static void stop(struct rpi_state* state){
sem_wait(&state->thd_par_sem);
setCommutationOff(state);
static void stop(struct rpi_state* state){
sem_wait(&state->thd_par_sem);
setCommutationOff(state);
*/
static void goAbsolute(struct rpi_state* state, int pos){
sem_wait(&state->thd_par_sem);
*/
static void goAbsolute(struct rpi_state* state, int pos){
sem_wait(&state->thd_par_sem);
if (speed>MAX_SPEED) speed=MAX_SPEED;
if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
sem_wait(&state->thd_par_sem);
if (speed>MAX_SPEED) speed=MAX_SPEED;
if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
sem_wait(&state->thd_par_sem);