update FPGA_Comm.h + Add timeout for busy SPI

1 files changed, 11 insertions, 1 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
index e7b75cc9d..deb5cbf75 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -563,7 +563,17 @@ void Stub_MotorMovRequest(MessageContainer* requestContainer)
         response.position = Get_Param(x_ABS_POS);
         response.has_position = true;
 
-        while(SSIBusy(SSI2_BASE)){};
+        //while(SSIBusy(SSI2_BASE)){};
+        uint32_t timeout = SSI_SPI_TIMEOUT;
+
+        while(SSIBusy(SSI2_BASE))
+        {
+            timeout = timeout--;
+            if(timeout == 0)
+            {
+                return ERROR;
+            }
+        }
 
         read_status = Get_and_Clear_Status();