diff --git a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
index 8ce479eee6..ca2e1aabbd 100644
--- a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
+++ b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
@@ -131,7 +131,7 @@ public:
         , self_index_(self_index)
         , had_activity_(false)
     {
-        assert(self_index_ < UAVCAN_STM32_NUM_IFACES);
+        UAVCAN_ASSERT(self_index_ < UAVCAN_STM32_NUM_IFACES);
     }
 
     /**
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
index 25274ff0ec..3b2b5ce7da 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -60,7 +60,7 @@ CanIface* ifaces[UAVCAN_STM32_NUM_IFACES] =
 
 inline void handleTxInterrupt(uavcan::uint8_t iface_index)
 {
-    assert(iface_index < UAVCAN_STM32_NUM_IFACES);
+    UAVCAN_ASSERT(iface_index < UAVCAN_STM32_NUM_IFACES);
     uavcan::uint64_t utc_usec = clock::getUtcUSecFromCanInterrupt();
     if (utc_usec > 0)
     {
@@ -72,13 +72,13 @@ inline void handleTxInterrupt(uavcan::uint8_t iface_index)
     }
     else
     {
-        assert(0);
+        UAVCAN_ASSERT(0);
     }
 }
 
 inline void handleRxInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t fifo_index)
 {
-    assert(iface_index < UAVCAN_STM32_NUM_IFACES);
+    UAVCAN_ASSERT(iface_index < UAVCAN_STM32_NUM_IFACES);
     uavcan::uint64_t utc_usec = clock::getUtcUSecFromCanInterrupt();
     if (utc_usec > 0)
     {
@@ -90,7 +90,7 @@ inline void handleRxInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t fifo_
     }
     else
     {
-        assert(0);
+        UAVCAN_ASSERT(0);
     }
 }
 
@@ -144,7 +144,7 @@ void CanIface::RxQueue::pop(uavcan::CanFrame& out_frame, uavcan::uint64_t& out_u
         }
         len_--;
     }
-    else { assert(0); }
+    else { UAVCAN_ASSERT(0); }
 }
 
 /*
@@ -430,7 +430,7 @@ void CanIface::pollErrorState()
 
 void CanIface::handleTxMailboxInterrupt(uavcan::uint8_t mailbox_index, bool txok, const uavcan::uint64_t utc_usec)
 {
-    assert(mailbox_index < NumTxMailboxes);
+    UAVCAN_ASSERT(mailbox_index < NumTxMailboxes);
 
     had_activity_ = had_activity_ || txok;
 
@@ -473,12 +473,12 @@ void CanIface::handleTxInterrupt(const uavcan::uint64_t utc_usec)
 
 void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t utc_usec)
 {
-    assert(fifo_index < 2);
+    UAVCAN_ASSERT(fifo_index < 2);
 
     volatile uavcan::uint32_t* const rfr_reg = (fifo_index == 0) ? &can_->RF0R : &can_->RF1R;
     if ((*rfr_reg & bxcan::RFR_FMP_MASK) == 0)
     {
-        assert(0);  // Weird, IRQ is here but no data to read
+        UAVCAN_ASSERT(0);  // Weird, IRQ is here but no data to read
         return;
     }
 
@@ -729,12 +729,12 @@ int CanDriver::init(uavcan::uint32_t bitrate)
 #endif
 
     UAVCAN_STM32_LOG("CAN drv init OK");
-    assert(res >= 0);
+    UAVCAN_ASSERT(res >= 0);
     return res;
 
 fail:
     UAVCAN_STM32_LOG("CAN drv init failed %i", res);
-    assert(res < 0);
+    UAVCAN_ASSERT(res < 0);
 
     CriticalSectionLocker lock;
 
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
index 3db8babde2..b12b86852e 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_clock.cpp
@@ -90,8 +90,8 @@ void init()
 
 static uavcan::uint64_t sampleUtcFromCriticalSection()
 {
-    assert(initialized);
-    assert(TIMX->DIER & TIM_DIER_UIE);
+    UAVCAN_ASSERT(initialized);
+    UAVCAN_ASSERT(TIMX->DIER & TIM_DIER_UIE);
 
     volatile uavcan::uint64_t time = time_utc;
     volatile uavcan::uint32_t cnt = TIMX->CNT;
@@ -126,7 +126,7 @@ uavcan::MonotonicTime getMonotonic()
 
 #if !NDEBUG
         static uavcan::uint64_t prev_usec = 0;  // Self-test
-        assert(prev_usec <= usec);
+        UAVCAN_ASSERT(prev_usec <= usec);
         prev_usec = usec;
 #endif
     }
@@ -205,7 +205,7 @@ static void updateRatePID(uavcan::UtcDuration adjustment)
 void adjustUtc(uavcan::UtcDuration adjustment)
 {
     MutexLocker mlocker(mutex);
-    assert(initialized);
+    UAVCAN_ASSERT(initialized);
 
     if (adjustment.getAbs() > utc_sync_params.min_jump || !utc_set)
     {
@@ -310,7 +310,7 @@ UAVCAN_STM32_IRQ_HANDLER(TIMX_IRQHandler)
     TIMX->SR = 0;
 
     using namespace uavcan_stm32::clock;
-    assert(initialized);
+    UAVCAN_ASSERT(initialized);
 
     time_mono += USecPerOverflow;