diff --git a/libuavcan/CMakeLists.txt b/libuavcan/CMakeLists.txt
index 3550251523..95293dd1c9 100644
--- a/libuavcan/CMakeLists.txt
+++ b/libuavcan/CMakeLists.txt
@@ -101,7 +101,8 @@ if (DEBUG_BUILD)
     message(STATUS "Debug build (note: requires gtest)")
 
     if (COMPILER_IS_GCC_COMPATIBLE)
-        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror -pedantic")
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror -pedantic -Wfloat-equal -Wconversion")
+        set(exec_common_flags "-Wno-conversion -Wno-float-equal")
         set(cpp03_flags "-std=c++03 -Wno-variadic-macros -Wno-long-long")
         set(optim_flags "-O3 -DNDEBUG -g0")
     else ()
@@ -120,9 +121,9 @@ if (DEBUG_BUILD)
 
     # GTest executables
     find_package(GTest REQUIRED)
-    add_libuavcan_test(libuavcan_test       uavcan       "")              # Default
-    add_libuavcan_test(libuavcan_test_cpp03 uavcan_cpp03 ${cpp03_flags})  # C++03
-    add_libuavcan_test(libuavcan_test_optim uavcan_optim ${optim_flags})  # Max optimization
+    add_libuavcan_test(libuavcan_test       uavcan       "${exec_common_flags}")                 # Default
+    add_libuavcan_test(libuavcan_test_cpp03 uavcan_cpp03 "${exec_common_flags} ${cpp03_flags}")  # C++03
+    add_libuavcan_test(libuavcan_test_optim uavcan_optim "${exec_common_flags} ${optim_flags}")  # Max optimization
 else ()
     message(STATUS "Release build type: " ${CMAKE_BUILD_TYPE})
 endif ()
diff --git a/libuavcan/include/uavcan/driver/can.hpp b/libuavcan/include/uavcan/driver/can.hpp
index 248af5ac98..d55859d0a0 100644
--- a/libuavcan/include/uavcan/driver/can.hpp
+++ b/libuavcan/include/uavcan/driver/can.hpp
@@ -34,7 +34,7 @@ struct UAVCAN_EXPORT CanFrame
         : id(0)
         , dlc(0)
     {
-        fill(data, data + MaxDataLen, 0);
+        fill(data, data + MaxDataLen, uint8_t(0));
     }
 
     CanFrame(uint32_t can_id, const uint8_t* can_data, uint8_t data_len)
diff --git a/libuavcan/include/uavcan/marshal/array.hpp b/libuavcan/include/uavcan/marshal/array.hpp
index ca94e79044..22c9aa8ad5 100644
--- a/libuavcan/include/uavcan/marshal/array.hpp
+++ b/libuavcan/include/uavcan/marshal/array.hpp
@@ -530,7 +530,7 @@ public:
     void push_back(const ValueType& value)
     {
         Base::grow();
-        Base::at(size() - 1) = value;
+        Base::at(SizeType(size() - 1)) = value;
     }
 
     /**
diff --git a/libuavcan/include/uavcan/marshal/float_spec.hpp b/libuavcan/include/uavcan/marshal/float_spec.hpp
index f43d5a39da..ec06e53f60 100644
--- a/libuavcan/include/uavcan/marshal/float_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/float_spec.hpp
@@ -90,21 +90,25 @@ IEEE754Converter::toNative<16>(typename IntegerSpec<16, SignednessUnsigned, Cast
     return halfToNativeNonIeee(value);
 }
 
+
 template <unsigned BitLen> struct IEEE754Limits;
 template <> struct IEEE754Limits<16>
 {
-    static typename NativeFloatSelector<16>::Type max() { return 65504.0; }
-    static typename NativeFloatSelector<16>::Type epsilon() { return 9.77e-04; }
+    typedef typename NativeFloatSelector<16>::Type NativeType;
+    static NativeType max() { return static_cast<NativeType>(65504.0); }
+    static NativeType epsilon() { return static_cast<NativeType>(9.77e-04); }
 };
 template <> struct IEEE754Limits<32>
 {
-    static typename NativeFloatSelector<32>::Type max() { return 3.40282346638528859812e+38; }
-    static typename NativeFloatSelector<32>::Type epsilon() { return 1.19209289550781250000e-7; }
+    typedef typename NativeFloatSelector<32>::Type NativeType;
+    static NativeType max() { return static_cast<NativeType>(3.40282346638528859812e+38); }
+    static NativeType epsilon() { return static_cast<NativeType>(1.19209289550781250000e-7); }
 };
 template <> struct IEEE754Limits<64>
 {
-    static typename NativeFloatSelector<64>::Type max() { return 1.79769313486231570815e+308L; }
-    static typename NativeFloatSelector<64>::Type epsilon() { return 2.22044604925031308085e-16L; }
+    typedef typename NativeFloatSelector<64>::Type NativeType;
+    static NativeType max() { return static_cast<NativeType>(1.79769313486231570815e+308L); }
+    static NativeType epsilon() { return static_cast<NativeType>(2.22044604925031308085e-16L); }
 };
 
