Propagation delay compensation and interpolation filter

A method of operating an angular sensor interface, the method comprising:

• reading analog signals from an angular position sensor coupled to a rotating object;
• converting the analog signals into digital representations;
• creating angular position signals from the digital representations;
• and
• compensating the angular position signals for propagation delay through the angular sensor interface, the compensating by:
• calculating speed signals based on the angular position signals;
• calculating acceleration signals based on speed signals;
• and
• producing compensated angular position signals that are compensated for propagation delay through the angular sensor interface, the compensated angular position signals based on the speed signals and the acceleration signals.

An angular sensor interface comprising:

• an analog signal processor configured to electrically couple to a position sensor, the analog signal processor configured to read analog signals from the position sensor and create conditioned analog signals;
• an analog-to-digital (A/D) converter coupled to the conditioned analog signals, the A/D converter configured to create digital representations of the conditioned analog signals;
• a digital signal processor coupled to the digital representation and configured to create angular position signals from the digital representations;
• and
• a propagation delay compensation circuit coupled to the angular position signals, the propagation delay compensation circuit comprising:
• a first differentiator coupled to the angular position signals, the first differentiator creates speed signals;
• a second differentiator coupled to the speed signals, the second differentiator creates acceleration signals;
• and
• a calculation circuit coupled to the speed signals and the acceleration signals, the calculation circuit configured to produce compensated angular position signals that are compensated for propagation delay through the angular sensor interface.