diff --git a/libuavcan/include/uavcan/bitset.hpp b/libuavcan/include/uavcan/bitset.hpp
new file mode 100644
index 0000000000..74ea6cb765
--- /dev/null
+++ b/libuavcan/include/uavcan/bitset.hpp
@@ -0,0 +1,186 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cassert>
+#include <cstddef>
+#include <cstring>
+#include <uavcan/impl_constants.hpp>
+
+namespace uavcan
+{
+/**
+ * STL-like bitset
+ */
+template <std::size_t NumBits>
+class BitSet
+{
+    enum { NumBytes = (NumBits + 7) / 8 };
+
+    static std::size_t getByteNum(std::size_t bit_num) { return bit_num / 8; }
+
+    static std::size_t getBitNum(const std::size_t bit_num) { return bit_num % 8; }
+
+    static void validatePos(std::size_t& inout_pos)
+    {
+        if (inout_pos >= NumBits)
+        {
+            assert(0);
+            inout_pos = NumBits - 1;
+        }
+    }
+
+    char data_[NumBytes];
+
+public:
+    class Reference
+    {
+        friend class BitSet;
+
+        BitSet* const parent_;
+        const std::size_t bitpos_;
+
+        Reference(BitSet* arg_parent, std::size_t arg_bitpos)
+            : parent_(arg_parent)
+            , bitpos_(arg_bitpos)
+        { }
+
+    public:
+        Reference& operator=(bool x)
+        {
+            parent_->set(bitpos_, x);
+            return *this;
+        }
+
+        Reference& operator=(const Reference& x)
+        {
+            parent_->set(bitpos_, x);
+            return *this;
+        }
+
+        bool operator~() const
+        {
+            return !parent_->test(bitpos_);
+        }
+
+        operator bool() const
+        {
+            return parent_->test(bitpos_);
+        }
+    };
+
+    BitSet()
+        : data_()
+    {
+        reset();
+    }
+
+    BitSet<NumBits>& reset()
+    {
+        std::memset(data_, 0, NumBytes);
+        return *this;
+    }
+
+    BitSet<NumBits>& set()
+    {
+        std::memset(data_, 0xFF, NumBytes);
+        return *this;
+    }
+
+    BitSet<NumBits>& set(std::size_t pos, bool val = true)
+    {
+        validatePos(pos);
+        if (val)
+        {
+            data_[getByteNum(pos)] |= (1 << getBitNum(pos));
+        }
+        else
+        {
+            data_[getByteNum(pos)] &= ~(1 << getBitNum(pos));
+        }
+        return *this;
+    }
+
+    bool test(std::size_t pos) const
+    {
+        return (data_[getByteNum(pos)] & (1 << getBitNum(pos))) != 0;
+    }
+
+    bool any() const
+    {
+        for (std::size_t i = 0; i < NumBits; ++i)
+        {
+            if (test(i))
+            {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    std::size_t count() const
+    {
+        std::size_t retval = 0;
+        for (std::size_t i = 0; i < NumBits; ++i)
+        {
+            retval += test(i) ? 1U : 0U;
+        }
+        return retval;
+    }
+
+    std::size_t size() const { return NumBits; }
+
+    bool operator[](std::size_t pos) const
+    {
+        return test(pos);
+    }
+
+    Reference operator[](std::size_t pos)
+    {
+        validatePos(pos);
+        return Reference(this, pos);
+    }
+
+    BitSet<NumBits>& operator=(const BitSet<NumBits> & rhs)
+    {
+        if (&rhs == this)
+        {
+            return *this;
+        }
+        for (std::size_t i = 0; i < NumBytes; ++i)
+        {
+            data_[i] = rhs.data_[i];
+        }
+        return *this;
+    }
+
+    bool operator!=(const BitSet<NumBits>& rhs) const { return !operator==(rhs); }
+    bool operator==(const BitSet<NumBits>& rhs) const
+    {
+        for (std::size_t i = 0; i < NumBits; ++i)
+        {
+            if (test(i) != rhs.test(i))
+            {
+                return false;
+            }
+        }
+        return true;
+    }
+};
+
+template <> class BitSet<0>;  ///< Invalid instantiation
+
+
+template <typename Stream, std::size_t NumBits>
+Stream& operator<<(Stream& s, const BitSet<NumBits>& x)
+{
+    for (std::size_t i = NumBits; i > 0; --i)
+    {
+        s << (x.test(i-1) ? "1" : "0");
+    }
+    return s;
+}
+
+}
diff --git a/libuavcan/include/uavcan/marshal/array.hpp b/libuavcan/include/uavcan/marshal/array.hpp
index 0b90c001ae..399759de36 100644
--- a/libuavcan/include/uavcan/marshal/array.hpp
+++ b/libuavcan/include/uavcan/marshal/array.hpp
@@ -5,13 +5,12 @@
 #pragma once
 
