diff --git a/rtl/.gitignore b/rtl/.gitignore
index 1972059..907fb49 100644
--- a/rtl/.gitignore
+++ b/rtl/.gitignore
@@ -2,4 +2,4 @@
 *.bin
 *.json
 *.rpt
-*.log
+*.log*
diff --git a/rtl/Makefile b/rtl/Makefile
index 9234207..804a6ac 100644
--- a/rtl/Makefile
+++ b/rtl/Makefile
@@ -13,7 +13,7 @@ ${FN}.json: ${FN}.v $(shell find library -type f -name '*.v')
 	./run_yosys.sh ${FN} | tee bldc.log
 
 ${FN}.asc: ${FN}.json ${FN}.pcf
-	nextpnr-ice40 ${NEXTPNR_OPTS} --pcf "${FN}.pcf" --json "${FN}.json" --asc "${FN}.asc"
+	nextpnr-ice40 ${NEXTPNR_OPTS} --pcf "${FN}.pcf" --json "${FN}.json" --asc "${FN}.asc" --freq 25 | tee bldc.log_pnr
 
 ${FN}.rpt: ${FN}.pcf ${FN}.asc
 	icetime ${ICETIME_OPTS} -p "${FN}.pcf" -mtr "${FN}.rpt" "${FN}.asc"
diff --git a/rtl/bldc.pcf b/rtl/bldc.pcf
index 41213cb..d5b06f7 100644
--- a/rtl/bldc.pcf
+++ b/rtl/bldc.pcf
@@ -6,4 +6,12 @@ set_io adc_ss 27
 set_io adc_si 26
 set_io adc_so 25
 
+set_io drv_fault_n 36
+set_io drv_en 43
+
+set_io drv_cs_n 44
+set_io drv_sck 45
+set_io drv_sdi 46
+set_io drv_sdo 47
+
 set_io clk 20
diff --git a/rtl/bldc.v b/rtl/bldc.v
index c412e4e..5ecea0d 100644
--- a/rtl/bldc.v
+++ b/rtl/bldc.v
@@ -6,8 +6,16 @@ module bldc (
   output adc_ss,
   output adc_sck,
   input adc_so,
-  output adc_si
-  );
+  output adc_si,
+
+  input drv_fault_n,
+  output drv_en,
+
+  output drv_cs_n,
+  output drv_sck,
+  output drv_sdi,
+  input drv_sdo
+);
 
 reg [7:0] dbg_buf = 0;
 reg dbg_buf_vld = 0;
@@ -27,6 +35,15 @@ wire [11:0] adc_val;
 wire adc_vld;
 reg adc_ack = 0;
 
+reg stop = 0;
+reg coast_nbrake = 0;
+reg clear_fault = 0;
+
+wire drv_rdy;
+wire fault_a;
+wire fault_b;
+wire fault_c;
+
 adc_driver adc0(
   .clk(clk),
   .rst(1'b0),
@@ -41,6 +58,29 @@ adc_driver adc0(
   .ack(adc_ack)
   );
 
+drv8353r_driver driver0(
+  .clk(clk),
+  .rst(1'b0),
+  .en(1'b1),
+
+  .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(drv_rdy),
+  .fault_a(fault_a),
+  .fault_b(fault_b),
+  .fault_c(fault_c)
+);
+
 uart_tx_115200 dbg(
   .clk_25mhz(clk),
   .rst(1'b0),
diff --git a/rtl/library/drv8353r_driver.v b/rtl/library/drv8353r_driver.v
index b8d1048..72ca803 100644
--- a/rtl/library/drv8353r_driver.v
+++ b/rtl/library/drv8353r_driver.v
@@ -138,6 +138,14 @@ assign cur_bit = 15 - count[6:3];
 reg [2:0] cur_reg = 0;
 reg [2:0] cur_reg_next;
 
+reg fault_a_ff = 0;
+reg fault_b_ff = 0;
+reg fault_c_ff = 0;
+
+assign fault_a = fault_a_ff;
+assign fault_b = fault_b_ff;
+assign fault_c = fault_c_ff;
+
 always @* begin
   state_next = state;