriber.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/subscriber.hpp b/libuavcan/include/uavcan/node/subscriber.hpp
similarity index 97%
rename from libuavcan/include/uavcan/subscriber.hpp
rename to libuavcan/include/uavcan/node/subscriber.hpp
index 1310066edc..ce99b7be16 100644
--- a/libuavcan/include/uavcan/subscriber.hpp
+++ b/libuavcan/include/uavcan/node/subscriber.hpp
@@ -5,7 +5,7 @@
 #pragma once
 
 #include <cassert>
-#include <uavcan/internal/node/generic_subscriber.hpp>
+#include <uavcan/node/generic_subscriber.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/timer.hpp b/libuavcan/include/uavcan/node/timer.hpp
similarity index 93%
rename from libuavcan/include/uavcan/timer.hpp
rename to libuavcan/include/uavcan/node/timer.hpp
index 5cda5a32d0..cffc176773 100644
--- a/libuavcan/include/uavcan/timer.hpp
+++ b/libuavcan/include/uavcan/node/timer.hpp
@@ -5,10 +5,10 @@
 #pragma once
 
 #include <stdint.h>
-#include <uavcan/internal/node/scheduler.hpp>
+#include <uavcan/node/scheduler.hpp>
 #include <uavcan/util/compile_time.hpp>
-#include <uavcan/internal/linked_list.hpp>
-#include <uavcan/internal/fatal_error.hpp>
+#include <uavcan/linked_list.hpp>
+#include <uavcan/fatal_error.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/system_clock.hpp b/libuavcan/include/uavcan/system_clock.hpp
index e1eadec2ec..f603429267 100644
--- a/libuavcan/include/uavcan/system_clock.hpp
+++ b/libuavcan/include/uavcan/system_clock.hpp
@@ -6,7 +6,7 @@
 #pragma once
 
 #include <stdint.h>
-#include <uavcan/internal/impl_constants.hpp>
+#include <uavcan/impl_constants.hpp>
 #include <uavcan/time.hpp>
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/internal/transport/can_io.hpp b/libuavcan/include/uavcan/transport/can_io.hpp
similarity index 96%
rename from libuavcan/include/uavcan/internal/transport/can_io.hpp
rename to libuavcan/include/uavcan/transport/can_io.hpp
index 7df95a070e..c2c0df922f 100644
--- a/libuavcan/include/uavcan/internal/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/transport/can_io.hpp
@@ -7,9 +7,9 @@
 
 #include <cassert>
 #include <stdint.h>
-#include <uavcan/internal/linked_list.hpp>
-#include <uavcan/internal/dynamic_memory.hpp>
-#include <uavcan/internal/impl_constants.hpp>
+#include <uavcan/linked_list.hpp>
+#include <uavcan/dynamic_memory.hpp>
+#include <uavcan/impl_constants.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/can_driver.hpp>
 #include <uavcan/system_clock.hpp>
diff --git a/libuavcan/include/uavcan/internal/transport/crc.hpp b/libuavcan/include/uavcan/transport/crc.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/transport/crc.hpp
rename to libuavcan/include/uavcan/transport/crc.hpp
diff --git a/libuavcan/include/uavcan/internal/transport/dispatcher.hpp b/libuavcan/include/uavcan/transport/dispatcher.hpp
similarity index 92%
rename from libuavcan/include/uavcan/internal/transport/dispatcher.hpp
rename to libuavcan/include/uavcan/transport/dispatcher.hpp
index bde6fa905d..ee0ad34eff 100644
--- a/libuavcan/include/uavcan/internal/transport/dispatcher.hpp
+++ b/libuavcan/include/uavcan/transport/dispatcher.hpp
@@ -6,10 +6,10 @@
 
