diff --git a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp
index cc287c5211..ee18eea0ae 100644
--- a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp
+++ b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/thread.hpp
@@ -168,7 +168,7 @@ public:
 class BusEvent
 {
     SemaphoreHandle_t sem_;
-    BaseType_t xHigherPriorityTaskWoken;
+    BaseType_t higher_priority_task_woken;
 
 public:
     BusEvent(CanDriver& can_driver)
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
index c2d1b7d20e..27a5c24967 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -879,7 +879,7 @@ uavcan::int16_t CanDriver::select(uavcan::CanSelectMasks& inout_masks,
 
 static void nvicEnableVector(IRQn_Type irq,  uint8_t prio)
 {
-     #if !defined  (USE_HAL_DRIVER)
+    #if !defined (USE_HAL_DRIVER)
       NVIC_InitTypeDef NVIC_InitStructure;
       NVIC_InitStructure.NVIC_IRQChannel = irq;
       NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
index d67f1c7c1f..42a51da079 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
@@ -85,7 +85,7 @@ uavcan::uint64_t time_utc = 0;
 
 static void nvicEnableVector(IRQn_Type irq,  uint8_t prio)
 {
-     #if !defined  (USE_HAL_DRIVER)
+    #if !defined (USE_HAL_DRIVER)
       NVIC_InitTypeDef NVIC_InitStructure;
       NVIC_InitStructure.NVIC_IRQChannel = irq;
       NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = prio;
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
index 10befb184a..9b9a0d2d79 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_thread.cpp
@@ -109,14 +109,14 @@ void BusEvent::signal()
 
 void BusEvent::signalFromInterrupt()
 {
-    xHigherPriorityTaskWoken = pdFALSE;
+    higher_priority_task_woken = pdFALSE;
 
-    xSemaphoreGiveFromISR( sem_, &xHigherPriorityTaskWoken );
+    xSemaphoreGiveFromISR( sem_, &higher_priority_task_woken );
 }
 
 void BusEvent::yieldFromISR()
 {
-    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+    portYIELD_FROM_ISR( higher_priority_task_woken );
 }
 
 /*