diff --git a/libuavcan/include/uavcan/internal/marshalling/array.hpp b/libuavcan/include/uavcan/internal/marshalling/array.hpp
new file mode 100644
index 0000000000..b42b8df672
--- /dev/null
+++ b/libuavcan/include/uavcan/internal/marshalling/array.hpp
@@ -0,0 +1,290 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <bitset>
+#include <algorithm>
+#include <stdexcept>
+#include <uavcan/internal/impl_constants.hpp>
+#include <uavcan/internal/util.hpp>
+#include <uavcan/internal/marshalling/type_util.hpp>
+
+namespace uavcan
+{
+
+enum ArrayMode { ArrayModeStatic, ArrayModeDynamic };
+
+
+template <unsigned int Size>
+class StaticArrayBase
+{
+public:
+    typedef unsigned int SizeType;
+    SizeType size()     const { return Size; }
+    SizeType capacity() const { return Size; }
+
+protected:
+    StaticArrayBase() { }
+    ~StaticArrayBase() { }
+
+    SizeType validateRange(SizeType pos) const
+    {
+        if (pos < Size)
+            return pos;
+#if UAVCAN_EXCEPTIONS
+        throw std::out_of_range(typeid(*this).name());
+#else
+        assert(0);
+        return Size - 1;  // Ha ha
+#endif
+    }
+};
+
+
+template <unsigned int MaxSize>
+class DynamicArrayBase
+{
+protected:
+    typedef IntegerSpec<IntegerBitLen<MaxSize>::Result, SignednessUnsigned, CastModeSaturate> RawSizeType;
+public:
+    typedef typename StorageType<RawSizeType>::Type SizeType;
+
+private:
+    SizeType size_;
+
+protected:
+    DynamicArrayBase() : size_(0) { }
+    ~DynamicArrayBase() { }
+
+    SizeType validateRange(SizeType pos) const
+    {
+        if (pos < size_)
+            return pos;
+#if UAVCAN_EXCEPTIONS
+        throw std::out_of_range(typeid(*this).name());
+#else
+        assert(0);
+        return (size_ == 0) ? 0 : (size_ - 1);
+#endif
+    }
+
+    void grow()
+    {
+        if (size_ >= MaxSize)
+            validateRange(MaxSize);  // Will throw, assert() or do nothing
+        else
+            size_++;
+    }
+
+    void shrink()
+    {
+        if (size_ > 0)
+            size_--;
+    }
+
+public:
+    SizeType size() const
+    {
+        assert(size_ <= MaxSize);
+        return size_;
+    }
+
+    SizeType capacity() const { return MaxSize; }
+};
+
+/**
+ * Statically allocated array with optional dynamic-like behavior
+ */
+template <typename T, ArrayMode ArrayMode, unsigned int MaxSize>
+class ArrayImpl : public StaticIf<ArrayMode == ArrayModeDynamic,
+                                  DynamicArrayBase<MaxSize>,
+                                  StaticArrayBase<MaxSize> >::Result
+{
+    typedef ArrayImpl<T, ArrayMode, MaxSize> SelfType;
+    typedef typename StaticIf<ArrayMode == ArrayModeDynamic,
+                              DynamicArrayBase<MaxSize>,
+                              StaticArrayBase<MaxSize> >::Result Base;
+
+    typename StorageType<T>::Type data_[MaxSize];
+
+    template <typename U>
+    typename EnableIf<sizeof(U(0) == U())>::Type initialize(int) { std::fill(data_, data_ + MaxSize, U()); }
+    template <typename> void initialize(...) { }
+
+public:
+    typedef typename StorageType<T>::Type ValueType;
+    typedef typename Base::SizeType SizeType;
+
+    using Base::size;
+    using Base::capacity;
+
+    ArrayImpl() { initialize<ValueType>(0); }
+
+    ValueType& at(SizeType pos)             { return data_[validateRange(pos)]; }
+    const ValueType& at(SizeType pos) const { return data_[Base::validateRange(pos)]; }
+
+    ValueType& operator[](SizeType pos)             { return at(pos); }
+    const ValueType& operator[](SizeType pos) const { return at(pos); }
+
+    ValueType* begin()             { return data_; }
+    const ValueType* begin() const { return data_; }
+    ValueType* end()               { return data_ + Base::size(); }
+    const ValueType* end()   const { return data_ + Base::size(); }
+
+    ValueType& front()             { return at(0); }
+    const ValueType& front() const { return at(0); }
+    ValueType& back()              { return at(Base::size() - 1); }
+    const ValueType& back()  const { return at(Base::size() - 1); }
+
+    template <typename R>
+    bool operator<(const R& rhs) const
+    {
+        return std::lexicographical_compare(begin(), end(), rhs.begin(), rhs.end());
+    }
+
+    typedef ValueType* iterator;
+    typedef const ValueType* const_iterator;
+};
+
+/**
+ * Bit array specialization
+ */
+template <unsigned int MaxSize, ArrayMode ArrayMode, CastMode CastMode>
+class ArrayImpl<IntegerSpec<1, SignednessUnsigned, CastMode>, ArrayMode, MaxSize>
+    : public std::bitset<MaxSize>