 
diff --git a/libuavcan/include/uavcan/transport/frame.hpp b/libuavcan/include/uavcan/transport/frame.hpp
index 5dc07a4e23..ce8d82cff7 100644
--- a/libuavcan/include/uavcan/transport/frame.hpp
+++ b/libuavcan/include/uavcan/transport/frame.hpp
@@ -71,7 +71,7 @@ public:
     bool isLast()                  const { return last_frame_; }
 
     void makeLast() { last_frame_ = true; }
-    void setIndex(uint_fast8_t index) { frame_index_ = index; }
+    void setIndex(int index) { frame_index_ = uint_fast8_t(index); }
 
     bool isFirst() const { return frame_index_ == 0; }
 
diff --git a/libuavcan/include/uavcan/util/bitset.hpp b/libuavcan/include/uavcan/util/bitset.hpp
index 1fe2abc300..0a9c5ea43e 100644
--- a/libuavcan/include/uavcan/util/bitset.hpp
+++ b/libuavcan/include/uavcan/util/bitset.hpp
@@ -94,11 +94,11 @@ public:
         validatePos(pos);
         if (val)
         {
-            data_[getByteNum(pos)] |= (1 << getBitNum(pos));
+            data_[getByteNum(pos)] = char(data_[getByteNum(pos)] | (1 << getBitNum(pos)));
         }
         else
         {
-            data_[getByteNum(pos)] &= ~(1 << getBitNum(pos));
+            data_[getByteNum(pos)] = char(data_[getByteNum(pos)] & ~(1 << getBitNum(pos)));
         }
         return *this;
     }
diff --git a/libuavcan/include/uavcan/util/comparison.hpp b/libuavcan/include/uavcan/util/comparison.hpp
index 095a1e3593..008aca0210 100644
--- a/libuavcan/include/uavcan/util/comparison.hpp
+++ b/libuavcan/include/uavcan/util/comparison.hpp
@@ -9,6 +9,16 @@
 
 namespace uavcan
 {
+/**
+ * Exact comparison of two floats that suppresses the compiler warnings.
+ */
+template <typename T>
+UAVCAN_EXPORT
+inline bool areFloatsExactlyEqual(const T& left, const T& right)
+{
+    return (left <= right) && (left >= right);
+}
+
 /**
  * This function performs fuzzy comparison of two floating point numbers.
  * Type of T can be either float, double or long double.
@@ -27,7 +37,7 @@ inline bool areFloatsClose(T a, T b, const T absolute_epsilon, const T relative_
     // Infinity
     if (isInfinity(a) || isInfinity(b))
     {
-        return a == b;
+        return areFloatsExactlyEqual(a, b);
     }
 
     // Close numbers near zero
diff --git a/libuavcan/include/uavcan/util/lazy_constructor.hpp b/libuavcan/include/uavcan/util/lazy_constructor.hpp
index 3ad8ed2aa7..1d82bacdc7 100644
--- a/libuavcan/include/uavcan/util/lazy_constructor.hpp
+++ b/libuavcan/include/uavcan/util/lazy_constructor.hpp
@@ -60,7 +60,7 @@ public:
     LazyConstructor()
         : ptr_(NULL)
     {
-        fill(data_.pool, data_.pool + sizeof(T), 0);
+        fill(data_.pool, data_.pool + sizeof(T), uint8_t(0));
     }
 
     LazyConstructor(const LazyConstructor<T>& rhs)   // Implicit
@@ -102,7 +102,7 @@ public:
             ptr_->~T();
         }
         ptr_ = NULL;
-        fill(data_.pool, data_.pool + sizeof(T), 0);
+        fill(data_.pool, data_.pool + sizeof(T), uint8_t(0));
     }
 
     void construct()
diff --git a/libuavcan/include/uavcan/util/templates.hpp b/libuavcan/include/uavcan/util/templates.hpp
index 2a3d101468..6388e2ca66 100644
--- a/libuavcan/include/uavcan/util/templates.hpp
+++ b/libuavcan/include/uavcan/util/templates.hpp
@@ -429,7 +429,8 @@ struct UAVCAN_EXPORT NumericTraits<long double>
 #endif
 
 /**
- * Replacement for std::isnan()
+ * Replacement for std::isnan().
+ * Note that direct float comparison (==, !=) is intentionally avoided.
  */
 template <typename T>
 inline bool isNaN(T arg)
@@ -439,12 +440,13 @@ inline bool isNaN(T arg)
 #else
     // coverity[same_on_both_sides : FALSE]
     // cppcheck-suppress duplicateExpression
-    return arg != arg;
+    return !(arg <= arg);
 #endif
 }
 
