PI sampling period for FOC SDK

[Ronny Landsverk]

For calculating apriori PID parameters when running ST FOC SDK, you obviously need to consider the sampling time of the regulator for the integral term. According to UM1052, current sensing is synchronous to the PWM. Is the sampling period of the current sensing ADC the same as the sampling period of the current PI controllers ?

Again, referencing UM1052, page 38/178, formula for Ki; is T equal to 1 / pwm_freq ?

PS - I could not find motor control as a community anymore !