diff --git a/libuavcan/include/uavcan/internal/transport/can_io.hpp b/libuavcan/include/uavcan/internal/transport/can_io.hpp
index d92c28d2c7..c2a16390ad 100644
--- a/libuavcan/include/uavcan/internal/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/internal/transport/can_io.hpp
@@ -28,6 +28,8 @@ struct CanRxFrame : public CanFrame
     , ts_utc(0)
     , iface_index(0)
     { }
+
+    std::string toString(StringRepresentation mode = STR_TIGHT) const;
 };
 
 
diff --git a/libuavcan/src/transport/can_io.cpp b/libuavcan/src/transport/can_io.cpp
index b1d4d0fed6..e4e3c577f0 100644
--- a/libuavcan/src/transport/can_io.cpp
+++ b/libuavcan/src/transport/can_io.cpp
@@ -4,12 +4,24 @@
  */
 
 #include <algorithm>
+#include <sstream>
 #include <limits>
 #include <uavcan/internal/transport/can_io.hpp>
 #include <uavcan/internal/debug.hpp>
 
 namespace uavcan
 {
+/*
+ * CanRxFrame
+ */
+std::string CanRxFrame::toString(StringRepresentation mode) const
+{
+    std::ostringstream os;
+    os << CanFrame::toString(mode)
+        << " ts_m=" << ts_monotonic << " ts_utc=" << ts_utc << " iface=" << int(iface_index);
+    return os.str();
+}
+
 /*
  * CanTxQueue::Entry
  */