diff --git a/libuavcan/include/uavcan/marshal/char_array_formatter.hpp b/libuavcan/include/uavcan/marshal/char_array_formatter.hpp
new file mode 100644
index 0000000000..a0b2c7aac6
--- /dev/null
+++ b/libuavcan/include/uavcan/marshal/char_array_formatter.hpp
@@ -0,0 +1,133 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/impl_constants.hpp>
+#include <uavcan/marshal/array.hpp>
+
+#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
+# error UAVCAN_CPP_VERSION
+#endif
+
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+# include <type_traits>
+#endif
+
+namespace uavcan
+{
+
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+
+template <typename ArrayType_>
+class CharArrayFormatter
+{
+    ArrayType_& array_;
+
+    template <typename T>
+    typename std::enable_if<std::is_floating_point<T>::value>::type
+    writeValue(T value)
+    {
+        array_.template appendFormatted<double>("%f", double(value));
+    }
+
+    template <typename T>
+    typename std::enable_if<std::is_integral<T>::value>::type
+    writeValue(T value)
+    {
+        if (std::is_same<T, char>())
+        {
+            array_.template appendFormatted("%c", value); // TODO: speedup
+        }
+        else if (std::is_signed<T>())
+        {
+            array_.template appendFormatted<long long>("%lli", static_cast<long long>(value));
+        }
+        else
+        {
+            array_.template appendFormatted<unsigned long long>("%llu", static_cast<unsigned long long>(value));
+        }
+    }
+
+    template <typename T>
+    typename std::enable_if<std::is_pointer<T>::value && !std::is_same<T, const char*>::value>::type
+    writeValue(T value)
+    {
+        array_.template appendFormatted<const void*>("%p", static_cast<const void*>(value));
+    }
+
+    void writeValue(const char* value)
+    {
+        array_.template appendFormatted<const char*>("%s", value);
+    }
+
+public:
+    typedef ArrayType_ ArrayType;
+
+    CharArrayFormatter(ArrayType& array)
+    : array_(array)
+    { }
+
+    ArrayType& getArray() { return array_; }
+    const ArrayType& getArray() const { return array_; }
+
+    void write(const char* text)
+    {
+        writeValue(text);
+    }
+
+    template<typename T, typename... Args>
+    void write(const char* s, T value, Args... args)
+    {
+        while (s && *s)
+        {
+            if (*s == '%' && *++s != '%')
+            {
+                writeValue(value);
+                write(++s, args...);
+                break;
+            }
+            writeValue(*s++);
+        }
+    }
+};
+
+#else
+
+template <typename ArrayType_>
+class CharArrayFormatter
+{
+    ArrayType_& array_;
+
+public:
+    typedef ArrayType_ ArrayType;
+
+    CharArrayFormatter(ArrayType& array)
+    : array_(array)
+    { }
+
+    ArrayType& getArray() { return array_; }
+    const ArrayType& getArray() const { return array_; }
+
+    void write(const char* const text)
+    {
+        array_.template appendFormatted<const char*>("%s", text);
+    }
+
+    /**
+     * This version does not support more than one formatted argument, though it can be improved.
+     * And it is unsafe.
+     * There is typesafe version for C++11 above.
+     * TODO: make this version typesafe and add support for multiple args.
+     */
+    template <typename A>
+    void write(const char* const format, const A value)
+    {
+        array_.template appendFormatted<A>(format, value);
+    }
+};
+
+#endif
+
+}
diff --git a/libuavcan/test/marshal/char_array_formatter.cpp b/libuavcan/test/marshal/char_array_formatter.cpp
new file mode 100644
index 0000000000..9bf8a6c9f2
--- /dev/null
+++ b/libuavcan/test/marshal/char_array_formatter.cpp
@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/marshal/char_array_formatter.hpp>
+
+using uavcan::Array;
+using uavcan::ArrayModeDynamic;
+using uavcan::ArrayModeStatic;
+using uavcan::IntegerSpec;
+using uavcan::SignednessSigned;
+using uavcan::SignednessUnsigned;
+using uavcan::CastModeSaturate;
+using uavcan::CastModeTruncate;
+using uavcan::CharArrayFormatter;
+
+TEST(CharArrayFormatter, Basic)
+{
+    typedef Array<IntegerSpec<8, SignednessUnsigned, CastModeSaturate>, ArrayModeDynamic, 45> A8;
+    A8 a;
+
+    CharArrayFormatter<A8> f(a);
+    ASSERT_STREQ("", f.getArray().c_str());
+
+    f.write("Don't %s.", "Panic");
+    ASSERT_STREQ("Don't Panic.", f.getArray().c_str());
+
+    f.write(" abc%idef ", 123);
+    ASSERT_STREQ("Don't Panic. abc123def ", f.getArray().c_str());
+
+    f.write("%f", 0.0);
+    ASSERT_STREQ("Don't Panic. abc123def 0.000000", f.getArray().c_str());
+
+    a.clear();
+    ASSERT_STREQ("", f.getArray().c_str());
+
+    f.write("123456789");
+    ASSERT_STREQ("123456789", f.getArray().c_str());
+}
+
+#if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
+# error UAVCAN_CPP_VERSION
+#endif
+
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+
+TEST(CharArrayFormatter, Hardcore)
+{
+    typedef Array<IntegerSpec<8, SignednessUnsigned, CastModeSaturate>, ArrayModeDynamic, 150> A8;
+    A8 a;
+
+    CharArrayFormatter<A8> f(a);
+
+    f.write("%% char='%*' double='%*' long='%*' unsigned long='%*' int='%s' long double='%*' bool='%*' const char='%*' %%",
+        '%', -12.3456, -123456789123456789L, 987654321, -123456789, 0.000001L, true, "Don't Panic.");
+
+    static const std::string Reference =
+        "% char='%' double='-12.345600' long='-123456789123456789' unsigned long='987654321' int='-123456789' "
+        "long double='0.000001' bool='1' const char='Don't"; // 8 chars truncated!
+
+    ASSERT_STREQ(Reference.c_str(), f.getArray().c_str());
+
+    a.clear();
+
+    f.write("");
+    ASSERT_STREQ("", f.getArray().c_str());
+
+    f.write("%%");                                   // Nothing to format --> "%%" is not expanded
+    ASSERT_STREQ("%%", f.getArray().c_str());
+
+    f.write("%*", "Test", 123, true);                // Extra args ignored
+    ASSERT_STREQ("%%Test", f.getArray().c_str());
+
+    f.write("%% %* %* %% %*", true);                 // Insufficient args are OK; second "%%" is not expanded
+    ASSERT_STREQ("%%Test% 1 %* %% %*", f.getArray().c_str());
+}
+
+#endif