STM32通过UART读取Trinamic TMC2209失败求助

我已为此问题困扰许久，目前能找到的TMC2209驱动相关STM32资源极少。我可以通过STEP/DIR接口正常使用设备，但希望仅通过单UART线路实现高级功能，不再依赖STEP/DIR线路。我正尝试以无库的基础形式控制TMC2209，理解原理后自行构建代码，当前目标是实现通信并驱动其转动。

我使用STM32F103，将USART3（PC10）配置为单线半双工模式，通过以下代码尝试读取CHOPCONF寄存器：

Sync = 0x05; // sync byte to start the Tx
       Address = 0x00; // MS1 and MS2 are pulled low so the device address is 0
       RegAddress = 0x6C; // Trying for a basic read from the CHOPCONF Reg
       motor_CRC = 0xCA;  // CRC that has been worked out

       HAL_UART_Transmit(&huart3,&Sync,sizeof(Sync),20);
       HAL_UART_Transmit(&huart3,&Address,sizeof(Address),20);
       HAL_UART_Transmit(&huart3,&RegAddress,sizeof(RegAddress),20);
       HAL_UART_Transmit(&huart3,&motor_CRC,sizeof(motor_CRC),20);

// Receive the data from the TMC2209

       HAL_UART_Receive(&huart3, &ReplySync, sizeof(ReplySync), 200);
       HAL_UART_Receive(&huart3, &ReplyMasterAddr, sizeof(ReplyMaster), 20);
       HAL_UART_Receive(&huart3, &ReplyAddr, sizeof(ReplyAddr), 20);
       HAL_UART_Receive(&huart3, &Reply1, sizeof(Reply1), 20);
       HAL_UART_Receive(&huart3, &Reply2, sizeof(Reply2), 20);
       HAL_UART_Receive(&huart3, &Reply3, sizeof(Reply3), 20);
       HAL_UART_Receive(&huart3, &Reply4, sizeof(Reply4), 20);
       HAL_UART_Receive(&huart3, &ReplyCRC, sizeof(ReplyCRC), 20);

       HAL_Delay(1000);

预期返回结果（依据数据手册）：

ReplySync      >>> 0x05
ReplyMasterAddr>>> 0xFF
ReplyAddr      >>> 0xCA
Reply1         >>> 0x53
Reply2         >>> 0x00
Reply3         >>> 0x00
Reply4         >>> 0x10
ReplyCRC       >>> I dont know this one yet,,,,

实际返回结果：

ReplySync      >>> 0x05
ReplyMasterAddr>>> 0x00
ReplyAddr      >>> 0x5D
Reply1         >>> 0x09
Reply2         >>> 0x08
Reply3         >>> 0x00
Reply4         >>> 0x02
ReplyCRC       >>> 0x09

我不确定是否发送顺序有误，或是否不应使用HAL函数实现该功能，恳请提供帮助或方向指引。

内容的提问来源于stack exchange，提问作者Spider999