diff --git a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/build_config.hpp b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/build_config.hpp
index 769545f6d2..15c1f927c8 100644
--- a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/build_config.hpp
+++ b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/include/uavcan_stm32h7/build_config.hpp
@@ -19,7 +19,7 @@
 #endif
 
 /**
- * Any General-Purpose timer (TIM2, TIM3, TIM4, TIM5)
+ * Any General-Purpose timer (TIM2, TIM3, TIM4, TIM5, TIM6, TIM7)
  * e.g. -DUAVCAN_STM32H7_TIMER_NUMBER=2
  */
 #ifndef UAVCAN_STM32H7_TIMER_NUMBER
diff --git a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_clock.cpp b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_clock.cpp
index 72c4170a1b..cd4a62dc5d 100644
--- a/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_clock.cpp
+++ b/src/drivers/uavcan/uavcan_drivers/stm32h7/driver/src/uc_stm32h7_clock.cpp
@@ -25,8 +25,8 @@
 # if UAVCAN_STM32H7_TIMER_NUMBER >= 2 && UAVCAN_STM32H7_TIMER_NUMBER <= 7
 #  define TIMX_RCC_ENR           RCC->APB1ENR
 #  define TIMX_RCC_RSTR          RCC->APB1RSTR
-#  define TIMX_RCC_ENR_MASK      UAVCAN_STM32H7_GLUE3(RCC_APB1ENR_TIM,  UAVCAN_STM32H7_TIMER_NUMBER, EN)
-#  define TIMX_RCC_RSTR_MASK     UAVCAN_STM32H7_GLUE3(RCC_APB1RSTR_TIM, UAVCAN_STM32H7_TIMER_NUMBER, RST)
+#  define TIMX_RCC_ENR_MASK      UAVCAN_STM32H7_GLUE3(RCC_APB1LENR_TIM,  UAVCAN_STM32H7_TIMER_NUMBER, EN)
+#  define TIMX_RCC_RSTR_MASK     UAVCAN_STM32H7_GLUE3(RCC_APB1LRSTR_TIM, UAVCAN_STM32H7_TIMER_NUMBER, RST)
 # else
 #  error "This UAVCAN_STM32H7_TIMER_NUMBER is not supported yet"
 # endif