diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
index f3ea8eb833..c8fde33897 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
@@ -137,6 +137,7 @@ private:
     protocol::dynamic_node_id::server::Entry entries_[Capacity];
     Index last_index_;             // Index zero always contains an empty entry
 
+    static IDynamicNodeIDStorageBackend::String getLastIndexKey() { return "log_last_index"; }
     static IDynamicNodeIDStorageBackend::String makeEntryKey(Index index, const char* postfix);
 
     int readEntryFromStorage(Index index, protocol::dynamic_node_id::server::Entry& out_entry);
diff --git a/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp b/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
index a611bd5b6a..b7fac5fb34 100644
--- a/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+++ b/libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
@@ -123,7 +123,6 @@ int MarshallingStorageDecorator::get(const IDynamicNodeIDStorageBackend::String&
     }
 
     /*
-     * Per MISRA C++ recommendations, checking the inputs instead of relying solely on errno.
      * The value must contain only hexadecimal numbers.
      */
     val.convertToLowerCaseASCII();
@@ -157,10 +156,10 @@ int MarshallingStorageDecorator::get(const IDynamicNodeIDStorageBackend::String&
 IDynamicNodeIDStorageBackend::String Log::makeEntryKey(Index index, const char* postfix)
 {
     IDynamicNodeIDStorageBackend::String str;
-    // "log0.foobar"
+    // "log0_foobar"
     str += "log";
     str.appendFormatted("%d", int(index));
-    str += ".";
+    str += "_";
     str += postfix;
     return str;
 }
@@ -187,6 +186,10 @@ int Log::readEntryFromStorage(Index index, protocol::dynamic_node_id::server::En
     {
         return -ErrFailure;
     }
+    if (node_id > NodeID::Max)
+    {
+        return -ErrFailure;
+    }
     out_entry.node_id = static_cast<uint8_t>(node_id);
 
     return 0;
@@ -227,12 +230,21 @@ int Log::init()
 
     // Reading max index
     {
-        IDynamicNodeIDStorageBackend::String key;
-        key = "log_last_index";
         uint32_t value = 0;
-        if (io.get(key, value) < 0)
+        if (io.get(getLastIndexKey(), value) < 0)
         {
-            return -ErrFailure;
+            if (storage_.get(getLastIndexKey()).empty())
+            {
+                // It appears like there's no log in the storage - initializing empty log then
+                last_index_ = 0;
+                UAVCAN_TRACE("dynamic_node_id_server_impl::Log", "Initializing empty log");
+                return 0;
+            }
+            else
+            {
+                // There's some data in the storage, but it cannot be parsed - reporting an error
+                return -ErrFailure;
+            }
         }
         if (value >= Capacity)
         {
@@ -251,28 +263,81 @@ int Log::init()
         }
     }
 
+    UAVCAN_TRACE("dynamic_node_id_server_impl::Log", "Restored %u log entries", unsigned(last_index_));
     return 0;
 }
 
 int Log::append(const protocol::dynamic_node_id::server::Entry& entry)
 {
-    (void)entry;
-    return -1;
+    if ((last_index_ + 1) >= Capacity)
+    {
+        return -ErrLogic;
+    }
+
+    // If next operations fail, we'll get a dangling entry, but it's absolutely OK.
+    int res = writeEntryToStorage(Index(last_index_ + 1), entry);
+    if (res < 0)
+    {
+        return res;
+    }
+
+    // Updating the last index
+    MarshallingStorageDecorator io(storage_);
+    uint32_t new_last_index = last_index_ + 1U;
+    res = io.setAndGetBack(getLastIndexKey(), new_last_index);
+    if (res < 0)
+    {
+        return res;
+    }
+    if (new_last_index != last_index_ + 1U)
+    {
+        return -ErrFailure;
+    }
+    entries_[new_last_index] = entry;
+    last_index_ = Index(new_last_index);
+
+    UAVCAN_TRACE("dynamic_node_id_server_impl::Log", "New entry, index %u, node ID %u, term %u",
+                 unsigned(last_index_), unsigned(entry.node_id), unsigned(entry.term));
+    return 0;
 }
 
 int Log::removeEntriesWhereIndexGreaterOrEqual(Index index)
 {
-    (void)index;
-    return -1;
+    UAVCAN_ASSERT(last_index_ < Capacity);
+
+    if (((index) >= Capacity) || (index == 0))
+    {
+        return -ErrLogic;
+    }
+
+    MarshallingStorageDecorator io(storage_);
+    uint32_t new_last_index = index - 1U;
+    int res = io.setAndGetBack(getLastIndexKey(), new_last_index);
+    if (res < 0)
+    {
+        return res;
+    }
+    if (new_last_index != index - 1U)
+    {
+        return -ErrFailure;
+    }
+    UAVCAN_TRACE("dynamic_node_id_server_impl::Log", "Entries removed, last index %u --> %u",
+                 unsigned(last_index_), unsigned(new_last_index));
+    last_index_ = Index(new_last_index);
+
+    // Removal operation leaves dangling entries in storage, it's OK
+    return 0;
 }
 
 const protocol::dynamic_node_id::server::Entry* Log::getEntryAtIndex(Index index) const
 {
+    UAVCAN_ASSERT(last_index_ < Capacity);
     return (index <= last_index_) ? &entries_[index] : NULL;
 }
 
 bool Log::isOtherLogUpToDate(Log::Index other_last_index, Term other_last_term) const
 {
+    UAVCAN_ASSERT(last_index_ < Capacity);
     // Terms are different - the one with higher term is more up-to-date
     if (other_last_term != entries_[last_index_].term)
     {
diff --git a/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp b/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
index e509bbba7d..22c7d71a89 100644
--- a/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+++ b/libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
@@ -37,6 +37,7 @@ public:
     }
 };
 
