Added lbm-extension app-pas-get-rpm

applications/app.h

@@ -93,6 +93,7 @@ void app_pas_stop(void);
 bool app_pas_is_running(void);
 void app_pas_configure(pas_config *conf);
 float app_pas_get_current_target_rel(void);
+float app_pas_get_pedal_rpm(void);
 void app_pas_set_current_sub_scaling(float current_sub_scaling);
 
 // Custom apps

applications/app_pas.c

@@ -115,6 +115,10 @@ float app_pas_get_current_target_rel(void) {
 	return output_current_rel;
 }
 
+float app_pas_get_pedal_rpm(void) {
+	return pedal_rpm;
+}
+
 void pas_event_handler(void) {
 #ifdef HW_PAS1_PORT
 	const int8_t QEM[] = {0,-1,1,2,1,0,2,-1,-1,2,0,1,2,1,-1,0}; // Quadrature Encoder Matrix

lispBM/README.md

@@ -372,6 +372,14 @@ Send input to the VESC Remote app. Unlike the ADC and PPM apps, input can be sen
 
 Disable app output for ms milliseconds. 0 means enable now and -1 means disable forever. This can be used to override the control of apps temporarily.
 
+#### app-pas-get-rpm
+
+```clj
+(app-pas-get-rpm)
+```
+
+Returns the pedal RPM measured by the PAS-app. If you want to implement your own PAS-control based on this RPM you can use [app-disable-output](#app-disable-output) to disable the output of the PAS-app.
+
 ### Motor Set Commands
 
 #### set-current

lispBM/lispif_vesc_extensions.c

@@ -1122,6 +1122,11 @@ static lbm_value ext_app_disable_output(lbm_value *args, lbm_uint argn) {
 	return ENC_SYM_TRUE;
 }
 
+static lbm_value ext_app_pas_get_rpm(lbm_value *args, lbm_uint argn) {
+	(void)args; (void)argn;
+	return lbm_enc_float(app_pas_get_pedal_rpm());
+}
+
 // Motor set commands
 
 static lbm_value ext_set_current(lbm_value *args, lbm_uint argn) {
@@ -4016,6 +4021,8 @@ void lispif_load_vesc_extensions(void) {
 	lbm_add_extension("app-ppm-override", ext_app_ppm_override);
 	lbm_add_extension("set-remote-state", ext_set_remote_state);
 	lbm_add_extension("app-disable-output", ext_app_disable_output);
+	lbm_add_extension("app-pas-get-rpm", ext_app_pas_get_rpm);
+
 
 	// Motor set commands
 	lbm_add_extension("set-current", ext_set_current);