diff --git a/libuavcan/include/uavcan/helpers/heap_based_pool_allocator.hpp b/libuavcan/include/uavcan/helpers/heap_based_pool_allocator.hpp
new file mode 100644
index 0000000000..a012ee2c9a
--- /dev/null
+++ b/libuavcan/include/uavcan/helpers/heap_based_pool_allocator.hpp
@@ -0,0 +1,159 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#ifndef UAVCAN_HELPERS_HEAP_BASED_POOL_ALLOCATOR_HPP_INCLUDED
+#define UAVCAN_HELPERS_HEAP_BASED_POOL_ALLOCATOR_HPP_INCLUDED
+
+#include <cstdlib>
+#include <uavcan/dynamic_memory.hpp>
+
+namespace uavcan
+{
+/**
+ * A special-purpose implementation of a pool allocator that keeps the pool in the heap using malloc()/free().
+ * The pool grows dynamically, ad-hoc, thus using as little memory as possible.
+ *
+ * Allocated blocks will not be freed back automatically, but there are two ways to force their deallocation:
+ *  - Call @ref shrink() - this method frees all blocks that are unused at the moment.
+ *  - Destroy the object - the desctructor calls @ref shrink().
+ *
+ * All operations are thread-safe, the safety is obtained through the standard atomic compare-and-swap operator (CAS).
+ * If thread safety is not required, the CAS operator can be replaced with a dummy version that simply performs the
+ * assignment without any checks.
+ * If thread safety is required, but the hardware does not support atomic exchange operations, CAS can be emulated
+ * with a mutex or a critical section roughly as follows:
+ *
+ *     bool softwareAtomicCompareAndSwap(void** address, void* expected, void* replacement)
+ *     {
+ *         RaiiSynchronizationPrimitive lock;
+ *         if (*address != expected)
+ *         {
+ *             return false;
+ *         }
+ *         *address = replacement;
+ *         return true;
+ *     }
+ */
+template <std::size_t BlockSize,
+          bool (*AtomicCompareAndSwap)(void** address, void* expected, void* replacement)>
+class UAVCAN_EXPORT HeapBasedPoolAllocator : public IPoolAllocator, Noncopyable
+{
+    union Node
+    {
+        Node* next;
+    private:
+        uint8_t data[BlockSize];
+        long double _aligner1;
+        long long _aligner2;
+    };
+
+    Node* volatile cache_;
+
+    Node* popCache()
+    {
+        // http://www.ibm.com/developerworks/aix/library/au-multithreaded_structures2/
+        for (;;)
+        {
+            Node* volatile const result = cache_;
+            if (result == NULL)
+            {
+                break;
+            }
+            if ((cache_ != NULL) &&
+                AtomicCompareAndSwap(reinterpret_cast<void**>(const_cast<Node**>(&cache_)), result, result->next))
+            {
+                return result;
+            }
+        }
+        return NULL;
+    }
+
+public:
+    /**
+     * The allocator initializes with empty cache, so first allocations will be served from heap.
+     */
+    HeapBasedPoolAllocator() : cache_(NULL) { }
+
+    /**
+     * The destructor de-allocates all blocks that are currently in the cache.
+     * BLOCKS THAT ARE CURRENTLY HELD BY THE APPLICATION WILL LEAK.
+     */
+    ~HeapBasedPoolAllocator() { shrink(); }
+
+    /**
+     * Takes a block from the cache, unless it's empty.
+     * In the latter case, allocates a new block in the heap.
+     */
+    virtual void* allocate(std::size_t size)
+    {
+        if (size > BlockSize)
+        {
+            return NULL;
+        }
+        if (Node* n = popCache())
+        {
+            return n;
+        }
+        else
+        {
+            return std::malloc(sizeof(Node));
+        }
+    }
+
+    /**
+     * Puts the block back to cache.
+     * The block will not be free()d automatically; see @ref shrink().
+     */
+    virtual void deallocate(const void* ptr)
+    {
+        if (ptr == NULL)
+        {
+            return;
+        }
+
+        Node* volatile const n = static_cast<Node*>(const_cast<void*>(ptr));
+        do
+        {
+            n->next = cache_;
+        }
+        while (!AtomicCompareAndSwap(reinterpret_cast<void**>(const_cast<Node**>(&cache_)), n->next, n));
+    }
+
+    /**
+     * Heap-based pool is virutally infinite in size, so this method just returns maximum possible number of blocks.
+     */
+    virtual uint16_t getNumBlocks() const { return NumericTraits<uint16_t>::max(); }
+
+    /**
+     * Frees all blocks that are not in use at the moment.
+     */
+    void shrink()
+    {
+        while (Node* p = popCache())
+        {
+            std::free(p);
+        }
+    }
+
+    /**
+     * This function naively counts the number of cached blocks.
+     * It is not thread-safe and is mostly designed for testing and debugging purposes.
+     * Don't use it in production code.
+     */
+    unsigned getNumCachedBlocks()
+    {
+        unsigned out = 0;
+        Node* p = cache_;
+        while (p != NULL)
+        {
+            out++;
+            p = p->next;
+        }
+        return out;
+    }
+};
+
+}
+
+#endif
diff --git a/libuavcan/test/helpers/heap_based_pool_allocator.cpp b/libuavcan/test/helpers/heap_based_pool_allocator.cpp
new file mode 100644
index 0000000000..93da37130f
--- /dev/null
+++ b/libuavcan/test/helpers/heap_based_pool_allocator.cpp
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <gtest/gtest.h>
+#include <uavcan/helpers/heap_based_pool_allocator.hpp>
+
+inline bool atomicCompareAndSwap(void** address, void* expected, void* replacement)
+{
+    return __sync_bool_compare_and_swap(address, expected, replacement);
+}
+
+TEST(ThreadSafeHeapBasedPoolAllocator, Basic)
+{
+    uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, atomicCompareAndSwap> allocator;
+
+    ASSERT_EQ(0, allocator.getNumCachedBlocks());
+
+    void* a = allocator.allocate(10);
+    void* b = allocator.allocate(10);
+    void* c = allocator.allocate(10);
+    void* d = allocator.allocate(10);
+
+    ASSERT_EQ(0, allocator.getNumCachedBlocks());
+
+    allocator.deallocate(a);
+    ASSERT_EQ(1, allocator.getNumCachedBlocks());
+
+    allocator.deallocate(b);
+    ASSERT_EQ(2, allocator.getNumCachedBlocks());
+
+    allocator.deallocate(c);
+    ASSERT_EQ(3, allocator.getNumCachedBlocks());
+
+    a = allocator.allocate(10);
+    ASSERT_EQ(2, allocator.getNumCachedBlocks());
+    ASSERT_EQ(c, a);
+
+    allocator.deallocate(a);
+    ASSERT_EQ(3, allocator.getNumCachedBlocks());
+
+    allocator.shrink();
+    ASSERT_EQ(0, allocator.getNumCachedBlocks());
+
+    allocator.deallocate(d);
+    ASSERT_EQ(1, allocator.getNumCachedBlocks());
+
+    allocator.shrink();
+    ASSERT_EQ(0, allocator.getNumCachedBlocks());
+}