 #include <cassert>
 #include <stdint.h>
-#include <uavcan/internal/transport/transfer_listener.hpp>
-#include <uavcan/internal/transport/outgoing_transfer_registry.hpp>
-#include <uavcan/internal/transport/can_io.hpp>
-#include <uavcan/internal/linked_list.hpp>
+#include <uavcan/transport/transfer_listener.hpp>
+#include <uavcan/transport/outgoing_transfer_registry.hpp>
+#include <uavcan/transport/can_io.hpp>
+#include <uavcan/linked_list.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/transport/frame.hpp b/libuavcan/include/uavcan/transport/frame.hpp
similarity index 97%
rename from libuavcan/include/uavcan/internal/transport/frame.hpp
rename to libuavcan/include/uavcan/transport/frame.hpp
index 6098cad3aa..4506275a73 100644
--- a/libuavcan/include/uavcan/internal/transport/frame.hpp
+++ b/libuavcan/include/uavcan/transport/frame.hpp
@@ -7,8 +7,8 @@
 #include <cassert>
 #include <algorithm>
 #include <string>
-#include <uavcan/internal/transport/transfer.hpp>
-#include <uavcan/internal/transport/can_io.hpp>
+#include <uavcan/transport/transfer.hpp>
+#include <uavcan/transport/can_io.hpp>
 #include <uavcan/data_type.hpp>
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/internal/transport/outgoing_transfer_registry.hpp b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
similarity index 94%
rename from libuavcan/include/uavcan/internal/transport/outgoing_transfer_registry.hpp
rename to libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
index 8f89cca221..363ff4afe4 100644
--- a/libuavcan/include/uavcan/internal/transport/outgoing_transfer_registry.hpp
+++ b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
@@ -7,11 +7,10 @@
 #include <cassert>
 #include <stdint.h>
 #include <sstream>
-#include <uavcan/internal/impl_constants.hpp>
-#include <uavcan/internal/map.hpp>
-#include <uavcan/internal/debug.hpp>
-#include <uavcan/internal/transport/transfer.hpp>
-#include <uavcan/internal/debug.hpp>
+#include <uavcan/impl_constants.hpp>
+#include <uavcan/map.hpp>
+#include <uavcan/debug.hpp>
+#include <uavcan/transport/transfer.hpp>
 #include <uavcan/time.hpp>
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/internal/transport/transfer.hpp b/libuavcan/include/uavcan/transport/transfer.hpp
similarity index 100%
rename from libuavcan/include/uavcan/internal/transport/transfer.hpp
rename to libuavcan/include/uavcan/transport/transfer.hpp
diff --git a/libuavcan/include/uavcan/internal/transport/transfer_buffer.hpp b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
similarity index 98%
rename from libuavcan/include/uavcan/internal/transport/transfer_buffer.hpp
rename to libuavcan/include/uavcan/transport/transfer_buffer.hpp
index 33b28d4eb3..e27f766c4b 100644
--- a/libuavcan/include/uavcan/internal/transport/transfer_buffer.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
@@ -7,11 +7,11 @@
 #include <stdint.h>
 #include <algorithm>
 #include <limits>
-#include <uavcan/internal/transport/frame.hpp>
-#include <uavcan/internal/linked_list.hpp>
-#include <uavcan/internal/dynamic_memory.hpp>
-#include <uavcan/internal/impl_constants.hpp>
-#include <uavcan/internal/debug.hpp>
+#include <uavcan/transport/frame.hpp>
+#include <uavcan/linked_list.hpp>
+#include <uavcan/dynamic_memory.hpp>
+#include <uavcan/impl_constants.hpp>
+#include <uavcan/debug.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/transport/transfer_listener.hpp b/libuavcan/include/uavcan/transport/transfer_listener.hpp
similarity index 97%
rename from libuavcan/include/uavcan/internal/transport/transfer_listener.hpp
rename to libuavcan/include/uavcan/transport/transfer_listener.hpp
index d04c626f72..8bbd1f668b 100644
--- a/libuavcan/include/uavcan/internal/transport/transfer_listener.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_listener.hpp
@@ -7,11 +7,11 @@
 #include <cassert>
 #include <algorithm>
 #include <stdint.h>
-#include <uavcan/internal/transport/transfer_receiver.hpp>
-#include <uavcan/internal/linked_list.hpp>
-#include <uavcan/internal/map.hpp>
-#include <uavcan/internal/debug.hpp>
-#include <uavcan/internal/transport/crc.hpp>
+#include <uavcan/transport/transfer_receiver.hpp>
+#include <uavcan/linked_list.hpp>
+#include <uavcan/map.hpp>
+#include <uavcan/debug.hpp>
+#include <uavcan/transport/crc.hpp>
 #include <uavcan/data_type.hpp>
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp b/libuavcan/include/uavcan/transport/transfer_receiver.hpp
similarity index 95%
rename from libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp
rename to libuavcan/include/uavcan/transport/transfer_receiver.hpp
index c4d11a236a..73d118f309 100644
--- a/libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_receiver.hpp
@@ -5,8 +5,8 @@
 #pragma once
 
 #include <cstdlib>
-#include <uavcan/internal/transport/frame.hpp>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/transport/frame.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/internal/transport/transfer_sender.hpp b/libuavcan/include/uavcan/transport/transfer_sender.hpp
similarity index 91%
rename from libuavcan/include/uavcan/internal/transport/transfer_sender.hpp
rename to libuavcan/include/uavcan/transport/transfer_sender.hpp
index 052fe2a228..e9b772be50 100644
--- a/libuavcan/include/uavcan/internal/transport/transfer_sender.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_sender.hpp
@@ -7,9 +7,9 @@
 #include <cstdlib>
 #include <cassert>
 #include <uavcan/data_type.hpp>
-#include <uavcan/internal/transport/crc.hpp>
-#include <uavcan/internal/transport/transfer.hpp>
-#include <uavcan/internal/transport/dispatcher.hpp>
+#include <uavcan/transport/crc.hpp>
+#include <uavcan/transport/transfer.hpp>
+#include <uavcan/transport/dispatcher.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/util/lazy_constructor.hpp b/libuavcan/include/uavcan/util/lazy_constructor.hpp
index 1e4942ebf8..675b88eda0 100644
--- a/libuavcan/include/uavcan/util/lazy_constructor.hpp
+++ b/libuavcan/include/uavcan/util/lazy_constructor.hpp
@@ -5,8 +5,8 @@
 #pragma once
 
 #include <cstdlib>
-#include <uavcan/internal/fatal_error.hpp>
-#include <uavcan/internal/impl_constants.hpp>
+#include <uavcan/fatal_error.hpp>
+#include <uavcan/impl_constants.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/util/method_binder.hpp b/libuavcan/include/uavcan/util/method_binder.hpp
index 47f2c78264..52d00ca5fe 100644
--- a/libuavcan/include/uavcan/util/method_binder.hpp
+++ b/libuavcan/include/uavcan/util/method_binder.hpp
@@ -4,8 +4,8 @@
 
