diff --git a/examples/pwm_demo/pwm_demo.ino b/examples/pwm_demo/pwm_demo.ino
new file mode 100644
index 00000000..2992ee66
--- /dev/null
+++ b/examples/pwm_demo/pwm_demo.ino
@@ -0,0 +1,78 @@
+#include <TLE94112.h>
+
+
+void setup() {
+  int dc = 100;
+  //Serial for debug output
+  Serial.begin(9600);
+  while(!Serial);
+
+  //LED
+  pinMode(LED1, OUTPUT);
+
+  //power supply voltage should be available before tle94112.begin() is called
+  delay(100);
+  //enable tle94112
+  tle94112.begin();
+
+  /*
+  //update motor speed
+  //three different frequencies are shown on oscilloscope
+  tle94112.configPWM(tle94112.TLE_PWM1, tle94112.TLE_FREQ80HZ, dc);
+  tle94112.configPWM(tle94112.TLE_PWM2, tle94112.TLE_FREQ100HZ, dc);
+  tle94112.configPWM(tle94112.TLE_PWM3, tle94112.TLE_FREQ200HZ, dc);
+  */
+
+  //halfbridges for outputting HIGH or PWM
+  tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_HIGH, tle94112.TLE_PWM1);
+  tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_PWM2);
+  tle94112.configHB(tle94112.TLE_HB3, tle94112.TLE_HIGH, tle94112.TLE_PWM3);
+  tle94112.configHB(tle94112.TLE_HB4, tle94112.TLE_HIGH, tle94112.TLE_NOPWM);
+
+  //halfbridges outputting LOW
+  tle94112.configHB(tle94112.TLE_HB5, tle94112.TLE_LOW, tle94112.TLE_NOPWM);
+  tle94112.configHB(tle94112.TLE_HB6, tle94112.TLE_LOW, tle94112.TLE_NOPWM);
+  tle94112.configHB(tle94112.TLE_HB7, tle94112.TLE_LOW, tle94112.TLE_NOPWM);
+  tle94112.configHB(tle94112.TLE_HB8, tle94112.TLE_LOW, tle94112.TLE_NOPWM);
+
+  //halfbridges floating / inactive
+  tle94112.configHB(tle94112.TLE_HB9, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
+  tle94112.configHB(tle94112.TLE_HB10, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
+  tle94112.configHB(tle94112.TLE_HB11, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
+  tle94112.configHB(tle94112.TLE_HB12, tle94112.TLE_FLOATING, tle94112.TLE_NOPWM);
+}
+
+//duty cycle
+int dc = 100;
+
+void loop() {
+  
+  //update dutycycle to show animation on oscilloscope
+  dc = (dc + 8) % 255;
+
+  //update motor speed
+  //three different frequencies are shown on oscilloscope
+  tle94112.configPWM(tle94112.TLE_PWM1, tle94112.TLE_FREQ80HZ, dc);
+  tle94112.configPWM(tle94112.TLE_PWM2, tle94112.TLE_FREQ100HZ, dc);
+  tle94112.configPWM(tle94112.TLE_PWM3, tle94112.TLE_FREQ200HZ, dc);
+  
+
+  //print diagnosis information
+  int diagnosis = tle94112.getSysDiagnosis();
+  if(diagnosis==tle94112.TLE_STATUS_OK)
+  {
+    Serial.println("Status: OK");
+  }
+  else
+  {
+    Serial.print("Status: Error!     ");
+    Serial.println(diagnosis);
+    tle94112.clearErrors();
+  }
+
+  //let LED blink to show that program is still running
+  delay(200);
+  digitalWrite(LED1, HIGH);
+  delay(200);
+  digitalWrite(LED1, LOW); 
+}
\ No newline at end of file
diff --git a/examples/speedControl/speedControl.ino b/examples/speedControl/speedControl.ino
new file mode 100644
index 00000000..c0766263
--- /dev/null
+++ b/examples/speedControl/speedControl.ino
@@ -0,0 +1,37 @@
+#include <TLE94112.h>
+
+#define pinDir    5
+#define pinSpeed  A1
+//connect motor between halfbridge 1 and halfbridge 2
+
+
+void setup() {
+  //power supply voltage should be available before tle94112.begin() is called
+  delay(100);
+  //enable tle94112
+  tle94112.begin();
+
+  pinMode(pinDir, INPUT);
+  pinMode(pinSpeed, INPUT);
+}
+
+
+void loop() {
+  //get desired direction from digital pin
