diff --git a/libuavcan/include/uavcan/data_type.hpp b/libuavcan/include/uavcan/data_type.hpp
index a749347932..d02debde2b 100644
--- a/libuavcan/include/uavcan/data_type.hpp
+++ b/libuavcan/include/uavcan/data_type.hpp
@@ -86,7 +86,7 @@ public:
         }
     }
 
-    void add(const uint8_t* bytes, unsigned int len)
+    void add(const uint8_t* bytes, unsigned len)
     {
         assert(bytes);
         while (len--)
diff --git a/libuavcan/include/uavcan/driver/can.hpp b/libuavcan/include/uavcan/driver/can.hpp
index 74171adf71..b3999ea7e5 100644
--- a/libuavcan/include/uavcan/driver/can.hpp
+++ b/libuavcan/include/uavcan/driver/can.hpp
@@ -37,7 +37,7 @@ struct CanFrame
         std::fill(data, data + sizeof(data), 0);
     }
 
-    CanFrame(uint32_t id, const uint8_t* data, unsigned int dlc)
+    CanFrame(uint32_t id, const uint8_t* data, uint8_t dlc)
         : id(id)
         , dlc(dlc)
     {
@@ -113,7 +113,7 @@ public:
      * If the frame wasn't transmitted upon TX deadline, the driver should discard it.
      * @return 1 = one frame transmitted, 0 = TX buffer full, negative for error.
      */
-    virtual int send(const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags) = 0;
+    virtual int16_t send(const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags) = 0;
 
     /**
      * Non-blocking reception.
@@ -127,19 +127,19 @@ public:
      * @param [out] out_ts_utc       UTC timestamp, optional, zero if unknown.
      * @return 1 = one frame received, 0 = RX buffer empty, negative for error.
      */
-    virtual int receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic, UtcTime& out_ts_utc,
-                        CanIOFlags& out_flags) = 0;
+    virtual int16_t receive(CanFrame& out_frame, MonotonicTime& out_ts_monotonic, UtcTime& out_ts_utc,
+                            CanIOFlags& out_flags) = 0;
 
     /**
      * Configure the hardware CAN filters. @ref CanFilterConfig.
      * @return 0 = success, negative for error.
      */
-    virtual int configureFilters(const CanFilterConfig* filter_configs, int num_configs) = 0;
+    virtual int16_t configureFilters(const CanFilterConfig* filter_configs, uint16_t num_configs) = 0;
 
     /**
      * Number of available hardware filters.
      */
-    virtual int getNumFilters() const = 0;
+    virtual uint16_t getNumFilters() const = 0;
 
     /**
      * Continuously incrementing counter of hardware errors.
@@ -158,12 +158,12 @@ public:
     /**
      * Returns the interface by index, or null pointer if the index is out of range.
      */
-    virtual ICanIface* getIface(int iface_index) = 0;
+    virtual ICanIface* getIface(uint8_t iface_index) = 0;
 
     /**
      * Total number of available CAN interfaces.
      */
-    virtual int getNumIfaces() const = 0;
+    virtual uint8_t getNumIfaces() const = 0;
 
     /**
      * Block until the deadline, or one of the specified interfaces becomes available for read or write.
@@ -173,7 +173,7 @@ public:
      * @param [in]     blocking_deadline  Zero means non-blocking operation.
      * @return Positive number of ready interfaces or negative error code.
      */
-    virtual int select(CanSelectMasks& inout_masks, MonotonicTime blocking_deadline) = 0;
+    virtual int16_t select(CanSelectMasks& inout_masks, MonotonicTime blocking_deadline) = 0;
 };
 
 }
diff --git a/libuavcan/include/uavcan/linked_list.hpp b/libuavcan/include/uavcan/linked_list.hpp
index 11a36e2009..d79a64d85e 100644
--- a/libuavcan/include/uavcan/linked_list.hpp
+++ b/libuavcan/include/uavcan/linked_list.hpp
@@ -48,10 +48,10 @@ public:
     T* get() const { return root_; }
     bool isEmpty() const { return get() == NULL; }
 
-    unsigned int getLength() const
+    unsigned getLength() const
     {
         T* node = root_;
-        unsigned int cnt = 0;
+        unsigned cnt = 0;
         while (node)
         {
             cnt++;
diff --git a/libuavcan/include/uavcan/map.hpp b/libuavcan/include/uavcan/map.hpp
index bfb9ee92b4..d227d63a0c 100644
--- a/libuavcan/include/uavcan/map.hpp
+++ b/libuavcan/include/uavcan/map.hpp
@@ -21,7 +21,7 @@ namespace uavcan
  *  Key's default constructor must initialize the object into invalid state.
  *  Size of Key + Value + padding must not exceed MemPoolBlockSize.
  */
-template <typename Key, typename Value, unsigned int NumStaticEntries>
+template <typename Key, typename Value, unsigned NumStaticEntries>
 class Map : Noncopyable
 {
     UAVCAN_PACKED_BEGIN
@@ -88,7 +88,7 @@ class Map : Noncopyable
 
     KVPair* find(const Key& key)
     {
-        for (unsigned int i = 0; i < NumStaticEntries; i++)
+        for (unsigned i = 0; i < NumStaticEntries; i++)
         {
             if (static_[i].match(key))
             {
@@ -115,7 +115,7 @@ class Map : Noncopyable
         {
             // Looking for first EMPTY static entry
             KVPair* stat = NULL;
-            for (unsigned int i = 0; i < NumStaticEntries; i++)
+            for (unsigned i = 0; i < NumStaticEntries; i++)
             {
                 if (static_[i].match(Key()))
                 {
@@ -252,9 +252,9 @@ public:
     template <typename Predicate>
     void removeWhere(Predicate predicate)
     {
-        unsigned int num_removed = 0;
+        unsigned num_removed = 0;
 
-        for (unsigned int i = 0; i < NumStaticEntries; i++)
+        for (unsigned i = 0; i < NumStaticEntries; i++)
         {
             if (!static_[i].match(Key()))
             {
@@ -294,7 +294,7 @@ public:
     template <typename Predicate>
     const Key* findFirstKey(Predicate predicate) const
     {
-        for (unsigned int i = 0; i < NumStaticEntries; i++)
+        for (unsigned i = 0; i < NumStaticEntries; i++)
         {
             if (!static_[i].match(Key()))
             {
@@ -332,10 +332,10 @@ public:
     bool isEmpty() const { return (getNumStaticPairs() == 0) && (getNumDynamicPairs() == 0); }
 
     /// For testing
-    unsigned int getNumStaticPairs() const
+    unsigned getNumStaticPairs() const
     {
-        unsigned int num = 0;
-        for (unsigned int i = 0; i < NumStaticEntries; i++)
+        unsigned num = 0;
+        for (unsigned i = 0; i < NumStaticEntries; i++)
         {
             if (!static_[i].match(Key()))
             {
@@ -346,9 +346,9 @@ public:
     }
 
     /// For testing
-    unsigned int getNumDynamicPairs() const
+    unsigned getNumDynamicPairs() const
     {
-        unsigned int num = 0;
+        unsigned num = 0;
         KVGroup* p = list_.get();
         while (p)
         {
diff --git a/libuavcan/include/uavcan/marshal/array.hpp b/libuavcan/include/uavcan/marshal/array.hpp
index d563a012b9..44346c4552 100644
--- a/libuavcan/include/uavcan/marshal/array.hpp
+++ b/libuavcan/include/uavcan/marshal/array.hpp
@@ -26,12 +26,12 @@ namespace uavcan
 enum ArrayMode { ArrayModeStatic, ArrayModeDynamic };
 
 
-template <unsigned int Size>
+template <unsigned Size>
 class StaticArrayBase
 {
 public:
     enum { SizeBitLen = 0 };
-    typedef unsigned int SizeType;
+    typedef unsigned SizeType;
     SizeType size()     const { return Size; }
     SizeType capacity() const { return Size; }
 
@@ -55,7 +55,7 @@ protected:
 };
 
 
-template <unsigned int MaxSize>
+template <unsigned MaxSize>
 class DynamicArrayBase
 {
 protected:
@@ -121,7 +121,7 @@ public:
 /**
  * Statically allocated array with optional dynamic-like behavior
  */
-template <typename T, ArrayMode ArrayMode, unsigned int MaxSize>
+template <typename T, ArrayMode ArrayMode, unsigned MaxSize>
 class ArrayImpl : public Select<ArrayMode == ArrayModeDynamic,
                                 DynamicArrayBase<MaxSize>, StaticArrayBase<MaxSize> >::Result
 {
@@ -196,7 +196,7 @@ public:
 /**
  * Bit array specialization
  */
-template <unsigned int MaxSize, ArrayMode ArrayMode, CastMode CastMode>
+template <unsigned MaxSize, ArrayMode ArrayMode, CastMode CastMode>
 class ArrayImpl<IntegerSpec<1, SignednessUnsigned, CastMode>, ArrayMode, MaxSize>
     : public std::bitset<MaxSize>
     , public Select<ArrayMode == ArrayModeDynamic, DynamicArrayBase<MaxSize>, StaticArrayBase<MaxSize> >::Result
@@ -226,7 +226,7 @@ public:
 template <typename T, ArrayMode ArrayMode> class ArrayImpl<T, ArrayMode, 0>;
 