 #pragma once
 
-#include <uavcan/internal/fatal_error.hpp>
-#include <uavcan/internal/impl_constants.hpp>
+#include <uavcan/fatal_error.hpp>
+#include <uavcan/impl_constants.hpp>
 #include <uavcan/util/compile_time.hpp>
 
 namespace uavcan
diff --git a/libuavcan/src/data_type.cpp b/libuavcan/src/data_type.cpp
index a76330bea9..761e3274dc 100644
--- a/libuavcan/src/data_type.cpp
+++ b/libuavcan/src/data_type.cpp
@@ -7,7 +7,7 @@
 #include <iomanip>
 #include <cassert>
 #include <uavcan/data_type.hpp>
-#include <uavcan/internal/transport/crc.hpp>
+#include <uavcan/transport/crc.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/fatal_error.cpp b/libuavcan/src/fatal_error.cpp
similarity index 78%
rename from libuavcan/src/internal/fatal_error.cpp
rename to libuavcan/src/fatal_error.cpp
index bf1cf3f177..52f4eaf2e7 100644
--- a/libuavcan/src/internal/fatal_error.cpp
+++ b/libuavcan/src/fatal_error.cpp
@@ -5,8 +5,8 @@
 #include <cassert>
 #include <cstdlib>
 #include <stdexcept>
-#include <uavcan/internal/fatal_error.hpp>
-#include <uavcan/internal/impl_constants.hpp>
+#include <uavcan/fatal_error.hpp>
+#include <uavcan/impl_constants.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/marshal/bit_array_copy.cpp b/libuavcan/src/marshal/bit_array_copy.cpp
similarity index 100%
rename from libuavcan/src/internal/marshal/bit_array_copy.cpp
rename to libuavcan/src/marshal/bit_array_copy.cpp
diff --git a/libuavcan/src/internal/marshal/bit_stream.cpp b/libuavcan/src/marshal/bit_stream.cpp
similarity index 95%
rename from libuavcan/src/internal/marshal/bit_stream.cpp
rename to libuavcan/src/marshal/bit_stream.cpp
index 4716cc24ef..d765041844 100644
--- a/libuavcan/src/internal/marshal/bit_stream.cpp
+++ b/libuavcan/src/marshal/bit_stream.cpp
@@ -4,8 +4,8 @@
 
 #include <cassert>
 #include <sstream>
-#include <uavcan/internal/marshal/bit_stream.hpp>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/marshal/bit_stream.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/marshal/float_spec.cpp b/libuavcan/src/marshal/float_spec.cpp
similarity index 97%
rename from libuavcan/src/internal/marshal/float_spec.cpp
rename to libuavcan/src/marshal/float_spec.cpp
index da60be3a51..57b8a0e870 100644
--- a/libuavcan/src/internal/marshal/float_spec.cpp
+++ b/libuavcan/src/marshal/float_spec.cpp
@@ -2,7 +2,7 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <uavcan/internal/marshal/float_spec.hpp>
+#include <uavcan/marshal/float_spec.hpp>
 #include <cmath>
 
 namespace uavcan
diff --git a/libuavcan/src/global_data_type_registry.cpp b/libuavcan/src/node/global_data_type_registry.cpp
similarity index 98%
rename from libuavcan/src/global_data_type_registry.cpp
rename to libuavcan/src/node/global_data_type_registry.cpp
index 43e8afbc59..13288da683 100644
--- a/libuavcan/src/global_data_type_registry.cpp
+++ b/libuavcan/src/node/global_data_type_registry.cpp
@@ -4,8 +4,8 @@
 
 #include <cassert>
 #include <cstdlib>
-#include <uavcan/global_data_type_registry.hpp>
-#include <uavcan/internal/debug.hpp>
+#include <uavcan/node/global_data_type_registry.hpp>
+#include <uavcan/debug.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/node/scheduler.cpp b/libuavcan/src/node/scheduler.cpp
similarity index 97%
rename from libuavcan/src/internal/node/scheduler.cpp
rename to libuavcan/src/node/scheduler.cpp
index 670f38ebe1..fcf83fe27e 100644
--- a/libuavcan/src/internal/node/scheduler.cpp
+++ b/libuavcan/src/node/scheduler.cpp
@@ -3,8 +3,8 @@
  */
 
 #include <cassert>
-#include <uavcan/internal/node/scheduler.hpp>
-#include <uavcan/internal/debug.hpp>
+#include <uavcan/node/scheduler.hpp>
+#include <uavcan/debug.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/timer.cpp b/libuavcan/src/node/timer.cpp
similarity index 96%
rename from libuavcan/src/timer.cpp
rename to libuavcan/src/node/timer.cpp
index cb8014e660..db92fe2d1f 100644
--- a/libuavcan/src/timer.cpp
+++ b/libuavcan/src/node/timer.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <cassert>
-#include <uavcan/timer.hpp>
+#include <uavcan/node/timer.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/can_io.cpp b/libuavcan/src/transport/can_io.cpp
similarity index 99%
rename from libuavcan/src/internal/transport/can_io.cpp
rename to libuavcan/src/transport/can_io.cpp
index 139f703ee9..d4c158a776 100644
--- a/libuavcan/src/internal/transport/can_io.cpp
+++ b/libuavcan/src/transport/can_io.cpp
@@ -7,8 +7,8 @@
 #include <sstream>
 #include <cassert>
 #include <limits>
-#include <uavcan/internal/transport/can_io.hpp>
-#include <uavcan/internal/debug.hpp>
+#include <uavcan/transport/can_io.hpp>
+#include <uavcan/debug.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/crc.cpp b/libuavcan/src/transport/crc.cpp
similarity index 98%
rename from libuavcan/src/internal/transport/crc.cpp
rename to libuavcan/src/transport/crc.cpp
index 0c56070544..39856e116e 100644
--- a/libuavcan/src/internal/transport/crc.cpp
+++ b/libuavcan/src/transport/crc.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <cassert>
-#include <uavcan/internal/transport/crc.hpp>
+#include <uavcan/transport/crc.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/dispatcher.cpp b/libuavcan/src/transport/dispatcher.cpp
similarity index 98%
rename from libuavcan/src/internal/transport/dispatcher.cpp
rename to libuavcan/src/transport/dispatcher.cpp
index 71b39d6821..ae573ded34 100644
--- a/libuavcan/src/internal/transport/dispatcher.cpp
+++ b/libuavcan/src/transport/dispatcher.cpp
@@ -3,8 +3,8 @@
  */
 
