diff --git a/rtl/library/drv8353r_driver.v b/rtl/library/drv8353r_driver.v
index f3dfb55..b8d1048 100644
--- a/rtl/library/drv8353r_driver.v
+++ b/rtl/library/drv8353r_driver.v
@@ -17,7 +17,7 @@ module drv8353r_driver(
   output drv_cs_n,
   output drv_sck,
   output drv_sdi,
-  output drv_sdo,
+  input drv_sdo,
 
   // assert stop with the coast_nbrake
   // bit to disable the gate drivers
@@ -28,9 +28,11 @@ module drv8353r_driver(
   output rdy,
   output fault_a,
   output fault_b,
-  output fault_c,
+  output fault_c
   );
 
+parameter WAIT_TIME = 98;
+
 wire [15:0] driver_control;
 wire [15:0] hs_control;
 wire [15:0] ls_control;
@@ -49,8 +51,9 @@ assign driver_control = {
   1'b0, // 1PWM_DIR, default
   1'b0, // COAST, disabled
   1'b0, // BRAKE, disabled
-  1'b0, // CLR_FLT, no clear
+  1'b0 // CLR_FLT, no clear
 };
+
 // TODO actually calculate HS/LS gate drive
 // requirements
 assign hs_control = {
@@ -58,7 +61,7 @@ assign hs_control = {
   1'b1, // write
   3'b000, // LOCK, don't lock or unlock
   4'b0100, // IDRIVEP_HS, 300 mA
-  4'b0010, // IDRIVEN_HS, 200 mA
+  4'b0010 // IDRIVEN_HS, 200 mA
 };
 assign ls_control = {
   4'b0100, // address = 0x04
@@ -66,7 +69,7 @@ assign ls_control = {
   1'b1, // CBC, OCP conditions reset when PWM is provided
   2'b11, // TDRIVE = 4000 ns gate-current drive time
   4'b0100, // IDRIVEP_LS, 300 mA
-  4'b0010, // IDRIVEN_LS, 200 mA
+  4'b0010 // IDRIVEN_LS, 200 mA
 };
 assign ocp_control = {
   4'b0101, // address = 0x05
@@ -75,7 +78,7 @@ assign ocp_control = {
   2'b01, // DEAD_TIME, 100 ns deadtime
   2'b01, // OCP_MODE, overcurrent causes automatic retry
   2'b10, // OCP_DEG, 4us overcurrent deglitch
-  4'b1101, // VDS_LVL, 1V
+  4'b1101 // VDS_LVL, 1V
 };
 assign csa_control = {
   4'b0110, // address = 0x06
@@ -88,12 +91,11 @@ assign csa_control = {
   1'b0, // CSA_CAL_A, normal operation
   1'b0, // CSA_CAL_B, normal operation
   1'b0, // CSA_CAL_C, normal operation
-  2'b11, // SEN_LVL, OCP 1 V
+  2'b11 // SEN_LVL, OCP 1 V
 };
 
-reg [3:0] cur_bit;
-wire [4:0] config_bits;
-wire config_bit;
+wire [3:0] cur_bit;
+wire [7:0] config_bits;
 