 
-template <typename T, ArrayMode ArrayMode, unsigned int MaxSize_>
+template <typename T, ArrayMode ArrayMode, unsigned MaxSize_>
 class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
 {
     typedef ArrayImpl<T, ArrayMode, MaxSize_> Base;
@@ -377,7 +377,7 @@ public:
     {
         if (new_size > size())
         {
-            unsigned int cnt = new_size - size();
+            unsigned cnt = new_size - size();
             while (cnt--)
             {
                 push_back(filler);
@@ -385,7 +385,7 @@ public:
         }
         else if (new_size < size())
         {
-            unsigned int cnt = size() - new_size;
+            unsigned cnt = size() - new_size;
             while (cnt--)
             {
                 pop_back();
@@ -464,7 +464,7 @@ public:
         return *this;
     }
 
-    template <uavcan::ArrayMode RhsArrayMode, unsigned int RhsMaxSize>
+    template <uavcan::ArrayMode RhsArrayMode, unsigned RhsMaxSize>
     SelfType& operator+=(const Array<T, RhsArrayMode, RhsMaxSize>& rhs)
     {
         typedef Array<T, RhsArrayMode, RhsMaxSize> Rhs;
@@ -520,20 +520,20 @@ public:
     typedef SizeType size_type;
 };
 
-template <typename R, typename T, ArrayMode ArrayMode, unsigned int MaxSize>
+template <typename R, typename T, ArrayMode ArrayMode, unsigned MaxSize>
 inline bool operator==(const R& rhs, const Array<T, ArrayMode, MaxSize>& lhs)
 {
     return lhs.operator==(rhs);
 }
 
-template <typename R, typename T, ArrayMode ArrayMode, unsigned int MaxSize>
+template <typename R, typename T, ArrayMode ArrayMode, unsigned MaxSize>
 inline bool operator!=(const R& rhs, const Array<T, ArrayMode, MaxSize>& lhs)
 {
     return lhs.operator!=(rhs);
 }
 
 
-template <typename T, ArrayMode ArrayMode, unsigned int MaxSize>
+template <typename T, ArrayMode ArrayMode, unsigned MaxSize>
 class YamlStreamer<Array<T, ArrayMode, MaxSize> >
 {
     typedef Array<T, ArrayMode, MaxSize> ArrayType;
@@ -545,7 +545,7 @@ class YamlStreamer<Array<T, ArrayMode, MaxSize> >
             return true;
         }
         static const char Good[] = {'\n', '\r', '\t'};
-        for (unsigned int i = 0; i < sizeof(Good) / sizeof(Good[0]); i++)
+        for (unsigned i = 0; i < sizeof(Good) / sizeof(Good[0]); i++)
         {
             if (Good[i] == c)
             {
diff --git a/libuavcan/include/uavcan/marshal/bit_stream.hpp b/libuavcan/include/uavcan/marshal/bit_stream.hpp
index 6bcf2b385d..0033e9a910 100644
--- a/libuavcan/include/uavcan/marshal/bit_stream.hpp
+++ b/libuavcan/include/uavcan/marshal/bit_stream.hpp
@@ -24,7 +24,7 @@ class BitStream
     int bit_offset_;
     uint8_t byte_cache_;
 
-    static inline unsigned int bitlenToBytelen(unsigned int bits) { return (bits + 7) / 8; }
+    static inline unsigned bitlenToBytelen(unsigned bits) { return (bits + 7) / 8; }
 
     static inline void copyBitArray(const uint8_t* src_org, int src_offset, int src_len,
                                     uint8_t* dst_org, int dst_offset)
diff --git a/libuavcan/include/uavcan/marshal/float_spec.hpp b/libuavcan/include/uavcan/marshal/float_spec.hpp
index 6481d06efd..60b14403fd 100644
--- a/libuavcan/include/uavcan/marshal/float_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/float_spec.hpp
@@ -23,7 +23,7 @@
 namespace uavcan
 {
 
-template <unsigned int BitLen>
+template <unsigned BitLen>
 struct NativeFloatSelector
 {
     struct ErrorNoSuchFloat;
@@ -46,7 +46,7 @@ public:
     /// UAVCAN requires rounding to nearest for all float conversions
     static std::float_round_style roundstyle() { return std::round_to_nearest; }
 
-    template <unsigned int BitLen>
+    template <unsigned BitLen>
     static typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType
     toIeee(typename NativeFloatSelector<BitLen>::Type value)
     {
@@ -58,7 +58,7 @@ public:
         return u.i;
     }
 
-    template <unsigned int BitLen>
+    template <unsigned BitLen>
     static typename NativeFloatSelector<BitLen>::Type
     toNative(typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType value)
     {
@@ -83,7 +83,7 @@ IEEE754Converter::toNative<16>(typename IntegerSpec<16, SignednessUnsigned, Cast
     return halfToNativeNonIeee(value);
 }
 
-template <unsigned int BitLen> struct IEEE754Limits;
+template <unsigned BitLen> struct IEEE754Limits;
 template <> struct IEEE754Limits<16>
 {
     static typename NativeFloatSelector<16>::Type max() { return 65504.0; }
@@ -101,7 +101,7 @@ template <> struct IEEE754Limits<64>
 };
 
 
-template <unsigned int BitLen_, CastMode CastMode>
+template <unsigned BitLen_, CastMode CastMode>
 class FloatSpec : public IEEE754Limits<BitLen_>
 {
     FloatSpec();
@@ -183,7 +183,7 @@ private:
 };
 
 
-template <unsigned int BitLen, CastMode CastMode>
+template <unsigned BitLen, CastMode CastMode>
 struct YamlStreamer<FloatSpec<BitLen, CastMode> >
 {
     typedef typename FloatSpec<BitLen, CastMode>::StorageType StorageType;
diff --git a/libuavcan/include/uavcan/marshal/integer_spec.hpp b/libuavcan/include/uavcan/marshal/integer_spec.hpp
index 3a95fb0c6c..ae971d98bb 100644
--- a/libuavcan/include/uavcan/marshal/integer_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/integer_spec.hpp
@@ -16,7 +16,7 @@ namespace uavcan
 
 enum Signedness { SignednessUnsigned, SignednessSigned };
 
-template <unsigned int BitLen_, Signedness Signedness, CastMode CastMode>
+template <unsigned BitLen_, Signedness Signedness, CastMode CastMode>
 class IntegerSpec
 {
     struct ErrorNoSuchInteger;
@@ -124,14 +124,14 @@ struct IsIntegerSpec
     enum { Result = 0 };
 };
 
-template <unsigned int BitLen, Signedness Signedness, CastMode CastMode>
+template <unsigned BitLen, Signedness Signedness, CastMode CastMode>
 struct IsIntegerSpec<IntegerSpec<BitLen, Signedness, CastMode> >
 {
     enum { Result = 1 };
 };
 
 
-template <unsigned int BitLen, Signedness Signedness, CastMode CastMode>
+template <unsigned BitLen, Signedness Signedness, CastMode CastMode>
 struct YamlStreamer<IntegerSpec<BitLen, Signedness, CastMode> >
 {
     typedef IntegerSpec<BitLen, Signedness, CastMode> RawType;
@@ -142,7 +142,7 @@ struct YamlStreamer<IntegerSpec<BitLen, Signedness, CastMode> >
     {
         // Get rid of character types - we want its integer representation, not ASCII code
         typedef typename Select<(sizeof(StorageType) >= sizeof(int)), StorageType,
-                                typename Select<RawType::IsSigned, int, unsigned int>::Result >::Result TempType;
+                                typename Select<RawType::IsSigned, int, unsigned>::Result >::Result TempType;
         s << TempType(value);
     }
 };
diff --git a/libuavcan/include/uavcan/node/generic_subscriber.hpp b/libuavcan/include/uavcan/node/generic_subscriber.hpp
index e890f132a3..59ca7881bf 100644
--- a/libuavcan/include/uavcan/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/node/generic_subscriber.hpp
@@ -68,7 +68,7 @@ static Stream& operator<<(Stream& s, const ReceivedDataStructure<DataType>& rds)
 }
 
 
-template <typename DataStruct_, unsigned int NumStaticReceivers_, unsigned int NumStaticBufs_>
+template <typename DataStruct_, unsigned NumStaticReceivers_, unsigned NumStaticBufs_>
 class TransferListenerInstantiationHelper
 {
     enum { DataTypeMaxByteLen = BitLenToByteLen<DataStruct_::MaxBitLen>::Result };
diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index 3d98aa4af3..6b0560e788 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -109,8 +109,8 @@ public:
 
     void getDataTypeIDMask(DataTypeKind kind, DataTypeIDMask& mask) const;
 
-    unsigned int getNumMessageTypes() const { return msgs_.getLength(); }
-    unsigned int getNumServiceTypes() const { return srvs_.getLength(); }
+    unsigned getNumMessageTypes() const { return msgs_.getLength(); }
+    unsigned getNumServiceTypes() const { return srvs_.getLength(); }
 
