Instead of using multiple XOR operations, the byte value is retrieved from the CRC table previously initialized and stored in memory.

/**
 * CRC computation based on a lookup table previously stored in memory.
 *
 * \details CRC value is computed by an XOR of table data stored from 
 * the bitwise XOR of the polynomial.
 *
 * \param    uint8_t  *data, pointer to data array.
 * \param    uint32_t length, of data array. 
 *
 * \returns  crc_t remainder, of CRC computation.
 */
crc_t tableCRCcalc(uint8_t *data, uint32_t length)
{
    crc_t remainder = REMAINDER_INIT;
    uint32_t byte, u32i;
    
    for(u32i = 0; u32i < length; u32i++)                   // For each byte in the data packet
    {
        byte = data[u32i] ^ (remainder >> (WIDTH - 8));
        remainder = crcTable[byte] ^ (remainder << 8);     // Perform table lookup 
                                                           //    for the byte remainder
    }
    return remainder;
}