diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad
index a4e6611b2..9c793bed6 100755
Binary files a/selfdrive/pandad/pandad and b/selfdrive/pandad/pandad differ
diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc
index b6ee57801..021c27c56 100644
--- a/selfdrive/pandad/spi.cc
+++ b/selfdrive/pandad/spi.cc
@@ -30,6 +30,12 @@ enum SpiError {
 
 const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
 const std::string SPI_DEVICE = "/dev/spidev0.0";
+// TODO: fix SPI turnaround synchronization at the protocol level.
+static uint64_t spi_last_bus_activity_ns = 0;  // protected by hw_lock
+
+static void wait_for_spi_turnaround(uint64_t start_ns) {
+  while ((nanos_since_boot() - start_ns) < 400000) {}
+}
 
 class LockEx {
 public:
@@ -320,6 +326,8 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   assert(tx_len < SPI_BUF_SIZE);
   assert(max_rx_len < SPI_BUF_SIZE);
 
+  wait_for_spi_turnaround(spi_last_bus_activity_ns);
+
   xfer_count++;
   header = {
     .sync = SPI_SYNC,
@@ -342,6 +350,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
     SPILOG(LOGE, "SPI: failed to send header");
     goto fail;
   }
+  wait_for_spi_turnaround(nanos_since_boot());
 
   // Wait for (N)ACK
   ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
@@ -390,6 +399,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
     memcpy(rx_data, rx_buf + 3, rx_data_len);
   }
 
+  spi_last_bus_activity_ns = nanos_since_boot();
   return rx_data_len;
 
 fail:
@@ -404,6 +414,7 @@ fail:
     }
   }
 
+  spi_last_bus_activity_ns = nanos_since_boot();
   if (ret >= 0) ret = -1;
   return ret;
 }