 #include <cassert>
-#include <uavcan/internal/transport/dispatcher.hpp>
-#include <uavcan/internal/debug.hpp>
+#include <uavcan/transport/dispatcher.hpp>
+#include <uavcan/debug.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/frame.cpp b/libuavcan/src/transport/frame.cpp
similarity index 98%
rename from libuavcan/src/internal/transport/frame.cpp
rename to libuavcan/src/transport/frame.cpp
index 89e82483d9..49fbebed9e 100644
--- a/libuavcan/src/internal/transport/frame.cpp
+++ b/libuavcan/src/transport/frame.cpp
@@ -5,8 +5,8 @@
 #include <cassert>
 #include <cstdio>
 #include <sstream>
-#include <uavcan/internal/transport/frame.hpp>
-#include <uavcan/internal/transport/can_io.hpp>
+#include <uavcan/transport/frame.hpp>
+#include <uavcan/transport/can_io.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/transfer.cpp b/libuavcan/src/transport/transfer.cpp
similarity index 82%
rename from libuavcan/src/internal/transport/transfer.cpp
rename to libuavcan/src/transport/transfer.cpp
index 5ad209fe86..ab63068340 100644
--- a/libuavcan/src/internal/transport/transfer.cpp
+++ b/libuavcan/src/transport/transfer.cpp
@@ -5,8 +5,8 @@
 #include <cassert>
 #include <cstdio>
 #include <sstream>
-#include <uavcan/internal/transport/frame.hpp>
-#include <uavcan/internal/transport/can_io.hpp>
+#include <uavcan/transport/frame.hpp>
+#include <uavcan/transport/can_io.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/transfer_buffer.cpp b/libuavcan/src/transport/transfer_buffer.cpp
similarity index 98%
rename from libuavcan/src/internal/transport/transfer_buffer.cpp
rename to libuavcan/src/transport/transfer_buffer.cpp
index 6c0338b6b8..c4357f74a7 100644
--- a/libuavcan/src/internal/transport/transfer_buffer.cpp
+++ b/libuavcan/src/transport/transfer_buffer.cpp
@@ -6,7 +6,7 @@
 #include <cstdlib>
 #include <cstdio>
 #include <string>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/transfer_listener.cpp b/libuavcan/src/transport/transfer_listener.cpp
similarity index 97%
rename from libuavcan/src/internal/transport/transfer_listener.cpp
rename to libuavcan/src/transport/transfer_listener.cpp
index 7adcdbf055..0da3b4a6e2 100644
--- a/libuavcan/src/internal/transport/transfer_listener.cpp
+++ b/libuavcan/src/transport/transfer_listener.cpp
@@ -4,8 +4,8 @@
 
 #include <cstdlib>
 #include <cassert>
-#include <uavcan/internal/transport/transfer_listener.hpp>
-#include <uavcan/internal/debug.hpp>
+#include <uavcan/transport/transfer_listener.hpp>
+#include <uavcan/debug.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/transfer_receiver.cpp b/libuavcan/src/transport/transfer_receiver.cpp
similarity index 98%
rename from libuavcan/src/internal/transport/transfer_receiver.cpp
rename to libuavcan/src/transport/transfer_receiver.cpp
index f6386dd4d2..c02bdc28e5 100644
--- a/libuavcan/src/internal/transport/transfer_receiver.cpp
+++ b/libuavcan/src/transport/transfer_receiver.cpp
@@ -6,9 +6,9 @@
 #include <cstdio>
 #include <cassert>
 #include <algorithm>
-#include <uavcan/internal/debug.hpp>
-#include <uavcan/internal/transport/transfer_receiver.hpp>
-#include <uavcan/internal/transport/crc.hpp>
+#include <uavcan/debug.hpp>
+#include <uavcan/transport/transfer_receiver.hpp>
+#include <uavcan/transport/crc.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/src/internal/transport/transfer_sender.cpp b/libuavcan/src/transport/transfer_sender.cpp
similarity index 97%
rename from libuavcan/src/internal/transport/transfer_sender.cpp
rename to libuavcan/src/transport/transfer_sender.cpp
index c6fe3c8f3d..f12e7707fa 100644
--- a/libuavcan/src/internal/transport/transfer_sender.cpp
+++ b/libuavcan/src/transport/transfer_sender.cpp
@@ -3,8 +3,8 @@
  */
 