 #if UAVCAN_DEBUG
     /// Required for unit testing
diff --git a/libuavcan/include/uavcan/node/marshal_buffer.hpp b/libuavcan/include/uavcan/node/marshal_buffer.hpp
index cd8b7a0796..517316f2d1 100644
--- a/libuavcan/include/uavcan/node/marshal_buffer.hpp
+++ b/libuavcan/include/uavcan/node/marshal_buffer.hpp
@@ -14,7 +14,7 @@ class IMarshalBuffer : public ITransferBuffer
 {
 public:
     virtual const uint8_t* getDataPtr() const = 0;
-    virtual unsigned int getDataLength() const = 0;
+    virtual unsigned getDataLength() const = 0;
 };
 
 
@@ -22,30 +22,30 @@ class IMarshalBufferProvider
 {
 public:
     virtual ~IMarshalBufferProvider() { }
-    virtual IMarshalBuffer* getBuffer(unsigned int size) = 0;
+    virtual IMarshalBuffer* getBuffer(unsigned size) = 0;
 };
 
 
-template <unsigned int MaxSize_ = MaxTransferPayloadLen>
+template <unsigned MaxSize_ = MaxTransferPayloadLen>
 class MarshalBufferProvider : public IMarshalBufferProvider
 {
     class Buffer : public IMarshalBuffer
     {
         StaticTransferBuffer<MaxSize_> buf_;
 
-        int read(unsigned int offset, uint8_t* data, unsigned int len) const
+        int read(unsigned offset, uint8_t* data, unsigned len) const
         {
             return buf_.read(offset, data, len);
         }
 
-        int write(unsigned int offset, const uint8_t* data, unsigned int len)
+        int write(unsigned offset, const uint8_t* data, unsigned len)
         {
             return buf_.write(offset, data, len);
         }
 
         const uint8_t* getDataPtr() const { return buf_.getRawPtr(); }
 
-        unsigned int getDataLength() const { return buf_.getMaxWritePos(); }
+        unsigned getDataLength() const { return buf_.getMaxWritePos(); }
 
     public:
         void reset() { buf_.reset(); }
@@ -56,7 +56,7 @@ class MarshalBufferProvider : public IMarshalBufferProvider
 public:
     enum { MaxSize = MaxSize_ };
 
-    IMarshalBuffer* getBuffer(unsigned int size)
+    IMarshalBuffer* getBuffer(unsigned size)
     {
         if (size > MaxSize)
         {
diff --git a/libuavcan/include/uavcan/node/node.hpp b/libuavcan/include/uavcan/node/node.hpp
index 3861f32f77..3ccb9d59cc 100644
--- a/libuavcan/include/uavcan/node/node.hpp
+++ b/libuavcan/include/uavcan/node/node.hpp
@@ -27,8 +27,8 @@ namespace uavcan
 {
 
 template <std::size_t MemPoolSize_,
-          unsigned int OutgoingTransferRegistryStaticEntries = 10,
-          unsigned int OutgoingTransferMaxPayloadLen = MaxTransferPayloadLen>
+          unsigned OutgoingTransferRegistryStaticEntries = 10,
+          unsigned OutgoingTransferMaxPayloadLen = MaxTransferPayloadLen>
 class Node : public INode
 {
     enum
diff --git a/libuavcan/include/uavcan/node/scheduler.hpp b/libuavcan/include/uavcan/node/scheduler.hpp
index b914c8bf82..1284207842 100644
--- a/libuavcan/include/uavcan/node/scheduler.hpp
+++ b/libuavcan/include/uavcan/node/scheduler.hpp
@@ -49,7 +49,7 @@ public:
     void add(DeadlineHandler* mdh);
     void remove(DeadlineHandler* mdh);
     bool doesExist(const DeadlineHandler* mdh) const;
-    unsigned int getNumHandlers() const { return handlers_.getLength(); }
+    unsigned getNumHandlers() const { return handlers_.getLength(); }
 
     MonotonicTime pollAndGetMonotonicTime(ISystemClock& sysclock);
     MonotonicTime getEarliestDeadline() const;
diff --git a/libuavcan/include/uavcan/node/service_server.hpp b/libuavcan/include/uavcan/node/service_server.hpp
index a895c3230c..05146550c3 100644
--- a/libuavcan/include/uavcan/node/service_server.hpp
+++ b/libuavcan/include/uavcan/node/service_server.hpp
@@ -27,8 +27,8 @@ template <typename DataType_,
           typename Callback = void (*)(const ReceivedDataStructure<typename DataType_::Request>&,
                                        typename DataType_::Response&),
 #endif
-          unsigned int NumStaticReceivers = 2,
-          unsigned int NumStaticBufs = 1>
+          unsigned NumStaticReceivers = 2,
+          unsigned NumStaticBufs = 1>
 class ServiceServer : public GenericSubscriber<DataType_, typename DataType_::Request,
                                                typename TransferListenerInstantiationHelper<typename DataType_::Request,
                                                                                             NumStaticReceivers,
diff --git a/libuavcan/include/uavcan/node/subscriber.hpp b/libuavcan/include/uavcan/node/subscriber.hpp
index fa5a78e0e0..27a5d46318 100644
--- a/libuavcan/include/uavcan/node/subscriber.hpp
+++ b/libuavcan/include/uavcan/node/subscriber.hpp
@@ -25,8 +25,8 @@ template <typename DataType_,
 #else
           typename Callback = void (*)(const ReceivedDataStructure<DataType_>&),
 #endif
-          unsigned int NumStaticReceivers = 2,
-          unsigned int NumStaticBufs = 1>
+          unsigned NumStaticReceivers = 2,
+          unsigned NumStaticBufs = 1>
 class Subscriber : public GenericSubscriber<DataType_, DataType_,
                                             typename TransferListenerInstantiationHelper<DataType_,
                                                                                          NumStaticReceivers,
diff --git a/libuavcan/include/uavcan/transport/can_io.hpp b/libuavcan/include/uavcan/transport/can_io.hpp
index 11482537cb..af7ef651d7 100644
--- a/libuavcan/include/uavcan/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/transport/can_io.hpp
@@ -150,9 +150,9 @@ class CanIOManager : Noncopyable
     CanTxQueue tx_queues_[MaxCanIfaces];
     IfaceFrameCounters counters_[MaxCanIfaces];
 
-    int sendToIface(int iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags);
-    int sendFromTxQueue(int iface_index);
-    int makePendingTxMask() const;
+    int sendToIface(uint8_t iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags);
+    int sendFromTxQueue(uint8_t iface_index);
+    uint8_t makePendingTxMask() const;
 
 public:
     CanIOManager(ICanDriver& driver, IAllocator& allocator, ISystemClock& sysclock)
@@ -168,9 +168,9 @@ public:
         }
     }
 
-    int getNumIfaces() const;
+    uint8_t getNumIfaces() const;
 
-    CanIfacePerfCounters getIfacePerfCounters(int iface_index) const;
+    CanIfacePerfCounters getIfacePerfCounters(uint8_t iface_index) const;
 
     /**
      * Returns:
@@ -179,7 +179,7 @@ public:
      *  negative - failure
      */
     int send(const CanFrame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline,
-             int iface_mask, CanTxQueue::Qos qos, CanIOFlags flags);
+             uint8_t iface_mask, CanTxQueue::Qos qos, CanIOFlags flags);
     int receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline, CanIOFlags& out_flags);
 };
 
diff --git a/libuavcan/include/uavcan/transport/crc.hpp b/libuavcan/include/uavcan/transport/crc.hpp
index b6575238cc..2d40d3ee8f 100644
--- a/libuavcan/include/uavcan/transport/crc.hpp
+++ b/libuavcan/include/uavcan/transport/crc.hpp
@@ -40,7 +40,7 @@ public:
         value_ = ((value_ << 8) ^ Table[((value_ >> 8) ^ byte) & 0xFF]) & 0xFFFF;
     }
 
-    void add(const uint8_t* bytes, unsigned int len)
+    void add(const uint8_t* bytes, unsigned len)
     {
         assert(bytes);
         while (len--)
diff --git a/libuavcan/include/uavcan/transport/dispatcher.hpp b/libuavcan/include/uavcan/transport/dispatcher.hpp
index f0dbe4dbaf..80bb1a25a0 100644
--- a/libuavcan/include/uavcan/transport/dispatcher.hpp
+++ b/libuavcan/include/uavcan/transport/dispatcher.hpp
@@ -48,7 +48,7 @@ public:
     void add(LoopbackFrameListenerBase* listener);
     void remove(LoopbackFrameListenerBase* listener);
     bool doesExist(const LoopbackFrameListenerBase* listener) const;
-    unsigned int getNumListeners() const { return listeners_.getLength(); }
+    unsigned getNumListeners() const { return listeners_.getLength(); }
 
     void invokeListeners(RxFrame& frame);
 };
diff --git a/libuavcan/include/uavcan/transport/frame.hpp b/libuavcan/include/uavcan/transport/frame.hpp
index faee36333a..db1d8182bd 100644
--- a/libuavcan/include/uavcan/transport/frame.hpp
+++ b/libuavcan/include/uavcan/transport/frame.hpp
@@ -57,9 +57,9 @@ public:
     }
 
     int getMaxPayloadLen() const;
-    int setPayload(const uint8_t* data, int len);
+    int setPayload(const uint8_t* data, unsigned len);
 
-    int getPayloadLen() const { return payload_len_; }
+    unsigned getPayloadLen() const { return payload_len_; }
     const uint8_t* getPayloadPtr() const { return payload_; }
 
