@Piranha0x05, 0x00, 0xEC, 0x10,0x00,0x00,0x53, 0x9C is the order that the TCM2209 expects to receive the data, was my point. First byte out of the UART is 0x05 sync byte etc. through to 0x9C CRC byte.How you arrange these in memory is up to you.

@PiranhaYou Wrote:"And your CRC is also wrong. The correct CRC for this sequence is 0x9C."I stand corrected here. You are correct on this point and I apologize for my error.A most important issue is the absolute neccessity to check the IFCNT register...

The problems you're having with the TMC2209 are because there are errors in the data sheet for starters. Anyone trying to write to the TMC2209 via Uart (without an Arduino type 'hold your hand' library), usually gives up in disgust because of these e...