diff --git a/libuavcan/include/uavcan/marshal/float_spec.hpp b/libuavcan/include/uavcan/marshal/float_spec.hpp
index 81ea17d509..b96485168b 100644
--- a/libuavcan/include/uavcan/marshal/float_spec.hpp
+++ b/libuavcan/include/uavcan/marshal/float_spec.hpp
@@ -50,10 +50,12 @@ public:
     static typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType
     toIeee(typename NativeFloatSelector<BitLen>::Type value)
     {
-        typedef typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType IntType;
-        typedef typename NativeFloatSelector<BitLen>::Type FloatType;
-        StaticAssert<sizeof(FloatType) * 8 == BitLen>::check();
-        union { IntType i; FloatType f; } u;
+        union
+        {
+            typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType i;
+            typename NativeFloatSelector<BitLen>::Type f;
+        } u;
+        StaticAssert<sizeof(u.f) * 8 == BitLen>::check();
         u.f = value;
         return u.i;
     }
@@ -62,10 +64,12 @@ public:
     static typename NativeFloatSelector<BitLen>::Type
     toNative(typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType value)
     {
-        typedef typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType IntType;
-        typedef typename NativeFloatSelector<BitLen>::Type FloatType;
-        StaticAssert<sizeof(FloatType) * 8 == BitLen>::check();
-        union { IntType i; FloatType f; } u;
+        union
+        {
+            typename IntegerSpec<BitLen, SignednessUnsigned, CastModeTruncate>::StorageType i;
+            typename NativeFloatSelector<BitLen>::Type f;
+        } u;
+        StaticAssert<sizeof(u.f) * 8 == BitLen>::check();
         u.i = value;
         return u.f;
     }
diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index fb4fde6599..56498092bc 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -142,7 +142,7 @@ GlobalDataTypeRegistry::RegistResult GlobalDataTypeRegistry::regist(DataTypeID i
         return RegistResultFrozen;
     }
 
-    static union EntryUnion
+    static union
     {
         uint8_t buffer[sizeof(Entry)];
         long long _aligner_1;
diff --git a/libuavcan_drivers/linux/include/uavcan_linux/clock.hpp b/libuavcan_drivers/linux/include/uavcan_linux/clock.hpp
index 4fd2e5196d..29fb75fe46 100644
--- a/libuavcan_drivers/linux/include/uavcan_linux/clock.hpp
+++ b/libuavcan_drivers/linux/include/uavcan_linux/clock.hpp
@@ -70,7 +70,7 @@ public:
 
     virtual uavcan::MonotonicTime getMonotonic() const
     {
-        struct timespec ts;
+        timespec ts;
         if (clock_gettime(CLOCK_MONOTONIC, &ts) != 0)
         {
             throw Exception("Failed to get monotonic time");