 #include <cassert>
-#include <uavcan/internal/debug.hpp>
-#include <uavcan/internal/transport/transfer_sender.hpp>
+#include <uavcan/debug.hpp>
+#include <uavcan/transport/transfer_sender.hpp>
 
 
 namespace uavcan
diff --git a/libuavcan/test/dsdl_test/dsdl_test.cpp b/libuavcan/test/dsdl_test/dsdl_test.cpp
index 57054c10cf..4af71b7eef 100644
--- a/libuavcan/test/dsdl_test/dsdl_test.cpp
+++ b/libuavcan/test/dsdl_test/dsdl_test.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 #include <root_ns_a/EmptyService.hpp>
 #include <root_ns_a/EmptyMessage.hpp>
 #include <root_ns_a/NestedMessage.hpp>
diff --git a/libuavcan/test/internal/dynamic_memory.cpp b/libuavcan/test/dynamic_memory.cpp
similarity index 98%
rename from libuavcan/test/internal/dynamic_memory.cpp
rename to libuavcan/test/dynamic_memory.cpp
index 41fd4869fe..7ebc43c4dc 100644
--- a/libuavcan/test/internal/dynamic_memory.cpp
+++ b/libuavcan/test/dynamic_memory.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/dynamic_memory.hpp>
+#include <uavcan/dynamic_memory.hpp>
 
 TEST(DynamicMemory, Basic)
 {
diff --git a/libuavcan/test/internal/linked_list.cpp b/libuavcan/test/linked_list.cpp
similarity index 98%
rename from libuavcan/test/internal/linked_list.cpp
rename to libuavcan/test/linked_list.cpp
index 9f39307791..7c03c74709 100644
--- a/libuavcan/test/internal/linked_list.cpp
+++ b/libuavcan/test/linked_list.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/linked_list.hpp>
+#include <uavcan/linked_list.hpp>
 
 struct ListItem : uavcan::LinkedListNode<ListItem>
 {
diff --git a/libuavcan/test/internal/map.cpp b/libuavcan/test/map.cpp
similarity index 99%
rename from libuavcan/test/internal/map.cpp
rename to libuavcan/test/map.cpp
index f9c48cd409..33b39ca983 100644
--- a/libuavcan/test/internal/map.cpp
+++ b/libuavcan/test/map.cpp
@@ -6,7 +6,7 @@
 #include <cstdio>
 #include <memory>
 #include <gtest/gtest.h>
-#include <uavcan/internal/map.hpp>
+#include <uavcan/map.hpp>
 
 
 static std::string toString(long x)
diff --git a/libuavcan/test/internal/marshal/array.cpp b/libuavcan/test/marshal/array.cpp
similarity index 99%
rename from libuavcan/test/internal/marshal/array.cpp
rename to libuavcan/test/marshal/array.cpp
index fe5e0ebdf9..ae50829a4e 100644
--- a/libuavcan/test/internal/marshal/array.cpp
+++ b/libuavcan/test/marshal/array.cpp
@@ -3,8 +3,8 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/marshal/types.hpp>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/marshal/types.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 using uavcan::Array;
 using uavcan::ArrayModeDynamic;
diff --git a/libuavcan/test/internal/marshal/bit_stream.cpp b/libuavcan/test/marshal/bit_stream.cpp
similarity index 98%
rename from libuavcan/test/internal/marshal/bit_stream.cpp
rename to libuavcan/test/marshal/bit_stream.cpp
index 55872d8efe..9a54a36a7b 100644
--- a/libuavcan/test/internal/marshal/bit_stream.cpp
+++ b/libuavcan/test/marshal/bit_stream.cpp
@@ -3,8 +3,8 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/marshal/bit_stream.hpp>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/marshal/bit_stream.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 
 TEST(BitStream, ToString)
diff --git a/libuavcan/test/internal/marshal/float_spec.cpp b/libuavcan/test/marshal/float_spec.cpp
similarity index 98%
rename from libuavcan/test/internal/marshal/float_spec.cpp
rename to libuavcan/test/marshal/float_spec.cpp
index 0ed89d5a00..94ac657d7a 100644
--- a/libuavcan/test/internal/marshal/float_spec.cpp
+++ b/libuavcan/test/marshal/float_spec.cpp
@@ -3,8 +3,8 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/marshal/types.hpp>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/marshal/types.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 
 TEST(FloatSpec, Limits)
diff --git a/libuavcan/test/internal/marshal/integer_spec.cpp b/libuavcan/test/marshal/integer_spec.cpp
similarity index 97%
rename from libuavcan/test/internal/marshal/integer_spec.cpp
rename to libuavcan/test/marshal/integer_spec.cpp
index d834788f8a..abda00a2e7 100644
--- a/libuavcan/test/internal/marshal/integer_spec.cpp
+++ b/libuavcan/test/marshal/integer_spec.cpp
@@ -3,8 +3,8 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/marshal/types.hpp>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/marshal/types.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 
 TEST(IntegerSpec, Limits)
diff --git a/libuavcan/test/internal/marshal/scalar_codec.cpp b/libuavcan/test/marshal/scalar_codec.cpp
similarity index 96%
rename from libuavcan/test/internal/marshal/scalar_codec.cpp
rename to libuavcan/test/marshal/scalar_codec.cpp
index fa305f80f4..1525ce5281 100644
--- a/libuavcan/test/internal/marshal/scalar_codec.cpp
+++ b/libuavcan/test/marshal/scalar_codec.cpp
@@ -3,8 +3,8 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/marshal/scalar_codec.hpp>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/marshal/scalar_codec.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 
 TEST(ScalarCodec, Basic)
diff --git a/libuavcan/test/internal/marshal/type_util.cpp b/libuavcan/test/marshal/type_util.cpp
similarity index 94%
rename from libuavcan/test/internal/marshal/type_util.cpp
rename to libuavcan/test/marshal/type_util.cpp
index 20bda6890f..e35b730e52 100644
--- a/libuavcan/test/internal/marshal/type_util.cpp
+++ b/libuavcan/test/marshal/type_util.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/marshal/types.hpp>
+#include <uavcan/marshal/types.hpp>
 
