diff --git a/mcan/CHANGELOG.md b/mcan/CHANGELOG.md
index 4210429..24c8716 100644
--- a/mcan/CHANGELOG.md
+++ b/mcan/CHANGELOG.md
@@ -3,6 +3,7 @@
 Tagging in git follows a pattern: `mcan/<version>`.
 
 ## [Unreleased]
+- Add method to check if bus is dominant (#51)
 
 ## [0.5.0] - 2024-03-04
 
diff --git a/mcan/src/bus.rs b/mcan/src/bus.rs
index 17d6084..4fd3038 100644
--- a/mcan/src/bus.rs
+++ b/mcan/src/bus.rs
@@ -199,6 +199,9 @@ pub trait DynAux {
     ///
     /// If timestamping is disabled, its value is zero.
     fn timestamp(&self) -> u16;
+
+    /// Returns `true` if the CAN bus is dominant.
+    fn is_dominant(&self) -> bool;
 }
 
 impl<Id: mcan_core::CanId, D: mcan_core::Dependencies<Id>> Aux<'_, Id, D> {
@@ -242,6 +245,10 @@ impl<Id: mcan_core::CanId, D: mcan_core::Dependencies<Id>> DynAux for Aux<'_, Id
     fn timestamp(&self) -> u16 {
         self.reg.tscv.read().tsc().bits()
     }
+
+    fn is_dominant(&self) -> bool {
+        self.reg.test.read().rx().bit_is_clear()
+    }
 }
 
 /// A CAN bus in configuration mode. Before messages can be sent and received,