diff --git a/src/hal/avr/tmc2130.cpp b/src/hal/avr/tmc2130.cpp
index f8a042c..be9ac1f 100644
--- a/src/hal/avr/tmc2130.cpp
+++ b/src/hal/avr/tmc2130.cpp
@@ -13,5 +13,32 @@ void TMC2130::Init(const MotorParams &params) {
     // TODO
 }
 
+uint32_t TMC2130::ReadRegister(const MotorParams &params, Registers reg) {
+    uint8_t pData[5] = {(uint8_t)reg};
+	_spi_tx_rx(params, pData);
+	// _handle_spi_status(pData[0]); /// could be outdated. Safer not to use it.
+	pData[0] = 0;
+	_spi_tx_rx(params, pData);
+	_handle_spi_status(pData[0]);
+	return ((uint32_t)pData[1] << 24 | (uint32_t)pData[2] << 16 | (uint32_t)pData[3] << 8 | (uint32_t)pData[4]);
+}
+
+void TMC2130::WriteRegister(const MotorParams &params, Registers reg, uint32_t data) {
+	uint8_t pData[5] = {(uint8_t)((uint8_t)(reg) | 0x80), (uint8_t)(data >> 24), (uint8_t)(data >> 16), (uint8_t)(data >> 8), (uint8_t)data};
+	_spi_tx_rx(params, pData);
+	_handle_spi_status(pData[0]);
+}
+
+void TMC2130::_spi_tx_rx(const MotorParams &params, uint8_t (&pData)[5]) {
+    hal::gpio::WritePin(params.csPin, hal::gpio::Level::low);
+    for (uint8_t i = 0; i < sizeof(pData); i++)
+        pData[i] = hal::spi::TxRx(params.spi, pData[i]);
+    hal::gpio::WritePin(params.csPin, hal::gpio::Level::high);
+}
+
+void TMC2130::_handle_spi_status(uint8_t status) {
+    spi_status |= status & 0x03; /// update reset_flag and driver_error
+}
+
 } // namespace tmc2130
 } // namespace hal
diff --git a/src/hal/tmc2130.h b/src/hal/tmc2130.h
index f01c2f3..610e1d1 100644
--- a/src/hal/tmc2130.h
+++ b/src/hal/tmc2130.h
@@ -1,6 +1,7 @@
 #pragma once
 #include "../hal/gpio.h"
 #include "../hal/shr16.h"
+#include "../hal/spi.h"
 
 namespace hal {
 
@@ -16,6 +17,7 @@ enum MotorMode : uint8_t {
 };
 
 struct MotorParams {
+    hal::spi::SPI_TypeDef *spi;
     uint8_t idx; ///< SHR16 index
     bool dirOn; ///< forward direction
     gpio::GPIO_pin csPin; ///< CS pin
@@ -33,8 +35,31 @@ struct MotorCurrents {
 class TMC2130 {
     MotorMode mode;
     MotorCurrents currents;
+    uint8_t spi_status = 0;
 
 public:
+    enum class Registers : uint8_t {
+        /// General Configuration Registers
+        GCONF = 0x00,
+        GSTAT = 0x01,
+        IOIN = 0x04,
+
+        /// Velocity Dependent Driver Feature Control Register Set
+        IHOLD_IRUN = 0x10,
+        TPOWERDOWN = 0x11,
+        TSTEP = 0x12,
+        TPWMTHRS = 0x13,
+        TCOOLTHRS = 0x14,
+        THIGH = 0x15,
+
+        /// Motor Driver Registers
+        MSCNT = 0x6A,
+        CHOPCONF = 0x6C,
+        COOLCONF = 0x6D,
+        DRV_STATUS = 0x6F,
+        PWMCONF = 0x70,
+    };
+
     /// Constructor
     TMC2130(const MotorParams &params,
         const MotorCurrents &currents,
@@ -82,27 +107,15 @@ public:
         return gpio::ReadPin(params.sgPin) == gpio::Level::high;
     }
 
-    enum class Registers : uint8_t {
-        /// General Configuration Registers
-        GCONF = 0x00,
-        GSTAT = 0x01,
-        IOIN = 0x04,
+    /// Reads a driver register and updates the status flags
+    uint32_t ReadRegister(const MotorParams &params, Registers reg);
 