 
 TEST(MarshalTypeUtil, IntegerBitLen)
diff --git a/libuavcan/test/global_data_type_registry.cpp b/libuavcan/test/node/global_data_type_registry.cpp
similarity index 99%
rename from libuavcan/test/global_data_type_registry.cpp
rename to libuavcan/test/node/global_data_type_registry.cpp
index 847f290ab1..84d1dcd181 100644
--- a/libuavcan/test/global_data_type_registry.cpp
+++ b/libuavcan/test/node/global_data_type_registry.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/global_data_type_registry.hpp>
+#include <uavcan/node/global_data_type_registry.hpp>
 
 namespace
 {
diff --git a/libuavcan/test/publisher.cpp b/libuavcan/test/node/publisher.cpp
similarity index 97%
rename from libuavcan/test/publisher.cpp
rename to libuavcan/test/node/publisher.cpp
index bceed1db5a..b2e028afd8 100644
--- a/libuavcan/test/publisher.cpp
+++ b/libuavcan/test/node/publisher.cpp
@@ -3,10 +3,10 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/publisher.hpp>
+#include <uavcan/node/publisher.hpp>
 #include <uavcan/mavlink/Message.hpp>
-#include "clock.hpp"
-#include "internal/transport/can/can.hpp"
+#include "../clock.hpp"
+#include "../transport/can/can.hpp"
 
 
 TEST(Publisher, Basic)
diff --git a/libuavcan/test/internal/node/scheduler.cpp b/libuavcan/test/node/scheduler.cpp
similarity index 98%
rename from libuavcan/test/internal/node/scheduler.cpp
rename to libuavcan/test/node/scheduler.cpp
index 665e6e0c3a..4c7005d37c 100644
--- a/libuavcan/test/internal/node/scheduler.cpp
+++ b/libuavcan/test/node/scheduler.cpp
@@ -3,9 +3,9 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/timer.hpp>
+#include <uavcan/node/timer.hpp>
 #include <uavcan/util/method_binder.hpp>
-#include "../../clock.hpp"
+#include "../clock.hpp"
 #include "../transport/can/can.hpp"
 
 struct TimerCallCounter
diff --git a/libuavcan/test/service_client.cpp b/libuavcan/test/node/service_client.cpp
similarity index 98%
rename from libuavcan/test/service_client.cpp
rename to libuavcan/test/node/service_client.cpp
index 9a265030c4..27423f1bff 100644
--- a/libuavcan/test/service_client.cpp
+++ b/libuavcan/test/node/service_client.cpp
@@ -3,15 +3,15 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/service_client.hpp>
-#include <uavcan/service_server.hpp>
+#include <uavcan/node/service_client.hpp>
+#include <uavcan/node/service_server.hpp>
 #include <uavcan/util/method_binder.hpp>
 #include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
 #include <uavcan/protocol/GetDataTypeInfo.hpp>
 #include <root_ns_a/StringService.hpp>
 #include <queue>
-#include "clock.hpp"
-#include "internal/transport/can/can.hpp"
+#include "../clock.hpp"
+#include "../transport/can/can.hpp"
 
 
 template <typename DataType>
diff --git a/libuavcan/test/service_server.cpp b/libuavcan/test/node/service_server.cpp
similarity index 97%
rename from libuavcan/test/service_server.cpp
rename to libuavcan/test/node/service_server.cpp
index eba41c3f9e..25811a375a 100644
--- a/libuavcan/test/service_server.cpp
+++ b/libuavcan/test/node/service_server.cpp
@@ -3,11 +3,11 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/service_server.hpp>
+#include <uavcan/node/service_server.hpp>
 #include <uavcan/util/method_binder.hpp>
 #include <root_ns_a/StringService.hpp>
-#include "clock.hpp"
-#include "internal/transport/can/can.hpp"
+#include "../clock.hpp"
+#include "../transport/can/can.hpp"
 
 
 struct ServerImpl
diff --git a/libuavcan/test/subscriber.cpp b/libuavcan/test/node/subscriber.cpp
similarity index 99%
rename from libuavcan/test/subscriber.cpp
rename to libuavcan/test/node/subscriber.cpp
index 5ba192dfed..5ff4d0ad1c 100644
--- a/libuavcan/test/subscriber.cpp
+++ b/libuavcan/test/node/subscriber.cpp
@@ -3,12 +3,12 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/subscriber.hpp>
+#include <uavcan/node/subscriber.hpp>
 #include <uavcan/util/method_binder.hpp>
 #include <uavcan/mavlink/Message.hpp>
 #include <root_ns_a/EmptyMessage.hpp>
-#include "clock.hpp"
-#include "internal/transport/can/can.hpp"
+#include "../clock.hpp"
+#include "../transport/can/can.hpp"
 
 
 template <typename DataType>
diff --git a/libuavcan/test/internal/transport/can/can.hpp b/libuavcan/test/transport/can/can.hpp
similarity index 97%
rename from libuavcan/test/internal/transport/can/can.hpp
rename to libuavcan/test/transport/can/can.hpp
index 9d5f39855f..53c890941b 100644
--- a/libuavcan/test/internal/transport/can/can.hpp
+++ b/libuavcan/test/transport/can/can.hpp
@@ -8,11 +8,11 @@
 #include <queue>
 #include <vector>
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/can_io.hpp>
-#include <uavcan/internal/transport/frame.hpp>
+#include <uavcan/transport/can_io.hpp>
+#include <uavcan/transport/frame.hpp>
 #include <uavcan/can_driver.hpp>
 #include <uavcan/system_clock.hpp>
-#include "../../../clock.hpp"
+#include "../../clock.hpp"
 