     TransferType getTransferType() const { return transfer_type_; }
diff --git a/libuavcan/include/uavcan/transport/perf_counter.hpp b/libuavcan/include/uavcan/transport/perf_counter.hpp
index 0fbe1e1ad6..2baa7358ba 100644
--- a/libuavcan/include/uavcan/transport/perf_counter.hpp
+++ b/libuavcan/include/uavcan/transport/perf_counter.hpp
@@ -27,7 +27,7 @@ public:
 
     void addError() { errors_++; }
 
-    void addErrors(unsigned int errors)
+    void addErrors(unsigned errors)
     {
         errors_ += errors;
     }
diff --git a/libuavcan/include/uavcan/transport/transfer_buffer.hpp b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
index f7e395495d..b887c89f07 100644
--- a/libuavcan/include/uavcan/transport/transfer_buffer.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
@@ -25,8 +25,8 @@ class ITransferBuffer
 public:
     virtual ~ITransferBuffer() { }
 
-    virtual int read(unsigned int offset, uint8_t* data, unsigned int len) const = 0;
-    virtual int write(unsigned int offset, const uint8_t* data, unsigned int len) = 0;
+    virtual int read(unsigned offset, uint8_t* data, unsigned len) const = 0;
+    virtual int write(unsigned offset, const uint8_t* data, unsigned len) = 0;
 };
 
 /**
@@ -108,21 +108,21 @@ class DynamicTransferBufferManagerEntry
         static Block* instantiate(IAllocator& allocator);
         static void destroy(Block*& obj, IAllocator& allocator);
 
-        void read(uint8_t*& outptr, unsigned int target_offset,
-                  unsigned int& total_offset, unsigned int& left_to_read);
-        void write(const uint8_t*& inptr, unsigned int target_offset,
-                   unsigned int& total_offset, unsigned int& left_to_write);
+        void read(uint8_t*& outptr, unsigned target_offset,
+                  unsigned& total_offset, unsigned& left_to_read);
+        void write(const uint8_t*& inptr, unsigned target_offset,
+                   unsigned& total_offset, unsigned& left_to_write);
     };
 
     IAllocator& allocator_;
     LinkedListRoot<Block> blocks_;    // Blocks are ordered from lower to higher buffer offset
-    unsigned int max_write_pos_;
-    const unsigned int max_size_;
+    unsigned max_write_pos_;
+    const unsigned max_size_;
 
     void resetImpl();
 
 public:
-    DynamicTransferBufferManagerEntry(IAllocator& allocator, unsigned int max_size)
+    DynamicTransferBufferManagerEntry(IAllocator& allocator, unsigned max_size)
         : allocator_(allocator)
         , max_write_pos_(0)
         , max_size_(max_size)
@@ -137,22 +137,22 @@ public:
         resetImpl();
     }
 
-    static DynamicTransferBufferManagerEntry* instantiate(IAllocator& allocator, unsigned int max_size);
+    static DynamicTransferBufferManagerEntry* instantiate(IAllocator& allocator, unsigned max_size);
     static void destroy(DynamicTransferBufferManagerEntry*& obj, IAllocator& allocator);
 
-    int read(unsigned int offset, uint8_t* data, unsigned int len) const;
-    int write(unsigned int offset, const uint8_t* data, unsigned int len);
+    int read(unsigned offset, uint8_t* data, unsigned len) const;
+    int write(unsigned offset, const uint8_t* data, unsigned len);
 };
 UAVCAN_PACKED_END
 
 /**
  * Standalone static buffer
  */
-template <unsigned int Size>
+template <unsigned Size>
 class StaticTransferBuffer : public ITransferBuffer
 {
     uint8_t data_[Size];
-    unsigned int max_write_pos_;
+    unsigned max_write_pos_;
 
 public:
     StaticTransferBuffer()
@@ -162,7 +162,7 @@ public:
         std::fill(data_, data_ + Size, 0);
     }
 
-    int read(unsigned int offset, uint8_t* data, unsigned int len) const
+    int read(unsigned offset, uint8_t* data, unsigned len) const
     {
         if (!data)
         {
@@ -182,7 +182,7 @@ public:
         return len;
     }
 
-    int write(unsigned int offset, const uint8_t* data, unsigned int len)
+    int write(unsigned offset, const uint8_t* data, unsigned len)
     {
         if (!data)
         {
@@ -214,14 +214,14 @@ public:
     uint8_t* getRawPtr() { return data_; }
     const uint8_t* getRawPtr() const { return data_; }
 
-    unsigned int getMaxWritePos() const { return max_write_pos_; }
-    void setMaxWritePos(unsigned int value) { max_write_pos_ = value; }
+    unsigned getMaxWritePos() const { return max_write_pos_; }
+    void setMaxWritePos(unsigned value) { max_write_pos_ = value; }
 };
 
 /**
  * Statically allocated storage for buffer manager
  */
-template <unsigned int Size>
+template <unsigned Size>
 class StaticTransferBufferManagerEntry : public TransferBufferManagerEntry
 {
     StaticTransferBuffer<Size> buf_;
@@ -232,12 +232,12 @@ class StaticTransferBufferManagerEntry : public TransferBufferManagerEntry
     }
 
 public:
-    int read(unsigned int offset, uint8_t* data, unsigned int len) const
+    int read(unsigned offset, uint8_t* data, unsigned len) const
     {
         return buf_.read(offset, data, len);
     }
 
-    int write(unsigned int offset, const uint8_t* data, unsigned int len)
+    int write(unsigned offset, const uint8_t* data, unsigned len)
     {
         return buf_.write(offset, data, len);
     }
@@ -310,7 +310,7 @@ public:
 /**
  * Buffer manager implementation.
  */
-template <unsigned int MaxBufSize, unsigned int NumStaticBufs>
+template <unsigned MaxBufSize, unsigned NumStaticBufs>
 class TransferBufferManager : public ITransferBufferManager, Noncopyable
 {
     typedef StaticTransferBufferManagerEntry<MaxBufSize> StaticBufferType;
@@ -321,7 +321,7 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
 
     StaticBufferType* findFirstStatic(const TransferBufferManagerKey& key)
     {
-        for (unsigned int i = 0; i < NumStaticBufs; i++)
+        for (unsigned i = 0; i < NumStaticBufs; i++)
         {
             if (static_buffers_[i].getKey() == key)
             {
@@ -476,12 +476,12 @@ public:
 
     bool isEmpty() const { return (getNumStaticBuffers() == 0) && (getNumDynamicBuffers() == 0); }
 
-    unsigned int getNumDynamicBuffers() const { return dynamic_buffers_.getLength(); }
+    unsigned getNumDynamicBuffers() const { return dynamic_buffers_.getLength(); }
 
-    unsigned int getNumStaticBuffers() const
+    unsigned getNumStaticBuffers() const
     {
-        unsigned int res = 0;
-        for (unsigned int i = 0; i < NumStaticBufs; i++)
+        unsigned res = 0;
+        for (unsigned i = 0; i < NumStaticBufs; i++)
         {
             if (!static_buffers_[i].isEmpty())
             {
diff --git a/libuavcan/include/uavcan/transport/transfer_listener.hpp b/libuavcan/include/uavcan/transport/transfer_listener.hpp
index 94d52b9e59..2e996c2b21 100644
--- a/libuavcan/include/uavcan/transport/transfer_listener.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_listener.hpp
@@ -31,7 +31,7 @@ class IncomingTransfer : public ITransferBuffer
     uint8_t iface_index_;
 
     /// That's a no-op, asserts in debug builds
-    int write(unsigned int offset, const uint8_t* data, unsigned int len);
+    int write(unsigned offset, const uint8_t* data, unsigned len);
 
 protected:
     IncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc, TransferType transfer_type,
@@ -67,7 +67,7 @@ class SingleFrameIncomingTransfer : public IncomingTransfer
     const uint8_t payload_len_;
 public:
     SingleFrameIncomingTransfer(const RxFrame& frm);
-    int read(unsigned int offset, uint8_t* data, unsigned int len) const;
+    int read(unsigned offset, uint8_t* data, unsigned len) const;
 };
 
 /**
@@ -79,7 +79,7 @@ class MultiFrameIncomingTransfer : public IncomingTransfer, Noncopyable
 public:
     MultiFrameIncomingTransfer(MonotonicTime ts_mono, UtcTime ts_utc, const RxFrame& last_frame,
                                TransferBufferAccessor& tba);
-    int read(unsigned int offset, uint8_t* data, unsigned int len) const;
+    int read(unsigned offset, uint8_t* data, unsigned len) const;
     void release() { buf_acc_.remove(); }
 };
 