+  int dir = digitalRead(pinDir);
+  if(dir == HIGH)
+  {
+    tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_HIGH, tle94112.TLE_PWM1);
+    tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_LOW, tle94112.TLE_NOPWM);
+  }
+  else
+  {
+    tle94112.configHB(tle94112.TLE_HB1, tle94112.TLE_LOW, tle94112.TLE_NOPWM);
+    tle94112.configHB(tle94112.TLE_HB2, tle94112.TLE_HIGH, tle94112.TLE_PWM1);
+  }
+  
+  //get desired motor speed from analog input
+  int dc = analogRead(pinSpeed) >> 2;
+  //update motor speed
+  tle94112.configPWM(tle94112.TLE_PWM1, tle94112.TLE_FREQ80HZ, dc);
+}
\ No newline at end of file
diff --git a/keywords.txt b/keywords.txt
new file mode 100644
index 00000000..bf7f7cea
--- /dev/null
+++ b/keywords.txt
@@ -0,0 +1,76 @@
+#######################################
+# Syntax Coloring Map For TLE94112
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Tle94112	KEYWORD1
+
+
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+
+begin	KEYWORD2
+end	KEYWORD2
+configHB	KEYWORD2
+configPWM	KEYWORD2
+getSysDiagnosis	KEYWORD2
+getHBOverCurrent	KEYWORD2
+getHBOpenLoad	KEYWORD2
+clearErrors	KEYWORD2
+
+
+
+#######################################
+# Instances (KEYWORD2)
+#######################################
+
+tle94112	KEYWORD2
+tle94112_2	KEYWORD2
+
+
+
+#######################################
+# Constants (LITERAL1)
+#######################################
+
+TLE_HB1	LITERAL1
+TLE_HB2	LITERAL1
+TLE_HB3	LITERAL1
+TLE_HB4	LITERAL1
+TLE_HB5	LITERAL1
+TLE_HB6	LITERAL1
+TLE_HB7	LITERAL1
+TLE_HB8	LITERAL1
+TLE_HB9	LITERAL1
+TLE_HB10	LITERAL1
+TLE_HB11	LITERAL1
+TLE_HB12	LITERAL1
+
+TLE_NOPWM	LITERAL1
+TLE_PWM1	LITERAL1
+TLE_PWM2	LITERAL1
+TLE_PWM3	LITERAL1
+
+TLE_FLOATING	LITERAL1
+TLE_LOW	LITERAL1
+TLE_HIGH	LITERAL1
+
+TLE_FREQOFF	LITERAL1
+TLE_FREQ80HZ	LITERAL1
+TLE_FREQ100HZ	LITERAL1
+TLE_FREQ200HZ	LITERAL1
+
+TLE_SPI_ERROR	LITERAL1
+TLE_LOAD_ERROR	LITERAL1
+TLE_UNDER_VOLTAGE	LITERAL1
+TLE_OVER_VOLTAGE	LITERAL1
+TLE_POWER_ON_RESET	LITERAL1
+TLE_TEMP_SHUTDOWN	LITERAL1
+TLE_TEMP_WARNING	LITERAL1
+
+TLE_STATUS_OK	LITERAL1
\ No newline at end of file
diff --git a/library.properties b/library.properties
new file mode 100644
index 00000000..720a44b6
--- /dev/null
+++ b/library.properties
@@ -0,0 +1,9 @@
+name=TLE94112
+version=0.1.0
+author=Infineon Technologies
+maintainer=Infineon Technologies <www.infineon.com>
+sentence=This library provides an interface for Infineon's DC Motor Control Shield with TLE94112EL
+paragraph=This shield provides 12 half-bridges which can drive up to 6 indipendent (+5 cascaded) bidirectional motors consuming up to 0.9 Ampere each
+category=Device Control
+url=https://www.infineon.com/dgdl/Infineon-DC_Motor_Control_Shield_with_TLE94112EL_UserManual-UM-v01_00-EN.pdf?fileId=5546d46259d9a4bf015a4755351304ac
+architectures=*
diff --git a/src/TLE94112.cpp b/src/TLE94112.cpp
new file mode 100644
index 00000000..e38576c1
--- /dev/null
+++ b/src/TLE94112.cpp
@@ -0,0 +1,227 @@
+/*
+ *	Arduino library to control Infineon's DC Motor Control Shield with TLE94112
+ *
+ *	The shield contains twelve independent halfbridges, 
+ *	so it can drive up to 6 indipendent (+5 cascaded) bidirectional DC motor(s). 
+ *	Each halfbridge provides a high-Voltage (nominal 5.5-18 V) tristate output,  
+ *	which is also capable of PWM with 3 different frequencies. 
+ *
+ *	Have a look at the datasheet for more information. 