 
 class CanIfaceMock : public uavcan::ICanIface
diff --git a/libuavcan/test/internal/transport/can/can_driver.cpp b/libuavcan/test/transport/can/can_driver.cpp
similarity index 100%
rename from libuavcan/test/internal/transport/can/can_driver.cpp
rename to libuavcan/test/transport/can/can_driver.cpp
diff --git a/libuavcan/test/internal/transport/can/iface_mock.cpp b/libuavcan/test/transport/can/iface_mock.cpp
similarity index 100%
rename from libuavcan/test/internal/transport/can/iface_mock.cpp
rename to libuavcan/test/transport/can/iface_mock.cpp
diff --git a/libuavcan/test/internal/transport/can/io.cpp b/libuavcan/test/transport/can/io.cpp
similarity index 100%
rename from libuavcan/test/internal/transport/can/io.cpp
rename to libuavcan/test/transport/can/io.cpp
diff --git a/libuavcan/test/internal/transport/can/tx_queue.cpp b/libuavcan/test/transport/can/tx_queue.cpp
similarity index 99%
rename from libuavcan/test/internal/transport/can/tx_queue.cpp
rename to libuavcan/test/transport/can/tx_queue.cpp
index 9686cb1cf3..507b17d4c9 100644
--- a/libuavcan/test/internal/transport/can/tx_queue.cpp
+++ b/libuavcan/test/transport/can/tx_queue.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/can_io.hpp>
+#include <uavcan/transport/can_io.hpp>
 #include "can.hpp"
 
 
diff --git a/libuavcan/test/internal/transport/crc.cpp b/libuavcan/test/transport/crc.cpp
similarity index 92%
rename from libuavcan/test/internal/transport/crc.cpp
rename to libuavcan/test/transport/crc.cpp
index d31256999b..2535ca782f 100644
--- a/libuavcan/test/internal/transport/crc.cpp
+++ b/libuavcan/test/transport/crc.cpp
@@ -3,7 +3,7 @@
  */
 
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/crc.hpp>
+#include <uavcan/transport/crc.hpp>
 
 /*
  import crcmod
diff --git a/libuavcan/test/internal/transport/dispatcher.cpp b/libuavcan/test/transport/dispatcher.cpp
similarity index 99%
rename from libuavcan/test/internal/transport/dispatcher.cpp
rename to libuavcan/test/transport/dispatcher.cpp
index c8830c1ff7..93d2847c36 100644
--- a/libuavcan/test/internal/transport/dispatcher.cpp
+++ b/libuavcan/test/transport/dispatcher.cpp
@@ -6,7 +6,7 @@
 #include <gtest/gtest.h>
 #include "transfer_test_helpers.hpp"
 #include "can/can.hpp"
-#include <uavcan/internal/transport/dispatcher.hpp>
+#include <uavcan/transport/dispatcher.hpp>
 
 
 class DispatcherTransferEmulator : public IncomingTransferEmulatorBase
diff --git a/libuavcan/test/internal/transport/frame.cpp b/libuavcan/test/transport/frame.cpp
similarity index 99%
rename from libuavcan/test/internal/transport/frame.cpp
rename to libuavcan/test/transport/frame.cpp
index ed32ce994a..b163ceebaa 100644
--- a/libuavcan/test/internal/transport/frame.cpp
+++ b/libuavcan/test/transport/frame.cpp
@@ -4,8 +4,8 @@
 
 #include <string>
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/transfer.hpp>
-#include "../../clock.hpp"
+#include <uavcan/transport/transfer.hpp>
+#include "../clock.hpp"
 #include "can/can.hpp"
 
 
diff --git a/libuavcan/test/internal/transport/incoming_transfer.cpp b/libuavcan/test/transport/incoming_transfer.cpp
similarity index 97%
rename from libuavcan/test/internal/transport/incoming_transfer.cpp
rename to libuavcan/test/transport/incoming_transfer.cpp
index bbf3b3de62..c19944c67a 100644
--- a/libuavcan/test/internal/transport/incoming_transfer.cpp
+++ b/libuavcan/test/transport/incoming_transfer.cpp
@@ -4,8 +4,8 @@
 
 #include <algorithm>
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/transfer_listener.hpp>
-#include "../../clock.hpp"
+#include <uavcan/transport/transfer_listener.hpp>
+#include "../clock.hpp"
 
 
 static uavcan::RxFrame makeFrame()
diff --git a/libuavcan/test/internal/transport/outgoing_transfer_registry.cpp b/libuavcan/test/transport/outgoing_transfer_registry.cpp
similarity index 96%
rename from libuavcan/test/internal/transport/outgoing_transfer_registry.cpp
rename to libuavcan/test/transport/outgoing_transfer_registry.cpp
index 281b8631f9..2945ee9cc1 100644
--- a/libuavcan/test/internal/transport/outgoing_transfer_registry.cpp
+++ b/libuavcan/test/transport/outgoing_transfer_registry.cpp
@@ -4,8 +4,8 @@
 
 #include <algorithm>
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/outgoing_transfer_registry.hpp>
-#include "../../clock.hpp"
+#include <uavcan/transport/outgoing_transfer_registry.hpp>
+#include "../clock.hpp"
 