 #include <cassert>
-#include <bitset>
 #include <cstdio>
 #include <algorithm>
-#include <stdexcept>
 #include <cstring>
 #include <cmath>
 #include <uavcan/error.hpp>
+#include <uavcan/bitset.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/marshal/type_util.hpp>
@@ -21,6 +20,10 @@
 # error UAVCAN_EXCEPTIONS
 #endif
 
+#if UAVCAN_EXCEPTIONS
+# include <stdexcept>
+#endif
+
 namespace uavcan
 {
 
@@ -202,7 +205,7 @@ public:
  */
 template <unsigned MaxSize, ArrayMode ArrayMode, CastMode CastMode>
 class UAVCAN_EXPORT ArrayImpl<IntegerSpec<1, SignednessUnsigned, CastMode>, ArrayMode, MaxSize>
-    : public std::bitset<MaxSize>
+    : public BitSet<MaxSize>
     , public Select<ArrayMode == ArrayModeDynamic, DynamicArrayBase<MaxSize>, StaticArrayBase<MaxSize> >::Result
 {
     typedef typename Select<ArrayMode == ArrayModeDynamic,
@@ -211,14 +214,14 @@ class UAVCAN_EXPORT ArrayImpl<IntegerSpec<1, SignednessUnsigned, CastMode>, Arra
 public:
     enum { IsStringLike = 0 };
 
-    typedef typename std::bitset<MaxSize>::reference Reference;
+    typedef typename BitSet<MaxSize>::Reference Reference;
     typedef typename ArrayBase::SizeType SizeType;
 
     using ArrayBase::size;
     using ArrayBase::capacity;
 
-    Reference at(SizeType pos)  { return std::bitset<MaxSize>::operator[](ArrayBase::validateRange(pos)); }
-    bool at(SizeType pos) const { return std::bitset<MaxSize>::operator[](ArrayBase::validateRange(pos)); }
+    Reference at(SizeType pos)  { return BitSet<MaxSize>::operator[](ArrayBase::validateRange(pos)); }
+    bool at(SizeType pos) const { return BitSet<MaxSize>::operator[](ArrayBase::validateRange(pos)); }
 
     Reference operator[](SizeType pos)  { return at(pos); }
     bool operator[](SizeType pos) const { return at(pos); }
diff --git a/libuavcan/include/uavcan/node/global_data_type_registry.hpp b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
index 5fed147554..d18785690b 100644
--- a/libuavcan/include/uavcan/node/global_data_type_registry.hpp
+++ b/libuavcan/include/uavcan/node/global_data_type_registry.hpp
@@ -5,11 +5,11 @@
 #pragma once
 
 #include <cassert>
-#include <bitset>
 #include <algorithm>
 #include <uavcan/error.hpp>
 #include <uavcan/stdint.hpp>
 #include <uavcan/data_type.hpp>
+#include <uavcan/bitset.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/linked_list.hpp>
 #if UAVCAN_DEBUG
@@ -19,7 +19,7 @@
 namespace uavcan
 {
 
-typedef std::bitset<DataTypeID::Max + 1> DataTypeIDMask;
+typedef BitSet<DataTypeID::Max + 1> DataTypeIDMask;
 
 class UAVCAN_EXPORT GlobalDataTypeRegistry : Noncopyable
 {
diff --git a/libuavcan/include/uavcan/protocol/network_compat_checker.hpp b/libuavcan/include/uavcan/protocol/network_compat_checker.hpp
index da8444d397..61ed7f1fe4 100644
--- a/libuavcan/include/uavcan/protocol/network_compat_checker.hpp
+++ b/libuavcan/include/uavcan/protocol/network_compat_checker.hpp
@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <bitset>
+#include <uavcan/bitset.hpp>
 #include <uavcan/util/method_binder.hpp>
 #include <uavcan/node/subscriber.hpp>
 #include <uavcan/node/service_client.hpp>
@@ -26,7 +26,7 @@ struct UAVCAN_EXPORT NetworkCompatibilityCheckResult
  */
 class UAVCAN_EXPORT NetworkCompatibilityChecker : Noncopyable
 {
-    typedef std::bitset<NodeID::Max + 1> NodeIDMask;
+    typedef BitSet<NodeID::Max + 1> NodeIDMask;
     typedef MethodBinder<NetworkCompatibilityChecker*,
                          void (NetworkCompatibilityChecker::*)(const ReceivedDataStructure<protocol::NodeStatus>&)>
             NodeStatusCallback;
diff --git a/libuavcan/src/uc_error.cpp b/libuavcan/src/uc_error.cpp
index 938fbe4a87..bfa15bc9f0 100644
--- a/libuavcan/src/uc_error.cpp
+++ b/libuavcan/src/uc_error.cpp
@@ -5,12 +5,15 @@
 #include <uavcan/error.hpp>
 #include <cassert>
 #include <cstdlib>
-#include <stdexcept>
 
 #ifndef UAVCAN_EXCEPTIONS
 # error UAVCAN_EXCEPTIONS
 #endif
 
+#if UAVCAN_EXCEPTIONS
+# include <stdexcept>
+#endif
+
 namespace uavcan
 {