@@ -117,7 +117,7 @@ public:
 /**
  * This class should be derived by transfer receivers (subscribers, servers).
  */
-template <unsigned int MaxBufSize, unsigned int NumStaticBufs, unsigned int NumStaticReceivers>
+template <unsigned MaxBufSize, unsigned NumStaticBufs, unsigned NumStaticReceivers>
 class TransferListener : public TransferListenerBase
 {
     typedef TransferBufferManager<MaxBufSize, NumStaticBufs> BufferManager;
@@ -203,7 +203,7 @@ public:
 /**
  * This class should be derived by callers.
  */
-template <unsigned int MaxBufSize>
+template <unsigned MaxBufSize>
 class ServiceResponseTransferListener : public TransferListener<MaxBufSize, 1, 1>
 {
 public:
diff --git a/libuavcan/src/driver/can.cpp b/libuavcan/src/driver/can.cpp
index 8a71df50db..b3d7c0f7d4 100644
--- a/libuavcan/src/driver/can.cpp
+++ b/libuavcan/src/driver/can.cpp
@@ -32,12 +32,12 @@ std::string CanFrame::toString(StringRepresentation mode) const
 
     if (id & FlagEFF)
     {
-        wpos += snprintf(wpos, epos - wpos, "0x%08x  ", (unsigned int)(id & MaskExtID));
+        wpos += snprintf(wpos, epos - wpos, "0x%08x  ", unsigned(id & MaskExtID));
     }
     else
     {
         const char* const fmt = (mode == StrAligned) ? "     0x%03x  " : "0x%03x  ";
-        wpos += snprintf(wpos, epos - wpos, fmt, (unsigned int)(id & MaskStdID));
+        wpos += snprintf(wpos, epos - wpos, fmt, unsigned(id & MaskStdID));
     }
 
     if (id & FlagRTR)
@@ -53,7 +53,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
     {
         for (int dlen = 0; dlen < dlc; dlen++)                                 // hex bytes
         {
-            wpos += snprintf(wpos, epos - wpos, " %02x", (unsigned int)data[dlen]);
+            wpos += snprintf(wpos, epos - wpos, " %02x", unsigned(data[dlen]));
         }
 
         while (mode == StrAligned && wpos < buf + ASCII_COLUMN_OFFSET)        // alignment
diff --git a/libuavcan/src/transport/can_io.cpp b/libuavcan/src/transport/can_io.cpp
index d3e05b16a1..c88917b0b6 100644
--- a/libuavcan/src/transport/can_io.cpp
+++ b/libuavcan/src/transport/can_io.cpp
@@ -212,9 +212,9 @@ bool CanTxQueue::topPriorityHigherOrEqual(const CanFrame& rhs_frame) const
 /*
  * CanIOManager
  */
-int CanIOManager::sendToIface(int iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags)
+int CanIOManager::sendToIface(uint8_t iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags)
 {
-    assert(iface_index >= 0 && iface_index < MaxCanIfaces);
+    assert(iface_index < MaxCanIfaces);
     ICanIface* const iface = driver_.getIface(iface_index);
     if (iface == NULL)
     {
@@ -234,9 +234,9 @@ int CanIOManager::sendToIface(int iface_index, const CanFrame& frame, MonotonicT
     return res;
 }
 
-int CanIOManager::sendFromTxQueue(int iface_index)
+int CanIOManager::sendFromTxQueue(uint8_t iface_index)
 {
-    assert(iface_index >= 0 && iface_index < MaxCanIfaces);
+    assert(iface_index < MaxCanIfaces);
     CanTxQueue::Entry* entry = tx_queues_[iface_index].peek();
     if (entry == NULL)
     {
@@ -250,10 +250,10 @@ int CanIOManager::sendFromTxQueue(int iface_index)
     return res;
 }
 
-int CanIOManager::makePendingTxMask() const
+uint8_t CanIOManager::makePendingTxMask() const
 {
-    int write_mask = 0;
-    for (int i = 0; i < getNumIfaces(); i++)
+    uint8_t write_mask = 0;
+    for (uint8_t i = 0; i < getNumIfaces(); i++)
     {
         if (!tx_queues_[i].isEmpty())
         {
@@ -263,17 +263,17 @@ int CanIOManager::makePendingTxMask() const
     return write_mask;
 }
 
-int CanIOManager::getNumIfaces() const
+uint8_t CanIOManager::getNumIfaces() const
 {
-    const int num = driver_.getNumIfaces();
+    const uint8_t num = driver_.getNumIfaces();
     assert(num > 0 && num <= MaxCanIfaces);
-    return std::min(std::max(num, 0), (int)MaxCanIfaces);
+    return std::min(std::max(num, uint8_t(0)), uint8_t(MaxCanIfaces));
 }
 
-CanIfacePerfCounters CanIOManager::getIfacePerfCounters(int iface_index) const
+CanIfacePerfCounters CanIOManager::getIfacePerfCounters(uint8_t iface_index) const
 {
     ICanIface* const iface = driver_.getIface(iface_index);
-    if (iface == NULL || iface_index >= MaxCanIfaces || iface_index < 0)
+    if (iface == NULL || iface_index >= MaxCanIfaces)
     {
         assert(0);
         return CanIfacePerfCounters();
@@ -286,10 +286,10 @@ CanIfacePerfCounters CanIOManager::getIfacePerfCounters(int iface_index) const
 }
 
 int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline,
-                       int iface_mask, CanTxQueue::Qos qos, CanIOFlags flags)
+                       uint8_t iface_mask, CanTxQueue::Qos qos, CanIOFlags flags)
 {
-    const int num_ifaces = getNumIfaces();
-    const int all_ifaces_mask = (1 << num_ifaces) - 1;
+    const uint8_t num_ifaces = getNumIfaces();
+    const uint8_t all_ifaces_mask = (1U << num_ifaces) - 1;
     iface_mask &= all_ifaces_mask;
 
     if (blocking_deadline > tx_deadline)
@@ -317,7 +317,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
         }
 
         // Transmission
-        for (int i = 0; i < num_ifaces; i++)
+        for (uint8_t i = 0; i < num_ifaces; i++)
         {
             if (masks.write & (1 << i))
             {
@@ -357,7 +357,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
                 UAVCAN_TRACE("CanIOManager", "Send: Premature timeout in select(), will try again");
                 continue;
             }
-            for (int i = 0; i < num_ifaces; i++)
+            for (uint8_t i = 0; i < num_ifaces; i++)
             {
                 if (iface_mask & (1 << i))
                 {
@@ -372,7 +372,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
 
 int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline, CanIOFlags& out_flags)
 {
-    const int num_ifaces = getNumIfaces();
+    const uint8_t num_ifaces = getNumIfaces();
 
     while (true)
     {
@@ -388,7 +388,7 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
         }
 
         // Write - if buffers are not empty, one frame will be sent for each iface per one receive() call
-        for (int i = 0; i < num_ifaces; i++)
+        for (uint8_t i = 0; i < num_ifaces; i++)
         {
             if (masks.write & (1 << i))
             {
@@ -397,7 +397,7 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
         }
 
         // Read
-        for (int i = 0; i < num_ifaces; i++)
+        for (uint8_t i = 0; i < num_ifaces; i++)
         {
             if (masks.read & (1 << i))
             {
diff --git a/libuavcan/src/transport/frame.cpp b/libuavcan/src/transport/frame.cpp
index 4e96ece30a..8299aad946 100644
--- a/libuavcan/src/transport/frame.cpp
+++ b/libuavcan/src/transport/frame.cpp
@@ -33,14 +33,16 @@ int Frame::getMaxPayloadLen() const
     }
 }
 
-int Frame::setPayload(const uint8_t* data, int len)
+int Frame::setPayload(const uint8_t* data, unsigned len)
 {
-    len = std::min(getMaxPayloadLen(), len);
-    if (len >= 0)
+    const int maxlen = getMaxPayloadLen();
+    if (maxlen < 0)
     {
-        std::copy(data, data + len, payload_);
-        payload_len_ = len;
+        return maxlen;
     }
+    len = std::min(unsigned(maxlen), len);
+    std::copy(data, data + len, payload_);
+    payload_len_ = len;
     return len;
 }
 
diff --git a/libuavcan/src/transport/transfer_buffer.cpp b/libuavcan/src/transport/transfer_buffer.cpp
index c322135c4a..b3ce1d8161 100644
--- a/libuavcan/src/transport/transfer_buffer.cpp
+++ b/libuavcan/src/transport/transfer_buffer.cpp
@@ -43,11 +43,11 @@ void DynamicTransferBufferManagerEntry::Block::destroy(Block*& obj, IAllocator&
     }
 }
 
-void DynamicTransferBufferManagerEntry::Block::read(uint8_t*& outptr, unsigned int target_offset,
-                                                    unsigned int& total_offset, unsigned int& left_to_read)
+void DynamicTransferBufferManagerEntry::Block::read(uint8_t*& outptr, unsigned target_offset,
+                                                    unsigned& total_offset, unsigned& left_to_read)
 {
     assert(outptr);
-    for (int i = 0; (i < Block::Size) && (left_to_read > 0); i++, total_offset++)
+    for (unsigned i = 0; (i < Block::Size) && (left_to_read > 0); i++, total_offset++)
     {
         if (total_offset >= target_offset)
         {
@@ -57,11 +57,11 @@ void DynamicTransferBufferManagerEntry::Block::read(uint8_t*& outptr, unsigned i
     }
 }
 
