Added ppm detach

applications/app.h

@@ -33,6 +33,8 @@ unsigned app_calc_crc(app_configuration* conf);
 void app_ppm_start(void);
 void app_ppm_stop(void);
 float app_ppm_get_decoded_level(void);
+void app_ppm_detach(bool detach);
+void app_ppm_override(float val);
 void app_ppm_configure(ppm_config *conf);
 
 void app_adc_start(bool use_rx_tx);

applications/app_ppm.c

@@ -50,6 +50,8 @@ static volatile ppm_config config;
 static volatile int pulses_without_power = 0;
 static float input_val = 0.0;
 static volatile float direction_hyst = 0;
+static volatile bool ppm_detached = false;
+static volatile float ppm_override = 0.0;
 
 // Private functions
 
@@ -86,6 +88,14 @@ float app_ppm_get_decoded_level(void) {
 	return input_val;
 }
 
+void app_ppm_detach(bool detach) {
+	ppm_detached = detach;
+}
+
+void app_ppm_override(float val) {
+	ppm_override = val;
+}
+
 static void servodec_func(void) {
 	ppm_rx = true;
 	chSysLockFromISR();
@@ -120,6 +130,11 @@ static THD_FUNCTION(ppm_thread, arg) {
 		const float rpm_now = mc_interface_get_rpm();
 		float servo_val = servodec_get_servo(0);
 		float servo_ms = utils_map(servo_val, -1.0, 1.0, config.pulse_start, config.pulse_end);
+
+		if (ppm_detached) {
+			servo_val = ppm_override;
+		}
+
 		static bool servoError = false;
 
 		switch (config.ctrl_type) {

lispBM/README.md

@@ -332,6 +332,22 @@ Detaches a peripherial from the APP ADC
 
 Sets the override value
 
+#### app-ppm-detach
+
+```clj
+(app-ppm-detach state)
+```
+
+Detaches the decoded ppm signal from APP PPM. 1 means detach, 0 means attach.
+
+#### app-ppm-override
+
+```clj
+(app-ppm-override value)
+```
+
+Sets the override value. Range -1.0 to 1.0.
+
 ### Motor Set Commands
 
 #### set-current

lispBM/lispif_vesc_extensions.c

@@ -1073,6 +1073,18 @@ static lbm_value ext_app_adc_override(lbm_value *args, lbm_uint argn) {
 	return ENC_SYM_TRUE;
 }
 
+static lbm_value ext_app_ppm_detach(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(1);
+	app_ppm_detach(lbm_dec_as_u32(args[0]) > 0);
+	return ENC_SYM_TRUE;
+}
+
+static lbm_value ext_app_ppm_override(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(1);
+	app_ppm_override(lbm_dec_as_float(args[0]));
+	return ENC_SYM_TRUE;
+}
+
 
 // Motor set commands
 
@@ -3579,6 +3591,8 @@ void lispif_load_vesc_extensions(void) {
 	// APP commands
 	lbm_add_extension("app-adc-detach", ext_app_adc_detach);
 	lbm_add_extension("app-adc-override", ext_app_adc_override);
+	lbm_add_extension("app-ppm-detach", ext_app_ppm_detach);
+	lbm_add_extension("app-ppm-override", ext_app_ppm_override);
 
 	// Motor set commands
 	lbm_add_extension("set-current", ext_set_current);