diff --git a/dsdl/uavcan/protocol/dynamic_node_id/server/1011.Discovery.uavcan b/dsdl/uavcan/protocol/dynamic_node_id/server/1011.Discovery.uavcan
new file mode 100644
index 0000000000..33f15dd1fe
--- /dev/null
+++ b/dsdl/uavcan/protocol/dynamic_node_id/server/1011.Discovery.uavcan
@@ -0,0 +1,20 @@
+#
+# This message is used by allocation servers to find each other's node ID.
+# Please refer to the specification for details.
+#
+
+#
+# This message should be broadcasted by the server at this interval until all other servers are discovered.
+#
+uint16 BROADCASTING_INTERVAL_MS = 1000
+
+#
+# Number of servers in the cluster as configured on the sender.
+#
+uint8 configured_cluster_size
+
+#
+# Node ID of servers that are known to the publishing server, including the publishing server itself.
+# Capacity of this array defines maximum size of the server cluster.
+#
+uint8[<=7] known_nodes
diff --git a/dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan b/dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan
new file mode 100644
index 0000000000..b6d6253bf7
--- /dev/null
+++ b/dsdl/uavcan/protocol/dynamic_node_id/server/220.AppendEntries.uavcan
@@ -0,0 +1,16 @@
+#
+# This type is a part of the Raft consensus algorithm.
+# Please refer to the specification for details.
+#
+
+uint32 term
+uint8 prev_log_index
+uint8 prev_log_term
+uint8 leader_commit
+# Request message fits one CAN frame when there's no entries to send.
+Entry[<=5] entries
+
+---
+
+uint32 term
+bool success
diff --git a/dsdl/uavcan/protocol/dynamic_node_id/server/221.RequestVote.uavcan b/dsdl/uavcan/protocol/dynamic_node_id/server/221.RequestVote.uavcan
new file mode 100644
index 0000000000..958be2612e
--- /dev/null
+++ b/dsdl/uavcan/protocol/dynamic_node_id/server/221.RequestVote.uavcan
@@ -0,0 +1,13 @@
+#
+# This type is a part of the Raft consensus algorithm.
+# Please refer to the specification for details.
+#
+
+uint32 term
+uint8 last_log_index
+uint8 last_log_term
+
+---
+
+uint32 term
+bool vote_granted
diff --git a/dsdl/uavcan/protocol/dynamic_node_id/server/Entry.uavcan b/dsdl/uavcan/protocol/dynamic_node_id/server/Entry.uavcan
new file mode 100644
index 0000000000..34165c4b88
--- /dev/null
+++ b/dsdl/uavcan/protocol/dynamic_node_id/server/Entry.uavcan
@@ -0,0 +1,10 @@
+#
+# One dynamic node ID allocation entry.
+# This type is a part of the Raft consensus algorithm.
+# Please refer to the specification for details.
+#
+
+uint32 term
+uint8[16] unique_id
+uint7 node_id
+bool alignment