 assign config_bits[0] = driver_control[cur_bit];
 assign config_bits[1] = hs_control[cur_bit];
@@ -102,5 +104,141 @@ assign config_bits[3] =
   ocp_control[cur_bit];
 assign config_bits[4] =
   csa_control[cur_bit];
+assign config_bits[7:5] = 3'b000;
+
+localparam IDLE = 0,
+    INIT = 1,
+    CONFIG = 2,
+    READY = 3;
+reg [2:0] state = IDLE;
+reg [2:0] state_next;
+
+assign rdy = (state == READY);
+
+reg drv_en_ff = 0;
+reg drv_cs_n_ff = 1;
+reg drv_sck_ff = 1;
+reg drv_sdi_ff = 0;
+
+reg drv_en_next, drv_cs_n_next;
+reg drv_sck_next, drv_sdi_next;
+
+assign drv_en = drv_en_ff;
+assign drv_cs_n = drv_cs_n_ff;
+assign drv_sck = drv_sck_ff;
+assign drv_sdi = drv_sdi_ff;
+
+reg [7:0] count = 0;
+reg [7:0] count_next;
+reg [7:0] msb_count = 0;
+reg [7:0] msb_count_next;
+
+assign cur_bit = 15 - count[6:3];
+
+reg [2:0] cur_reg = 0;
+reg [2:0] cur_reg_next;
+
+always @* begin
+  state_next = state;
+
+  drv_en_next = 0;
+  drv_cs_n_next = 1;
+  drv_sck_next = 0;
+  drv_sdi_next = 0;
+  cur_reg_next = 0;
+
+  count_next = count;
+  msb_count_next = msb_count;
+
+  case (state)
+    IDLE: begin
+      if (en) begin
+        state_next = INIT;
+        drv_en_next = 1;
+        count_next = 0;
+      end
+    end
+    INIT: begin
+      drv_en_next = 1;
+
+      // wait 1 ms before trying to configure
+      count_next = count + 1;
+      if (&count_next) begin
+        msb_count_next = msb_count;
+      end
+      if (msb_count == WAIT_TIME) begin
+        cur_reg_next = 0;
+        state_next = CONFIG;
+        count_next = 0;
+      end
+    end
+    CONFIG: begin
+      // write all the configuration bits
+      // to the DRV8353
+
+      drv_en_next = 1;
+      drv_cs_n_next = drv_cs_n_ff;
+      drv_sck_next = drv_sck_ff;
+      drv_sdi_next = drv_sdi_ff;
+      cur_reg_next = cur_reg;
+
+      count_next = count + 1;
+      if (&count[1:0]) begin
+        if (count[7:2] == 0) begin
+          drv_cs_n_next = 0;
+        end
+        drv_sck_next = count[2];
+        if (count[7:2] == 33) begin
+          drv_cs_n_next = 1;
+          count_next = 0;
+          cur_reg_next = cur_reg + 1;
+          drv_sck_next = 0;
+          if (cur_reg == 4) begin
+            state_next = READY;
+          end
+        end
+        // write the next bit on high transitions
+        if (count[2]) begin
+          drv_sdi_next = config_bits[cur_reg];
+        end
+      end
+    end
+    READY: begin
+      drv_en_next = 1;
+      // TODO if there are faults read
+      // the status register to output
+      // the appropriate info
+      // TODO if a stop is commanded
+      // write to the register
+      // to stop the motor driver
+      // TODO if a stop is deasserted
+      // write to the register to
+      // reenable the motor driver
+    end
+  endcase
+  
+  if (rst) begin
+    state_next = IDLE;
+
+    drv_en_next = 0;
+    drv_cs_n_next = 1;
+    drv_sck_next = 1;
+    drv_sdi_next = 0;
+  end
+end
+
+always @(posedge clk) begin
+  state <= state_next;
+
+  drv_en_ff <= drv_en_next;
+  drv_cs_n_ff <= drv_cs_n_next;
+  drv_sck_ff <= drv_sck_next;
+  drv_sdi_ff <= drv_sdi_next;
+
+  count <= count_next;
+  msb_count <= msb_count_next;
+
+  cur_reg <= cur_reg_next;
+end
 
 endmodule
diff --git a/rtl/tb/Makefile b/rtl/tb/Makefile
index 9670a96..668fd1b 100644
--- a/rtl/tb/Makefile
+++ b/rtl/tb/Makefile
@@ -1,4 +1,4 @@
-tests: test_adc
+tests: test_adc test_drv8353
 