+ */
+ 
+/*!	\file TLE94112.cpp
+ *	\brief This file defines functions and predefined instances from TLE94112.h
+ */
+
+#include "TLE94112.h"
+#include "./util/tle94112_conf.h"
+
+//SPI address commands
+#define TLE94112_CMD_WRITE			0x80;
+#define TLE94112_CMD_CLEAR			0x80;
+//standard pin assignment
+#define TLE94112_PIN_CS1			10
+#define TLE94112_PIN_CS2			12
+#define TLE94112_PIN_EN				8
+#define TLE94112_CS_RISETIME		2
+
+#define TLE94112_STATUS_INV_MASK	(Tle94112::TLE_POWER_ON_RESET)
+
+//predefined instances
+Tle94112 tle94112(&SPI, TLE94112_PIN_CS1, TLE94112_PIN_EN);
+Tle94112 tle94112_2(&SPI, TLE94112_PIN_CS2, TLE94112_PIN_EN);
+
+
+Tle94112::Tle94112(void)
+{
+	Tle94112(&SPI, TLE94112_PIN_CS1, TLE94112_PIN_EN);
+}
+
+Tle94112::Tle94112(SPIClass *bus, uint8_t cs, uint8_t en)
+{
+	mEnabled = FALSE;
+	mBus = bus;
+	mCsPin = cs;
+	mEnPin = en;
+}
+
+void Tle94112::begin(void)
+{
+	mEnabled = TRUE;
+	mBus->begin();
+	mBus->setBitOrder(LSBFIRST); 
+	mBus->setClockDivider(SPI_CLOCK_DIV16);
+	mBus->setDataMode(SPI_MODE1);
+	pinMode(mEnPin, OUTPUT);
+	pinMode(mCsPin, OUTPUT);
+	digitalWrite(mCsPin, HIGH);
+	digitalWrite(mEnPin, HIGH);
+	init();
+}
+
+void Tle94112::end(void)
+{
+	mEnabled = FALSE;
+	digitalWrite(mCsPin, HIGH);
+	digitalWrite(mEnPin, LOW);
+}
+
+void Tle94112::configHB(HalfBridge hb, HBState state, PWMChannel pwm)
+{
+	configHB(hb, state, pwm, 0);
+}
+
+void Tle94112::configHB(HalfBridge hb, HBState state, PWMChannel pwm, uint8_t activeFW)
+{
+	if(mEnabled == TRUE) 
+	{
+		configHB(static_cast<uint8_t>(hb), 
+					static_cast<uint8_t>(state),
+					static_cast<uint8_t>(pwm), 
+					activeFW );
+	}
+}
+
+void Tle94112::configHB(uint8_t hb, uint8_t state, uint8_t pwm, uint8_t activeFW)
+{
+	uint8_t reg = mHalfBridges[hb].stateReg;
+	uint8_t mask = mHalfBridges[hb].stateMask;
+	uint8_t shift = mHalfBridges[hb].stateShift;
+	writeReg(reg, mask, shift, state);
+	
+	reg = mHalfBridges[hb].pwmReg;
+	mask = mHalfBridges[hb].pwmMask;
+	shift = mHalfBridges[hb].pwmShift;
+	writeReg(reg, mask, shift, pwm);
+	
+	reg = mHalfBridges[hb].fwReg;
+	mask = mHalfBridges[hb].fwMask;
+	shift = mHalfBridges[hb].fwShift;
+	writeReg(reg, mask, shift, pwm);
+}
+
+void Tle94112::configPWM(PWMChannel pwm, PWMFreq freq, uint8_t dutyCycle)
+{
+	if(mEnabled == TRUE) 
+	{
+		configPWM(static_cast<uint8_t>(pwm), 
+					static_cast<uint8_t>(freq),
+					dutyCycle );
+	}
+}
+
+void Tle94112::configPWM(uint8_t pwm, uint8_t freq, uint8_t dutyCycle)
+{
+	uint8_t reg = mPwmChannels[pwm].freqReg;
+	uint8_t mask = mPwmChannels[pwm].freqMask;
+	uint8_t shift = mPwmChannels[pwm].freqShift;
+	writeReg(reg, mask, shift, freq);
+	
+	reg = mPwmChannels[pwm].dcReg;
+	mask = mPwmChannels[pwm].dcMask;
+	shift = mPwmChannels[pwm].dcShift;
+	writeReg(reg, mask, shift, dutyCycle);
+}
+
+uint8_t Tle94112::getSysDiagnosis()
+{
+	uint8_t ret = readStatusReg(SYS_DIAG1);
+	return ret^TLE94112_STATUS_INV_MASK;
+}
+
+uint8_t Tle94112::getSysDiagnosis(DiagFlag mask)
+{
+	return getSysDiagnosis(static_cast<uint8_t>(mask));
+}
+
+uint8_t Tle94112::getSysDiagnosis(uint8_t mask)
+{
+	uint8_t ret = readStatusReg(SYS_DIAG1, mask, 0);
+	return ret^(TLE94112_STATUS_INV_MASK&mask);
+}
+
+uint8_t Tle94112::getHBOverCurrent(HalfBridge hb)
+{
+	return getHBOverCurrent(static_cast<uint8_t>(hb));
+}
+
+uint8_t Tle94112::getHBOverCurrent(uint8_t hb)
+{
+	uint8_t reg = mHalfBridges[hb].ocReg;
+	uint8_t mask = mHalfBridges[hb].ocMask;
+	uint8_t shift = mHalfBridges[hb].ocShift;
+	return readStatusReg(reg, mask, shift);
+}
+
+uint8_t Tle94112::getHBOpenLoad(HalfBridge hb)
+{
+	return getHBOpenLoad(static_cast<uint8_t>(hb));
+}
+
+uint8_t Tle94112::getHBOpenLoad(uint8_t hb)
+{
+	uint8_t reg = mHalfBridges[hb].olReg;
+	uint8_t mask = mHalfBridges[hb].olMask;
+	uint8_t shift = mHalfBridges[hb].olShift;
+	return readStatusReg(reg, mask, shift);
+}
+
+void Tle94112::clearErrors()
+{
+	clearStatusReg(SYS_DIAG1);
+	clearStatusReg(OP_ERROR_1_STAT);
+	clearStatusReg(OP_ERROR_2_STAT);
+	clearStatusReg(OP_ERROR_3_STAT);
+	clearStatusReg(OP_ERROR_4_STAT);
+	clearStatusReg(OP_ERROR_5_STAT);
+	clearStatusReg(OP_ERROR_6_STAT);
+}
+
+void Tle94112::writeReg(uint8_t reg, uint8_t mask, uint8_t shift, uint8_t data)
+{
+	uint8_t address = mCtrlRegAddresses[reg];
