diff --git a/libuavcan/include/uavcan/internal/data_type.hpp b/libuavcan/include/uavcan/internal/data_type.hpp
index c9a2afaca2..8dc6f9098f 100644
--- a/libuavcan/include/uavcan/internal/data_type.hpp
+++ b/libuavcan/include/uavcan/internal/data_type.hpp
@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <stdint.h>
 #include <algorithm>
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/internal/transport/transfer.hpp b/libuavcan/include/uavcan/internal/transport/transfer.hpp
index e1fb148258..9a2c96848a 100644
--- a/libuavcan/include/uavcan/internal/transport/transfer.hpp
+++ b/libuavcan/include/uavcan/internal/transport/transfer.hpp
@@ -6,6 +6,7 @@
 
 #include <cassert>
 #include <algorithm>
+#include <string>
 #include <uavcan/internal/transport/can_io.hpp>
 
 namespace uavcan
@@ -71,7 +72,6 @@ public:
 struct Frame
 {
     enum { DATA_TYPE_ID_MAX = 1023 };
-    enum { NODE_ID_MAX = 127 };
     enum { FRAME_INDEX_MAX = 31 };
     enum { PAYLOAD_LEN_MAX = 8 };
 
@@ -130,6 +130,8 @@ struct Frame
             (payload_len == rhs.payload_len) &&
             std::equal(payload, payload + payload_len, rhs.payload);
     }
+
+    std::string toString() const;
 };
 
 
@@ -151,6 +153,8 @@ struct RxFrame : public Frame
         iface_index = can_frame.iface_index;
         return true;
     }
+
+    std::string toString() const;
 };
 
 }
diff --git a/libuavcan/src/transport/transfer.cpp b/libuavcan/src/transport/transfer.cpp
index 4195317f37..7ac75a11c4 100644
--- a/libuavcan/src/transport/transfer.cpp
+++ b/libuavcan/src/transport/transfer.cpp
@@ -3,6 +3,8 @@
  */
 
 #include <cassert>
+#include <cstdio>
+#include <sstream>
 #include <uavcan/internal/transport/transfer.hpp>
 
 namespace uavcan
@@ -74,4 +76,38 @@ CanFrame Frame::compile() const
     return frame;
 }
 
+std::string Frame::toString() const
+{
+    /*
+     * Frame ID fields, according to UAVCAN specs:
+     *  - Data Type ID
+     *  - Transfer Type
+     *  - Source Node ID
+     *  - Frame Index
+     *  - Last Frame
+     *  - Transfer ID
+     */
+    static const int BUFLEN = 100;
+    char buf[BUFLEN];
+    int ofs = std::snprintf(buf, BUFLEN, "dtid=%i tt=%i snid=%i idx=%i last=%i tid=%i payload=[",
+                            int(data_type_id), int(transfer_type), int(source_node_id), int(frame_index),
+                            int(last_frame), int(transfer_id.get()));
+
+    for (int i = 0; i < payload_len; i++)
+    {
+        ofs += std::snprintf(buf + ofs, BUFLEN - ofs, "%02x", payload[i]);
+        if ((i + 1) < payload_len)
+            ofs += std::snprintf(buf + ofs, BUFLEN - ofs, " ");
+    }
+    ofs += std::snprintf(buf + ofs, BUFLEN - ofs, "]");
+    return std::string(buf);
+}
+
+std::string RxFrame::toString() const
+{
+    std::ostringstream os;  // C++03 doesn't support long long, so we need ostream to print the timestamp
+    os << Frame::toString() << " ts=" << timestamp << " iface=" << int(iface_index);
+    return os.str();
+}
+
 }
diff --git a/libuavcan/test/transport/transfer.cpp b/libuavcan/test/transport/transfer.cpp
index b5fcb5a5c0..85625018eb 100644
--- a/libuavcan/test/transport/transfer.cpp
+++ b/libuavcan/test/transport/transfer.cpp
@@ -165,3 +165,39 @@ TEST(Transfer, RxFrameParse)
     ASSERT_EQ(456, rx_frame.data_type_id);
     ASSERT_EQ(uavcan::TRANSFER_TYPE_MESSAGE_BROADCAST, rx_frame.transfer_type);
 }
+
+
+TEST(Transfer, FrameToString)
+{
+    using uavcan::Frame;
+    using uavcan::RxFrame;
+
+    // RX frame default
+    RxFrame rx_frame;
+    EXPECT_EQ("dtid=0 tt=0 snid=0 idx=0 last=0 tid=0 payload=[] ts=0 iface=0", rx_frame.toString());
+
+    // RX frame max len
+    rx_frame.data_type_id = Frame::DATA_TYPE_ID_MAX;
+    rx_frame.transfer_type = uavcan::TransferType(uavcan::NUM_TRANSFER_TYPES - 1);
+    rx_frame.source_node_id = uavcan::NODE_ID_MAX;
+    rx_frame.frame_index = Frame::FRAME_INDEX_MAX;
+    rx_frame.last_frame = true;
+    rx_frame.transfer_id = uavcan::TransferID::MAX;
+    rx_frame.payload_len = Frame::PAYLOAD_LEN_MAX;
+    for (int i = 0; i < rx_frame.payload_len; i++)
+        rx_frame.payload[i] = i;
+    rx_frame.timestamp = 0xFFFFFFFFFFFFFFFF;
+    rx_frame.iface_index = 3;
+
+    EXPECT_EQ(
+    "dtid=1023 tt=3 snid=127 idx=31 last=1 tid=15 payload=[00 01 02 03 04 05 06 07] ts=18446744073709551615 iface=3",
+    rx_frame.toString());
+
+    // Plain frame default
+    Frame frame;
+    EXPECT_EQ("dtid=0 tt=0 snid=0 idx=0 last=0 tid=0 payload=[]", frame.toString());
+
+    // Plain frame max len
+    frame = rx_frame;
+    EXPECT_EQ("dtid=1023 tt=3 snid=127 idx=31 last=1 tid=15 payload=[00 01 02 03 04 05 06 07]", frame.toString());
+}