 /**
- * Replacement for std::isinf()
+ * Replacement for std::isinf().
+ * Note that direct float comparison (==, !=) is intentionally avoided.
  */
 template <typename T>
 inline bool isInfinity(T arg)
@@ -452,12 +454,13 @@ inline bool isInfinity(T arg)
 #if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
     return std::isinf(arg);
 #else
-    return arg == NumericTraits<T>::infinity() || arg == -NumericTraits<T>::infinity();
+    return (arg >= NumericTraits<T>::infinity()) || (arg <= -NumericTraits<T>::infinity());
 #endif
 }
 
 /**
- * Replacement for std::signbit()
+ * Replacement for std::signbit().
+ * Note that direct float comparison (==, !=) is intentionally avoided.
  */
 template <typename T>
 inline bool getSignBit(T arg)
@@ -465,7 +468,7 @@ inline bool getSignBit(T arg)
 #if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
     return std::signbit(arg);
 #else
-    return arg < T(0) || (arg == T(0) && T(1) / arg < T(0));
+    return arg < T(0) || (((arg <= T(0)) && (arg >= T(0))) && (T(1) / arg < T(0)));
 #endif
 }
 
diff --git a/libuavcan/src/driver/uc_can.cpp b/libuavcan/src/driver/uc_can.cpp
index 974de88359..8b06469cc2 100644
--- a/libuavcan/src/driver/uc_can.cpp
+++ b/libuavcan/src/driver/uc_can.cpp
@@ -68,7 +68,7 @@ std::string CanFrame::toString(StringRepresentation mode) const
     char buf[50];
     char* wpos = buf;
     char* const epos = buf + sizeof(buf);
-    fill(buf, buf + sizeof(buf), 0);
+    fill(buf, buf + sizeof(buf), uint8_t(0));
 
     if (id & FlagEFF)
     {
diff --git a/libuavcan/src/marshal/uc_bit_array_copy.cpp b/libuavcan/src/marshal/uc_bit_array_copy.cpp
index 54ab2e48d7..6eef841b1d 100644
--- a/libuavcan/src/marshal/uc_bit_array_copy.cpp
+++ b/libuavcan/src/marshal/uc_bit_array_copy.cpp
@@ -81,8 +81,8 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
                 bit_diff_ls = src_offset_modulo - dst_offset_modulo;
                 bit_diff_rs = CHAR_BIT - bit_diff_ls;
 
-                c = *src++ << bit_diff_ls;
-                c |= *src >> bit_diff_rs;
+                c = static_cast<unsigned char>(*src++ << bit_diff_ls);
+                c = static_cast<unsigned char>(c | (*src >> bit_diff_rs));
                 c &= reverse_mask_xor[dst_offset_modulo];
             }
             else
@@ -90,7 +90,7 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
                 bit_diff_rs = dst_offset_modulo - src_offset_modulo;
                 bit_diff_ls = CHAR_BIT - bit_diff_rs;
 
-                c = *src >> bit_diff_rs & reverse_mask_xor[dst_offset_modulo];
+                c = static_cast<unsigned char>(*src >> bit_diff_rs & reverse_mask_xor[dst_offset_modulo]);
             }
             PREPARE_FIRST_COPY();
             *dst++ |= c;
@@ -102,8 +102,8 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
 
             while (--byte_len >= 0)
             {
-                c = *src++ << bit_diff_ls;
-                c |= *src >> bit_diff_rs;
+                c = static_cast<unsigned char>(*src++ << bit_diff_ls);
+                c = static_cast<unsigned char>(c | (*src >> bit_diff_rs));
                 *dst++ = c;
             }
 
@@ -113,8 +113,8 @@ void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, uns
             src_len_modulo = src_len % CHAR_BIT;
             if (src_len_modulo)
             {
-                c = *src++ << bit_diff_ls;
-                c |= *src >> bit_diff_rs;
+                c = static_cast<unsigned char>(*src++ << bit_diff_ls);
+                c = static_cast<unsigned char>(c | (*src >> bit_diff_rs));
                 c &= reverse_mask[src_len_modulo];
 
                 *dst &= reverse_mask_xor[src_len_modulo];
diff --git a/libuavcan/src/marshal/uc_bit_stream.cpp b/libuavcan/src/marshal/uc_bit_stream.cpp
index 213bb3100c..d437771f79 100644
--- a/libuavcan/src/marshal/uc_bit_stream.cpp
+++ b/libuavcan/src/marshal/uc_bit_stream.cpp
@@ -22,7 +22,7 @@ int BitStream::write(const uint8_t* bytes, const int bitlen)
     UAVCAN_ASSERT(MaxBytesPerRW >= bytelen);
     tmp[0] = tmp[bytelen - 1] = 0;
 
