diff --git a/libuavcan/include/uavcan/node/scheduler.hpp b/libuavcan/include/uavcan/node/scheduler.hpp
index 241d907897..363ea4ab96 100644
--- a/libuavcan/include/uavcan/node/scheduler.hpp
+++ b/libuavcan/include/uavcan/node/scheduler.hpp
@@ -70,6 +70,7 @@ class Scheduler : Noncopyable
     MonotonicTime prev_cleanup_ts_;
     MonotonicDuration deadline_resolution_;
     MonotonicDuration cleanup_period_;
+    bool inside_spin_;
 
     MonotonicTime computeDispatcherSpinDeadline(MonotonicTime spin_deadline) const;
     void pollCleanup(MonotonicTime mono_ts, uint32_t num_frames_processed_with_last_spin);
@@ -80,6 +81,7 @@ public:
         , prev_cleanup_ts_(sysclock.getMonotonic())
         , deadline_resolution_(MonotonicDuration::fromMSec(DefaultDeadlineResolutionMs))
         , cleanup_period_(MonotonicDuration::fromMSec(DefaultCleanupPeriodMs))
+        , inside_spin_(false)
     { }
 
     int spin(MonotonicTime deadline);
diff --git a/libuavcan/src/node/scheduler.cpp b/libuavcan/src/node/scheduler.cpp
index 2708082b7e..3e0e12b3ad 100644
--- a/libuavcan/src/node/scheduler.cpp
+++ b/libuavcan/src/node/scheduler.cpp
@@ -154,6 +154,13 @@ void Scheduler::pollCleanup(MonotonicTime mono_ts, uint32_t num_frames_processed
 
 int Scheduler::spin(MonotonicTime deadline)
 {
+    if (inside_spin_)  // Preventing recursive calls
+    {
+        assert(0);
+        return -1;
+    }
+    inside_spin_ = true;
+
     int retval = 0;
     while (true)
     {
@@ -171,6 +178,8 @@ int Scheduler::spin(MonotonicTime deadline)
             break;
         }
     }
+
+    inside_spin_ = false;
     return retval;
 }