diff --git a/libuavcan/include/uavcan/node/node.hpp b/libuavcan/include/uavcan/node/node.hpp
index fc8b43e9f9..d5b9731c8a 100644
--- a/libuavcan/include/uavcan/node/node.hpp
+++ b/libuavcan/include/uavcan/node/node.hpp
@@ -127,6 +127,15 @@ public:
         return -ErrNotInited;
     }
 
+    int spinOnce()
+    {
+        if (started_)
+        {
+            return INode::spinOnce();
+        }
+        return -ErrNotInited;
+    }
+
     bool isStarted() const { return started_; }
 
     uint64_t getInternalFailureCount() const { return internal_failure_cnt_; }