-    fill(tmp, tmp + bytelen, 0);
+    fill(tmp, tmp + bytelen, uint8_t(0));
     copyBitArray(bytes, 0, bitlen, tmp, bit_offset_ % 8);
 
     const int new_bit_offset = bit_offset_ + bitlen;
@@ -31,7 +31,7 @@ int BitStream::write(const uint8_t* bytes, const int bitlen)
     tmp[0] |= byte_cache_;
 
     // (new_bit_offset % 8 == 0) means that this write was perfectly aligned.
-    byte_cache_ = (new_bit_offset % 8) ? tmp[bytelen - 1] : 0;
+    byte_cache_ = uint8_t((new_bit_offset % 8) ? tmp[bytelen - 1] : 0);
 
     /*
      * Dump the data into the destination buffer.
@@ -69,7 +69,7 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
         return ResultOutOfBuffer;
     }
 
-    fill(bytes, bytes + bitlenToBytelen(bitlen), 0);
+    fill(bytes, bytes + bitlenToBytelen(bitlen), uint8_t(0));
     copyBitArray(tmp, bit_offset_ % 8, bitlen, bytes, 0);
     bit_offset_ += bitlen;
     return ResultOk;
diff --git a/libuavcan/src/marshal/uc_float_spec.cpp b/libuavcan/src/marshal/uc_float_spec.cpp
index 07c0d980c1..cddf6bb696 100644
--- a/libuavcan/src/marshal/uc_float_spec.cpp
+++ b/libuavcan/src/marshal/uc_float_spec.cpp
@@ -22,8 +22,8 @@ namespace uavcan
  */
 uint16_t IEEE754Converter::nativeNonIeeeToHalf(float value)
 {
-    uint16_t hbits = static_cast<uint16_t>(getSignBit(value)) << 15;
-    if (value == 0.0f)
+    uint16_t hbits = uint16_t(getSignBit(value) ? 0x8000U : 0);
+    if (areFloatsExactlyEqual(value, 0.0F))
     {
         return hbits;
     }
@@ -48,12 +48,12 @@ uint16_t IEEE754Converter::nativeNonIeeeToHalf(float value)
     else
     {
         value = std::ldexp(value, 11 - exp);
-        hbits |= ((exp + 14) << 10);
+        hbits |= uint16_t((exp + 14) << 10);
     }
     const int32_t ival = static_cast<int32_t>(value);
-    hbits |= static_cast<uint16_t>(((ival < 0) ? (-ival) : ival) & 0x3FFU);
+    hbits = uint16_t(hbits | (((ival < 0) ? (-ival) : ival) & 0x3FFU));
     float diff = std::fabs(value - static_cast<float>(ival));
-    hbits += diff >= 0.5F;
+    hbits = uint16_t(hbits + (diff >= 0.5F));
     return hbits;
 }
 
diff --git a/libuavcan/src/marshal/uc_scalar_codec.cpp b/libuavcan/src/marshal/uc_scalar_codec.cpp
index b0807a8bcd..6fa62e20b3 100644
--- a/libuavcan/src/marshal/uc_scalar_codec.cpp
+++ b/libuavcan/src/marshal/uc_scalar_codec.cpp
@@ -24,7 +24,7 @@ int ScalarCodec::encodeBytesImpl(uint8_t* const bytes, const unsigned bitlen)
     // Underlying stream class assumes that more significant bits have lower index, so we need to shift some.
     if (bitlen % 8)
     {
-        bytes[bitlen / 8] <<= (8 - (bitlen % 8)) & 7;
+        bytes[bitlen / 8] = uint8_t(bytes[bitlen / 8] << ((8 - (bitlen % 8)) & 7));
     }
     return stream_.write(bytes, bitlen);
 }
@@ -37,7 +37,7 @@ int ScalarCodec::decodeBytesImpl(uint8_t* const bytes, const unsigned bitlen)
     {
         if (bitlen % 8)
         {
-            bytes[bitlen / 8] >>= (8 - (bitlen % 8)) & 7;  // As in encode(), vice versa
+            bytes[bitlen / 8] = uint8_t(bytes[bitlen / 8] >> ((8 - (bitlen % 8)) & 7));  // As in encode(), vice versa
         }
     }
     return read_res;
diff --git a/libuavcan/src/protocol/uc_global_time_sync_master.cpp b/libuavcan/src/protocol/uc_global_time_sync_master.cpp
index 96ed06b1a8..8f45c43c1a 100644
--- a/libuavcan/src/protocol/uc_global_time_sync_master.cpp
+++ b/libuavcan/src/protocol/uc_global_time_sync_master.cpp
@@ -22,7 +22,7 @@ int GlobalTimeSyncMaster::IfaceMaster::init()
     {
         TransferSender* const ts = pub_.getTransferSender();
         UAVCAN_ASSERT(ts != NULL);
-        ts->setIfaceMask(1 << iface_index_);
+        ts->setIfaceMask(uint8_t(1 << iface_index_));
         ts->setCanIOFlags(CanIOFlagLoopback);
     }
     return res;
diff --git a/libuavcan/src/protocol/uc_network_compat_checker.cpp b/libuavcan/src/protocol/uc_network_compat_checker.cpp
index 4c215b29c8..6738f723cb 100644
--- a/libuavcan/src/protocol/uc_network_compat_checker.cpp
+++ b/libuavcan/src/protocol/uc_network_compat_checker.cpp
@@ -25,7 +25,7 @@ MonotonicDuration NetworkCompatibilityChecker::getNetworkDiscoveryDelay() const
 