+    , public StaticIf<ArrayMode == ArrayModeDynamic, DynamicArrayBase<MaxSize>, StaticArrayBase<MaxSize> >::Result
+{
+    typedef typename StaticIf<ArrayMode == ArrayModeDynamic,
+                              DynamicArrayBase<MaxSize>,
+                              StaticArrayBase<MaxSize> >::Result ArrayBase;
+
+public:
+    typedef typename std::bitset<MaxSize>::reference Reference;
+    typedef typename ArrayBase::SizeType SizeType;
+
+    using ArrayBase::size;
+    using ArrayBase::capacity;
+
+    Reference at(SizeType pos)  { return std::bitset<MaxSize>::operator[](ArrayBase::validateRange(pos)); }
+    bool at(SizeType pos) const { return std::bitset<MaxSize>::operator[](ArrayBase::validateRange(pos)); }
+
+    Reference operator[](SizeType pos)  { return at(pos); }
+    bool operator[](SizeType pos) const { return at(pos); }
+};
+
+/**
+ * Zero length arrays are not allowed
+ */
+template <typename T, ArrayMode ArrayMode> class ArrayImpl<T, ArrayMode, 0>;
+
+
+template <typename T, ArrayMode ArrayMode, unsigned int MaxSize_>
+class Array : public ArrayImpl<T, ArrayMode, MaxSize_>
+{
+    typedef ArrayImpl<T, ArrayMode, MaxSize_> Base;
+    typedef Array<T, ArrayMode, MaxSize_> SelfType;
+
+    int encodeSize(ScalarCodec&, FalseType) const { return 1; }
+    int encodeSize(ScalarCodec& codec, TrueType) const // TODO: Tail array optimization
+    {
+        return Base::RawSizeType::encode(size(), codec);
+    }
+
+    int decodeSize(ScalarCodec&, FalseType) { return 1; }
+    int decodeSize(ScalarCodec& codec, TrueType)
+    {
+        typename StorageType<typename Base::RawSizeType>::Type sz = 0;
+        const int res = Base::RawSizeType::decode(sz, codec);
+        if (res > 0)
+            resize(sz);
+        return res;
+    }
+
+public:
+    typedef T RawValueType;
+    typedef typename StorageType<T>::Type ValueType;
+    typedef typename Base::SizeType SizeType;
+
+    using Base::size;
+
+    enum { IsDynamic = ArrayMode == ArrayModeDynamic };
+    enum { MaxSize = MaxSize_ };
+    enum { MinBitLen = IsDynamic ? 0 : (RawValueType::MinBitLen * MaxSize) };
+
+    static int encode(const SelfType& array, ScalarCodec& codec)
+    {
+        const int res_sz = array.encodeSize(codec, BooleanType<IsDynamic>());
+        if (res_sz <= 0)
+            return res_sz;
+        for (SizeType i = 0; i < array.size(); i++)
+        {
+            const int res = RawValueType::encode(array[i], codec);
+            if (res <= 0)
+                return res;
+        }
+        return 1;
+    }
+
+    static int decode(SelfType& array, ScalarCodec& codec)
+    {
+        const int res_sz = array.decodeSize(codec, BooleanType<IsDynamic>());
+        if (res_sz <= 0)
+            return res_sz;
+        for (SizeType i = 0; i < array.size(); i++)
+        {
+            // TODO: avoid excessive copy
+            ValueType value;
+            const int res = RawValueType::decode(value, codec);
+            array[i] = value;
+            if (res <= 0)
+                return res;
+        }
+        return 1;
+    }
+
+    bool empty() const { return size() == 0; }
+
+    void pop_back() { Base::shrink(); }
+    void push_back(const ValueType& value)
+    {
+        Base::grow();
+        Base::at(size() - 1) = value;
+    }
+
+    void resize(SizeType new_size, ValueType filler = ValueType())
+    {
+        if (new_size > size())
+        {
+            unsigned int cnt = new_size - size();
+            while (cnt--)
+                push_back(filler);
+        }
+        else if (new_size < size())
+        {
+            unsigned int cnt = size() - new_size;
+            while (cnt--)
+                pop_back();
+        }
+    }
+
+    void clear() { resize(0); }
+
+    template <typename R>
+    bool operator==(const R& rhs) const
+    {
+        if (size() != rhs.size())
+            return false;
+        for (SizeType i = 0; i < size(); i++)  // Bitset does not have iterators
+            if (!(Base::at(i) == rhs[i]))
+                return false;
+        return true;
+    }
+    template <typename R> bool operator!=(const R& rhs) const { return !operator==(rhs); }
+
+    typedef ValueType value_type;
+    typedef SizeType size_type;
+};
+
+}
diff --git a/libuavcan/include/uavcan/internal/marshalling/float_spec.hpp b/libuavcan/include/uavcan/internal/marshalling/float_spec.hpp
index 9d7f4f13b3..6929e4e785 100644
--- a/libuavcan/include/uavcan/internal/marshalling/float_spec.hpp
+++ b/libuavcan/include/uavcan/internal/marshalling/float_spec.hpp
@@ -99,6 +99,7 @@ class FloatSpec : public IEEE754Limits<BitLen_>
 
