diff --git a/libuavcan/include/uavcan/data_type.hpp b/libuavcan/include/uavcan/data_type.hpp
index f1f9520c12..642845136c 100644
--- a/libuavcan/include/uavcan/data_type.hpp
+++ b/libuavcan/include/uavcan/data_type.hpp
@@ -6,7 +6,6 @@
 
 #include <cassert>
 #include <cstring>
-#include <string>
 #include <algorithm>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
@@ -155,10 +154,12 @@ public:
     bool match(DataTypeKind kind, const char* name) const;
     bool match(DataTypeKind kind, DataTypeID id) const;
 
-    std::string toString() const;
-
     bool operator!=(const DataTypeDescriptor& rhs) const { return !operator==(rhs); }
     bool operator==(const DataTypeDescriptor& rhs) const;
+
+#if UAVCAN_TOSTRING
+    std::string toString() const;
+#endif
 };
 
 }
diff --git a/libuavcan/include/uavcan/driver/can.hpp b/libuavcan/include/uavcan/driver/can.hpp
index f705da2fc6..135769f492 100644
--- a/libuavcan/include/uavcan/driver/can.hpp
+++ b/libuavcan/include/uavcan/driver/can.hpp
@@ -7,7 +7,6 @@
 
 #include <cassert>
 #include <algorithm>
-#include <string>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/driver/system_clock.hpp>
@@ -58,8 +57,10 @@ struct UAVCAN_EXPORT CanFrame
     bool isRemoteTransmissionRequest() const { return id & FlagRTR; }
     bool isErrorFrame()                const { return id & FlagERR; }
 
+#if UAVCAN_TOSTRING
     enum StringRepresentation { StrTight, StrAligned };
     std::string toString(StringRepresentation mode = StrTight) const;
+#endif
 
     /**
      * CAN frames arbitration rules, particularly STD vs EXT:
diff --git a/libuavcan/include/uavcan/dynamic_memory.hpp b/libuavcan/include/uavcan/dynamic_memory.hpp
index cd5f158ff9..0c6945abca 100644
--- a/libuavcan/include/uavcan/dynamic_memory.hpp
+++ b/libuavcan/include/uavcan/dynamic_memory.hpp
@@ -11,6 +11,7 @@
 #include <limits>
 #include <uavcan/stdint.hpp>
 #include <uavcan/util/compile_time.hpp>
+#include <uavcan/impl_constants.hpp>
 
 namespace uavcan
 {
diff --git a/libuavcan/include/uavcan/impl_constants.hpp b/libuavcan/include/uavcan/impl_constants.hpp
index 330b5327b1..b82578a170 100644
--- a/libuavcan/include/uavcan/impl_constants.hpp
+++ b/libuavcan/include/uavcan/impl_constants.hpp
@@ -60,6 +60,18 @@
 # define UAVCAN_EXPORT
 #endif
 
+/**
+ * It might make sense to remove toString() methods for an embedded system
+ */
+#ifndef UAVCAN_TOSTRING
+# define UAVCAN_TOSTRING 1
+#endif
+
+#if UAVCAN_TOSTRING
+# include <string>
+# include <cstdio>
+#endif
+
 namespace uavcan
 {
 
diff --git a/libuavcan/include/uavcan/marshal/bit_stream.hpp b/libuavcan/include/uavcan/marshal/bit_stream.hpp
index fbe17a490a..8de28542f8 100644
--- a/libuavcan/include/uavcan/marshal/bit_stream.hpp
+++ b/libuavcan/include/uavcan/marshal/bit_stream.hpp
@@ -5,7 +5,6 @@
 #pragma once
 
 #include <cassert>
-#include <string>
 #include <uavcan/stdint.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/impl_constants.hpp>
@@ -65,7 +64,9 @@ public:
     int write(const uint8_t* bytes, const int bitlen);
     int read(uint8_t* bytes, const int bitlen);
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 }
diff --git a/libuavcan/include/uavcan/time.hpp b/libuavcan/include/uavcan/time.hpp
index 7f99b29300..2ef79433b3 100644
--- a/libuavcan/include/uavcan/time.hpp
+++ b/libuavcan/include/uavcan/time.hpp
@@ -4,10 +4,9 @@
 
 #pragma once
 
-#include <uavcan/stdint.hpp>
 #include <algorithm>
 #include <limits>
-#include <cstdio>
+#include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/util/compile_time.hpp>
 #include <uavcan/Timestamp.hpp>
@@ -83,7 +82,9 @@ public:
 
     enum { StringBufSize = 32 };
     void toString(char buf[StringBufSize]) const;
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 
@@ -164,7 +165,9 @@ public:
 
     enum { StringBufSize = 32 };
     void toString(char buf[StringBufSize]) const;
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 /*
@@ -230,6 +233,8 @@ void TimeBase<T, D>::toString(char buf[StringBufSize]) const
 }
 
