diff --git a/libuavcan/test/dsdl_test/dsdl_test.cpp b/libuavcan/test/dsdl_test/dsdl_test.cpp
index 0b8aa1a5b0..0b1270cb49 100644
--- a/libuavcan/test/dsdl_test/dsdl_test.cpp
+++ b/libuavcan/test/dsdl_test/dsdl_test.cpp
@@ -42,6 +42,7 @@ TEST(Dsdl, EmptyServices)
     ASSERT_EQ(65504, resp.covariance[1]);
 }
 
+
 TEST(Dsdl, Signature)
 {
     ASSERT_EQ(0xe74617107a34aa9c, root_ns_a::EmptyService::getDataTypeSignature().get());
@@ -52,3 +53,56 @@ TEST(Dsdl, Signature)
     ASSERT_EQ("root_ns_a.NestedMessage", root_ns_a::NestedMessage::getDataTypeFullName());
     ASSERT_EQ(uavcan::DataTypeKindMessage, root_ns_a::NestedMessage::DataTypeKind);
 }
+
+
+TEST(Dsdl, Registration)
+{
+    using uavcan::GlobalDataTypeRegistry;
+    /*
+     * Descriptors
+     */
+    const uavcan::DataTypeDescriptor* desc = NULL;
+
+    desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindMessage, "root_ns_a.EmptyMessage");
+    ASSERT_TRUE(desc);
+    ASSERT_EQ(root_ns_a::EmptyMessage::DefaultDataTypeID, desc->getID());
+    ASSERT_EQ(root_ns_a::EmptyMessage::DataTypeKind, desc->getKind());
+    ASSERT_EQ(root_ns_a::EmptyMessage::getDataTypeSignature(), desc->getSignature());
+    ASSERT_STREQ(root_ns_a::EmptyMessage::getDataTypeFullName(), desc->getFullName());
+
+    desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "root_ns_a.EmptyService");
+    ASSERT_TRUE(desc);
+    ASSERT_EQ(root_ns_a::EmptyService::DefaultDataTypeID, desc->getID());
+    ASSERT_EQ(root_ns_a::EmptyService::DataTypeKind, desc->getKind());
+    ASSERT_EQ(root_ns_a::EmptyService::getDataTypeSignature(), desc->getSignature());
+    ASSERT_STREQ(root_ns_a::EmptyService::getDataTypeFullName(), desc->getFullName());
+
+    desc = GlobalDataTypeRegistry::instance().find(uavcan::DataTypeKindService, "root_ns_a.ReportBackSoldier");
+    ASSERT_TRUE(desc);
+    ASSERT_EQ(root_ns_a::ReportBackSoldier::DefaultDataTypeID, desc->getID());
+    ASSERT_EQ(root_ns_a::ReportBackSoldier::DataTypeKind, desc->getKind());
+    ASSERT_EQ(root_ns_a::ReportBackSoldier::getDataTypeSignature(), desc->getSignature());
+    ASSERT_STREQ(root_ns_a::ReportBackSoldier::getDataTypeFullName(), desc->getFullName());
+
+    /*
+     * Mask
+     */
+    uavcan::DataTypeIDMask mask;
+
+    GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindMessage, mask);
+    ASSERT_TRUE(mask[8]);
+    mask[8] = false;
+    ASSERT_FALSE(mask.any());
+
+    GlobalDataTypeRegistry::instance().getDataTypeIDMask(uavcan::DataTypeKindService, mask);
+    ASSERT_TRUE(mask[1]);
+    ASSERT_TRUE(mask[3]);
+    mask[1] = mask[3] = false;
+    ASSERT_FALSE(mask.any());
+
+    /*
+     * Reset
+     */
+    GlobalDataTypeRegistry::instance().reset();
+    ASSERT_FALSE(GlobalDataTypeRegistry::instance().isFrozen());
+}