diff --git a/Drivers/DRV8301/drv8301.c b/Drivers/DRV8301/drv8301.c
index d0e008ca..9bbbfb70 100644
--- a/Drivers/DRV8301/drv8301.c
+++ b/Drivers/DRV8301/drv8301.c
@@ -369,6 +369,16 @@ uint16_t DRV8301_readSpi(DRV8301_Handle handle, const DRV8301_RegName_e regName)
   uint16_t controlword = (uint16_t)DRV8301_buildCtrlWord(DRV8301_CtrlMode_Read, regName, 0);
   uint16_t recbuff = 0xbeef;
   HAL_SPI_Transmit(handle->spiHandle, (uint8_t*)(&controlword), 1, 1000);
+
+  // Datasheet says you don't have to pulse the nCS between transfers, (16 clocks should commit the transfer)
+  // but for some reason you actually need to pulse it.
+  // Actuate chipselect
+  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_SET);
+  osDelay(1);
+  // Actuate chipselect
+  HAL_GPIO_WritePin(handle->nCSgpioHandle, handle->nCSgpioNumber, GPIO_PIN_RESET);
+  osDelay(1);
+
   HAL_SPI_TransmitReceive(handle->spiHandle, (uint8_t*)(&zerobuff), (uint8_t*)(&recbuff), 1, 1000);
   osDelay(1);
 
@@ -685,24 +695,27 @@ void DRV8301_setupSpi(DRV8301_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
   DRV8301_RegName_e  drvRegName;
   uint16_t drvDataNew;
 
-
-  // Update Control Register 1
-  drvRegName = DRV8301_RegName_Control_1;
-  drvDataNew = (DRV8301_PeakCurrent_0p25_A   | \
-                DRV8301_Reset_Normal         | \
-                DRV8301_PwmMode_Six_Inputs   | \
-                DRV8301_OcMode_CurrentLimit  | \
-                DRV8301_VdsLevel_0p730_V);
-  DRV8301_writeSpi(handle,drvRegName,drvDataNew);
-
-  // Update Control Register 2
-  drvRegName = DRV8301_RegName_Control_2;
-  drvDataNew = (DRV8301_OcTwMode_Both        | \
-                DRV8301_ShuntAmpGain_10VpV   | \
-                DRV8301_DcCalMode_Ch1_Load   | \
-                DRV8301_DcCalMode_Ch2_Load   | \
-                DRV8301_OcOffTimeMode_Normal);
-  DRV8301_writeSpi(handle,drvRegName,drvDataNew);
+//  Why impose hardcoded values?
+//  Defaults should be device defaults or application level specified.
+//  Setting other hardcoded here is just confusing!
+//
+//  // Update Control Register 1
+//  drvRegName = DRV8301_RegName_Control_1;
+//  drvDataNew = (DRV8301_PeakCurrent_0p25_A   | \
+//                DRV8301_Reset_Normal         | \
+//                DRV8301_PwmMode_Six_Inputs   | \
+//                DRV8301_OcMode_CurrentLimit  | \
+//                DRV8301_VdsLevel_0p730_V);
+//  DRV8301_writeSpi(handle,drvRegName,drvDataNew);
+//
+//  // Update Control Register 2
+//  drvRegName = DRV8301_RegName_Control_2;
+//  drvDataNew = (DRV8301_OcTwMode_Both        | \
+//                DRV8301_ShuntAmpGain_10VpV   | \
+//                DRV8301_DcCalMode_Ch1_Load   | \
+//                DRV8301_DcCalMode_Ch2_Load   | \
+//                DRV8301_OcOffTimeMode_Normal);
+//  DRV8301_writeSpi(handle,drvRegName,drvDataNew);
 
 
   Spi_8301_Vars->SndCmd = false;
diff --git a/Odrive.ioc b/Odrive.ioc
index fac74fd7..2244b172 100755
--- a/Odrive.ioc
+++ b/Odrive.ioc
@@ -334,8 +334,9 @@ PCC.Seq0=0
 PCC.Series=STM32F4
 PCC.Temperature=25
 PCC.Vdd=3.3
-PD2.GPIOParameters=GPIO_Label
+PD2.GPIOParameters=GPIO_Label,GPIO_PuPd
 PD2.GPIO_Label=nFAULT
+PD2.GPIO_PuPd=GPIO_PULLUP
 PD2.Locked=true
 PD2.Signal=GPIO_Input
 PH0-OSC_IN.Mode=HSE-External-Oscillator
@@ -463,9 +464,9 @@ SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2 CH2N
 SH.S_TIM8_CH2.ConfNb=1
 SH.S_TIM8_CH3.0=TIM8_CH3,PWM Generation3 CH3 CH3N
 SH.S_TIM8_CH3.ConfNb=1
-SPI3.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_8
+SPI3.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
 SPI3.CLKPhase=SPI_PHASE_2EDGE
-SPI3.CalculateBaudRate=5.25 MBits/s
+SPI3.CalculateBaudRate=2.625 MBits/s
 SPI3.DataSize=SPI_DATASIZE_16BIT
 SPI3.FirstBit=SPI_FIRSTBIT_MSB
 SPI3.IPParameters=Mode,CalculateBaudRate,BaudRatePrescaler,DataSize,FirstBit,CLKPhase
diff --git a/Src/gpio.c b/Src/gpio.c
index bcd18454..aecc78ef 100644
--- a/Src/gpio.c
+++ b/Src/gpio.c
@@ -102,7 +102,7 @@ void MX_GPIO_Init(void)
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = nFAULT_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
   HAL_GPIO_Init(nFAULT_GPIO_Port, &GPIO_InitStruct);
 
 }
diff --git a/Src/spi.c b/Src/spi.c
index 30e84fa4..32ec77a2 100644
--- a/Src/spi.c
+++ b/Src/spi.c
@@ -54,7 +54,7 @@ void MX_SPI3_Init(void)
   hspi3.Init.CLKPolarity = SPI_POLARITY_LOW;
   hspi3.Init.CLKPhase = SPI_PHASE_2EDGE;
   hspi3.Init.NSS = SPI_NSS_SOFT;
-  hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
+  hspi3.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16;
   hspi3.Init.FirstBit = SPI_FIRSTBIT_MSB;
   hspi3.Init.TIMode = SPI_TIMODE_DISABLE;
   hspi3.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
diff --git a/Src/test.c b/Src/test.c
index 76e98511..03e56f39 100644
--- a/Src/test.c
+++ b/Src/test.c
@@ -91,13 +91,11 @@ void test_DRV8301_setup() {
     //The DRV_8301 driver instance
     //DRV8301_Obj gate_drivers[NUM_MOTORS];
 
-    while(1){
     for (int i = 0; i < num_motors; ++i) {
         DRV8301_enable(&gate_drivers[i]);
         DRV8301_setupSpi(&gate_drivers[i], &gate_driver_regs[i]);
         osDelay(1000);
     }
-    }
 }
 
 void test_main(void) {