 
+#if UAVCAN_TOSTRING
+
 template <typename D>
 std::string DurationBase<D>::toString() const
 {
@@ -246,6 +251,8 @@ std::string TimeBase<T, D>::toString() const
     return std::string(buf);
 }
 
+#endif
+
 
 template <typename Stream, typename D>
 UAVCAN_EXPORT
diff --git a/libuavcan/include/uavcan/transport/can_io.hpp b/libuavcan/include/uavcan/transport/can_io.hpp
index 0da4352417..63046c4542 100644
--- a/libuavcan/include/uavcan/transport/can_io.hpp
+++ b/libuavcan/include/uavcan/transport/can_io.hpp
@@ -31,7 +31,9 @@ struct UAVCAN_EXPORT CanRxFrame : public CanFrame
         : iface_index(0)
     { }
 
+#if UAVCAN_TOSTRING
     std::string toString(StringRepresentation mode = StrTight) const;
+#endif
 };
 
 
@@ -66,7 +68,9 @@ public:
         bool qosHigherThan(const Entry& rhs) const { return qosHigherThan(rhs.frame, Qos(rhs.qos)); }
         bool qosLowerThan(const Entry& rhs)  const { return qosLowerThan(rhs.frame, Qos(rhs.qos)); }
 
+#if UAVCAN_TOSTRING
         std::string toString() const;
+#endif
     };
 
 private:
diff --git a/libuavcan/include/uavcan/transport/frame.hpp b/libuavcan/include/uavcan/transport/frame.hpp
index 7c044e4954..bd569766d1 100644
--- a/libuavcan/include/uavcan/transport/frame.hpp
+++ b/libuavcan/include/uavcan/transport/frame.hpp
@@ -6,7 +6,6 @@
 
 #include <cassert>
 #include <algorithm>
-#include <string>
 #include <uavcan/transport/transfer.hpp>
 #include <uavcan/transport/can_io.hpp>
 #include <uavcan/impl_constants.hpp>
@@ -82,7 +81,9 @@ public:
     bool operator!=(const Frame& rhs) const { return !operator==(rhs); }
     bool operator==(const Frame& rhs) const;
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 
@@ -112,7 +113,9 @@ public:
 
     uint8_t getIfaceIndex() const { return iface_index_; }
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 }
diff --git a/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
index cd4360ce47..9d0f6950c0 100644
--- a/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
+++ b/libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
@@ -5,7 +5,6 @@
 #pragma once
 
 #include <cassert>
-#include <string>
 #include <uavcan/stdint.hpp>
 #include <uavcan/impl_constants.hpp>
 #include <uavcan/map.hpp>
@@ -52,7 +51,9 @@ public:
             (destination_node_id_ == rhs.destination_node_id_);
     }
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 UAVCAN_PACKED_END
 
diff --git a/libuavcan/include/uavcan/transport/transfer_buffer.hpp b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
index 426d849cda..0a8f7f057e 100644
--- a/libuavcan/include/uavcan/transport/transfer_buffer.hpp
+++ b/libuavcan/include/uavcan/transport/transfer_buffer.hpp
@@ -61,7 +61,9 @@ public:
     NodeID getNodeID() const { return node_id_; }
     TransferType getTransferType() const { return TransferType(transfer_type_); }
 
+#if UAVCAN_TOSTRING
     std::string toString() const;
+#endif
 };
 
 /**
diff --git a/libuavcan/src/driver/uc_can.cpp b/libuavcan/src/driver/uc_can.cpp
index f85bd3d302..9f0abfeab6 100644
--- a/libuavcan/src/driver/uc_can.cpp
+++ b/libuavcan/src/driver/uc_can.cpp
@@ -3,7 +3,6 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <cstdio>
 #include <cassert>
 #include <uavcan/driver/can.hpp>
 
@@ -57,6 +56,7 @@ bool CanFrame::priorityHigherThan(const CanFrame& rhs) const
     return clean_id < rhs_clean_id;
 }
 
+#if UAVCAN_TOSTRING
 std::string CanFrame::toString(StringRepresentation mode) const
 {
     using namespace std; // For snprintf()
@@ -115,5 +115,6 @@ std::string CanFrame::toString(StringRepresentation mode) const
     }
     return std::string(buf);
 }
+#endif
 
