diff --git a/libuavcan/include/uavcan/protocol/logger.hpp b/libuavcan/include/uavcan/protocol/logger.hpp
new file mode 100644
index 0000000000..b1dc931616
--- /dev/null
+++ b/libuavcan/include/uavcan/protocol/logger.hpp
@@ -0,0 +1,142 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/time.hpp>
+#include <uavcan/debug.hpp>
+#include <uavcan/protocol/debug/LogMessage.hpp>
+#include <uavcan/marshal/char_array_formatter.hpp>
+#include <uavcan/node/publisher.hpp>
+
+#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
+# error UAVCAN_CPP_VERSION
+#endif
+
+namespace uavcan
+{
+
+class ILogSink
+{
+public:
+    virtual ~ILogSink() { }
+    virtual void log(const protocol::debug::LogMessage& message) = 0;
+};
+
+
+class Logger
+{
+public:
+    typedef typename StorageType<typename protocol::debug::LogLevel::FieldTypes::value>::Type LogLevel;
+
+    static const LogLevel LevelAboveAll = (protocol::debug::LogLevel::FieldTypes::value::BitLen << 1) - 1;
+
+private:
+    enum { DefaultTxTimeoutMs = 2000 };
+
+    Publisher<protocol::debug::LogMessage> logmsg_pub_;
+    protocol::debug::LogMessage msg_buf_;
+    LogLevel level_;
+    ILogSink* external_sink_;
+
+public:
+    Logger(INode& node)
+    : logmsg_pub_(node)
+    , external_sink_(NULL)
+    {
+        level_ = protocol::debug::LogLevel::ERROR;
+        setTxTimeout(MonotonicDuration::fromMSec(DefaultTxTimeoutMs));
+        assert(getTxTimeout() == MonotonicDuration::fromMSec(DefaultTxTimeoutMs));
+    }
+
+    int log(const protocol::debug::LogMessage& message);
+
+    LogLevel getLevel() const { return level_; }
+    void setLevel(LogLevel level) { level_ = level; }
+
+    ILogSink* getExternalSink() const { return external_sink_; }
+    void setExternalSink(ILogSink* sink) { external_sink_ = sink; }
+
+    MonotonicDuration getTxTimeout() const { return logmsg_pub_.getTxTimeout(); }
+    void setTxTimeout(MonotonicDuration val) { logmsg_pub_.setTxTimeout(val); }
+
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+
+    template <typename... Args>
+    int log(LogLevel level, const char* source, const char* format, Args... args)
+    {
+        if (level >= level_)
+        {
+            msg_buf_.level.value = level;
+            msg_buf_.source = source;
+            msg_buf_.text.clear();
+            CharArrayFormatter<typename protocol::debug::LogMessage::FieldTypes::text> formatter(msg_buf_.text);
+            formatter.write(format, args...);
+            return log(msg_buf_);
+        }
+        return 0;
+    }
+
+    template <typename... Args>
+    int logDebug(const char* source, const char* format, Args... args)
+    {
+        return log(protocol::debug::LogLevel::DEBUG, source, format, args...);
+    }
+
+    template <typename... Args>
+    int logInfo(const char* source, const char* format, Args... args)
+    {
+        return log(protocol::debug::LogLevel::INFO, source, format, args...);
+    }
+
+    template <typename... Args>
+    int logWarning(const char* source, const char* format, Args... args)
+    {
+        return log(protocol::debug::LogLevel::WARNING, source, format, args...);
+    }
+
+    template <typename... Args>
+    int logError(const char* source, const char* format, Args... args)
+    {
+        return log(protocol::debug::LogLevel::ERROR, source, format, args...);
+    }
+
+#else
+
+    int log(LogLevel level, const char* source, const char* text)
+    {
+        if (level >= level_)
+        {
+            msg_buf_.level.value = level;
+            msg_buf_.source = source;
+            msg_buf_.text = text;
+            return log(msg_buf_);
+        }
+        return 0;
+    }
+
+    int logDebug(const char* source, const char* text)
+    {
+        return log(protocol::debug::LogLevel::DEBUG, source, text);
+    }
+
+    int logInfo(const char* source, const char* text)
+    {
+        return log(protocol::debug::LogLevel::INFO, source, text);
+    }
+
+    int logWarning(const char* source, const char* text)
+    {
+        return log(protocol::debug::LogLevel::WARNING, source, text);
+    }
+
+    int logError(const char* source, const char* text)
+    {
+        return log(protocol::debug::LogLevel::ERROR, source, text);
+    }
+
+#endif
+};
+
+}
diff --git a/libuavcan/src/protocol/logger.cpp b/libuavcan/src/protocol/logger.cpp
new file mode 100644
index 0000000000..ce63cabf47
--- /dev/null
+++ b/libuavcan/src/protocol/logger.cpp
@@ -0,0 +1,26 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <uavcan/protocol/logger.hpp>
+
+namespace uavcan
+{
+
+const Logger::LogLevel Logger::LevelAboveAll;
+
+int Logger::log(const protocol::debug::LogMessage& message)
+{
+    if (message.level.value >= level_)
+    {
+        const int res = logmsg_pub_.broadcast(message);
+        if (external_sink_)
+        {