+	uint8_t toWrite = mCtrlRegData[reg] & (~mask);
+	toWrite |= (data << shift) & mask;
+	mCtrlRegData[reg] = toWrite;
+	
+	address = address | TLE94112_CMD_WRITE;
+	digitalWrite(mCsPin, LOW);
+	uint8_t byte0 = mBus->transfer(address);
+	uint8_t byte1 = mBus->transfer(toWrite);
+	digitalWrite(mCsPin, HIGH);
+	delay(TLE94112_CS_RISETIME);
+}
+
+uint8_t Tle94112::readStatusReg(uint8_t reg)
+{
+	//read the whole register
+	return readStatusReg(reg, 0xFF, 0);
+}
+
+uint8_t Tle94112::readStatusReg(uint8_t reg, uint8_t mask, uint8_t shift)
+{
+	uint8_t address = mStatusRegAddresses[reg];
+	
+	digitalWrite(mCsPin, LOW);
+	uint8_t byte0 = SPI.transfer(address);
+	uint8_t received = SPI.transfer(0xFF);	//send dummy byte while receiving
+	digitalWrite(mCsPin, HIGH); 
+	delay(TLE94112_CS_RISETIME);
+	
+	received = (received & mask) >> shift;
+	
+	return received;
+}
+
+void Tle94112::clearStatusReg(uint8_t reg)
+{
+	uint8_t address = mStatusRegAddresses[reg];
+
+	address = address | TLE94112_CMD_CLEAR;
+	digitalWrite(mCsPin, LOW);
+	uint8_t byte0 = mBus->transfer(address);
+	uint8_t byte1 = mBus->transfer(0);	//clear register by writing 0x00
+	digitalWrite(mCsPin, HIGH);
+	delay(TLE94112_CS_RISETIME);
+}
+
diff --git a/src/TLE94112.h b/src/TLE94112.h
new file mode 100644
index 00000000..15c7e34c
--- /dev/null
+++ b/src/TLE94112.h
@@ -0,0 +1,350 @@
+/*
+ *	Arduino library to control Infineon's DC Motor Control Shield with TLE94112
+ *
+ *	The shield contains twelve independent halfbridges, 
+ *	so it can drive up to 6 indipendent (+5 cascaded) bidirectional DC motor(s). 
+ *	Each halfbridge provides a high-Voltage (nominal 5.5-18 V) tristate output,  
+ *	which is also capable of PWM with 3 different frequencies. 
+ *
+ *	Have a look at the datasheet for more information. 
+ */
+ 
+/*!	\file TLE94112.h
+ *	\brief This file has to be included in projects that use Infineon's DC Motor Control Shield with TLE94112
+ */
+
+#ifndef TLE94112_H
+#define TLE94112_H
+
+#include "Arduino.h"
+#include "SPI.h"
+#include "./util/tle94112_conf.h"
+
+
+/*! \brief the number of halfbridges on a TLE94112
+ *
+ *	\see mHalfBridges
+ *	\see HalfBridge
+ */
+#define TLE94112_NUM_HB 			12
+
+/*! \brief the number of pwm modes for a halfbridge (including no pwm)
+ *
+ *	\see mPwmChannels
+ *	\see PWMChannel
+ */
+#define TLE94112_NUM_PWM			4
+
+/*! \brief the number of control registers in a TLE94112
+ *
+ *	\see CtrlRegisters
+ *	\see mCtrlRegAddresses
+ *	\see mCtrlRegData
+ */
+#define TLE94112_NUM_CTRL_REGS		12
+
+/*! \brief the number of status registers in a TLE94112
+ *
+ *	\see StatusRegisters
+ *	\see mStatusRegAddresses
+ *	\see mStatusRegData
+ */
+#define TLE94112_NUM_STATUS_REGS	7
+
+
+//!	\brief	Class that represents a TLE94112
+class Tle94112
+{
+	public:
+		//! \brief enum for the halfbridges on a TLE94112
+		enum HalfBridge
+		{
+			TLE_HB1 = 0, TLE_HB2, TLE_HB3, TLE_HB4, TLE_HB5, TLE_HB6, 
+			TLE_HB7, TLE_HB8, TLE_HB9, TLE_HB10, TLE_HB11, TLE_HB12
+		};
+		
+		//! \brief enum for the PWM channels of a halfbridge on TLE94112
+		enum PWMChannel
+		{
+			TLE_NOPWM = 0, TLE_PWM1, TLE_PWM2, TLE_PWM3
+		};
+		
+		//! \brief enum for the output states of a halfbridge
+		enum HBState
+		{
+			TLE_FLOATING = 0b00, TLE_LOW = 0b01, TLE_HIGH = 0b10
+		};
+		
+		//! \brief enum for the frequencies of a PWM channel
+		enum PWMFreq
+		{
+			TLE_FREQOFF = 0b00, TLE_FREQ80HZ, TLE_FREQ100HZ, TLE_FREQ200HZ 
+		};
+		
+		//! \brief enum for the flags in the register SYS_DIAG1
+		enum DiagFlag
+		{
+			TLE_SPI_ERROR = 0x80,
+			TLE_LOAD_ERROR = 0x40,
+			TLE_UNDER_VOLTAGE = 0x20,
+			TLE_OVER_VOLTAGE = 0x10,
+			TLE_POWER_ON_RESET = 0x08,
+			TLE_TEMP_SHUTDOWN = 0x04,
+			TLE_TEMP_WARNING = 0x02
+		};
+		//! \brief Reference value of Status Register
+		static const uint8_t TLE_STATUS_OK = 0U;
+		
+		//! \brief standard constructor with default pin assignment
+		Tle94112();
+		
+		/*! \brief constructor with individual pin assignment
+		 *
+		 *	\param bus	a pointer to an SPIClass object
+		 *  \param cs	pin number of the CS pin
+		 * 	\param en	pin number of the ENABLE pin
+		 */
+		Tle94112(SPIClass *bus, uint8_t cs, uint8_t en);
+		
+		//! \brief enables and initializes the TLE94112
+		void begin(void);
+		
