diff --git a/libuavcan/include/uavcan/internal/transport/crc.hpp b/libuavcan/include/uavcan/internal/transport/crc.hpp
index eab0a34e58..f3aece90d9 100644
--- a/libuavcan/include/uavcan/internal/transport/crc.hpp
+++ b/libuavcan/include/uavcan/internal/transport/crc.hpp
@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <cassert>
 #include <stdint.h>
 
 namespace uavcan
@@ -11,8 +12,16 @@ namespace uavcan
 
 /**
  * CRC-16-CCITT
- * Initial value: 0x0000
- * Coefficient: 0x1021
+ * Initial value: 0xFFFF
+ * Poly: 0x1021
+ * Reverse: no
+ * Output xor: 0
+ *
+ * import crcmod
+ * crc = crcmod.predefined.Crc('crc-ccitt-false')
+ * crc.update('123456789')
+ * crc.hexdigest()
+ * '29B1'
  */
 class TransportCRC
 {
@@ -23,17 +32,26 @@ public:
     enum { NumBytes = 2 };
 
     TransportCRC()
-    : value_(0x0000)
+    : value_(0xFFFF)
     { }
 
     TransportCRC(const uint8_t* bytes, unsigned int len)
-    : value_(0x0000)
+    : value_(0xFFFF)
     {
         add(bytes, len);
     }
 
-    uint16_t add(uint8_t byte);
-    uint16_t add(const uint8_t* bytes, unsigned int len);
+    void add(uint8_t byte)
+    {
+        value_ = ((value_ << 8) ^ Table[((value_ >> 8) ^ byte) & 0xFF]) & 0xFFFF;
+    }
+
+    void add(const uint8_t* bytes, unsigned int len)
+    {
+        assert(bytes);
+        while (len--)
+            add(*bytes++);
+    }
 
     uint16_t get() const { return value_; }
 };
diff --git a/libuavcan/src/transport/crc.cpp b/libuavcan/src/transport/crc.cpp
index 5ecdadd0a1..c0056ab268 100644
--- a/libuavcan/src/transport/crc.cpp
+++ b/libuavcan/src/transport/crc.cpp
@@ -45,18 +45,4 @@ const uint16_t TransportCRC::Table[256] =
     0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
 };
 
-uint16_t TransportCRC::add(uint8_t byte)
-{
-    value_ = (value_ << 8) ^ Table[((value_ >> 8) ^ byte) & 0xFF];
-    return value_;
-}
-
-uint16_t TransportCRC::add(const uint8_t* bytes, unsigned int len)
-{
-    assert(bytes);
-    while (len--)
-        add(*bytes++);
-    return value_;
-}
-
 }
diff --git a/libuavcan/test/transport/crc.cpp b/libuavcan/test/transport/crc.cpp
index d76d1d7fe3..aa61b86cce 100644
--- a/libuavcan/test/transport/crc.cpp
+++ b/libuavcan/test/transport/crc.cpp
@@ -2,25 +2,34 @@
  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <algorithm>
 #include <gtest/gtest.h>
 #include <uavcan/internal/transport/crc.hpp>
 
+/*
+ import crcmod
+ crc = crcmod.predefined.Crc('crc-ccitt-false')
+ crc.update('123')
+ crc.hexdigest()
+'5BCE'
+ crc.update('456789')
+ crc.hexdigest()
+'29B1'
+ */
 
 TEST(TransportCRC, Correctness)
 {
     uavcan::TransportCRC crc;
 
-    ASSERT_EQ(0x0000, crc.get());
+    ASSERT_EQ(0xFFFF, crc.get());
 
     crc.add('1');
     crc.add('2');
     crc.add('3');
-    ASSERT_EQ(38738, crc.get());
+    ASSERT_EQ(0x5BCE, crc.get());
 
-    crc.add(reinterpret_cast<const uint8_t*>("Foobar"), 6);
-    ASSERT_EQ(53881, crc.get());
+    crc.add(reinterpret_cast<const uint8_t*>("456789"), 6);
+    ASSERT_EQ(0x29B1, crc.get());
 
     // Initializing constructor
-    ASSERT_EQ(crc.get(), uavcan::TransportCRC(reinterpret_cast<const uint8_t*>("123Foobar"), 9).get());
+    ASSERT_EQ(crc.get(), uavcan::TransportCRC(reinterpret_cast<const uint8_t*>("123456789"), 9).get());
 }