Index: DialityCoreCanProtocol.py
===================================================================
diff -u -r37f5ecccfa5d998a9a7d2ccf6948de3758015235 -re5bdbe114daac21f97d3c69552a0171878c0f54e
--- DialityCoreCanProtocol.py	(.../DialityCoreCanProtocol.py)	(revision 37f5ecccfa5d998a9a7d2ccf6948de3758015235)
+++ DialityCoreCanProtocol.py	(.../DialityCoreCanProtocol.py)	(revision e5bdbe114daac21f97d3c69552a0171878c0f54e)
@@ -19,7 +19,6 @@
 import can
 import math
 from time import sleep
-from ctypes import c_int8
 
 
 class DenaliMessage:
@@ -87,13 +86,14 @@
 
         if payload is None:
             payload = []
+
         message = [DenaliCanMessenger.START_BYTE]
 
         if 0 <= message_id <= DenaliMessage.MAX_MSG_ID_NUMBER:
             # Make sure an unsigned int was passed
             message_id_in_bytes = message_id.to_bytes(2, byteorder=DenaliMessage.BYTE_ORDER)
 
-            message += [message_id_in_bytes[0]]
+            message = [message_id_in_bytes[0]]
             message += [message_id_in_bytes[1]]
 
         else:
@@ -121,10 +121,9 @@
     @staticmethod
     def crc8(message):
         crc = 0
-
         for byte in message:
-            unsigned_byte = c_int8(byte).value
-            crc ^= DenaliMessage.CRC_LIST[unsigned_byte]
+            unsigned_byte = byte ^ crc
+            crc = DenaliMessage.CRC_LIST[unsigned_byte]
 
         return crc
 
@@ -212,7 +211,7 @@
         the_message = message if is_array else message['message']
 
         return math.ceil((the_message[DenaliMessage.PAYLOAD_LENGTH_INDEX] +
-                          DenaliMessage.HEADER_LENGTH + DenaliMessage.CRC_LENGTH) /
+                         DenaliMessage.HEADER_LENGTH + DenaliMessage.CRC_LENGTH) /
                          DenaliMessage.PACKET_LENGTH)
 
 
@@ -390,10 +389,10 @@
                 # At this point we have a complete (long or short) Diality Packet
 
                 if self.__dialinMessage is not None:
-                    completeDialinMessage = DenaliMessage.buildBasicMessage(channel_id=channel_id,
+                    complete_dialin_message = DenaliMessage.buildBasicMessage(channel_id=channel_id,
                                                                             message=self.__dialinMessage)
-                    dialin_msg_id = DenaliMessage.getMessageID(completeDialinMessage)
-                    dialin_ch_id = DenaliMessage.getChannelID(completeDialinMessage)
+                    dialin_msg_id = DenaliMessage.getMessageID(complete_dialin_message)
+                    dialin_ch_id = DenaliMessage.getChannelID(complete_dialin_message)
 
                     if dialin_ch_id in self.__longMsgChannelIDSet:
                         # We need to remove channel ID from the long message set
@@ -402,15 +401,15 @@
                     # We first check if this is a response to a send request that is pending
                     if dialin_msg_id == self.__sendPacketRequestID:
 
-                        self.__dialinCommandResponseMessage = completeDialinMessage
+                        self.__dialinCommandResponseMessage = complete_dialin_message
                         self.__sendEvent.set()
                         self.__sendPacketRequestID = -1
 
                     # If it is not, this is a publication message and we need to call it's register function
                     elif dialin_ch_id in self.__sync_response_dictionary.keys() and \
                             dialin_msg_id in self.__sync_response_dictionary[channel_id].keys():
 
-                        self.__sync_response_dictionary[dialin_ch_id][dialin_msg_id](completeDialinMessage)
+                        self.__sync_response_dictionary[dialin_ch_id][dialin_msg_id](complete_dialin_message)
 
                     # Done with this message, let's get the next one
                     self.__dialinMessage = None