-void DynamicTransferBufferManagerEntry::Block::write(const uint8_t*& inptr, unsigned int target_offset,
-                                                     unsigned int& total_offset, unsigned int& left_to_write)
+void DynamicTransferBufferManagerEntry::Block::write(const uint8_t*& inptr, unsigned target_offset,
+                                                     unsigned& total_offset, unsigned& left_to_write)
 {
     assert(inptr);
-    for (int i = 0; (i < Block::Size) && (left_to_write > 0); i++, total_offset++)
+    for (unsigned i = 0; (i < Block::Size) && (left_to_write > 0); i++, total_offset++)
     {
         if (total_offset >= target_offset)
         {
@@ -75,7 +75,7 @@ void DynamicTransferBufferManagerEntry::Block::write(const uint8_t*& inptr, unsi
  * DynamicTransferBuffer
  */
 DynamicTransferBufferManagerEntry* DynamicTransferBufferManagerEntry::instantiate(IAllocator& allocator,
-                                                                                  unsigned int max_size)
+                                                                                  unsigned max_size)
 {
     void* const praw = allocator.allocate(sizeof(DynamicTransferBufferManagerEntry));
     if (praw == NULL)
@@ -108,7 +108,7 @@ void DynamicTransferBufferManagerEntry::resetImpl()
     }
 }
 
-int DynamicTransferBufferManagerEntry::read(unsigned int offset, uint8_t* data, unsigned int len) const
+int DynamicTransferBufferManagerEntry::read(unsigned offset, uint8_t* data, unsigned len) const
 {
     if (!data)
     {
@@ -126,7 +126,8 @@ int DynamicTransferBufferManagerEntry::read(unsigned int offset, uint8_t* data,
     assert((offset + len) <= max_write_pos_);
 
     // This shall be optimized.
-    unsigned int total_offset = 0, left_to_read = len;
+    unsigned total_offset = 0;
+    unsigned left_to_read = len;
     uint8_t* outptr = data;
     Block* p = blocks_.get();
     while (p)
@@ -143,7 +144,7 @@ int DynamicTransferBufferManagerEntry::read(unsigned int offset, uint8_t* data,
     return len;
 }
 
-int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t* data, unsigned int len)
+int DynamicTransferBufferManagerEntry::write(unsigned offset, const uint8_t* data, unsigned len)
 {
     if (!data)
     {
@@ -161,8 +162,8 @@ int DynamicTransferBufferManagerEntry::write(unsigned int offset, const uint8_t*
     }
     assert((offset + len) <= max_size_);
 
-    unsigned int total_offset = 0;
-    unsigned int left_to_write = len;
+    unsigned total_offset = 0;
+    unsigned left_to_write = len;
     const uint8_t* inptr = data;
     Block* p = blocks_.get();
     Block* last_written_block = NULL;
diff --git a/libuavcan/src/transport/transfer_listener.cpp b/libuavcan/src/transport/transfer_listener.cpp
index 8fadd0e7ae..69c320666b 100644
--- a/libuavcan/src/transport/transfer_listener.cpp
+++ b/libuavcan/src/transport/transfer_listener.cpp
@@ -12,7 +12,7 @@ namespace uavcan
 /*
  * IncomingTransfer
  */
-int IncomingTransfer::write(unsigned int, const uint8_t*, unsigned int)
+int IncomingTransfer::write(unsigned, const uint8_t*, unsigned)
 {
     assert(0);  // Incoming transfer container is read-only
     return -ErrLogic;
@@ -30,7 +30,7 @@ SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
     assert(frm.isValid());
 }
 
-int SingleFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsigned int len) const
+int SingleFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned len) const
 {
     if (data == NULL)
     {
@@ -63,7 +63,7 @@ MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(MonotonicTime ts_mono, Ut
     assert(last_frame.isLast());
 }
 
-int MultiFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsigned int len) const
+int MultiFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned len) const
 {
     const ITransferBuffer* const tbb = const_cast<TransferBufferAccessor&>(buf_acc_).access();
     if (tbb == NULL)
@@ -80,7 +80,7 @@ int MultiFrameIncomingTransfer::read(unsigned int offset, uint8_t* data, unsigne
 bool TransferListenerBase::checkPayloadCrc(const uint16_t compare_with, const ITransferBuffer& tbb) const
 {
     TransferCRC crc = crc_base_;
-    unsigned int offset = 0;
+    unsigned offset = 0;
     while (true)
     {
         uint8_t buf[16];
diff --git a/libuavcan/test/map.cpp b/libuavcan/test/map.cpp
index 4840eeca9e..7577e3f5de 100644
--- a/libuavcan/test/map.cpp
+++ b/libuavcan/test/map.cpp
@@ -127,7 +127,7 @@ TEST(Map, Basic)
     ASSERT_EQ("D", *map->access("4"));
 
     // Adding some new dynamics
-    unsigned int max_key_integer = 0;
+    unsigned max_key_integer = 0;
     for (int i = 0; i < 100; i++)
     {
         const std::string key   = toString(i);
@@ -155,15 +155,15 @@ TEST(Map, Basic)
 
     // Removing odd values - nearly half of them
     ASSERT_EQ(2, map->getNumStaticPairs());
-    const unsigned int num_dynamics_old = map->getNumDynamicPairs();
+    const unsigned num_dynamics_old = map->getNumDynamicPairs();
     map->removeWhere(oddValuePredicate);
     ASSERT_EQ(2, map->getNumStaticPairs());
-    const unsigned int num_dynamics_new = map->getNumDynamicPairs();
+    const unsigned num_dynamics_new = map->getNumDynamicPairs();
     std::cout << "Num of dynamic pairs reduced from " << num_dynamics_old << " to " << num_dynamics_new << std::endl;
     ASSERT_LT(num_dynamics_new, num_dynamics_old);
 
     // Making sure there's no odd values left
-    for (unsigned int kv_int = 0; kv_int <= max_key_integer; kv_int++)
+    for (unsigned kv_int = 0; kv_int <= max_key_integer; kv_int++)
     {
         const std::string* val = map->access(toString(kv_int));
         if (val)
diff --git a/libuavcan/test/marshal/bit_stream.cpp b/libuavcan/test/marshal/bit_stream.cpp
index f60efc4b33..85ad2010fc 100644
--- a/libuavcan/test/marshal/bit_stream.cpp
+++ b/libuavcan/test/marshal/bit_stream.cpp
@@ -135,7 +135,7 @@ TEST(BitStream, BitByBit)
     uavcan::BitStream bs_wr(buf);
 
     std::string binary_string;
-    unsigned int counter = 0;
+    unsigned counter = 0;
     for (int byte = 0; byte < NUM_BYTES; byte++)
     {
         for (int bit = 0; bit < 8; bit++, counter++)
diff --git a/libuavcan/test/node/scheduler.cpp b/libuavcan/test/node/scheduler.cpp
index a175143ca0..6e8fad2864 100644
--- a/libuavcan/test/node/scheduler.cpp
+++ b/libuavcan/test/node/scheduler.cpp
@@ -66,7 +66,7 @@ TEST(Scheduler, Timers)
         ASSERT_GT(1100, tcc.events_b.size());
         {
             uavcan::MonotonicTime next_expected_deadline = start_ts + durMono(1000);
-            for (unsigned int i = 0; i < tcc.events_b.size(); i++)
+            for (unsigned i = 0; i < tcc.events_b.size(); i++)
             {
                 ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].scheduled_time, next_expected_deadline));
                 ASSERT_TRUE(areTimestampsClose(tcc.events_b[i].scheduled_time, tcc.events_b[i].real_time));
diff --git a/libuavcan/test/node/subscriber.cpp b/libuavcan/test/node/subscriber.cpp
index 7f22d0fad8..855344f693 100644
--- a/libuavcan/test/node/subscriber.cpp
+++ b/libuavcan/test/node/subscriber.cpp
@@ -137,7 +137,7 @@ TEST(Subscriber, Basic)
 
     ASSERT_EQ(2, node.getDispatcher().getNumMessageListeners());
 
-    for (unsigned int i = 0; i < rx_frames.size(); i++)
+    for (unsigned i = 0; i < rx_frames.size(); i++)
     {
         can_driver.ifaces[0].pushRx(rx_frames[i]);
         can_driver.ifaces[1].pushRx(rx_frames[i]);
@@ -149,7 +149,7 @@ TEST(Subscriber, Basic)
      * Validation
      */
     ASSERT_EQ(listener.extended.size(), rx_frames.size());
-    for (unsigned int i = 0; i < rx_frames.size(); i++)
+    for (unsigned i = 0; i < rx_frames.size(); i++)
     {
         const Listener::ReceivedDataStructureCopy s = listener.extended.at(i);
         ASSERT_TRUE(s.msg == expected_msg);
@@ -161,7 +161,7 @@ TEST(Subscriber, Basic)
     }
 
     ASSERT_EQ(listener.simple.size(), rx_frames.size());
-    for (unsigned int i = 0; i < rx_frames.size(); i++)
+    for (unsigned i = 0; i < rx_frames.size(); i++)
     {
         ASSERT_TRUE(listener.simple.at(i) == expected_msg);
     }
@@ -268,7 +268,7 @@ TEST(Subscriber, SingleFrameTransfer)
     ASSERT_EQ(0, sub.getFailureCount());
 
     ASSERT_EQ(4, listener.simple.size());
-    for (unsigned int i = 0; i < 4; i++)
+    for (unsigned i = 0; i < 4; i++)
     {
         ASSERT_TRUE(listener.simple.at(i) == root_ns_a::EmptyMessage());
     }
diff --git a/libuavcan/test/node/test_node.hpp b/libuavcan/test/node/test_node.hpp
index b7bdca41a0..774b7fb394 100644
--- a/libuavcan/test/node/test_node.hpp
+++ b/libuavcan/test/node/test_node.hpp
@@ -57,7 +57,7 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
         with->other = this;
     }
 
