diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index 3f906834..8383b0be 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -320,7 +320,7 @@ void global_fault(int error) {
         *(motors[i].axis_legacy.enable_control) = false;
     }
     // disable brake resistor
-    update_brake_current(0.0f);
+    set_brake_current(0.0f);
 }
 
 float phase_current_from_adcval(Motor_t* motor, uint32_t ADCValue) {
@@ -1112,7 +1112,16 @@ bool spin_up_sensorless(Motor_t* motor) {
     // TODO: check pll vel (abs ratio, 0.8)
 }
 
-void update_brake_current(float brake_current) {
+void update_brake_current() {
+    float Ibus_sum = 0.0f;
+    for (int i = 0; i < num_motors; ++i) {
+        Ibus_sum += motors[i].current_control.Ibus;
+    }
+    // Note: set_brake_current will clip negative values to 0.0f
+    set_brake_current(-Ibus_sum);
+}
+
+void set_brake_current(float brake_current) {
     if (brake_current < 0.0f) brake_current = 0.0f;
     float brake_duty = brake_current * brake_resistance / vbus_voltage;
 
@@ -1191,19 +1200,6 @@ bool FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
     // Compute estimated bus current
     ictrl->Ibus = mod_d * Id + mod_q * Iq;
 
-    // If this is last motor, update brake resistor duty
-    // if (motor == &motors[num_motors-1]) {
-    // Above check doesn't work if last motor is executing voltage control
-    // TODO trigger this update in control_motor_loop instead,
-    // and make voltage control a control mode in it.
-    float Ibus_sum = 0.0f;
-    for (int i = 0; i < num_motors; ++i) {
-        Ibus_sum += motors[i].current_control.Ibus;
-    }
-    // Note: function will clip negative values to 0.0f
-    update_brake_current(-Ibus_sum);
-    // }
-
     // Inverse park transform
     float mod_alpha = c * mod_d - s * mod_q;
     float mod_beta = c * mod_q + s * mod_d;
@@ -1224,12 +1220,23 @@ bool FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
     return true;
 }
 
+//Returns true if the fault line is asserted
+bool check_DRV_fault(Motor_t* motor) {
+    //TODO: make this pin configurable per motor ch
+    GPIO_PinState nFAULT_state = HAL_GPIO_ReadPin(nFAULT_GPIO_Port, nFAULT_Pin);
+    return (nFAULT_state == GPIO_PIN_RESET) ? true : false;
+}
+
 void control_motor_loop(Motor_t* motor) {
     while (*(motor->axis_legacy.enable_control)) {
         if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
             motor->error = ERROR_FOC_MEASUREMENT_TIMEOUT;
             break;
         }
+        if (check_DRV_fault(motor)) {
+            motor->error = ERROR_DRV_FAULT;
+            break;
+        }
         update_rotor(motor);
         anti_cogging_calibration(motor);  // Only runs if anticogging.calib_anticogging is true; non-blocking
 
@@ -1304,9 +1311,11 @@ void control_motor_loop(Motor_t* motor) {
         if (!FOC_current(motor, 0.0f, Iq)) {
             break;  // in case of error exit loop, motor->error has been set by FOC_current
         }
+
+        update_brake_current();
     }
 
     //We are exiting control, reset Ibus, and update brake current
-    //TODO update brake current from all motors in 1 func
-    //TODO reset this motor Ibus, then call from here
+    motor->current_control.Ibus = 0.0f;
+    update_brake_current();
 }
diff --git a/Firmware/MotorControl/low_level.h b/Firmware/MotorControl/low_level.h
index 342c19ec..22a09877 100644
--- a/Firmware/MotorControl/low_level.h
+++ b/Firmware/MotorControl/low_level.h
@@ -48,6 +48,7 @@ typedef enum {
     ERROR_UNEXPECTED_STEP_SRC,
     ERROR_POS_CTRL_DURING_SENSORLESS,
     ERROR_SPIN_UP_TIMEOUT,
+    ERROR_DRV_FAULT,
 } Error_t;
 
 // Note: these should be sorted from lowest level of control to
@@ -232,7 +233,8 @@ bool using_sensorless(Motor_t* motor);
 float get_rotor_phase(Motor_t* motor);
 float get_pll_vel(Motor_t* motor);
 bool spin_up_sensorless(Motor_t* motor);
-void update_brake_current(float brake_current);
+void update_brake_current();
+void set_brake_current(float brake_current);
 void queue_modulation_timings(Motor_t* motor, float mod_alpha, float mod_beta);
 void queue_voltage_timings(Motor_t* motor, float v_alpha, float v_beta);
 bool FOC_current(Motor_t* motor, float Id_des, float Iq_des);