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customer app for pwm input

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ccrbs
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customer app for pwm input

Hi 

I am new to use VESC and I know that the ppm input is used in VESC. As my RC receiver is CPPM which is not support by VESC, I hope to use PWM as input for VESC. Can I write a cutomer app for PWM input? and how to configure PWM pin and c code for it?  

Thanks in advance.