-    uavcan::ICanIface* getIface(int iface_index)
+    uavcan::ICanIface* getIface(uavcan::uint8_t iface_index)
     {
         if (iface_index == 0)
         {
@@ -66,30 +66,27 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
         return NULL;
     }
 
-    int getNumIfaces() const { return 1; }
+    uavcan::uint8_t getNumIfaces() const { return 1; }
 
-    int select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline)
+    uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime blocking_deadline)
     {
         assert(other);
         if (inout_masks.read == 1)
         {
             inout_masks.read = (read_queue.size() || loopback_queue.size()) ? 1 : 0;
         }
-
         if (inout_masks.read || inout_masks.write)
         {
             return 1;
         }
-
         while (clock.getMonotonic() < blocking_deadline)
         {
             usleep(1000);
         }
-
         return 0;
     }
 
-    int send(const uavcan::CanFrame& frame, uavcan::MonotonicTime, uavcan::CanIOFlags flags)
+    uavcan::int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime, uavcan::CanIOFlags flags)
     {
         assert(other);
         other->read_queue.push(frame);
@@ -100,8 +97,8 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
         return 1;
     }
 
-    int receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc,
-                uavcan::CanIOFlags& out_flags)
+    uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
+                            uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags)
     {
         assert(other);
         out_flags = 0;
@@ -122,9 +119,9 @@ struct PairableCanDriver : public uavcan::ICanDriver, public uavcan::ICanIface
         return 1;
     }
 
-    int configureFilters(const uavcan::CanFilterConfig*, int) { return -1; }
-    int getNumFilters() const { return 0; }
-    uint64_t getErrorCount() const { return error_count; }
+    uavcan::int16_t configureFilters(const uavcan::CanFilterConfig*, uavcan::uint16_t) { return -1; }
+    uavcan::uint16_t getNumFilters() const { return 0; }
+    uavcan::uint64_t getErrorCount() const { return error_count; }
 };
 
 
@@ -159,7 +156,7 @@ struct InterlinkedTestNodes
     int spinBoth(uavcan::MonotonicDuration duration)
     {
         assert(!duration.isNegative());
-        unsigned int nspins2 = duration.toMSec() / 2;
+        unsigned nspins2 = duration.toMSec() / 2;
         nspins2 = nspins2 ? nspins2 : 1;
         while (nspins2 --> 0)
         {
diff --git a/libuavcan/test/protocol/data_type_info_provider.cpp b/libuavcan/test/protocol/data_type_info_provider.cpp
index d3fd47184b..046d6074fa 100644
--- a/libuavcan/test/protocol/data_type_info_provider.cpp
+++ b/libuavcan/test/protocol/data_type_info_provider.cpp
@@ -19,8 +19,7 @@ using uavcan::DefaultDataTypeRegistrator;
 using uavcan::MonotonicDuration;
 
 template <typename DataType>
-static bool validateDataTypeInfoResponse(const std::auto_ptr<ServiceCallResult<GetDataTypeInfo> >& resp,
-                                         unsigned int mask)
+static bool validateDataTypeInfoResponse(const std::auto_ptr<ServiceCallResult<GetDataTypeInfo> >& resp, unsigned mask)
 {
     if (!resp.get())
     {
diff --git a/libuavcan/test/protocol/global_time_sync_master.cpp b/libuavcan/test/protocol/global_time_sync_master.cpp
index 0e4979c6b3..6fca355ff1 100644
--- a/libuavcan/test/protocol/global_time_sync_master.cpp
+++ b/libuavcan/test/protocol/global_time_sync_master.cpp
@@ -38,7 +38,7 @@ struct GlobalTimeSyncTestNetwork
     void spinAll(uavcan::MonotonicDuration duration = uavcan::MonotonicDuration::fromMSec(9))
     {
         assert(!duration.isNegative());
-        unsigned int nspins3 = duration.toMSec() / 3;
+        unsigned nspins3 = duration.toMSec() / 3;
         nspins3 = nspins3 ? nspins3 : 2;
         while (nspins3 --> 0)
         {
diff --git a/libuavcan/test/transport/can/can.hpp b/libuavcan/test/transport/can/can.hpp
index 4bd574a05d..aa40a5a7bb 100644
--- a/libuavcan/test/transport/can/can.hpp
+++ b/libuavcan/test/transport/can/can.hpp
@@ -94,7 +94,7 @@ public:
         return frame_time.frame;
     }
 
-    int send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags)
+    uavcan::int16_t send(const uavcan::CanFrame& frame, uavcan::MonotonicTime tx_deadline, uavcan::CanIOFlags flags)
     {
         assert(this);
         EXPECT_TRUE(writeable);        // Shall never be called when not writeable
@@ -114,8 +114,8 @@ public:
         return 1;
     }
 
-    int receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic, uavcan::UtcTime& out_ts_utc,
-                uavcan::CanIOFlags& out_flags)
+    uavcan::int16_t receive(uavcan::CanFrame& out_frame, uavcan::MonotonicTime& out_ts_monotonic,
+                            uavcan::UtcTime& out_ts_utc, uavcan::CanIOFlags& out_flags)
     {
         assert(this);
         out_flags = uavcan::CanIOFlags();
@@ -149,10 +149,10 @@ public:
 
     // cppcheck-suppress unusedFunction
     // cppcheck-suppress functionConst
-    int configureFilters(const uavcan::CanFilterConfig*, int) { return -1; }
+    uavcan::int16_t configureFilters(const uavcan::CanFilterConfig*, uavcan::uint16_t) { return -1; }
     // cppcheck-suppress unusedFunction
-    int getNumFilters() const { return 0; }
-    uint64_t getErrorCount() const { return num_errors; }
+    uavcan::uint16_t getNumFilters() const { return 0; }
+    uavcan::uint64_t getErrorCount() const { return num_errors; }
 };
 
 class CanDriverMock : public uavcan::ICanDriver
@@ -168,7 +168,7 @@ public:
         , select_failure(false)
     { }
 
-    int select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime deadline)
+    uavcan::int16_t select(uavcan::CanSelectMasks& inout_masks, uavcan::MonotonicTime deadline)
     {
         assert(this);
         //std::cout << "Write/read masks: " << inout_write_iface_mask << "/" << inout_read_iface_mask << std::endl;
@@ -178,15 +178,15 @@ public:
             return -1;
         }
 
-        const int valid_iface_mask = (1 << getNumIfaces()) - 1;
+        const uavcan::uint8_t valid_iface_mask = (1 << getNumIfaces()) - 1;
         EXPECT_FALSE(inout_masks.write & ~valid_iface_mask);
         EXPECT_FALSE(inout_masks.read & ~valid_iface_mask);
 
-        int out_write_mask = 0;
-        int out_read_mask = 0;
+        uavcan::uint8_t out_write_mask = 0;
+        uavcan::uint8_t out_read_mask = 0;
         for (int i = 0; i < getNumIfaces(); i++)
         {
-            const int mask = 1 << i;
+            const uavcan::uint8_t mask = 1 << i;
             if ((inout_masks.write & mask) && ifaces.at(i).writeable)
             {
                 out_write_mask |= mask;
@@ -222,8 +222,8 @@ public:
         return 1;  // This value is not being checked anyway, it just has to be greater than zero
     }
 
-    uavcan::ICanIface* getIface(int iface_index) { return &ifaces.at(iface_index); }
-    int getNumIfaces() const { return ifaces.size(); }
+    uavcan::ICanIface* getIface(uavcan::uint8_t iface_index) { return &ifaces.at(iface_index); }
+    uavcan::uint8_t getNumIfaces() const { return ifaces.size(); }
 };
 
 enum FrameType { STD, EXT };
diff --git a/libuavcan/test/transport/dispatcher.cpp b/libuavcan/test/transport/dispatcher.cpp
index 885aca15fb..0d5bf2ce7a 100644
--- a/libuavcan/test/transport/dispatcher.cpp
+++ b/libuavcan/test/transport/dispatcher.cpp
@@ -305,7 +305,7 @@ TEST(Dispatcher, Spin)
 struct DispatcherTestLoopbackFrameListener : public uavcan::LoopbackFrameListenerBase
 {
     uavcan::RxFrame last_frame;
-    unsigned int count;
+    unsigned count;
 
     DispatcherTestLoopbackFrameListener(uavcan::Dispatcher& dispatcher)
         : uavcan::LoopbackFrameListenerBase(dispatcher)
diff --git a/libuavcan/test/transport/frame.cpp b/libuavcan/test/transport/frame.cpp
index ad48deca3a..128b8879ba 100644
--- a/libuavcan/test/transport/frame.cpp
+++ b/libuavcan/test/transport/frame.cpp
@@ -83,7 +83,7 @@ TEST(Frame, FrameParsing)
     Frame frame;
     ASSERT_FALSE(frame.parse(can));
 