 NodeID NetworkCompatibilityChecker::findNextUncheckedNode()
 {
-    for (int i = 1; i <= NodeID::Max; i++)
+    for (uint8_t i = 1; i <= NodeID::Max; i++)
     {
         if (nid_mask_present_.test(i) && !nid_mask_checked_.test(i))
         {
@@ -141,7 +141,10 @@ int NetworkCompatibilityChecker::checkNodes()
         {
             UAVCAN_TRACE("NodeInitializer", "Checking nid=%i", int(nid.get()));
             const int res = checkOneNode(nid);
-            result_.num_failed_nodes += (res < 0) ? 1U : 0U;
+            if (res < 0)
+            {
+                result_.num_failed_nodes++;
+            }
             UAVCAN_TRACE("NodeInitializer", "Checked nid=%i result=%i", int(nid.get()), res);
         }
         else { break; }
diff --git a/libuavcan/src/protocol/uc_node_status_monitor.cpp b/libuavcan/src/protocol/uc_node_status_monitor.cpp
index 6bb5a6e81f..1e3cd9f128 100644
--- a/libuavcan/src/protocol/uc_node_status_monitor.cpp
+++ b/libuavcan/src/protocol/uc_node_status_monitor.cpp
@@ -58,7 +58,7 @@ void NodeStatusMonitor::handleTimerEvent(const TimerEvent&)
 {
     const int OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100;
 
-    for (int i = 1; i <= NodeID::Max; i++)
+    for (uint8_t i = 1; i <= NodeID::Max; i++)
     {
         const NodeID nid(i);
         UAVCAN_ASSERT(nid.isUnicast());
@@ -66,7 +66,7 @@ void NodeStatusMonitor::handleTimerEvent(const TimerEvent&)
         if (entry.time_since_last_update_ms100 >= 0 &&
             entry.status_code != protocol::NodeStatus::STATUS_OFFLINE)
         {
-            entry.time_since_last_update_ms100 += TimerPeriodMs100;
+            entry.time_since_last_update_ms100 = int8_t(entry.time_since_last_update_ms100 + TimerPeriodMs100);
             if (entry.time_since_last_update_ms100 >= OfflineTimeoutMs100)
             {
                 Entry new_entry_value;
@@ -123,7 +123,7 @@ NodeID NodeStatusMonitor::findNodeWithWorstStatus() const
     NodeID nid_with_worst_status;
     NodeStatusCode worst_status_code = protocol::NodeStatus::STATUS_OK;
 
-    for (int i = 1; i <= NodeID::Max; i++)
+    for (uint8_t i = 1; i <= NodeID::Max; i++)
     {
         const NodeID nid(i);
         UAVCAN_ASSERT(nid.isUnicast());
diff --git a/libuavcan/src/protocol/uc_node_status_provider.cpp b/libuavcan/src/protocol/uc_node_status_provider.cpp
index 32a5bacb7f..7a6425684e 100644
--- a/libuavcan/src/protocol/uc_node_status_provider.cpp
+++ b/libuavcan/src/protocol/uc_node_status_provider.cpp
@@ -19,7 +19,7 @@ int NodeStatusProvider::publish()
 {
     const MonotonicDuration uptime = getNode().getMonotonicTime() - creation_timestamp_;
     UAVCAN_ASSERT(uptime.isPositive());
-    node_info_.status.uptime_sec = uptime.toMSec() / 1000;
+    node_info_.status.uptime_sec = uint32_t(uptime.toMSec() / 1000);
 
