void DRV8308_WriteRegister(uint8_t address, uint16_t data)
{
    //clear bit7 in address
    address &= 0x7F;
      
    CS1_HI;  //inverse logic!!!
    
    SPI_TransferByte(DRV8308_SPI, address);
    SPI_TransferByte(DRV8308_SPI, data>>8);
    SPI_TransferByte(DRV8308_SPI, data&0xFF);
    
    CS1_LO;
}

void DRV8308_ReadRegister(uint8_t address, uint16_t *data)
{
    uint8_t tmp_data[2]={0};
    
    //set bit7 in address
    address |= 0x80;
  
    CS1_HI;  //inverse logic!!!
    
    SPI_TransferByte(DRV8308_SPI, address);
    tmp_data[0] = SPI_TransferByte(DRV8308_SPI, 0x00);
    tmp_data[1] = SPI_TransferByte(DRV8308_SPI, 0x00);

    CS1_LO;
    
    *data = (tmp_data[0] << 8) | tmp_data[1];
}

#define SPIx_SCK_PIN GPIO_Pin_3
#define SPIx_MISO_PIN GPIO_Pin_4
#define SPIx_MOSI_PIN GPIO_Pin_5

#define SPIx_SCK_SOURCE GPIO_PinSource3
#define SPIx_MISO_SOURCE GPIO_PinSource4
#define SPIx_MOSI_SOURCE GPIO_PinSource5

#define SPIx_GPIO_PORT GPIOB
#define SPIx_AF GPIO_AF_5

#define CS1_HI (GPIOB->BSRR = GPIO_Pin_6)
#define CS1_LO (GPIOB->BRR = GPIO_Pin_6)

void SPI_Setup(SPI_TypeDef *SPIx)
{
GPIO_InitTypeDef GPIO_InitStructure;
SPI_InitTypeDef SPI_InitStructure;

uint32_t spi_mode = 0;

CS1_LO;

GPIO_PinAFConfig(SPIx_GPIO_PORT, SPIx_SCK_SOURCE, SPIx_AF);
GPIO_PinAFConfig(SPIx_GPIO_PORT, SPIx_MOSI_SOURCE, SPIx_AF);
GPIO_PinAFConfig(SPIx_GPIO_PORT, SPIx_MISO_SOURCE, SPIx_AF);

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

/* SPI SCK pin configuration */
GPIO_InitStructure.GPIO_Pin = SPIx_SCK_PIN;
GPIO_Init(SPIx_GPIO_PORT, &GPIO_InitStructure);

/* SPI MOSI pin configuration */
GPIO_InitStructure.GPIO_Pin = SPIx_MOSI_PIN;
GPIO_Init(SPIx_GPIO_PORT, &GPIO_InitStructure);

/* SPI MISO pin configuration */
GPIO_InitStructure.GPIO_Pin = SPIx_MISO_PIN;
GPIO_Init(SPIx_GPIO_PORT, &GPIO_InitStructure);

//RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
if (SPIx == SPI1)
{
RCC->APB2ENR |= RCC_APB2Periph_SPI1;
}
else if (SPIx == SPI2)
{
RCC->APB1ENR |= RCC_APB1Periph_SPI2;
}
else if (SPIx == SPI3)
{
RCC->APB1ENR |= RCC_APB1Periph_SPI3;
}
else
return;

/*!< SPI Config */
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
switch(spi_mode)
{
case 0:
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
break;
case 1:
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
break;
case 2:
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
break;
case 3:
SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
break;
}
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_32; //APB1=36Mhz => ~1Mhz //APB2=72Mhz
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_Init(SPIx, &SPI_InitStructure);

/* SPI enable */
SPIx->CR1 |= SPI_CR1_SPE;
}

switch(spi_mode)
  {
        case 0:
                SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;  
                SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;  
        break;
        case 1:
                SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;  
                SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
        break;
        case 2:
               SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;  
               SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
        break;
        case 3:
              SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;  
             SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
        break;
  }

       SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;  
                SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;