 }
diff --git a/libuavcan/src/marshal/uc_bit_stream.cpp b/libuavcan/src/marshal/uc_bit_stream.cpp
index 77464feb79..a9ea8663c2 100644
--- a/libuavcan/src/marshal/uc_bit_stream.cpp
+++ b/libuavcan/src/marshal/uc_bit_stream.cpp
@@ -3,7 +3,6 @@
  */
 
 #include <cassert>
-#include <string>
 #include <uavcan/marshal/bit_stream.hpp>
 #include <uavcan/transport/transfer_buffer.hpp>
 
@@ -73,6 +72,7 @@ int BitStream::read(uint8_t* bytes, const int bitlen)
     return ResultOk;
 }
 
+#if UAVCAN_TOSTRING
 std::string BitStream::toString() const
 {
     std::string out;
@@ -97,5 +97,6 @@ std::string BitStream::toString() const
     }
     return out;
 }
+#endif
 
 }
diff --git a/libuavcan/src/transport/uc_can_io.cpp b/libuavcan/src/transport/uc_can_io.cpp
index 1d63196643..368a8a2ce3 100644
--- a/libuavcan/src/transport/uc_can_io.cpp
+++ b/libuavcan/src/transport/uc_can_io.cpp
@@ -4,7 +4,6 @@
  */
 
 #include <algorithm>
-#include <string>
 #include <cassert>
 #include <limits>
 #include <uavcan/transport/can_io.hpp>
@@ -15,6 +14,7 @@ namespace uavcan
 /*
  * CanRxFrame
  */
+#if UAVCAN_TOSTRING
 std::string CanRxFrame::toString(StringRepresentation mode) const
 {
     std::string out = CanFrame::toString(mode);
@@ -25,6 +25,7 @@ std::string CanRxFrame::toString(StringRepresentation mode) const
     out += '0' + iface_index;
     return out;
 }
+#endif
 
 /*
  * CanTxQueue::Entry
@@ -57,6 +58,7 @@ bool CanTxQueue::Entry::qosLowerThan(const CanFrame& rhs_frame, Qos rhs_qos) con
     return frame.priorityLowerThan(rhs_frame);
 }
 
+#if UAVCAN_TOSTRING
 std::string CanTxQueue::Entry::toString() const
 {
     std::string str_qos;
@@ -78,6 +80,7 @@ std::string CanTxQueue::Entry::toString() const
     }
     return str_qos + frame.toString();
 }
+#endif
 
 /*
  * CanTxQueue
diff --git a/libuavcan/src/transport/uc_frame.cpp b/libuavcan/src/transport/uc_frame.cpp
index 07c384c9c0..6e29770d73 100644
--- a/libuavcan/src/transport/uc_frame.cpp
+++ b/libuavcan/src/transport/uc_frame.cpp
@@ -3,7 +3,6 @@
  */
 
 #include <cassert>
-#include <cstdio>
 #include <uavcan/transport/frame.hpp>
 #include <uavcan/transport/can_io.hpp>
 
@@ -194,6 +193,7 @@ bool Frame::operator==(const Frame& rhs) const
         std::equal(payload_, payload_ + payload_len_, rhs.payload_);
 }
 
+#if UAVCAN_TOSTRING
 std::string Frame::toString() const
 {
     using namespace std; // For snprintf()
@@ -223,6 +223,7 @@ std::string Frame::toString() const
     ofs += snprintf(buf + ofs, BUFLEN - ofs, "]");
     return std::string(buf);
 }
+#endif
 
 /**
  * RxFrame
@@ -244,6 +245,7 @@ bool RxFrame::parse(const CanRxFrame& can_frame)
     return true;
 }
 
+#if UAVCAN_TOSTRING
 std::string RxFrame::toString() const
 {
     std::string out = Frame::toString();
@@ -254,5 +256,6 @@ std::string RxFrame::toString() const
     out += '0' + iface_index_;
     return out;
 }
+#endif
 
 }
diff --git a/libuavcan/src/transport/uc_outgoing_transfer_registry.cpp b/libuavcan/src/transport/uc_outgoing_transfer_registry.cpp
index 5940579c51..8054b7f9e0 100644
--- a/libuavcan/src/transport/uc_outgoing_transfer_registry.cpp
+++ b/libuavcan/src/transport/uc_outgoing_transfer_registry.cpp
@@ -2,7 +2,6 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <cstdio>
 #include <uavcan/transport/outgoing_transfer_registry.hpp>
 
 namespace uavcan
@@ -10,6 +9,7 @@ namespace uavcan
 /*
  * OutgoingTransferRegistryKey
  */
+#if UAVCAN_TOSTRING
 std::string OutgoingTransferRegistryKey::toString() const
 {
     using namespace std;
@@ -18,5 +18,6 @@ std::string OutgoingTransferRegistryKey::toString() const
                    int(data_type_id_.get()), int(transfer_type_), int(destination_node_id_.get()));
     return std::string(buf);
 }
+#endif
 