 
 TEST(OutgoingTransferRegistry, Basic)
diff --git a/libuavcan/test/internal/transport/transfer.cpp b/libuavcan/test/transport/transfer.cpp
similarity index 96%
rename from libuavcan/test/internal/transport/transfer.cpp
rename to libuavcan/test/transport/transfer.cpp
index e7287876ce..b6458465f7 100644
--- a/libuavcan/test/internal/transport/transfer.cpp
+++ b/libuavcan/test/transport/transfer.cpp
@@ -4,7 +4,7 @@
 
 #include <string>
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/transfer.hpp>
+#include <uavcan/transport/transfer.hpp>
 
 
 TEST(Transfer, TransferID)
diff --git a/libuavcan/test/internal/transport/transfer_buffer.cpp b/libuavcan/test/transport/transfer_buffer.cpp
similarity index 99%
rename from libuavcan/test/internal/transport/transfer_buffer.cpp
rename to libuavcan/test/transport/transfer_buffer.cpp
index be660cb86e..4e0c18cb60 100644
--- a/libuavcan/test/internal/transport/transfer_buffer.cpp
+++ b/libuavcan/test/transport/transfer_buffer.cpp
@@ -5,7 +5,7 @@
 #include <algorithm>
 #include <gtest/gtest.h>
 #include <memory>
-#include <uavcan/internal/transport/transfer_buffer.hpp>
+#include <uavcan/transport/transfer_buffer.hpp>
 
 static const std::string TEST_DATA =
     "It was like this: I asked myself one day this question - what if Napoleon, for instance, had happened to be in my "
diff --git a/libuavcan/test/internal/transport/transfer_listener.cpp b/libuavcan/test/transport/transfer_listener.cpp
similarity index 99%
rename from libuavcan/test/internal/transport/transfer_listener.cpp
rename to libuavcan/test/transport/transfer_listener.cpp
index 84b19d4bb0..6db5311486 100644
--- a/libuavcan/test/internal/transport/transfer_listener.cpp
+++ b/libuavcan/test/transport/transfer_listener.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 #include "transfer_test_helpers.hpp"
-#include "../../clock.hpp"
+#include "../clock.hpp"
 
 
 class TransferListenerEmulator : public IncomingTransferEmulatorBase
diff --git a/libuavcan/test/internal/transport/transfer_receiver.cpp b/libuavcan/test/transport/transfer_receiver.cpp
similarity index 99%
rename from libuavcan/test/internal/transport/transfer_receiver.cpp
rename to libuavcan/test/transport/transfer_receiver.cpp
index e2212b781e..9a111f8d02 100644
--- a/libuavcan/test/internal/transport/transfer_receiver.cpp
+++ b/libuavcan/test/transport/transfer_receiver.cpp
@@ -4,8 +4,8 @@
 
 #include <algorithm>
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/transfer_receiver.hpp>
-#include "../../clock.hpp"
+#include <uavcan/transport/transfer_receiver.hpp>
+#include "../clock.hpp"
 
 /*
  * Beware!
diff --git a/libuavcan/test/internal/transport/transfer_sender.cpp b/libuavcan/test/transport/transfer_sender.cpp
similarity index 99%
rename from libuavcan/test/internal/transport/transfer_sender.cpp
rename to libuavcan/test/transport/transfer_sender.cpp
index c269a8917e..17a673b3ce 100644
--- a/libuavcan/test/internal/transport/transfer_sender.cpp
+++ b/libuavcan/test/transport/transfer_sender.cpp
@@ -6,7 +6,7 @@
 #include <gtest/gtest.h>
 #include "transfer_test_helpers.hpp"
 #include "can/can.hpp"
-#include <uavcan/internal/transport/transfer_sender.hpp>
+#include <uavcan/transport/transfer_sender.hpp>
 
 
 static int sendOne(uavcan::TransferSender& sender, const std::string& data,
diff --git a/libuavcan/test/internal/transport/transfer_test_helpers.cpp b/libuavcan/test/transport/transfer_test_helpers.cpp
similarity index 99%
rename from libuavcan/test/internal/transport/transfer_test_helpers.cpp
rename to libuavcan/test/transport/transfer_test_helpers.cpp
index 594ba9c41a..423a5ad055 100644
--- a/libuavcan/test/internal/transport/transfer_test_helpers.cpp
+++ b/libuavcan/test/transport/transfer_test_helpers.cpp
@@ -4,7 +4,7 @@
 
 #include <gtest/gtest.h>
 #include "transfer_test_helpers.hpp"
-#include "../../clock.hpp"
+#include "../clock.hpp"
 
 
 TEST(TransferTestHelpers, Transfer)
diff --git a/libuavcan/test/internal/transport/transfer_test_helpers.hpp b/libuavcan/test/transport/transfer_test_helpers.hpp
similarity index 99%
rename from libuavcan/test/internal/transport/transfer_test_helpers.hpp
rename to libuavcan/test/transport/transfer_test_helpers.hpp
index d2853fca01..686e1a85f9 100644
--- a/libuavcan/test/internal/transport/transfer_test_helpers.hpp
+++ b/libuavcan/test/transport/transfer_test_helpers.hpp
@@ -8,7 +8,7 @@
 #include <queue>
 #include <vector>
 #include <gtest/gtest.h>
-#include <uavcan/internal/transport/transfer_listener.hpp>
+#include <uavcan/transport/transfer_listener.hpp>
 
 /**
  * UAVCAN transfer representation used in various tests.