 test_adc: vcd/adc_driver_tb.vcd
 
@@ -7,3 +7,11 @@ vcd/adc_driver_tb.vcd: bin/adc_driver_tb
 	
 bin/adc_driver_tb: adc_driver_tb.v ../library/adc_driver.v
 	iverilog adc_driver_tb.v ../library/adc_driver.v -o bin/adc_driver_tb
+
+test_drv8353: vcd/drv8353_spi_tb.vcd
+
+vcd/drv8353_spi_tb.vcd: bin/drv8353_spi_tb
+	./bin/drv8353_spi_tb
+	
+bin/drv8353_spi_tb: drv8353_spi_tb.v ../library/drv8353r_driver.v
+	iverilog $^ -o bin/drv8353_spi_tb
diff --git a/rtl/tb/drv8353_spi_tb.v b/rtl/tb/drv8353_spi_tb.v
new file mode 100644
index 0000000..fe9487c
--- /dev/null
+++ b/rtl/tb/drv8353_spi_tb.v
@@ -0,0 +1,137 @@
+`timescale 10ns/10ns
+
+module drv8353_spi_tb();
+
+reg clk = 0;
+reg rst = 1;
+reg en = 0;
+
+reg drv_fault_n = 1;
+wire drv_en;
+
+wire drv_cs_n;
+wire drv_sck;
+wire drv_sdi;
+reg drv_sdo = 0;
+
+// assert stop with the coast_nbrake
+// bit to disable the gate drivers
+reg stop = 0;
+reg coast_nbrake = 0;
+reg clear_fault = 0;
+
+wire rdy;
+wire fault_a;
+wire fault_b;
+wire fault_c;
+
+drv8353r_driver #(0) dut(
+  .clk(clk),
+  .rst(rst),
+  .en(en),
+
+  .drv_fault_n(drv_fault_n),
+  .drv_en(drv_en),
+
+  .drv_cs_n(drv_cs_n),
+  .drv_sck(drv_sck),
+  .drv_sdi(drv_sdi),
+  .drv_sdo(drv_sdo),
+
+  .stop(stop),
+  .coast_nbrake(coast_nbrake),
+  .clear_fault(clear_fault),
+
+  .rdy(rdy),
+  .fault_a(fault_a),
+  .fault_b(fault_b),
+  .fault_c(fault_c)
+);
+
+integer cfg_num = -1;
+integer cfg[5:0];
+integer i = 0;
+integer bit_count = 0;
+reg spi_active = 0;
+
+wire [15:0] cfg0;
+wire [15:0] cfg1;
+wire [15:0] cfg2;
+wire [15:0] cfg3;
+wire [15:0] cfg4;
+
+assign cfg0 = cfg[0];
+assign cfg1 = cfg[1];
+assign cfg2 = cfg[2];
+assign cfg3 = cfg[3];
+assign cfg4 = cfg[4];
+
+always @(negedge drv_cs_n) begin
+  spi_active <= 1;
+  cfg_num <= cfg_num + 1;
+  if (drv_sck) begin
+    $display("sck not low on falling edge, clock %d", i);
+  end
+end
+
+always @(posedge drv_cs_n) begin
+  spi_active <= 0;
+  bit_count <= 0;
+  if (drv_sck) begin
+    $display("sck not low on rising edge, clock %d", i);
+  end
+end
+
+always @(negedge drv_sck) begin
+  if (spi_active) begin
+    cfg[cfg_num] <= cfg[cfg_num] << 1 | drv_sdi;
+    bit_count <= bit_count + 1;
+  end
+end
+
+integer j = 0;
+integer expected = 0;
+always @*
+  case (j)
+    0: expected = 16'b0010100000100000;
+    1: expected = 16'b0011100001000010;
+    2: expected = 16'b0100111101000010;
+    3: expected = 16'b0101100101101101;
+    4: expected = 16'b0110100010000011;
+  endcase
+
+
+always @(rdy) begin
+  if (rdy) begin
+    for (j = 0; j < 5; j += 1)
+      #1
+      if (cfg[j] != expected)
+        $display("cfg %d bad, %x != %x", j, cfg[j], expected);
+    $finish;
+  end
+end
+
+initial begin
+  $dumpfile("vcd/drv8353_spi_tb.vcd");
+  $dumpvars;
+
+  for (i = 0; i < 5; i += 1) cfg[i] = 0;
+  // TODO cycle the module long enough to get all the configuration bits
+  // written out, and check to see if it worked correctly
+  i = 0;
+
+  #2 clk = 0;
+  #2 clk = 1;
+
+  i = i + 1;
+  rst = 0;
+  en = 1;
+
+  for (i = 0; i < 3000; i+= 1) begin
+    #2 clk = 0;
+    #2 clk = 1;
+    i = i + 1;
+  end
+end
+ 
+endmodule