     UAVCAN_ASSERT(node_info_.status.status_code <= protocol::NodeStatus::FieldTypes::status_code::max());
 
diff --git a/libuavcan/src/protocol/uc_transport_stats_provider.cpp b/libuavcan/src/protocol/uc_transport_stats_provider.cpp
index 7a76bc431e..63c31c4ba7 100644
--- a/libuavcan/src/protocol/uc_transport_stats_provider.cpp
+++ b/libuavcan/src/protocol/uc_transport_stats_provider.cpp
@@ -19,7 +19,7 @@ void TransportStatsProvider::handleGetTransportStats(const protocol::GetTranspor
     resp.transfers_rx = perf.getRxTransferCount();
 
     const CanIOManager& canio = srv_.getNode().getDispatcher().getCanIOManager();
-    for (int i = 0; i < canio.getNumIfaces(); i++)
+    for (uint8_t i = 0; i < canio.getNumIfaces(); i++)
     {
         const CanIfacePerfCounters can_perf = canio.getIfacePerfCounters(i);
         protocol::CANIfaceStats stats;
diff --git a/libuavcan/src/transport/uc_can_io.cpp b/libuavcan/src/transport/uc_can_io.cpp
index 00113ecf50..dd9d19ba0f 100644
--- a/libuavcan/src/transport/uc_can_io.cpp
+++ b/libuavcan/src/transport/uc_can_io.cpp
@@ -20,7 +20,7 @@ std::string CanRxFrame::toString(StringRepresentation mode) const
     out += " ts_m="   + ts_mono.toString();
     out += " ts_utc=" + ts_utc.toString();
     out += " iface=";
-    out += '0' + iface_index;
+    out += char('0' + iface_index);
     return out;
 }
 #endif
@@ -268,7 +268,7 @@ uint8_t CanIOManager::makePendingTxMask() const
     {
         if (!tx_queues_[i]->isEmpty())
         {
-            write_mask |= 1 << i;
+            write_mask |= uint8_t(1 << i);
         }
     }
     return write_mask;
@@ -331,7 +331,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
                        uint8_t iface_mask, CanTxQueue::Qos qos, CanIOFlags flags)
 {
     const uint8_t num_ifaces = getNumIfaces();
-    const uint8_t all_ifaces_mask = (1U << num_ifaces) - 1;
+    const uint8_t all_ifaces_mask = uint8_t((1U << num_ifaces) - 1);
     iface_mask &= all_ifaces_mask;
 
     if (blocking_deadline > tx_deadline)
@@ -375,7 +375,7 @@ int CanIOManager::send(const CanFrame& frame, MonotonicTime tx_deadline, Monoton
                         res = sendToIface(i, frame, tx_deadline, flags);
                         if (res > 0)
                         {
-                            iface_mask &= ~(1 << i);              // Mark transmitted
+                            iface_mask &= uint8_t(~(1 << i));     // Mark transmitted
                         }
                     }
                 }
@@ -420,7 +420,7 @@ int CanIOManager::receive(CanRxFrame& out_frame, MonotonicTime blocking_deadline
     {
         CanSelectMasks masks;
         masks.write = makePendingTxMask();
-        masks.read = (1 << num_ifaces) - 1;
+        masks.read = uint8_t((1 << num_ifaces) - 1);
         {
             const int select_res = callSelect(masks, blocking_deadline);
             if (select_res < 0)
diff --git a/libuavcan/src/transport/uc_frame.cpp b/libuavcan/src/transport/uc_frame.cpp
index 58ad6ff945..f7b2fb17ec 100644
--- a/libuavcan/src/transport/uc_frame.cpp
+++ b/libuavcan/src/transport/uc_frame.cpp
@@ -42,7 +42,7 @@ int Frame::setPayload(const uint8_t* data, unsigned len)
     }
     len = min(unsigned(maxlen), len);
     (void)copy(data, data + len, payload_);
-    payload_len_ = len;
+    payload_len_ = uint_fast8_t(len);
     return len;
 }
 
@@ -69,12 +69,12 @@ bool Frame::parse(const CanFrame& can_frame)
      * CAN ID parsing
      */
     const uint32_t id = can_frame.id & CanFrame::MaskExtID;
-    transfer_id_   = bitunpack<0, 3>(id);
-    last_frame_    = bitunpack<3, 1>(id);
-    frame_index_   = bitunpack<4, 6>(id);
-    src_node_id_   = bitunpack<10, 7>(id);
+    transfer_id_   = uint8_t(bitunpack<0, 3>(id));
+    last_frame_    = bitunpack<3, 1>(id) != 0;
+    frame_index_   = uint8_t(bitunpack<4, 6>(id));
+    src_node_id_   = uint8_t(bitunpack<10, 7>(id));
     transfer_type_ = TransferType(bitunpack<17, 2>(id));
-    data_type_id_  = bitunpack<19, 10>(id);
+    data_type_id_  = uint16_t(bitunpack<19, 10>(id));
 
