diff --git a/lispBM/README.md b/lispBM/README.md
index 79052697..b2978ea2 100644
--- a/lispBM/README.md
+++ b/lispBM/README.md
@@ -522,19 +522,40 @@ Get the sine of angle. Unit: Radians.
 
 Get the cosine of angle. Unit: Radians.
 
+#### tan
+```clj
+(tan angle)
+```
+
+Get the tangent of angle. Unit: Radians.
+
+#### asin
+```clj
+(asin x)
+```
+
+Get the arc sine of x. Unit: Radians.
+
+#### acos
+```clj
+(acos x)
+```
+
+Get the arc cosine of x. Unit: Radians.
+
 #### atan
 ```clj
 (atan x)
 ```
 
-Get the arctangent of x. Unit: Radians.
+Get the arc tangent of x. Unit: Radians.
 
 #### atan2
 ```clj
 (atan2 y x)
 ```
 
-Get the arctangent of y / x. Unit: Radians. This is the version that uses two arguments.
+Get the arc tangent of y / x. Unit: Radians. This version uses the signs of y and x to determine the quadrant.
 
 #### pow
 ```clj
@@ -550,6 +571,20 @@ Get base raised to power.
 
 Get the square root of x.
 
+#### log
+```clj
+(log x)
+```
+
+Get the base-e logarithm of x.
+
+#### log10
+```clj
+(log10 x)
+```
+
+Get the base-10 logarithm of x.
+
 ### Bit Operations
 
 #### bits-enc-int
diff --git a/lispBM/lispif_vesc_extensions.c b/lispBM/lispif_vesc_extensions.c
index c492b197..cdeb5aed 100644
--- a/lispBM/lispif_vesc_extensions.c
+++ b/lispBM/lispif_vesc_extensions.c
@@ -756,6 +756,21 @@ static lbm_value ext_cos(lbm_value *args, lbm_uint argn) {
 	return lbm_enc_F(cosf(lbm_dec_as_f(args[0])));
 }
 
+static lbm_value ext_tan(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(1)
+	return lbm_enc_F(tanf(lbm_dec_as_f(args[0])));
+}
+
+static lbm_value ext_asin(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(1)
+	return lbm_enc_F(asinf(lbm_dec_as_f(args[0])));
+}
+
+static lbm_value ext_acos(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(1)
+	return lbm_enc_F(acosf(lbm_dec_as_f(args[0])));
+}
+
 static lbm_value ext_atan(lbm_value *args, lbm_uint argn) {
 	CHECK_ARGN_NUMBER(1)
 	return lbm_enc_F(atanf(lbm_dec_as_f(args[0])));
@@ -776,6 +791,16 @@ static lbm_value ext_sqrt(lbm_value *args, lbm_uint argn) {
 	return lbm_enc_F(sqrtf(lbm_dec_as_f(args[0])));
 }
 
+static lbm_value ext_log(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(1)
+	return lbm_enc_F(logf(lbm_dec_as_f(args[0])));
+}
+
+static lbm_value ext_log10(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(1)
+	return lbm_enc_F(log10f(lbm_dec_as_f(args[0])));
+}
+
 // Bit operations
 
 /*
@@ -1181,10 +1206,15 @@ void lispif_load_vesc_extensions(void) {
 	// Math
 	lbm_add_extension("sin", ext_sin);
 	lbm_add_extension("cos", ext_cos);
+	lbm_add_extension("tan", ext_tan);
+	lbm_add_extension("asin", ext_asin);
+	lbm_add_extension("acos", ext_acos);
 	lbm_add_extension("atan", ext_atan);
 	lbm_add_extension("atan2", ext_atan2);
 	lbm_add_extension("pow", ext_pow);
 	lbm_add_extension("sqrt", ext_sqrt);
+	lbm_add_extension("log", ext_log);
+	lbm_add_extension("log10", ext_log10);
 
 	// Bit operations
 	lbm_add_extension("bits-enc-int", ext_bits_enc_int);