diff --git a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
index 37bbb03b97..80cd7f50cd 100644
--- a/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
+++ b/libuavcan_drivers/stm32/driver/include/uavcan_stm32/can.hpp
@@ -172,6 +172,12 @@ public:
      */
     virtual uavcan::uint64_t getErrorCount() const;
 
+    /**
+     * Returns number of frames pending in the RX queue.
+     * This is intended for debug use only.
+     */
+    unsigned getRxQueueLength() const;
+
     /**
      * Returns last hardware error code (LEC field in the register ESR)
      */
diff --git a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
index 2b8351dacf..0a145a0898 100644
--- a/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
+++ b/libuavcan_drivers/stm32/driver/src/uc_stm32_can.cpp
@@ -518,6 +518,12 @@ uavcan::uint64_t CanIface::getErrorCount() const
     return error_cnt_ + rx_queue_.getOverflowCount();
 }
 
+unsigned CanIface::getRxQueueLength() const
+{
+    CriticalSectionLocker lock;
+    return rx_queue_.getLength();
+}
+
 uavcan::uint8_t CanIface::yieldLastHardwareErrorCode()
 {
     CriticalSectionLocker lock;
diff --git a/libuavcan_drivers/stm32/test_stm32f107/src/main.cpp b/libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
index 8e9202f29f..558f3d77a4 100644
--- a/libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
+++ b/libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
@@ -124,7 +124,16 @@ public:
             {
                 lowsyslog("Spin failure: %i\n", spin_res);
             }
+
             lowsyslog("Time sync master: %u\n", unsigned(time_sync_slave.getMasterNodeID().get()));
+
+            lowsyslog("Memory usage: used=%u free=%u\n",
+                      node.getAllocator().getNumUsedBlocks(), node.getAllocator().getNumFreeBlocks());
+
+            lowsyslog("RX queues: %u %u\n",
+                      can.driver.getIface(0)->getRxQueueLength(),
+                      can.driver.getIface(1)->getRxQueueLength());
+
             node.logInfo("app", "UTC %* sec, %* corr, %* jumps",
                          uavcan_stm32::clock::getUtc().toMSec() / 1000,
                          uavcan_stm32::clock::getUtcSpeedCorrectionPPM(),