-    for (unsigned int i = 0; i < sizeof(CanFrame::data); i++)
+    for (unsigned i = 0; i < sizeof(CanFrame::data); i++)
     {
         can.data[i] = i | (i << 4);
     }
@@ -225,7 +225,7 @@ TEST(Frame, FrameToString)
                        uavcan::MonotonicTime::getMax(), uavcan::UtcTime::getMax(), 3);
 
     uint8_t data[8];
-    for (unsigned int i = 0; i < sizeof(data); i++)
+    for (unsigned i = 0; i < sizeof(data); i++)
     {
         data[i] = i;
     }
diff --git a/libuavcan/test/transport/incoming_transfer.cpp b/libuavcan/test/transport/incoming_transfer.cpp
index 30cb262723..2b2b58f53a 100644
--- a/libuavcan/test/transport/incoming_transfer.cpp
+++ b/libuavcan/test/transport/incoming_transfer.cpp
@@ -14,7 +14,7 @@ static uavcan::RxFrame makeFrame()
         uavcan::Frame(123, uavcan::TransferTypeMessageBroadcast, 1, uavcan::NodeID::Broadcast, 0, 1, true),
         tsMono(123), tsUtc(456), 0);
     uint8_t data[8];
-    for (unsigned int i = 0; i < sizeof(data); i++)
+    for (unsigned i = 0; i < sizeof(data); i++)
     {
         data[i] = i;
     }
@@ -24,7 +24,7 @@ static uavcan::RxFrame makeFrame()
 
 
 static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& frame,
-                  const uint8_t* payload, unsigned int payload_len)
+                  const uint8_t* payload, unsigned payload_len)
 {
     // Fields extracted from the frame struct
     EXPECT_EQ(it.getMonotonicTimestamp(), frame.getMonotonicTimestamp());
@@ -34,7 +34,7 @@ static bool match(const uavcan::IncomingTransfer& it, const uavcan::RxFrame& fra
     EXPECT_EQ(it.getTransferType(),       frame.getTransferType());
 
     // Payload comparison
-    static const unsigned int BUFLEN = 1024;
+    static const unsigned BUFLEN = 1024;
     uint8_t buf_reference[BUFLEN], buf_actual[BUFLEN];
 
     if (payload_len > BUFLEN)
diff --git a/libuavcan/test/transport/transfer_buffer.cpp b/libuavcan/test/transport/transfer_buffer.cpp
index ba02e6ae45..13bab8d12c 100644
--- a/libuavcan/test/transport/transfer_buffer.cpp
+++ b/libuavcan/test/transport/transfer_buffer.cpp
@@ -25,18 +25,18 @@ static bool allEqual(const T a)
 template <typename T>
 static void fill(const T a, int value)
 {
-    for (unsigned int i = 0; i < sizeof(a) / sizeof(a[0]); i++)
+    for (unsigned i = 0; i < sizeof(a) / sizeof(a[0]); i++)
     {
         a[i] = value;
     }
 }
 
 static bool matchAgainst(const std::string& data, const uavcan::ITransferBuffer& tbb,
-                         unsigned int offset = 0, int len = -1)
+                         unsigned offset = 0, int len = -1)
 {
     uint8_t local_buffer[1024];
     fill(local_buffer, 0);
-    assert((len < 0) || (sizeof(local_buffer) >= static_cast<unsigned int>(len)));
+    assert((len < 0) || (sizeof(local_buffer) >= static_cast<unsigned>(len)));
 
     if (len < 0)
     {
@@ -66,7 +66,7 @@ static bool matchAgainst(const std::string& data, const uavcan::ITransferBuffer&
     return equals;
 }
 
-static bool matchAgainstTestData(const uavcan::ITransferBuffer& tbb, unsigned int offset, int len = -1)
+static bool matchAgainstTestData(const uavcan::ITransferBuffer& tbb, unsigned offset, int len = -1)
 {
     return matchAgainst(TEST_DATA, tbb, offset, len);
 }
@@ -213,7 +213,7 @@ static const int MGR_MAX_BUFFER_SIZE = 100;
 
 TEST(TransferBufferManager, TestDataValidation)
 {
-    for (unsigned int i = 0; i < sizeof(MGR_TEST_DATA) / sizeof(MGR_TEST_DATA[0]); i++)
+    for (unsigned i = 0; i < sizeof(MGR_TEST_DATA) / sizeof(MGR_TEST_DATA[0]); i++)
     {
         ASSERT_LT(MGR_MAX_BUFFER_SIZE, MGR_TEST_DATA[i].length());
     }
diff --git a/libuavcan/test/transport/transfer_receiver.cpp b/libuavcan/test/transport/transfer_receiver.cpp
index df5af641bf..3ebd2327f5 100644
--- a/libuavcan/test/transport/transfer_receiver.cpp
+++ b/libuavcan/test/transport/transfer_receiver.cpp
@@ -45,7 +45,7 @@ struct RxFrameGenerator
 const uavcan::TransferBufferManagerKey RxFrameGenerator::DEFAULT_KEY(42, uavcan::TransferTypeMessageBroadcast);
 
 
-template <unsigned int BUFSIZE>
+template <unsigned BUFSIZE>
 struct Context
 {
     uavcan::PoolManager<1> poolmgr;        // We don't need dynamic memory for this test
diff --git a/libuavcan/test/transport/transfer_sender.cpp b/libuavcan/test/transport/transfer_sender.cpp
index f659dda4b4..46898fc313 100644
--- a/libuavcan/test/transport/transfer_sender.cpp
+++ b/libuavcan/test/transport/transfer_sender.cpp
@@ -162,7 +162,7 @@ TEST(TransferSender, Basic)
 struct TransferSenderTestLoopbackFrameListener : public uavcan::LoopbackFrameListenerBase
 {
     uavcan::RxFrame last_frame;
-    unsigned int count;
+    unsigned count;
 
     TransferSenderTestLoopbackFrameListener(uavcan::Dispatcher& dispatcher)
         : uavcan::LoopbackFrameListenerBase(dispatcher)
diff --git a/libuavcan/test/transport/transfer_test_helpers.cpp b/libuavcan/test/transport/transfer_test_helpers.cpp
index 97c93e3162..06e8f4b14d 100644
--- a/libuavcan/test/transport/transfer_test_helpers.cpp
+++ b/libuavcan/test/transport/transfer_test_helpers.cpp
@@ -50,7 +50,7 @@ TEST(TransferTestHelpers, MFTSerialization)
     for (std::vector<uavcan::RxFrame>::const_iterator it = ser.begin(); it != ser.end(); ++it)
     {
         std::cout << "\t'";
-        for (int i = 0; i < it->getPayloadLen(); i++)
+        for (unsigned i = 0; i < it->getPayloadLen(); i++)
         {
             uint8_t ch = it->getPayloadPtr()[i];
             if (ch < 0x20 || ch > 0x7E)
diff --git a/libuavcan/test/transport/transfer_test_helpers.hpp b/libuavcan/test/transport/transfer_test_helpers.hpp
index 55d704030a..34e67ed759 100644
--- a/libuavcan/test/transport/transfer_test_helpers.hpp
+++ b/libuavcan/test/transport/transfer_test_helpers.hpp
@@ -33,7 +33,7 @@ struct Transfer
         , dst_node_id() // default is invalid
         , data_type(data_type)
     {
-        unsigned int offset = 0;
+        unsigned offset = 0;
         while (true)
         {
             uint8_t buf[256];
@@ -111,7 +111,7 @@ struct Transfer
  * In reality, uavcan::TransferListener should accept only specific transfer types
  * which are dispatched/filtered by uavcan::Dispatcher.
  */
-template <unsigned int MAX_BUF_SIZE, unsigned int NUM_STATIC_BUFS, unsigned int NUM_STATIC_RECEIVERS>
+template <unsigned MAX_BUF_SIZE, unsigned NUM_STATIC_BUFS, unsigned NUM_STATIC_RECEIVERS>
 class TestListener : public uavcan::TransferListener<MAX_BUF_SIZE, NUM_STATIC_BUFS, NUM_STATIC_RECEIVERS>
 {
     typedef uavcan::TransferListener<MAX_BUF_SIZE, NUM_STATIC_BUFS, NUM_STATIC_RECEIVERS> Base;
@@ -194,8 +194,8 @@ std::vector<uavcan::RxFrame> serializeTransfer(const Transfer& transfer)
     raw_payload.insert(raw_payload.end(), transfer.payload.begin(), transfer.payload.end());
 
     std::vector<uavcan::RxFrame> output;
-    unsigned int frame_index = 0;
-    unsigned int offset = 0;
+    unsigned frame_index = 0;
+    unsigned offset = 0;
     uavcan::MonotonicTime ts_monotonic = transfer.ts_monotonic;
     uavcan::UtcTime ts_utc = transfer.ts_utc;
 
@@ -274,7 +274,7 @@ public:
 
     void send(const std::vector<std::vector<uavcan::RxFrame> >& sers)
     {
-        unsigned int index = 0;
+        unsigned index = 0;
         while (true)
         {
             // Sending all transfers concurrently
@@ -297,7 +297,7 @@ public:
         }
     }
 
-    void send(const Transfer* transfers, unsigned int num_transfers)
+    void send(const Transfer* transfers, unsigned num_transfers)
     {
         std::vector<std::vector<uavcan::RxFrame> > sers;
         while (num_transfers--)