diff --git a/Cargo.toml b/Cargo.toml
index c29ee3e..06c9531 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -10,6 +10,7 @@ license = "MIT OR Apache-2.0"
 readme = "README.md"
 
 [dependencies]
+derivative = "1.0.3"
 libc = "0.2"
 
 [features]
diff --git a/src/lib.rs b/src/lib.rs
index d681521..8de0bca 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -49,6 +49,9 @@ pub use v4l2::pubconsts as consts;
 
 pub type Result<T> = result::Result<T, Error>;
 
+#[macro_use]
+extern crate derivative;
+
 #[derive(Debug)]
 pub enum Error {
     /// I/O error when using the camera.
@@ -103,6 +106,7 @@ impl From<io::Error> for Error {
     }
 }
 
+#[derive(Debug)]
 pub struct Config<'a> {
     /// The mix of numerator and denominator. v4l2 uses frame intervals instead of frame rates.
     /// Default is `(1, 10)`.
@@ -245,6 +249,7 @@ impl fmt::Debug for IntervalInfo {
     }
 }
 
+#[derive(Debug)]
 pub struct Frame {
     /// Width and height of the frame.
     pub resolution: (u32, u32),
@@ -699,6 +704,7 @@ impl Drop for Camera {
     }
 }
 
+#[derive(Debug)]
 pub struct FormatIter<'a> {
     camera: &'a Camera,
     index: u32,
@@ -726,6 +732,7 @@ impl<'a> Iterator for FormatIter<'a> {
     }
 }
 
+#[derive(Debug)]
 pub struct ControlIter<'a> {
     camera: &'a Camera,
     id: u32,
diff --git a/src/v4l2.rs b/src/v4l2.rs
index c9025a6..e71e9cd 100644
--- a/src/v4l2.rs
+++ b/src/v4l2.rs
@@ -1,6 +1,7 @@
 #![allow(clippy::unreadable_literal)]
 
 use std::ffi::CString;
+use std::fmt;
 use std::os::unix::io::RawFd;
 use std::ptr::null_mut;
 use std::{io, mem, usize};
@@ -132,12 +133,15 @@ pub fn mmap(length: usize, fd: RawFd, offset: usize) -> io::Result<MappedRegion>
     })
 }
 
+#[derive(Derivative)]
+#[derivative(Debug)]
 #[repr(C)]
 pub struct Format {
     pub ftype: u32,
     #[cfg(target_pointer_width = "64")]
     padding: u32,
     pub fmt: PixFormat,
+    #[derivative(Debug="ignore")]
     space: [u8; 156],
 }
 
@@ -162,6 +166,7 @@ impl Format {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct PixFormat {
     pub width: u32,
@@ -188,6 +193,7 @@ impl PixFormat {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct RequestBuffers {
     pub count: u32,
@@ -207,6 +213,8 @@ impl RequestBuffers {
     }
 }
 
+#[derive(Derivative)]
+#[derivative(Debug)]
 #[repr(C)]
 pub struct Buffer {
     pub index: u32,
@@ -214,6 +222,7 @@ pub struct Buffer {
     pub bytesused: u32,
     pub flags: u32,
     pub field: u32,
+    #[derivative(Debug="ignore")]
     pub timestamp: Timeval,
     pub timecode: TimeCode,
     pub sequence: u32,
@@ -233,6 +242,7 @@ impl Buffer {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct TimeCode {
     pub ttype: u32,
@@ -244,6 +254,7 @@ pub struct TimeCode {
     pub userbits: [u8; 4],
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct FmtDesc {
     pub index: u32,
@@ -262,10 +273,13 @@ impl FmtDesc {
     }
 }
 
+#[derive(Derivative)]
+#[derivative(Debug)]
 #[repr(C)]
 pub struct StreamParm {
     pub ptype: u32,
     pub parm: CaptureParm,
+    #[derivative(Debug="ignore")]
     space: [u8; 160],
 }
 
@@ -279,6 +293,7 @@ impl StreamParm {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct CaptureParm {
     pub capability: u32,
@@ -289,12 +304,14 @@ pub struct CaptureParm {
     reserved: [u32; 4],
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct Fract {
     pub numerator: u32,
     pub denominator: u32,
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct Frmsizeenum {
     pub index: u32,
@@ -320,12 +337,14 @@ impl Frmsizeenum {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct FrmsizeDiscrete {
     pub width: u32,
     pub height: u32,
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct FrmsizeStepwise {
     pub min_width: u32,
@@ -336,6 +355,7 @@ pub struct FrmsizeStepwise {
     pub step_height: u32,
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct Frmivalenum {
     pub index: u32,
@@ -365,6 +385,7 @@ impl Frmivalenum {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct FrmivalStepwise {
     pub min: Fract,
@@ -372,6 +393,7 @@ pub struct FrmivalStepwise {
     pub step: Fract,
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct QueryCtrl {
     pub id: u32,
@@ -393,6 +415,7 @@ impl QueryCtrl {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct QueryExtCtrl {
     pub id: u32,
@@ -420,6 +443,7 @@ impl QueryExtCtrl {
     }
 }
 
+#[derive(Debug)]
 #[repr(C, packed)]
 pub struct QueryMenu {
     pub id: u32,
@@ -434,6 +458,12 @@ pub union QueryMenuData {
     value: i64,
 }
 
+impl fmt::Debug for QueryMenuData {
+    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+        write!(f, "{:?}", self.name())
+    }
+}
+
 impl QueryMenu {
     pub fn new(id: u32) -> QueryMenu {
         let mut menu: QueryMenu = unsafe { mem::zeroed() };
@@ -452,6 +482,7 @@ impl QueryMenuData {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct Control {
     pub id: u32,
@@ -464,6 +495,7 @@ impl Control {
     }
 }
 
+#[derive(Debug)]
 #[repr(C, packed)]
 pub struct ExtControl {
     pub id: u32,
@@ -483,6 +515,7 @@ impl ExtControl {
     }
 }
 
+#[derive(Debug)]
 #[repr(C)]
 pub struct ExtControls<'a> {
     pub ctrl_class: u32,