  }
  
  int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) {
    double start_millis = millis_since_boot();
    if (timeout <= 0) {
      timeout = SPI_ACK_TIMEOUT;
    }
  
    spi_ioc_transfer transfer = {
      .tx_buf = (uint64_t)tx_buf,
 
</s> remove const int SPI_ACK_TIMEOUT = 500; // milliseconds
 </s> add const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
  if (timeout == 0) {
  }
  
  int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) {
    double start_millis = millis_since_boot();
  if (timeout == 0) {
      timeout = SPI_ACK_TIMEOUT;
    }
  
    spi_ioc_transfer transfer = {
      .tx_buf = (uint64_t)tx_buf,
keep keep keep keep replace keep keep keep keep keep
 boardd: set min spi timeout 
selfdrive/boardd/spi.cc