+            external_sink_->log(message);
+        }
+        return res;
+    }
+    return 0;
+}
+
+}
diff --git a/libuavcan/test/protocol/logger.cpp b/libuavcan/test/protocol/logger.cpp
new file mode 100644
index 0000000000..016e36b8fb
--- /dev/null
+++ b/libuavcan/test/protocol/logger.cpp
@@ -0,0 +1,123 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/protocol/logger.hpp>
+#include "helpers.hpp"
+
+
+struct LogSink : public uavcan::ILogSink
+{
+    std::queue<uavcan::protocol::debug::LogMessage> msgs;
+
+    void log(const uavcan::protocol::debug::LogMessage& message)
+    {
+        msgs.push(message);
+        std::cout << message << std::endl;
+    }
+
+    uavcan::protocol::debug::LogMessage pop()
+    {
+        if (msgs.empty())
+        {
+            std::cout << "LogSink is empty" << std::endl;
+            std::abort();
+        }
+        const uavcan::protocol::debug::LogMessage m = msgs.front();
+        msgs.pop();
+        return m;
+    }
+
+    bool popMatchByLevelAndText(int level, const std::string& source, const std::string& text)
+    {
+        const uavcan::protocol::debug::LogMessage m = pop();
+        return
+            level == m.level.value &&
+            source == m.source &&
+            text == m.text;
+    }
+};
+
+
+TEST(Logger, Basic)
+{
+    InterlinkedTestNodes nodes;
+
+    uavcan::Logger logger(nodes.a);
+
+    ASSERT_EQ(uavcan::protocol::debug::LogLevel::ERROR, logger.getLevel());
+
+    LogSink sink;
+
+    // Will fail - types are not registered
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    ASSERT_GT(0, logger.logError("foo", "Error (fail - type is not registered)"));
+    ASSERT_EQ(0, logger.logDebug("foo", "Debug (ignored - low logging level)"));
+
+    ASSERT_FALSE(logger.getExternalSink());
+    logger.setExternalSink(&sink);
+    ASSERT_EQ(&sink, logger.getExternalSink());
+
+    uavcan::GlobalDataTypeRegistry::instance().reset();
+    uavcan::DefaultDataTypeRegistrator<uavcan::protocol::debug::LogMessage> _reg1;
+
+    SubscriberWithCollector<uavcan::protocol::debug::LogMessage> log_sub(nodes.b);
+    ASSERT_LE(0, log_sub.start());
+
+    ASSERT_EQ(0, logger.logDebug("foo", "Debug (ignored due to low logging level)"));
+    ASSERT_LE(0, logger.logError("foo", "Error"));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+    ASSERT_EQ(log_sub.collector.msg->level.value, uavcan::protocol::debug::LogLevel::ERROR);
+    ASSERT_EQ(log_sub.collector.msg->source, "foo");
+    ASSERT_EQ(log_sub.collector.msg->text, "Error");
+
+    logger.setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
+    ASSERT_LE(0, logger.logWarning("foo", "Warning"));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+    ASSERT_EQ(log_sub.collector.msg->level.value, uavcan::protocol::debug::LogLevel::WARNING);
+    ASSERT_EQ(log_sub.collector.msg->source, "foo");
+    ASSERT_EQ(log_sub.collector.msg->text, "Warning");
+
+    ASSERT_LE(0, logger.logInfo("foo", "Info"));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+    ASSERT_EQ(log_sub.collector.msg->level.value, uavcan::protocol::debug::LogLevel::INFO);
+    ASSERT_EQ(log_sub.collector.msg->source, "foo");
+    ASSERT_EQ(log_sub.collector.msg->text, "Info");
+
+    ASSERT_LE(0, logger.logDebug("foo", "Debug"));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+    ASSERT_EQ(log_sub.collector.msg->level.value, uavcan::protocol::debug::LogLevel::DEBUG);
+    ASSERT_EQ(log_sub.collector.msg->source, "foo");
+    ASSERT_EQ(log_sub.collector.msg->text, "Debug");
+
+    ASSERT_TRUE(sink.popMatchByLevelAndText(uavcan::protocol::debug::LogLevel::ERROR,   "foo", "Error"));
+    ASSERT_TRUE(sink.popMatchByLevelAndText(uavcan::protocol::debug::LogLevel::WARNING, "foo", "Warning"));
+    ASSERT_TRUE(sink.popMatchByLevelAndText(uavcan::protocol::debug::LogLevel::INFO,    "foo", "Info"));
+    ASSERT_TRUE(sink.popMatchByLevelAndText(uavcan::protocol::debug::LogLevel::DEBUG,   "foo", "Debug"));
+}
+
+#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
+# error UAVCAN_CPP_VERSION
+#endif
+
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+
+TEST(Logger, Cpp11Formatting)
+{
+    InterlinkedTestNodes nodes;
+
+    uavcan::Logger logger(nodes.a);
+    logger.setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
+
+    SubscriberWithCollector<uavcan::protocol::debug::LogMessage> log_sub(nodes.b);
+    ASSERT_LE(0, log_sub.start());
+
+    ASSERT_LE(0, logger.logWarning("foo", "char='%*', %* is %*", '$', "double", 12.34));
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2));
+    ASSERT_EQ(log_sub.collector.msg->level.value, uavcan::protocol::debug::LogLevel::WARNING);
+    ASSERT_EQ(log_sub.collector.msg->source, "foo");
+    ASSERT_EQ(log_sub.collector.msg->text, "char='$', double is 12.340000");
+}
+
+#endif