+		//! \brief deactivates all outputs and disables the TLE94112
+		void end(void);
+		
+		/*! \brief sets the output state and the PWM channel for a halfbridge (only for passive freewheeling)
+		 *
+		 *	\param hb		halfbridge which will be configured
+		 *	\param state	sets the output voltage to high, low or floating
+		 *	\param pwm		selects a PWM channel for PWM output
+		 *
+		 *	\see	HalfBridge
+		 *	\see	HBState
+		 *	\see	PWMChannel
+		 */
+		void configHB(HalfBridge hb, HBState state, PWMChannel pwm);
+		
+		/*! \brief sets the output state and the PWM channel for a halfbridge (allows active freewheeling)
+		 *
+		 *	\param hb		halfbridge which will be configured
+		 *	\param state	sets the output voltage to high, low or floating
+		 *	\param pwm		selects a PWM channel for PWM output
+		 *	\param activeFW	1 for active freewheeling
+		 *					0 for passive freewheeling (default)
+		 *
+		 *	\see	HalfBridge
+		 *	\see	HBState
+		 *	\see	PWMChannel
+		 */
+		void configHB(HalfBridge hb, HBState state, PWMChannel pwm, uint8_t activeFW);
+		
+		/*! \brief sets the frequency and duty cycle for a PWM channel
+		 *
+		 *	\param pwm			PWM channel which will be configured
+		 *	\param freq			selects the PWM output frequency
+		 *	\param dutyCycle	a value from 0 to 255 which sets the dutyCycle
+		 *
+		 *	\see	PWMChannel
+		 *	\see	PWMFreq
+		 */
+		void configPWM(PWMChannel pwm, PWMFreq freq, uint8_t dutyCycle);
+		
+		/*! \brief returns a diagnosis value for error detection
+		 *
+		 *	\return 0 if everything is ok
+		 *			non-zero value if errors occurred
+		 */
+		uint8_t getSysDiagnosis();
+		
+		/*! \brief shows if errors of a specific type have occurred
+		 *
+		 *	\param mask	mask to filter for a specific flag
+		 *
+		 *	\return 	0 if everything is ok
+		 *				non-zero value on error condition
+		 *
+		 *	\see DiagFlag
+		 */
+		uint8_t getSysDiagnosis(DiagFlag mask);
+		
+		/*! \brief shows if errors of a specific type have occurred
+		 *
+		 *	\param mask	mask to filter for one or more specific flags
+		 *				this can be a disjunction of DiagFlag values
+		 *
+		 *	\return 	0 if everything is ok
+		 *				non-zero value on error condition
+		 *
+		 *	\see DiagFlag
+		 */
+		uint8_t getSysDiagnosis(uint8_t mask);
+		
+		/*! \brief gets the overcurrent error flag bit for a specific halfbridge
+		 *
+		 *	\param halfbridge	halfbridge thats overcurrent flag will be returned
+		 *
+		 *	\return 1 if there HalfBridge was shut down because of an overcurrent
+		 *			0 otherwise
+		 */
+		uint8_t getHBOverCurrent(HalfBridge hb);
+		
+		/*! \brief gets the openload error flag bit for a specific halfbridge
+		 *
+		 *	\param halfbridge	halfbridge thats openload flag will be returned
+		 *
+		 *	\return 1 if there HalfBridge detected an open load
+		 *			0 otherwise
+		 */
+		uint8_t getHBOpenLoad(HalfBridge hb);
+		
+		//! \brief clears all clearable error flags
+		void clearErrors();
+	
+	private:
+		//! \brief enum for the control registers in a TLE94112
+		enum CtrlRegisters 
+		{
+			HB_ACT_1_CTRL = 0,
+			HB_ACT_2_CTRL,
+			HB_ACT_3_CTRL,
+			HB_MODE_1_CTRL,
+			HB_MODE_2_CTRL,
+			HB_MODE_3_CTRL,
+			PWM_CH_FREQ_CTRL, 
+			PWM1_DC_CTRL, 
+			PWM2_DC_CTRL,
+			PWM3_DC_CTRL,
+			FW_OL_CTRL,
+			FW_CTRL
+		};
+		
+		//! \brief enum for the control registers in a TLE94112
+		enum StatusRegisters 
+		{
+			SYS_DIAG1 = 0,
+			OP_ERROR_1_STAT, 
+			OP_ERROR_2_STAT, 
+			OP_ERROR_3_STAT,
+			OP_ERROR_4_STAT,
+			OP_ERROR_5_STAT,
+			OP_ERROR_6_STAT
+		};
+		
+		//! \brief indicates if TLE94112LE is enabled
+		uint8_t mEnabled;
+		//! \brief pointer to the SPIClass object representing the bus
+		SPIClass *mBus;
+		//! \brief pin number of the CS pin
+		uint8_t mCsPin;
+		//! \brief pin number on the EN pin
+		uint8_t mEnPin;
+		//! \brief array of register locations for halfbridges
+		HalfBridge_t mHalfBridges[TLE94112_NUM_HB];
+		//! \brief array of register locations for PWM channels
+		PWMchannel_t mPwmChannels[TLE94112_NUM_PWM];
+		//! \brief mapping array for control register addresses
+		uint8_t mCtrlRegAddresses[TLE94112_NUM_CTRL_REGS];
+		//! \brief mirror array for control register data
+		uint8_t mCtrlRegData[TLE94112_NUM_CTRL_REGS]; 
+		//! \brief mapping array for status register addresses