 public:
     enum { BitLen = BitLen_ };
+    enum { MinBitLen = BitLen };
 
     typedef typename NativeFloatSelector<BitLen>::Type StorageType;
 
diff --git a/libuavcan/include/uavcan/internal/marshalling/integer_spec.hpp b/libuavcan/include/uavcan/internal/marshalling/integer_spec.hpp
index 3aecd0edf1..ab5958dbab 100644
--- a/libuavcan/include/uavcan/internal/marshalling/integer_spec.hpp
+++ b/libuavcan/include/uavcan/internal/marshalling/integer_spec.hpp
@@ -24,6 +24,7 @@ class IntegerSpec
 
 public:
     enum { BitLen = BitLen_ };
+    enum { MinBitLen = BitLen };
 
     typedef typename StaticIf<(BitLen <= 8),  typename StaticIf<IsSigned, int8_t,  uint8_t>::Result,
             typename StaticIf<(BitLen <= 16), typename StaticIf<IsSigned, int16_t, uint16_t>::Result,
diff --git a/libuavcan/include/uavcan/internal/marshalling/static_array.hpp b/libuavcan/include/uavcan/internal/marshalling/static_array.hpp
deleted file mode 100644
index 1bc405ef76..0000000000
--- a/libuavcan/include/uavcan/internal/marshalling/static_array.hpp
+++ /dev/null
@@ -1,158 +0,0 @@
-/*
- * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
-#pragma once
-
-#include <bitset>
-#include <algorithm>
-#include <stdexcept>
-#include <uavcan/internal/impl_constants.hpp>
-#include <uavcan/internal/util.hpp>
-#include <uavcan/internal/marshalling/type_util.hpp>
-
-namespace uavcan
-{
-
-template <typename T, unsigned int Size_>
-class StaticArray
-{
-    typedef StaticArray<T, Size_> SelfType;
-
-public:
-    enum { IsDynamic = 0 };
-    enum { Size = Size_ };
-
-    typedef T RawValueType;
-    typedef typename StorageType<T>::Type ValueType;
-    typedef unsigned int SizeType;
-
-private:
-    ValueType data_[Size];
-
-    void checkOrAdjustRange(SizeType& pos) const
-    {
-        if (pos < Size)
-            return;
-#if UAVCAN_EXCEPTIONS
-        throw std::out_of_range(typeid(*this).name());
-#else
-        assert(0);
-        pos = Size - 1;  // Ha ha
-#endif
-    }
-
-    template <typename U>
-    typename EnableIf<sizeof(U(0) == U())>::Type initialize(int) { std::fill(begin(), end(), U()); }
-    template <typename> void initialize(...) { }
-
-public:
-    StaticArray() { initialize<ValueType>(0); }
-
-    static int encode(const SelfType& array, ScalarCodec& codec)
-    {
-        for (SizeType i = 0; i < Size; i++)
-        {
-            const int res = RawValueType::encode(array.data_[i], codec);
-            if (res <= 0)
-                return res;
-        }
-        return 1;
-    }
-
-    static int decode(SelfType& array, ScalarCodec& codec)
-    {
-        for (SizeType i = 0; i < Size; i++)
-        {
-            const int res = RawValueType::decode(array.data_[i], codec);
-            if (res <= 0)
-                return res;
-        }
-        return 1;
-    }
-
-    template <typename R>
-    bool operator==(const R& rhs) const
-    {
-        return (size() == rhs.size()) && std::equal(begin(), end(), rhs.begin());
-    }
-    template <typename R> bool operator!=(const R& rhs) const { return !operator==(rhs); }
-
-    template <typename R>
-    bool operator<(const R& rhs) const