-        /// Velocity Dependent Driver Feature Control Register Set
-        IHOLD_IRUN = 0x10,
-        TPOWERDOWN = 0x11,
-        TSTEP = 0x12,
-        TPWMTHRS = 0x13,
-        TCOOLTHRS = 0x14,
-        THIGH = 0x15,
+    /// Writes a driver register and updates the status flags
+    void WriteRegister(const MotorParams &params, Registers reg, uint32_t data);
 
-        /// Motor Driver Registers
-        MSCNT = 0x6A,
-        CHOPCONF = 0x6C,
-        COOLCONF = 0x6D,
-        DRV_STATUS = 0x6F,
-        PWMCONF = 0x70,
-    };
+private:
+    void _spi_tx_rx(const MotorParams &params, uint8_t (&pData)[5]);
+    void _handle_spi_status(uint8_t status);
 };
 
 } // namespace tmc2130
diff --git a/src/modules/motion.h b/src/modules/motion.h
index baaa00f..30b7c8f 100644
--- a/src/modules/motion.h
+++ b/src/modules/motion.h
@@ -42,7 +42,7 @@ static constexpr AxisParams axisParams[NUM_AXIS] = {
     // Pulley
     {
         .name = 'P',
-        .params = { .idx = Pulley, .dirOn = config::pulley.dirOn, .csPin = PULLEY_CS_PIN, .stepPin = PULLEY_STEP_PIN, .sgPin = PULLEY_SG_PIN, .uSteps = config::pulley.uSteps },
+        .params = { .spi = config::TmcSpiBus, .idx = Pulley, .dirOn = config::pulley.dirOn, .csPin = PULLEY_CS_PIN, .stepPin = PULLEY_STEP_PIN, .sgPin = PULLEY_SG_PIN, .uSteps = config::pulley.uSteps },
         .currents = { .vSense = config::pulley.vSense, .iRun = config::pulley.iRun, .iHold = config::pulley.iHold },
         .mode = DefaultMotorMode(config::pulley),
         .jerk = unitToSteps<P_speed_t>(config::pulleyLimits.jerk),
@@ -51,7 +51,7 @@ static constexpr AxisParams axisParams[NUM_AXIS] = {
     // Selector
     {
         .name = 'S',
-        .params = { .idx = Selector, .dirOn = config::selector.dirOn, .csPin = SELECTOR_CS_PIN, .stepPin = SELECTOR_STEP_PIN, .sgPin = SELECTOR_SG_PIN, .uSteps = config::selector.uSteps },
+        .params = { .spi = config::TmcSpiBus, .idx = Selector, .dirOn = config::selector.dirOn, .csPin = SELECTOR_CS_PIN, .stepPin = SELECTOR_STEP_PIN, .sgPin = SELECTOR_SG_PIN, .uSteps = config::selector.uSteps },
         .currents = { .vSense = config::selector.vSense, .iRun = config::selector.iRun, .iHold = config::selector.iHold },
         .mode = DefaultMotorMode(config::selector),
         .jerk = unitToSteps<S_speed_t>(config::selectorLimits.jerk),
@@ -60,7 +60,7 @@ static constexpr AxisParams axisParams[NUM_AXIS] = {
     // Idler
     {
         .name = 'I',
-        .params = { .idx = Idler, .dirOn = config::idler.dirOn, .csPin = IDLER_CS_PIN, .stepPin = IDLER_STEP_PIN, .sgPin = IDLER_SG_PIN, .uSteps = config::idler.uSteps },
+        .params = { .spi = config::TmcSpiBus, .idx = Idler, .dirOn = config::idler.dirOn, .csPin = IDLER_CS_PIN, .stepPin = IDLER_STEP_PIN, .sgPin = IDLER_SG_PIN, .uSteps = config::idler.uSteps },
         .currents = { .vSense = config::idler.vSense, .iRun = config::idler.iRun, .iHold = config::idler.iHold },
         .mode = DefaultMotorMode(config::idler),
         .jerk = unitToSteps<I_speed_t>(config::idlerLimits.jerk),