TMC2209步進驅動晶元基本配置及使用

 2、串口發送和接受數據格式

 UART發送指令採用的CRC_8校驗碼：

static void prvTMCCal_CRC8(uint8_t *pucData, uint8_t ucDataLength)
{
     int i,j;
     
    unsigned char *crc = pucData + (ucDataLength - 1);
 
    unsigned char currentByte;
 
    *crc = 0;
 
    for(i = 0; i < (ucDataLength - 1);i++)
    {
        currentByte = pucData[i];
        for(j = 0; j < 8; j++)
        {
            if((*crc >> 7) ^ (currentByte & 0x01)){
                *crc = (*crc << 1) ^ 0x07;
            }else{
                *crc = (*crc << 1);
            }
            currentByte = currentByte >>1;
        }
    }
}