-    {
-        return std::lexicographical_compare(begin(), end(), rhs.begin(), rhs.end());
-    }
-
-    ValueType& at(SizeType pos)
-    {
-        checkOrAdjustRange(pos);
-        return data_[pos];
-    }
-    const ValueType& at(SizeType pos) const
-    {
-        checkOrAdjustRange(pos);
-        return data_[pos];
-    }
-
-    ValueType& operator[](SizeType pos) { return at(pos); }
-    const ValueType& operator[](SizeType pos) const { return at(pos); }
-
-    ValueType* begin() { return data_; }
-    ValueType* end() { return data_ + Size; }
-    const ValueType* begin() const { return data_; }
-    const ValueType* end() const { return data_ + Size; }
-
-    SizeType size() const { return Size; }
-    ValueType* data() { return data_; }
-    const ValueType* data() const { return data_; }
-
-    /**
-     * STL compatibility
-     */
-    typedef ValueType value_type;
-    typedef SizeType size_type;
-    typedef ValueType* iterator;
-    typedef const ValueType* const_iterator;
-};
-
-
-/// Special case - bit array
-template <unsigned int Size_, CastMode CastMode>
-class StaticArray<IntegerSpec<1, SignednessUnsigned, CastMode>, Size_ > : public std::bitset<Size_>
-{
-public:
-    enum { IsDynamic = 0 };
-    enum { Size = Size_ };
-
-    typedef IntegerSpec<1, SignednessUnsigned, CastMode> RawValueType;
-
-    static int encode(const StaticArray<RawValueType, Size>& array, ScalarCodec& codec)
-    {
-        for (std::size_t i = 0; i < Size; i++)
-        {
-            const int res = RawValueType::encode(bool(array[i]), codec);
-            if (res <= 0)
-                return res;
-        }
-        return 1;
-    }
-
-    static int decode(StaticArray<RawValueType, Size>& array, ScalarCodec& codec)
-    {
-        for (std::size_t i = 0; i < Size; i++)
-        {
-            typename StorageType<RawValueType>::Type value = 0;
-            const int res = RawValueType::decode(value, codec);
-            array[i] = value;
-            if (res <= 0)
-                return res;
-        }
-        return 1;
-    }
-};
-
-
-template <typename T> class StaticArray<T, 0>;  // Invalid instantiation
-
-}
diff --git a/libuavcan/include/uavcan/internal/marshalling/type_util.hpp b/libuavcan/include/uavcan/internal/marshalling/type_util.hpp
index 5d6d2d2a12..82b28b8d4a 100644
--- a/libuavcan/include/uavcan/internal/marshalling/type_util.hpp
+++ b/libuavcan/include/uavcan/internal/marshalling/type_util.hpp
@@ -12,6 +12,12 @@ namespace uavcan
 enum CastMode { CastModeSaturate, CastModeTruncate };
 
 
+template <unsigned long Num>
+struct IntegerBitLen    { enum { Result = 1 + IntegerBitLen<(Num >> 1)>::Result }; };
+template <>
+struct IntegerBitLen<0> { enum { Result = 0 }; };
+
+
 template <typename T, typename Enable = void>
 struct StorageTypeImpl { typedef T Type; };
 
diff --git a/libuavcan/include/uavcan/internal/marshalling/types.hpp b/libuavcan/include/uavcan/internal/marshalling/types.hpp
index 207323ab8a..f3de6374f5 100644
--- a/libuavcan/include/uavcan/internal/marshalling/types.hpp
+++ b/libuavcan/include/uavcan/internal/marshalling/types.hpp
@@ -6,5 +6,5 @@
 