+		uint8_t mStatusRegAddresses[TLE94112_NUM_STATUS_REGS];
+		
+		//! \brief initializes this object, automatically called by begin()
+		void init(void);
+		
+		/*! \brief	sets the output state and the PWM channel for a halfbridge
+		 *			automatically called by the public version of configHB
+		 *
+		 *	\param hb		halfbridge which will be configured
+		 *	\param state	sets the output voltage to high, low or floating
+		 *	\param pwm		selects a PWM channel for PWM output
+		 *	\param activeFW	1 for active freewheeling
+		 *					0 for passive freewheeling (default)
+		 */
+		void configHB(uint8_t hb, uint8_t state, uint8_t pwm, uint8_t activeFW);
+		
+		/*! \brief	sets the frequency and duty cycle for a PWM channel
+					automatically called by the public version of configPWM
+		 *
+		 *	\param pwm			PWM channel which will be configured
+		 *	\param freq			selects the PWM output frequency
+		 *	\param dutyCycle	a value from 0 to 255 which sets the dutyCycle
+		 */
+		void configPWM(uint8_t pwm, uint8_t freq, uint8_t dutyCycle);
+		
+		/*! \brief	gets the overcurrent error flag bit for a specific halfbridge
+		 * 			automatically called by the public version of getHBOverCurrent
+		 *
+		 *	\param halfbridge	halfbridge thats overcurrent flag will be returned
+		 *
+		 *	\return 1 if there HalfBridge was shut down because of an overcurrent
+		 *			0 otherwise
+		 */
+		uint8_t getHBOverCurrent(uint8_t hb);
+		
+		/*! \brief	gets the openload error flag bit for a specific halfbridge
+		 *			automatically called by the public version of getHBOpenLoad
+		 *
+		 *	\param halfbridge	halfbridge thats openload flag will be returned
+		 *
+		 *	\return 1 if there HalfBridge detected an open load
+		 *			0 otherwise
+		 */
+		uint8_t getHBOpenLoad(uint8_t hb);
+		
+		/*! \brief	writes data bits to a control register of the TLE94112
+		 *
+		 *	\param reg		control register number(mapping array index / CtrlRegisters constant) of the register
+		 *	\param mask		mask for the bits that have to be written
+		 *	\param shift	data will be shifted left by this amount before masking. This is for the bit alignment of data
+		 *	\param data		the data byte that has to be written. It will be shifted and masked before
+		 *
+		 *	\see CtrlRegisters
+		 *	\see TLE94112_NUM_CTRL_REGS
+		 *	\see mCtrlRegAddresses
+		 *	\see mCtrlRegData
+		 */
+		void writeReg(uint8_t reg, uint8_t mask, uint8_t shift, uint8_t data);
+		
+		/*! \brief	reads one byte from a status register of the TLE94112
+		 *
+		 *	\param reg	status register number(mapping array index / StatusRegisters constant) of the register
+		 *
+		 *	\return 	data byte that has been read
+		 *
+		 *	\see StatusRegisters
+		 *	\see TLE94112_NUM_STATUS_REGS
+		 *	\see mStatusRegAddresses
+		 */
+		uint8_t readStatusReg(uint8_t reg);
+		
+		/*! \brief	reads some bits from a status register of the TLE94112
+		 *
+		 *	\param reg		status register number(mapping array index / StatusRegisters constant) of the register
+		 *	\param mask		mask for the bits that have to be read
+		 *	\param shift	data will be shifted right by this amount after masking. This is for the bit alignment of data
+		 *
+		 *	\return 		data bits that have been read (after masking and shifting)
+		 *
+		 *	\see StatusRegisters
+		 *	\see TLE94112_NUM_STATUS_REGS
+		 *	\see mStatusRegAddresses
+		 */
+		uint8_t readStatusReg(uint8_t reg, uint8_t mask, uint8_t shift);
+		
+		/*! \brief	clears a status register by writing 0x00 to it
+		 *
+		 *	\param reg	status register number(mapping array index / StatusRegisters constant) of the register
+		 *	
+		 *	\see StatusRegisters
+		 *	\see TLE94112_NUM_STATUS_REGS
+		 *	\see mStatusRegAddresses
+		 */
+		void clearStatusReg(uint8_t reg);
+};
+
+//predefined instances
+extern Tle94112 tle94112;
+extern Tle94112 tle94112_2;
+
+#endif
\ No newline at end of file
diff --git a/src/util/tle94112_conf.cpp b/src/util/tle94112_conf.cpp
new file mode 100644
index 00000000..c2b08d12
--- /dev/null
+++ b/src/util/tle94112_conf.cpp
@@ -0,0 +1,77 @@
+/*
+ *	Arduino library to control Infineon's DC Motor Control Shield with TLE94112
+ *
+ *	The shield contains twelve independent halfbridges, 
+ *	so it can drive up to 6 indipendent (+5 cascaded) bidirectional DC motor(s). 
