diff --git a/lispBM/c_libs/vesc_c_if.h b/lispBM/c_libs/vesc_c_if.h
index 333ad15e..6e20a05a 100755
--- a/lispBM/c_libs/vesc_c_if.h
+++ b/lispBM/c_libs/vesc_c_if.h
@@ -582,6 +582,16 @@ typedef struct {
 	bool (*read_nvm)(uint8_t *v, unsigned int len, unsigned int address);
 	bool (*write_nvm)(uint8_t *v, unsigned int len, unsigned int address);
 	bool (*wipe_nvm)(void);
+
+	// FOC
+	float (*foc_get_id)(void);
+	float (*foc_get_iq)(void);
+	float (*foc_get_vd)(void);
+	float (*foc_get_vq)(void);
+	void (*foc_set_openloop_current)(float current, float rpm);
+	void (*foc_set_openloop_phase)(float current, float phase);
+	void (*foc_set_openloop_duty)(float dutyCycle, float rpm);
+	void (*foc_set_openloop_duty_phase)(float dutyCycle, float phase);
 } vesc_c_if;
 
 typedef struct {
diff --git a/lispBM/lispif_c_lib.c b/lispBM/lispif_c_lib.c
index 3641470d..c763ef56 100644
--- a/lispBM/lispif_c_lib.c
+++ b/lispBM/lispif_c_lib.c
@@ -42,6 +42,7 @@
 #include "servo_dec.h"
 #include "servo_simple.h"
 #include "flash_helper.h"
+#include "mcpwm_foc.h"
 
 // Function prototypes otherwise missing
 void packet_init(void (*s_func)(unsigned char *data, unsigned int len),
@@ -806,11 +807,6 @@ lbm_value ext_load_native_lib(lbm_value *args, lbm_uint argn) {
 		cif.cif.read_eeprom_var = conf_general_read_eeprom_var_custom;
 		cif.cif.store_eeprom_var = conf_general_store_eeprom_var_custom;
 
-		// NVM
-		cif.cif.read_nvm = 	flash_helper_read_nvm;
-		cif.cif.write_nvm = 	flash_helper_write_nvm;
-		cif.cif.wipe_nvm = 	flash_helper_wipe_nvm;
-
 		// Timeout
 		cif.cif.timeout_reset = timeout_reset;
 		cif.cif.timeout_has_timeout = timeout_has_timeout;
@@ -878,6 +874,21 @@ lbm_value ext_load_native_lib(lbm_value *args, lbm_uint argn) {
 		cif.cif.get_ppm_age = lib_get_ppm_age;
 		cif.cif.app_is_output_disabled = app_is_output_disabled;
 
+		// NVM
+		cif.cif.read_nvm = flash_helper_read_nvm;
+		cif.cif.write_nvm = flash_helper_write_nvm;
+		cif.cif.wipe_nvm = flash_helper_wipe_nvm;
+
+		// FOC
+		cif.cif.foc_get_id = mcpwm_foc_get_id_filter;
+		cif.cif.foc_get_iq = mcpwm_foc_get_iq_filter;
+		cif.cif.foc_get_vd = mcpwm_foc_get_vd;
+		cif.cif.foc_get_vq = mcpwm_foc_get_vq;
+		cif.cif.foc_set_openloop_current = mcpwm_foc_set_openloop_current;
+		cif.cif.foc_set_openloop_phase = mcpwm_foc_set_openloop_phase;
+		cif.cif.foc_set_openloop_duty = mcpwm_foc_set_openloop_duty;
+		cif.cif.foc_set_openloop_duty_phase = mcpwm_foc_set_openloop_duty_phase;
+
 		lib_init_done = true;
 	}
 
diff --git a/lispBM/lispif_vesc_extensions.c b/lispBM/lispif_vesc_extensions.c
index cecfef90..e083250c 100644
--- a/lispBM/lispif_vesc_extensions.c
+++ b/lispBM/lispif_vesc_extensions.c
@@ -957,7 +957,7 @@ static lbm_value ext_eeprom_store_i(lbm_value *args, lbm_uint argn) {
 	}
 
 	eeprom_var v;
-	v.as_i32 = lbm_dec_as_float(args[1]);
+	v.as_i32 = lbm_dec_as_i32(args[1]);
 	return conf_general_store_eeprom_var_custom(&v, addr) ? ENC_SYM_TRUE : ENC_SYM_NIL;
 }