 #include <uavcan/internal/marshalling/integer_spec.hpp>
 #include <uavcan/internal/marshalling/float_spec.hpp>
-#include <uavcan/internal/marshalling/static_array.hpp>
+#include <uavcan/internal/marshalling/array.hpp>
 #include <uavcan/internal/marshalling/type_util.hpp>
diff --git a/libuavcan/test/marshalling/static_array.cpp b/libuavcan/test/marshalling/array.cpp
similarity index 76%
rename from libuavcan/test/marshalling/static_array.cpp
rename to libuavcan/test/marshalling/array.cpp
index 7cf6beb06a..b158915aac 100644
--- a/libuavcan/test/marshalling/static_array.cpp
+++ b/libuavcan/test/marshalling/array.cpp
@@ -10,7 +10,11 @@ struct CustomType
 {
     typedef uavcan::IntegerSpec<8, uavcan::SignednessSigned, uavcan::CastModeTruncate> A;
     typedef uavcan::FloatSpec<16, uavcan::CastModeSaturate> B;
-    typedef uavcan::StaticArray<uavcan::IntegerSpec<1, uavcan::SignednessUnsigned, uavcan::CastModeSaturate>, 8> C;
+    // Dynamic array of max len 5 --> 3 bits for len, 5 bits for data --> 1 byte max len
+    typedef uavcan::Array<uavcan::IntegerSpec<1, uavcan::SignednessUnsigned, uavcan::CastModeSaturate>,
+                          uavcan::ArrayModeDynamic, 5> C;
+
+    enum { MinBitLen = A::MinBitLen + B::MinBitLen + C::MinBitLen };
 
     uavcan::StorageType<A>::Type a;
     uavcan::StorageType<B>::Type b;
@@ -60,9 +64,23 @@ struct CustomType
 };
 
 
+TEST(StaticArray, IntegerBitLen)
+{
+    using uavcan::IntegerBitLen;
+
+    ASSERT_EQ(0, IntegerBitLen<0>::Result);
+    ASSERT_EQ(1, IntegerBitLen<1>::Result);
+    ASSERT_EQ(6, IntegerBitLen<42>::Result);
+    ASSERT_EQ(8, IntegerBitLen<232>::Result);
+    ASSERT_EQ(32, IntegerBitLen<0x81234567>::Result);
+}
+
+
 TEST(StaticArray, Basic)
 {
-    using uavcan::StaticArray;
+    using uavcan::Array;
+    using uavcan::ArrayModeDynamic;
+    using uavcan::ArrayModeStatic;
     using uavcan::IntegerSpec;
     using uavcan::FloatSpec;
     using uavcan::SignednessSigned;
@@ -70,9 +88,9 @@ TEST(StaticArray, Basic)
     using uavcan::CastModeSaturate;
     using uavcan::CastModeTruncate;
 
-    typedef StaticArray<IntegerSpec<8, SignednessSigned, CastModeTruncate>, 4> A1;
-    typedef StaticArray<FloatSpec<16, CastModeSaturate>, 2> A2;
-    typedef StaticArray<CustomType, 2> A3;
+    typedef Array<IntegerSpec<8, SignednessSigned, CastModeTruncate>, ArrayModeStatic, 4> A1;
+    typedef Array<FloatSpec<16, CastModeSaturate>, ArrayModeStatic, 2> A2;
+    typedef Array<CustomType, ArrayModeStatic, 2> A3;
 
     A1 a1;
     A2 a2;
@@ -93,8 +111,7 @@ TEST(StaticArray, Basic)
     {
         ASSERT_EQ(0, it->a);
         ASSERT_EQ(0, it->b);
-        for (int i = 0; i < 8; i++)
-            ASSERT_EQ(0, it->c[i]);
+        ASSERT_EQ(0, it->c.size());
     }
 
     /*
@@ -110,8 +127,8 @@ TEST(StaticArray, Basic)
     {
         a3[i].a = i;
         a3[i].b = i;
-        for (int i2 = 0; i2 < 8; i2++)
-            a3[i].c[i2] = i2 & 1;
+        for (int i2 = 0; i2 < 5; i2++)
+            a3[i].c.push_back(i2 & 1);
     }
 
     /*
@@ -130,8 +147,8 @@ TEST(StaticArray, Basic)
     static const std::string Reference =
         "00000000 00000001 00000010 00000011 " // A1 (0, 1, 2, 3)
         "00000000 00000000 00000000 00111100 " // A2 (0, 1)
-        "00000000 00000000 00000000 01010101 " // A3[0] (0, 0, bool[8])
-        "00000001 00000000 00111100 01010101"; // A3[1] (1, 1, bool[8])
+        "00000000 00000000 00000000 10101010 " // A3[0] (0, 0, bool[5])
+        "00000001 00000000 00111100 10101010"; // A3[1] (1, 1, bool[5])
 
     ASSERT_EQ(Reference, bs_wr.toString());