     /*
      * CAN payload parsing
@@ -101,7 +101,7 @@ bool Frame::parse(const CanFrame& can_frame)
             return false;
         }
         dst_node_id_ = can_frame.data[0] & 0x7F;
-        payload_len_ = can_frame.dlc - 1;
+        payload_len_ = uint8_t(can_frame.dlc - 1);
         (void)copy(can_frame.data + 1, can_frame.data + can_frame.dlc, payload_);
         break;
     }
@@ -117,7 +117,7 @@ bool Frame::parse(const CanFrame& can_frame)
 template <int OFFSET, int WIDTH>
 inline static uint32_t bitpack(uint32_t field)
 {
-    return (field & ((1UL << WIDTH) - 1)) << OFFSET;
+    return uint32_t((field & ((1UL << WIDTH) - 1)) << OFFSET);
 }
 
 bool Frame::compile(CanFrame& out_can_frame) const
@@ -151,7 +151,7 @@ bool Frame::compile(CanFrame& out_can_frame) const
     {
         UAVCAN_ASSERT((payload_len_ + 1U) <= sizeof(out_can_frame.data));
         out_can_frame.data[0] = dst_node_id_.get();
-        out_can_frame.dlc = payload_len_ + 1;
+        out_can_frame.dlc = uint8_t(payload_len_ + 1);
         (void)copy(payload_, payload_ + payload_len_, out_can_frame.data + 1);
         break;
     }
@@ -255,7 +255,7 @@ std::string RxFrame::toString() const
     out += " ts_m="   + ts_mono_.toString();
     out += " ts_utc=" + ts_utc_.toString();
     out += " iface=";
-    out += '0' + iface_index_;
+    out += char('0' + iface_index_);
     return out;
 }
 #endif
diff --git a/libuavcan/src/transport/uc_transfer_buffer.cpp b/libuavcan/src/transport/uc_transfer_buffer.cpp
index 192f43fdc2..dbdcbdc4b6 100644
--- a/libuavcan/src/transport/uc_transfer_buffer.cpp
+++ b/libuavcan/src/transport/uc_transfer_buffer.cpp
@@ -216,7 +216,7 @@ int DynamicTransferBufferManagerEntry::write(unsigned offset, const uint8_t* dat
     }
 
     const int actually_written = len - left_to_write;
-    max_write_pos_ = max(offset + actually_written, unsigned(max_write_pos_));
+    max_write_pos_ = max(uint16_t(offset + actually_written), uint16_t(max_write_pos_));
     return actually_written;
 }
 
@@ -260,7 +260,7 @@ int StaticTransferBufferImpl::write(unsigned offset, const uint8_t* data, unsign
     }
     UAVCAN_ASSERT((offset + len) <= size_);
     (void)copy(data, data + len, data_ + offset);
-    max_write_pos_ = max(offset + len, unsigned(max_write_pos_));
+    max_write_pos_ = max(uint16_t(offset + len), uint16_t(max_write_pos_));
     return len;
 }
 
@@ -268,7 +268,7 @@ void StaticTransferBufferImpl::reset()
 {
     max_write_pos_ = 0;
 #if UAVCAN_DEBUG
-    fill(data_, data_ + size_, 0);
+    fill(data_, data_ + size_, uint8_t(0));
 #endif
 }
 
@@ -306,7 +306,7 @@ bool StaticTransferBufferManagerEntryImpl::migrateFrom(const TransferBufferManag
         TransferBufferManagerEntry::reset();
         return false;
     }
-    buf_.setMaxWritePos(res);
+    buf_.setMaxWritePos(uint16_t(res));
     if (res < int(buf_.getSize()))
     {
         return true;
@@ -329,7 +329,7 @@ StaticTransferBufferManagerEntryImpl* TransferBufferManagerImpl::findFirstStatic
 {
     for (unsigned i = 0; true; i++)
     {
-        StaticTransferBufferManagerEntryImpl* const sb = getStaticByIndex(i);
+        StaticTransferBufferManagerEntryImpl* const sb = getStaticByIndex(uint16_t(i));
         if (sb == NULL)
         {
             break;
@@ -492,7 +492,7 @@ unsigned TransferBufferManagerImpl::getNumStaticBuffers() const
     unsigned res = 0;
     for (unsigned i = 0; true; i++)
     {
-        StaticTransferBufferManagerEntryImpl* const sb = getStaticByIndex(i);
+        StaticTransferBufferManagerEntryImpl* const sb = getStaticByIndex(uint16_t(i));
         if (sb == NULL)
         {
             break;
diff --git a/libuavcan/src/transport/uc_transfer_listener.cpp b/libuavcan/src/transport/uc_transfer_listener.cpp
index de6c72c910..ddd9a22698 100644
--- a/libuavcan/src/transport/uc_transfer_listener.cpp
+++ b/libuavcan/src/transport/uc_transfer_listener.cpp
@@ -25,7 +25,7 @@ SingleFrameIncomingTransfer::SingleFrameIncomingTransfer(const RxFrame& frm)
     : IncomingTransfer(frm.getMonotonicTimestamp(), frm.getUtcTimestamp(), frm.getTransferType(),
                        frm.getTransferID(), frm.getSrcNodeID(), frm.getIfaceIndex())
     , payload_(frm.getPayloadPtr())
-    , payload_len_(frm.getPayloadLen())
+    , payload_len_(uint8_t(frm.getPayloadLen()))
 {
     UAVCAN_ASSERT(frm.isValid());
 }
diff --git a/libuavcan/src/transport/uc_transfer_receiver.cpp b/libuavcan/src/transport/uc_transfer_receiver.cpp
index 7fff829a0f..a68f11c137 100644
--- a/libuavcan/src/transport/uc_transfer_receiver.cpp
+++ b/libuavcan/src/transport/uc_transfer_receiver.cpp
@@ -20,7 +20,7 @@ void TransferReceiver::registerError() const
 {
     if (error_cnt_ < 0xFF)
     {
-        error_cnt_ += 1;
+        error_cnt_ = static_cast<uint8_t>(error_cnt_ + 1);
     }
     else
     {
@@ -102,33 +102,33 @@ bool TransferReceiver::validate(const RxFrame& frame) const
 bool TransferReceiver::writePayload(const RxFrame& frame, ITransferBuffer& buf)
 {
     const uint8_t* const payload = frame.getPayloadPtr();
-    const int payload_len = frame.getPayloadLen();
+    const unsigned payload_len = frame.getPayloadLen();
 
