VESC hardware without using a DRV chip

I am trying to make a custom VESC compatible hardware setup, and I have seen examples of gate drivers from TI's UCC series being used. I have UCC21520 gate drivers and I seem to be confused on how I would go about modifying the source code to be able to work without a DRV chip, as all of the examples with code I can find seem to only use the DRV chips, and looking into the code with my beginner level coding experience makes it seem like there is no option to remove or ignore the DRV communication over SPI. Would there be anyone that could explain how this part works?