 }
diff --git a/libuavcan/src/transport/uc_transfer.cpp b/libuavcan/src/transport/uc_transfer.cpp
index 40a177bb63..603707ad45 100644
--- a/libuavcan/src/transport/uc_transfer.cpp
+++ b/libuavcan/src/transport/uc_transfer.cpp
@@ -3,7 +3,6 @@
  */
 
 #include <cassert>
-#include <cstdio>
 #include <uavcan/transport/frame.hpp>
 #include <uavcan/transport/can_io.hpp>
 
diff --git a/libuavcan/src/transport/uc_transfer_buffer.cpp b/libuavcan/src/transport/uc_transfer_buffer.cpp
index 73a57dd811..ce98ae5cd2 100644
--- a/libuavcan/src/transport/uc_transfer_buffer.cpp
+++ b/libuavcan/src/transport/uc_transfer_buffer.cpp
@@ -4,8 +4,6 @@
 
 #include <cassert>
 #include <cstdlib>
-#include <cstdio>
-#include <string>
 #include <uavcan/transport/transfer_buffer.hpp>
 
 namespace uavcan
@@ -13,6 +11,7 @@ namespace uavcan
 /*
  * TransferBufferManagerKey
  */
+#if UAVCAN_TOSTRING
 std::string TransferBufferManagerKey::toString() const
 {
     using namespace std; // For snprintf()
@@ -20,6 +19,7 @@ std::string TransferBufferManagerKey::toString() const
     snprintf(buf, sizeof(buf), "nid=%i tt=%i", int(node_id_.get()), int(transfer_type_));
     return std::string(buf);
 }
+#endif
 
 /*
  * DynamicTransferBuffer::Block
diff --git a/libuavcan/src/transport/uc_transfer_receiver.cpp b/libuavcan/src/transport/uc_transfer_receiver.cpp
index 0d196a631a..f0164b874f 100644
--- a/libuavcan/src/transport/uc_transfer_receiver.cpp
+++ b/libuavcan/src/transport/uc_transfer_receiver.cpp
@@ -3,7 +3,6 @@
  */
 
 #include <cstdlib>
-#include <cstdio>
 #include <cassert>
 #include <algorithm>
 #include <uavcan/debug.hpp>
diff --git a/libuavcan/src/uc_data_type.cpp b/libuavcan/src/uc_data_type.cpp
index dd3784a2a0..d5418c528a 100644
--- a/libuavcan/src/uc_data_type.cpp
+++ b/libuavcan/src/uc_data_type.cpp
@@ -3,8 +3,6 @@
  */
 
 #include <cstring>
-#include <cstdio>
-#include <string>
 #include <cassert>
 #include <uavcan/data_type.hpp>
 #include <uavcan/transport/crc.hpp>
@@ -54,6 +52,7 @@ bool DataTypeDescriptor::match(DataTypeKind kind, DataTypeID id) const
     return (kind_ == kind) && (id_ == id);
 }
 
+#if UAVCAN_TOSTRING
 std::string DataTypeDescriptor::toString() const
 {
     char kindch = '?';
@@ -80,6 +79,7 @@ std::string DataTypeDescriptor::toString() const
                    static_cast<unsigned long long>(signature_.get()));
     return std::string(buf);
 }
+#endif
 
 bool DataTypeDescriptor::operator==(const DataTypeDescriptor& rhs) const
 {
diff --git a/libuavcan_drivers/stm32/test_stm32f107/Makefile b/libuavcan_drivers/stm32/test_stm32f107/Makefile
index 1c49bd01ef..6f4e8d1abd 100644
--- a/libuavcan_drivers/stm32/test_stm32f107/Makefile
+++ b/libuavcan_drivers/stm32/test_stm32f107/Makefile
@@ -17,7 +17,8 @@ CPPSRC = src/main.cpp src/dummy.cpp
 UDEFS = -DUAVCAN_STM32_CHIBIOS=1         \
         -DUAVCAN_STM32_TIMER_NUMBER=6    \
         -DUAVCAN_STM32_DEBUG=1           \
-        -DUAVCAN_MEM_POOL_BLOCK_SIZE=56
+        -DUAVCAN_MEM_POOL_BLOCK_SIZE=56  \
+        -DUAVCAN_TOSTRING=0
 
 include ../../../libuavcan/include.mk
 CPPSRC += $(LIBUAVCAN_SRC)