     if (frame.isFirst())     // First frame contains CRC, we need to extract it now
     {
         if (frame.getPayloadLen() < TransferCRC::NumBytes)
         {
             return false;    // Must have been validated earlier though. I think I'm paranoid.
-
         }
-        this_transfer_crc_ = (payload[0] & 0xFF) | (uint16_t(payload[1] & 0xFF) << 8); // Little endian.
+        this_transfer_crc_ = static_cast<uint16_t>(payload[0] & 0xFF);
+        this_transfer_crc_ |= static_cast<uint16_t>(static_cast<uint16_t>(payload[1] & 0xFF) << 8);  // Little endian.
 
-        const int effective_payload_len = payload_len - TransferCRC::NumBytes;
+        const unsigned effective_payload_len = payload_len - TransferCRC::NumBytes;
         const int res = buf.write(buffer_write_pos_, payload + TransferCRC::NumBytes, effective_payload_len);
-        const bool success = res == effective_payload_len;
+        const bool success = res == static_cast<int>(effective_payload_len);
         if (success)
         {
-            buffer_write_pos_ += effective_payload_len;
+            buffer_write_pos_ = static_cast<uint16_t>(buffer_write_pos_ + effective_payload_len);
         }
         return success;
     }
     else
     {
         const int res = buf.write(buffer_write_pos_, payload, payload_len);
-        const bool success = res == payload_len;
+        const bool success = res == static_cast<int>(payload_len);
         if (success)
         {
-            buffer_write_pos_ += payload_len;
+            buffer_write_pos_ = static_cast<uint16_t>(buffer_write_pos_ + payload_len);
         }
         return success;
     }
diff --git a/libuavcan/src/transport/uc_transfer_sender.cpp b/libuavcan/src/transport/uc_transfer_sender.cpp
index f91e48b5e3..7ff5ce327f 100644
--- a/libuavcan/src/transport/uc_transfer_sender.cpp
+++ b/libuavcan/src/transport/uc_transfer_sender.cpp
@@ -52,8 +52,8 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
             static const int BUFLEN = sizeof(static_cast<CanFrame*>(0)->data);
             uint8_t buf[BUFLEN];
 
-            buf[0] = crc.get() & 0xFF;       // Transfer CRC, little endian
-            buf[1] = (crc.get() >> 8) & 0xFF;
+            buf[0] = uint8_t(crc.get() & 0xFFU);       // Transfer CRC, little endian
+            buf[1] = uint8_t((crc.get() >> 8) & 0xFF);
             (void)copy(payload, payload + BUFLEN - 2, buf + 2);
 
             const int write_res = frame.setPayload(buf, BUFLEN);
diff --git a/libuavcan/test/marshal/float_spec.cpp b/libuavcan/test/marshal/float_spec.cpp
index 3fa9b47225..ce0f6b5143 100644
--- a/libuavcan/test/marshal/float_spec.cpp
+++ b/libuavcan/test/marshal/float_spec.cpp
@@ -8,6 +8,14 @@
 #include <uavcan/transport/transfer_buffer.hpp>
 
 
+TEST(FloatSpec, Sizes)
+{
+    uavcan::StaticAssert<sizeof(uavcan::NativeFloatSelector<16>::Type) == 4>::check();
+    uavcan::StaticAssert<sizeof(uavcan::NativeFloatSelector<32>::Type) == 4>::check();
+    uavcan::StaticAssert<sizeof(uavcan::NativeFloatSelector<64>::Type) == 8>::check();
+    uavcan::StaticAssert<sizeof(uavcan::NativeFloatSelector<80>::Type) >= 10>::check();
+}
+
 TEST(FloatSpec, Limits)
 {
     using uavcan::FloatSpec;