diff --git a/src/debug/spatz.cpp b/src/debug/spatz.cpp
index 2f22c0b..a665b3d 100644
--- a/src/debug/spatz.cpp
+++ b/src/debug/spatz.cpp
@@ -6,6 +6,10 @@
 #	error "The ID used to communicate SPATZ initialization was not defined."
 #endif // STA_INIT_SPATZ_ID
 
+#include <cmsis_os2.h>
+#include <FreeRTOS.h>
+#include <usart.h>
+
 namespace sta
 {
     namespace spatz
@@ -30,26 +34,41 @@ namespace sta
         {
             sta::lock_guard<sta::Mutex> lock(*mutex_);
 
-            Debug->println("%d", id);
-            Debug->read(buffer, length);
+			Debug->printf("%d", id);
+			Debug->read(buffer, length);
         }
 
         void request(uint8_t id, float * buffer, size_t length)
         {
-            sta::lock_guard<sta::Mutex> lock(*mutex_);
+            mutex_->acquire();
 
-            // Debug->println(id, IntegerBase::DEC);
+            bool success = false;
 
-            Debug->printf("%d", id);
-            Debug->read(buffer, length);
+            while (!success)
+            {
+            	Debug->printf("%d", id);
+
+            	HAL_StatusTypeDef state = HAL_UART_Receive(&huart1, reinterpret_cast<uint8_t*>(buffer), length * sizeof(float), 100);
+
+				if (state == HAL_TIMEOUT)
+				{
+					success = false;
+					Debug->println(">ERROR");
+					break;
+				}
+
+				success = true;
+            }
+
+            mutex_->release();
         }
 
         void request(uint8_t id, double * buffer, size_t length)
         {
             sta::lock_guard<sta::Mutex> lock(*mutex_);
 
-            Debug->println("%d", id);
-            Debug->read(buffer, length);
+			Debug->printf("%d", id);
+			Debug->read(buffer, length);
         }
     } // namespace spatz    
 } // namespace sta
diff --git a/src/devices/stm32/bus/uart.cpp b/src/devices/stm32/bus/uart.cpp
index 300f49f..d8eb3e6 100644
--- a/src/devices/stm32/bus/uart.cpp
+++ b/src/devices/stm32/bus/uart.cpp
@@ -33,7 +33,7 @@ namespace sta
 	{
 		STA_ASSERT(buffer != nullptr);
 
-		HAL_UART_Receive(handle_, buffer, size, HAL_MAX_DELAY);
+		HAL_UART_Receive(handle_, buffer, size, 1);
 	}
 
 	void STM32UART::fill(uint8_t value, size_t count)