+ *	Each halfbridge provides a high-Voltage (nominal 5.5-18 V) tristate output,  
+ *	which is also capable of PWM with 3 different frequencies. 
+ *
+ *	Have a look at the datasheet for more information. 
+ */
+ 
+/*!	\file TLE94112_conf.cpp
+ *	\brief This file contains the initialization of a TLE94112 with all its magic numbers
+ */
+
+#include "tle94112_conf.h"
+#include "TLE94112.h"
+
+
+void Tle94112::init(void)
+{
+	//initial control register configuration
+	mCtrlRegAddresses[static_cast<int>(Tle94112::HB_ACT_1_CTRL)] 	= 0x03;
+	mCtrlRegData[HB_ACT_1_CTRL] 		= 0;
+	mCtrlRegAddresses[HB_ACT_2_CTRL] 	= 0x43;
+	mCtrlRegData[HB_ACT_2_CTRL] 		= 0;
+	mCtrlRegAddresses[HB_ACT_3_CTRL] 	= 0x23;
+	mCtrlRegData[HB_ACT_3_CTRL] 		= 0;
+	mCtrlRegAddresses[HB_MODE_1_CTRL] 	= 0x63;
+	mCtrlRegData[HB_MODE_1_CTRL] 		= 0;
+	mCtrlRegAddresses[HB_MODE_2_CTRL] 	= 0x13;
+	mCtrlRegData[HB_MODE_2_CTRL] 		= 0;
+	mCtrlRegAddresses[HB_MODE_3_CTRL] 	= 0x53;
+	mCtrlRegData[HB_MODE_3_CTRL] 		= 0;
+	mCtrlRegAddresses[PWM_CH_FREQ_CTRL] = 0x33;
+	mCtrlRegData[PWM_CH_FREQ_CTRL] 		= 0;
+	mCtrlRegAddresses[PWM1_DC_CTRL] 	= 0x73;
+	mCtrlRegData[PWM1_DC_CTRL] 			= 0;
+	mCtrlRegAddresses[PWM2_DC_CTRL] 	= 0x0B;
+	mCtrlRegData[PWM2_DC_CTRL] 			= 0;
+	mCtrlRegAddresses[PWM3_DC_CTRL] 	= 0x4B;
+	mCtrlRegData[PWM3_DC_CTRL] 			= 0;
+	mCtrlRegAddresses[FW_OL_CTRL] 		= 0x2B;
+	mCtrlRegData[FW_OL_CTRL] 			= 0;
+	mCtrlRegAddresses[FW_CTRL] 			= 0x6B;
+	mCtrlRegData[FW_CTRL] 				= 0;
+	
+	//status register configuration
+	mStatusRegAddresses[SYS_DIAG1]			= 0x1B;
+	mStatusRegAddresses[OP_ERROR_1_STAT]	= 0x5B;
+	mStatusRegAddresses[OP_ERROR_2_STAT]	= 0x3B;
+	mStatusRegAddresses[OP_ERROR_3_STAT]	= 0x7B;
+	mStatusRegAddresses[OP_ERROR_4_STAT]	= 0x07;
+	mStatusRegAddresses[OP_ERROR_5_STAT]	= 0x47;
+	mStatusRegAddresses[OP_ERROR_6_STAT]	= 0x27;
+	
+	//bit masking for all halfbridges
+	mHalfBridges[TLE_HB1] = { HB_ACT_1_CTRL, 0x03, 0, HB_MODE_1_CTRL, 0x03, 0, FW_OL_CTRL, 0x04, 2, OP_ERROR_1_STAT, 0x03, 0, OP_ERROR_4_STAT, 0x03, 0 };
+	mHalfBridges[TLE_HB2] = { HB_ACT_1_CTRL, 0x0C, 2, HB_MODE_1_CTRL, 0x0C, 2, FW_OL_CTRL, 0x08, 3, OP_ERROR_1_STAT, 0x0C, 2, OP_ERROR_4_STAT, 0x0C, 2 };
+	mHalfBridges[TLE_HB3] = { HB_ACT_1_CTRL, 0x30, 4, HB_MODE_1_CTRL, 0x30, 4, FW_OL_CTRL, 0x10, 4, OP_ERROR_1_STAT, 0x30, 4, OP_ERROR_4_STAT, 0x30, 4 };
+	mHalfBridges[TLE_HB4] = { HB_ACT_1_CTRL, 0xC0, 6, HB_MODE_1_CTRL, 0xC0, 6, FW_OL_CTRL, 0x20, 5, OP_ERROR_1_STAT, 0xC0, 6, OP_ERROR_4_STAT, 0xC0, 6 };
+	mHalfBridges[TLE_HB5] = { HB_ACT_2_CTRL, 0x03, 0, HB_MODE_2_CTRL, 0x03, 0, FW_OL_CTRL, 0x40, 6, OP_ERROR_2_STAT, 0x03, 0, OP_ERROR_5_STAT, 0x03, 0 };
+	mHalfBridges[TLE_HB6] = { HB_ACT_2_CTRL, 0x0C, 2, HB_MODE_2_CTRL, 0x0C, 2, FW_OL_CTRL, 0x80, 7, OP_ERROR_2_STAT, 0x0C, 2, OP_ERROR_5_STAT, 0x0C, 2 };
