diff --git a/src/drivers/drv832x/drv832x.cpp b/src/drivers/drv832x/drv832x.cpp
index 62fd625..ac77555 100644
--- a/src/drivers/drv832x/drv832x.cpp
+++ b/src/drivers/drv832x/drv832x.cpp
@@ -23,9 +23,7 @@ void DRV832xDriver6PWM::init(SPIClass* _spi) {
 };
 
 void DRV832xDriver::init(SPIClass* _spi) {
-	// TODO make SPI speed configurable
 	spi = _spi;
-	settings = SPISettings(1000000, MSBFIRST, SPI_MODE1);
 
 	//setup pins
 	pinMode(cs, OUTPUT);
@@ -50,8 +48,6 @@ void DRV832xDriver::init(SPIClass* _spi) {
 };
 
 
-
-
 uint16_t DRV832xDriver::readSPI(uint8_t addr) {
 	digitalWrite(cs, 0);
 	spi->beginTransaction(settings);
@@ -119,7 +115,6 @@ DRV832xStatus DRV832xDriver::getStatus() {
 	return DRV832xStatus(data0, data1);
 }
 
-
 void DRV832xDriver::clearFault() {
 	uint16_t result = readSPI(Driver_Control_ADDR);
 	Driver_Control data;
@@ -172,6 +167,24 @@ def_getset(CurrentSenseOvercurrentSensitivity, DRV832x_CS_VSEN_LVL, CSA_Control_
 def_isset(CurrentSenseCalibrateA, CSA_Control_ADDR, CSA_Control, CSA_CAL_A);
 def_isset(CurrentSenseCalibrateB, CSA_Control_ADDR, CSA_Control, CSA_CAL_B);
 def_isset(CurrentSenseCalibrateC, CSA_Control_ADDR, CSA_Control, CSA_CAL_C);
+
+
+void DRV832xDriver::calibrate_current_sense()
+{
+	CSA_Control csa_control_before, csa_control_cal;
+	csa_control_before.reg = readSPI(CSA_Control_ADDR);
+	csa_control_cal.reg = csa_control_before.reg;
+	csa_control_cal.CSA_CAL_A = 1;
+	csa_control_cal.CSA_CAL_B = 1;
+	csa_control_cal.CSA_CAL_C = 1;
+	writeSPI(CSA_Control_ADDR, csa_control_cal.reg);
+	delay(1); //Calibration routine requires 100us, we're waiting for 1ms to be safe
+	csa_control_before.CSA_CAL_A = 0;
+	csa_control_before.CSA_CAL_B = 0;
+	csa_control_before.CSA_CAL_C = 0;
+	writeSPI(CSA_Control_ADDR, csa_control_before.reg); //restore settings, as the calibration may have changed the sensitivity to 40V/V
+}
+
 def_isset(CurrentSenseOvercurrentDisable, CSA_Control_ADDR, CSA_Control, DIS_SEN);
 def_getset(CurrentSenseGain, DRV832x_CSAGain, CSA_Control_ADDR, CSA_Control, CSA_GAIN)
 def_isset(CurrentSenseOvercurrentResistor, CSA_Control_ADDR, CSA_Control, LS_REF);
diff --git a/src/drivers/drv832x/drv832x.h b/src/drivers/drv832x/drv832x.h
index e6a46b1..e287f94 100644
--- a/src/drivers/drv832x/drv832x.h
+++ b/src/drivers/drv832x/drv832x.h
@@ -187,7 +187,7 @@ class DRV832xStatus : public DRV832xFault, public DRV832xVGS {
 class DRV832xDriver {
 
 	public:
-		DRV832xDriver(int cs, bool currentLimit = false, int nFault = NOT_SET) : currentLimit(currentLimit), cs(cs), nFault(nFault), spi(&SPI), settings(1000000, MSBFIRST, SPI_MODE1) {};
+		DRV832xDriver(int cs, int nFault = NOT_SET, uint32_t spi_clock = 1000000) : cs(cs), nFault(nFault), spi(&SPI), settings(spi_clock, MSBFIRST, SPI_MODE1) {};
 		virtual ~DRV832xDriver() {};
 
 		virtual void init(SPIClass* _spi = &SPI);
@@ -230,6 +230,8 @@ class DRV832xDriver {
 		decl_isset(CurrentSenseCalibrateA);
 		decl_isset(CurrentSenseCalibrateB);
 		decl_isset(CurrentSenseCalibrateC);
+		void calibrate_current_sense();
+		
 		decl_isset(CurrentSenseOvercurrentDisable);
 		decl_getset(CurrentSenseGain, DRV832x_CSAGain);
 		decl_isset(CurrentSenseOvercurrentResistor);
@@ -240,7 +242,6 @@ class DRV832xDriver {
 		uint16_t readSPI(uint8_t addr);
 		uint16_t writeSPI(uint8_t addr, uint16_t value);
 
-		bool currentLimit;
 		int cs;
 		int nFault;
 		SPIClass* spi;
@@ -253,8 +254,8 @@ class DRV832xDriver {
 class DRV832xDriver3PWM : public DRV832xDriver, public BLDCDriver3PWM {
 
 	public:
-		DRV832xDriver3PWM(int phA,int phB,int phC, int cs, bool currentLimit = false, int en = NOT_SET, int nFault = NOT_SET) :
-			DRV832xDriver(cs, currentLimit, nFault), BLDCDriver3PWM(phA, phB, phC, en) { enable_active_high=false; };
+		DRV832xDriver3PWM(int phA,int phB,int phC, int cs, int en = NOT_SET, int nFault = NOT_SET, uint32_t spi_clock = 1000000) :
+			DRV832xDriver(cs, nFault, spi_clock), BLDCDriver3PWM(phA, phB, phC, en) { enable_active_high=false; };
 		virtual ~DRV832xDriver3PWM() {};
 
 		virtual void init(SPIClass* _spi = &SPI) override;
@@ -266,8 +267,8 @@ class DRV832xDriver3PWM : public DRV832xDriver, public BLDCDriver3PWM {
 class DRV832xDriver6PWM : public DRV832xDriver, public BLDCDriver6PWM {
 
 	public:
-		DRV832xDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int cs, bool currentLimit = false, int en = NOT_SET, int nFault = NOT_SET) :
-			DRV832xDriver(cs, currentLimit, nFault), BLDCDriver6PWM(phA_h, phA_l, phB_h, phB_l, phC_h, phC_l, en) { enable_active_high=false; };
+		DRV832xDriver6PWM(int phA_h,int phA_l,int phB_h,int phB_l,int phC_h,int phC_l, int cs, int en = NOT_SET, int nFault = NOT_SET, uint32_t spi_clock = 1000000) :
+			DRV832xDriver(cs, nFault, spi_clock), BLDCDriver6PWM(phA_h, phA_l, phB_h, phB_l, phC_h, phC_l, en) { enable_active_high=false; };
 		virtual ~DRV832xDriver6PWM() {};
 
 		virtual void init(SPIClass* _spi = &SPI) override;