C2000WARE-MOTORCONTROL-SDK: use of incremental encoder with bcdm C2000ware Motor Control SDK

Hi team,

I am attempting to use field oriented control with a brushless DC motor fitted with an incremental motor encoder with no index pulse using the TMS320F28388D and the C2000ware Motor Control SDK. Does the Motor Control or any other compatible SDK include any functions to estimate the electrical/mechanical angle offset of the motor/encoder with a "wake and shake" or other method that does not rely on encoder index pulses?

Thanks for your time.

Best regards,