+/*
+ * \brief
+ * Set speed.
+ */
+static void setSpeed(struct rpi_state* state, int speed){
+ sem_wait(&state->thd_par_sem);
+ if (speed>MAX_SPEED) speed=MAX_SPEED;
+ if (speed<-MAX_SPEED) speed=-MAX_SPEED;/*paranoia*/
+ state->pos_reg_ena=0;
+ state->spd_reg_ena=1;
+ state->commutate=1;
+ state->desired_spd=speed;
+ sem_post(&state->thd_par_sem);
+}