diff --git a/aos/logging/matrix_logging.cc b/aos/logging/matrix_logging.cc
new file mode 100644
index 0000000..e17c8a6
--- /dev/null
+++ b/aos/logging/matrix_logging.cc
@@ -0,0 +1,39 @@
+#include "aos/logging/matrix_logging.h"
+
+#include "aos/queue_types.h"
+#include "aos/logging/sizes.h"
+
+namespace aos {
+namespace logging {
+namespace internal {
+
+void DoLogMatrix(log_level level, const ::std::string &message,
+                 uint32_t type_id, int rows, int cols, const void *data,
+                 int levels) {
+  {
+    auto fn = [&](LogImplementation *implementation) {
+      implementation->LogMatrix(level, message, type_id, rows, cols, data);
+    };
+    RunWithCurrentImplementation(levels, ::std::ref(fn));
+  }
+
+  if (level == FATAL) {
+    char serialized[1024];
+    if (static_cast<size_t>(rows * cols * MessageType::Sizeof(type_id)) >
+        sizeof(serialized)) {
+      Die("LOG(FATAL) matrix too big to serialize");
+    }
+    SerializeMatrix(type_id, serialized, data, rows, cols);
+    char printed[LOG_MESSAGE_LEN];
+    size_t printed_bytes = sizeof(printed);
+    if (!PrintMatrix(printed, &printed_bytes, serialized, type_id, rows, cols)) {
+      Die("LOG(FATAL) PrintMatrix call failed");
+    }
+    Die("%.*s: %.*s\n", static_cast<int>(message.size()), message.data(),
+        static_cast<int>(printed_bytes), printed);
+  }
+}
+
+}  // namespace internal
+}  // namespace logging
+}  // namespace aos