+
 TEST(DynamicNodeIDAllocationServer, MarshallingStorageDecorator)
 {
     StorageBackend st;
@@ -117,3 +118,91 @@ TEST(DynamicNodeIDAllocationServer, MarshallingStorageDecorator)
     key = "the_cake_is_a_lie";
     ASSERT_GT(0, marshaler.get(key, array));
 }
+
+
+TEST(DynamicNodeIDAllocationServer, LogInitialization)
+{
+    // No log data in the storage - initializing empty log
+    {
+        StorageBackend storage;
+        uavcan::dynamic_node_id_server_impl::Log log(storage);
+
+        ASSERT_LE(0, log.init());
+        ASSERT_EQ(0, log.getLastIndex());
+        ASSERT_EQ(0, log.getEntryAtIndex(0)->term);
+        ASSERT_EQ(0, log.getEntryAtIndex(0)->node_id);
+        ASSERT_EQ(uavcan::protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id(),
+                  log.getEntryAtIndex(0)->unique_id);
+    }
+    // Nonempty storage, one item
+    {
+        StorageBackend storage;
+        uavcan::dynamic_node_id_server_impl::Log log(storage);
+
+        storage.set("log_last_index", "0");
+        ASSERT_LE(-uavcan::ErrFailure, log.init());     // Expected one entry, none found
+
+        storage.set("log0_term",      "0");
+        storage.set("log0_unique_id", "00000000000000000000000000000000");
+        storage.set("log0_node_id",   "0");
+        ASSERT_LE(0, log.init());                       // OK now
+        ASSERT_EQ(0, log.getLastIndex());
+        ASSERT_EQ(0, log.getEntryAtIndex(0)->term);
+    }
+    // Nonempty storage, broken data
+    {
+        StorageBackend storage;
+        uavcan::dynamic_node_id_server_impl::Log log(storage);
+
+        storage.set("log_last_index", "foobar");
+        ASSERT_LE(-uavcan::ErrFailure, log.init());     // Bad value
+
+        storage.set("log_last_index", "128");
+        ASSERT_LE(-uavcan::ErrFailure, log.init());     // Bad value
+
+        storage.set("log_last_index", "0");
+        ASSERT_LE(-uavcan::ErrFailure, log.init());     // OK
+
+        storage.set("log0_term",      "0");
+        storage.set("log0_unique_id", "00000000000000000000000000000000");
+        storage.set("log0_node_id",   "128");           // Bad value (127 max)
+        ASSERT_LE(-uavcan::ErrFailure, log.init());     // Failed
+        ASSERT_EQ(0, log.getLastIndex());
+        ASSERT_EQ(0, log.getEntryAtIndex(0)->term);
+    }
+    // Nonempty storage, many items
+    {
+        StorageBackend storage;
+        uavcan::dynamic_node_id_server_impl::Log log(storage);
+
+        storage.set("log_last_index", "1");  // 2 items - 0, 1
+        storage.set("log0_term",      "0");
+        storage.set("log0_unique_id", "00000000000000000000000000000000");
+        storage.set("log0_node_id",   "0");
+        storage.set("log1_term",      "1");
+        storage.set("log1_unique_id", "0123456789abcdef0123456789abcdef");
+        storage.set("log1_node_id",   "127");
+
+        ASSERT_LE(0, log.init());                       // OK now
+        ASSERT_EQ(1, log.getLastIndex());
+
+        ASSERT_EQ(0, log.getEntryAtIndex(0)->term);
+        ASSERT_EQ(0, log.getEntryAtIndex(0)->node_id);
+        ASSERT_EQ(uavcan::protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id(),
+                  log.getEntryAtIndex(0)->unique_id);
+
+        ASSERT_EQ(1, log.getEntryAtIndex(1)->term);
+        ASSERT_EQ(127, log.getEntryAtIndex(1)->node_id);
+        uavcan::protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id uid;
+        uid[0] = 0x01;
+        uid[1] = 0x23;
+        uid[2] = 0x45;
+        uid[3] = 0x67;
+        uid[4] = 0x89;
+        uid[5] = 0xab;
+        uid[6] = 0xcd;
+        uid[7] = 0xef;
+        uavcan::copy(uid.begin(), uid.begin() + 8, uid.begin() + 8);
+        ASSERT_EQ(uid, log.getEntryAtIndex(1)->unique_id);
+    }
+}