Trinamic TMC2209 STM32 UART not reading from device

Question

I've been struggling for ages, finally caved and asking for help now. There are very little resources on STM32 for this driver that I have seen.

I can use the device with the STEP/DIR interface but I want to be able to do the more advanced things now with only the single UART line and not the STEP/DIR lines.

I am trying to control a TMC2209 in the most basic form to understand how it all works, without libraries and such. I want to get basic controls working so I can understand it and build up my own code from there, right now the goal is to just talk to the thing and get it to spin.

I am using a STM32F103, I have setup the USART3 line (PC10) in signal wire half duplex mode and using the following code to try read from the CHOPCONF register.

       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);

I expect the following : ( according to the Datasheet that is,,, )

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

But I am getting this :

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

I am not sure if I am transmitting these in the correct order or maybe the HAL function should not be used for this at all ?

Any help or pointers in the right direction would be greatly appreciated.