+	mHalfBridges[TLE_HB7] = { HB_ACT_2_CTRL, 0x30, 4, HB_MODE_2_CTRL, 0x30, 4, FW_CTRL, 0x01, 0, OP_ERROR_2_STAT, 0x30, 4, OP_ERROR_5_STAT, 0x30, 4 };
+	mHalfBridges[TLE_HB8] = { HB_ACT_2_CTRL, 0xC0, 6, HB_MODE_2_CTRL, 0xC0, 6, FW_CTRL, 0x02, 1, OP_ERROR_2_STAT, 0xC0, 6, OP_ERROR_5_STAT, 0xC0, 6 };
+	mHalfBridges[TLE_HB9] = { HB_ACT_3_CTRL, 0x03, 0, HB_MODE_3_CTRL, 0x03, 0, FW_CTRL, 0x04, 2, OP_ERROR_3_STAT, 0x03, 0, OP_ERROR_6_STAT, 0x03, 0 };
+	mHalfBridges[TLE_HB10] = { HB_ACT_3_CTRL, 0x0C, 2, HB_MODE_3_CTRL, 0x0C, 2, FW_CTRL, 0x08, 3, OP_ERROR_3_STAT, 0x0C, 2, OP_ERROR_6_STAT, 0x0C, 2 };
+	mHalfBridges[TLE_HB11] = { HB_ACT_3_CTRL, 0x30, 4, HB_MODE_3_CTRL, 0x30, 4, FW_CTRL, 0x10, 4, OP_ERROR_3_STAT, 0x30, 4, OP_ERROR_6_STAT, 0x30, 4 };
+	mHalfBridges[TLE_HB12] = { HB_ACT_3_CTRL, 0xC0, 6, HB_MODE_3_CTRL, 0xC0, 6, FW_CTRL, 0x20, 5, OP_ERROR_3_STAT, 0xC0, 6, OP_ERROR_6_STAT, 0xC0, 6 };
+	
+	//bit masking for all pwm channels
+	mPwmChannels[TLE_NOPWM] = { PWM_CH_FREQ_CTRL, 0x00, 0, 0, 0x00, 0};	//dummy channel for NOPWM
+	mPwmChannels[TLE_PWM1] = { PWM_CH_FREQ_CTRL, 0x03, 0, PWM1_DC_CTRL, 0xFF, 0};
+	mPwmChannels[TLE_PWM2] = { PWM_CH_FREQ_CTRL, 0x0C, 2, PWM2_DC_CTRL, 0xFF, 0};
+	mPwmChannels[TLE_PWM3] = { PWM_CH_FREQ_CTRL, 0x30, 4, PWM3_DC_CTRL, 0xFF, 0};
+	
+}
\ No newline at end of file
diff --git a/src/util/tle94112_conf.h b/src/util/tle94112_conf.h
new file mode 100644
index 00000000..990d1483
--- /dev/null
+++ b/src/util/tle94112_conf.h
@@ -0,0 +1,54 @@
+/*
+ *	Arduino library to control Infineon's DC Motor Control Shield with TLE94112
+ *
+ *	The shield contains twelve independent halfbridges, 
+ *	so it can drive up to 6 indipendent (+5 cascaded) bidirectional DC motor(s). 
+ *	Each halfbridge provides a high-Voltage (nominal 5.5-18 V) tristate output,  
+ *	which is also capable of PWM with 3 different frequencies. 
+ *
+ *	Have a look at the datasheet for more information. 
+ */
+ 
+/*!	\file TLE94112_conf.h
+ *	\brief This file is automatically included
+ */
+
+
+#ifndef TLE94112_CONF_H
+#define TLE94112_CONF_H
+
+#include "Arduino.h"
+
+//! \brief struct containing register locations for a single halfbridge
+typedef struct
+{
+	uint8_t stateReg;
+	uint8_t stateMask;
+	uint8_t stateShift;
+	uint8_t pwmReg;
+	uint8_t pwmMask;
+	uint8_t pwmShift;
+	uint8_t fwReg;
+	uint8_t fwMask;
+	uint8_t fwShift;
+	uint8_t ocReg;
+	uint8_t ocMask;
+	uint8_t ocShift;
+	uint8_t olReg;
+	uint8_t olMask;
+	uint8_t olShift;
+} HalfBridge_t;
+
+//! \brief struct containing register locations for a single PWM channel
+typedef struct 
+{
+	uint8_t freqReg;
+	uint8_t freqMask;
+	uint8_t freqShift;
+	uint8_t dcReg;
+	uint8_t dcMask;
+	uint8_t dcShift;
+} PWMchannel_t;
+
+
+#endif
\ No newline at end of file