diff --git a/libuavcan/include/uavcan/transport/transfer_receiver.hpp b/libuavcan/include/uavcan/transport/transfer_receiver.hpp
index aec331fc8a..124983dbf3 100644
--- a/libuavcan/include/uavcan/transport/transfer_receiver.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_receiver.hpp
@@ -41,9 +41,12 @@ private:
     TransferID tid_;
     uint8_t iface_index_;
     uint8_t next_frame_index_;
+    uint8_t error_cnt_;
 
     bool isInitialized() const { return iface_index_ != IfaceIndexNotSet; }
 
+    void registerError();
+
     TidRelation getTidRelation(const RxFrame& frame) const;
 
     void updateTransferTimings();
@@ -60,12 +63,15 @@ public:
         , buffer_write_pos_(0)
         , iface_index_(IfaceIndexNotSet)
         , next_frame_index_(0)
+        , error_cnt_(0)
     { }
 
     bool isTimedOut(MonotonicTime current_ts) const;
 
     ResultCode addFrame(const RxFrame& frame, TransferBufferAccessor& tba);
 
+    uint8_t yieldErrorCount();
+
     MonotonicTime getLastTransferTimestampMonotonic() const { return prev_transfer_ts_; }
     UtcTime getLastTransferTimestampUtc() const { return first_frame_ts_; }
 
diff --git a/libuavcan/src/transport/transfer_listener.cpp b/libuavcan/src/transport/transfer_listener.cpp
index 95f937cbe3..15cf399ab7 100644
--- a/libuavcan/src/transport/transfer_listener.cpp
+++ b/libuavcan/src/transport/transfer_listener.cpp
@@ -114,7 +114,6 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
     case TransferReceiver::ResultNotComplete:
     {
         return;
-
     }
     case TransferReceiver::ResultSingleFrame:
     {
@@ -122,7 +121,6 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
         handleIncomingTransfer(it);
         return;
     }
-
     case TransferReceiver::ResultComplete:
     {
         const ITransferBuffer* tbb = tba.access();
@@ -131,20 +129,17 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
             UAVCAN_TRACE("TransferListenerBase", "Buffer access failure, last frame: %s", frame.toString().c_str());
             return;
         }
-
         if (!checkPayloadCrc(receiver.getLastTransferCrc(), *tbb))
         {
             UAVCAN_TRACE("TransferListenerBase", "CRC error, last frame: %s", frame.toString().c_str());
             return;
         }
-
         MultiFrameIncomingTransfer it(receiver.getLastTransferTimestampMonotonic(),
                                       receiver.getLastTransferTimestampUtc(), frame, tba);
         handleIncomingTransfer(it);
         it.release();
         return;
     }
-
     default:
     {
         assert(0);
diff --git a/libuavcan/src/transport/transfer_receiver.cpp b/libuavcan/src/transport/transfer_receiver.cpp
index c665d61623..ad022690aa 100644
--- a/libuavcan/src/transport/transfer_receiver.cpp
+++ b/libuavcan/src/transport/transfer_receiver.cpp
@@ -17,6 +17,18 @@ const uint32_t TransferReceiver::MinTransferIntervalUSec;
 const uint32_t TransferReceiver::MaxTransferIntervalUSec;
 const uint32_t TransferReceiver::DefaultTransferIntervalUSec;
 
+void TransferReceiver::registerError()
+{
+    if (error_cnt_ < 0xFF)
+    {
+        error_cnt_ += 1;
+    }
+    else
+    {
+        assert(0);
+    }
+}
+
 TransferReceiver::TidRelation TransferReceiver::getTidRelation(const RxFrame& frame) const
 {
     const int distance = tid_.computeForwardDistance(frame.getTransferID());
@@ -151,6 +163,7 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
     {
         UAVCAN_TRACE("TransferReceiver", "Failed to access the buffer, %s", frame.toString().c_str());
         prepareForNextTransfer();
+        registerError();
         return ResultNotComplete;
     }
     if (!writePayload(frame, *buf))
@@ -158,6 +171,7 @@ TransferReceiver::ResultCode TransferReceiver::receive(const RxFrame& frame, Tra
         UAVCAN_TRACE("TransferReceiver", "Payload write failed, %s", frame.toString().c_str());
         tba.remove();
         prepareForNextTransfer();
+        registerError();
         return ResultNotComplete;
     }
     next_frame_index_++;
@@ -207,6 +221,11 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
 
     if (need_restart)
     {
+        const bool error = !not_initialized && !receiver_timed_out;
+        if (error)
+        {
+            registerError();
+        }
         UAVCAN_TRACE("TransferReceiver",
                      "Restart [not_inited=%i, iface_timeout=%i, recv_timeout=%i, same_iface=%i, first_frame=%i, tid_rel=%i], %s",
                      int(not_initialized), int(iface_timed_out), int(receiver_timed_out), int(same_iface),
@@ -226,10 +245,18 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr
 
     if (!validate(frame))
     {
+        registerError();
         return ResultNotComplete;
     }
 
     return receive(frame, tba);
 }
 
+uint8_t TransferReceiver::yieldErrorCount()
+{
+    const uint8_t ret = error_cnt_;
+    error_cnt_ = 0;
+    return ret;
+}
+
 }
diff --git a/libuavcan/test/transport/transfer_receiver.cpp b/libuavcan/test/transport/transfer_receiver.cpp
index 7ede87f30d..a7cfdcfd37 100644
--- a/libuavcan/test/transport/transfer_receiver.cpp
+++ b/libuavcan/test/transport/transfer_receiver.cpp
@@ -245,6 +245,9 @@ TEST(TransferReceiver, OutOfBufferSpace_32bytes)
 
     ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());  // Timestamp will not be overriden
     ASSERT_FALSE(bufmgr.access(gen.bufmgr_key));                    // Buffer should be removed
+
+    ASSERT_EQ(1, rcv.yieldErrorCount());
+    ASSERT_EQ(0, rcv.yieldErrorCount());
 }
 
 
@@ -266,6 +269,9 @@ TEST(TransferReceiver, UnterminatedTransfer)
     ASSERT_EQ(1000, rcv.getLastTransferTimestampMonotonic().toUSec());
     ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), std::string(content, 2)));
     ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
+
+    ASSERT_EQ(1, rcv.yieldErrorCount());
+    ASSERT_EQ(0, rcv.yieldErrorCount());
 }
 
 
@@ -287,6 +293,9 @@ TEST(TransferReceiver, OutOfOrderFrames)
     ASSERT_EQ(100000000, rcv.getLastTransferTimestampMonotonic().toUSec());
     ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "345678qwertyuiabcd"));
     ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
+
+    ASSERT_EQ(3, rcv.yieldErrorCount());
+    ASSERT_EQ(0, rcv.yieldErrorCount());
 }
 
 
@@ -359,6 +368,9 @@ TEST(TransferReceiver, Restart)
 
     ASSERT_TRUE(matchBufferContent(bufmgr.access(gen.bufmgr_key), "3456781234567812345678"));
     ASSERT_EQ(0x3231, rcv.getLastTransferCrc());
+
+    ASSERT_EQ(3, rcv.yieldErrorCount());
+    ASSERT_EQ(0, rcv.yieldErrorCount());
 }