3.4.3 mcRpcI_RotorPositionCalc

C

/* Perform rotor position calculation */
void mcRpcI_RotorPositionCalc(  tmcRpc_ModuleData_s * const pModule )	

Summary

Performs rotor position calculation.

Description

This function calculates the rotor's electrical position and velocity using encoder feedback. The function updates the rotor position and speed outputs based on the encoder pulse count and applies compensation for encoder wraparound. If the rotor position calculation is disabled, the function resets the rotor position estimation and sets the outputs to zero.

Precondition

Rotor position calculation module must be initialized and enabled.

Parameters

Returns

None

Example

// Define the rotor position calculation module data structure
tmcRpc_Parameters_s rpcParameters;

/** Calculate rotor position */
mcRpcI_RotorPositionCalc(&rpcParameters);
    

Remarks