Mesa 7i96s PWM outputs

Thank You all for Yours help.
Using wiki wiki.linuxcnc.org/cgi-bin/wiki.pl?Editing_MESA_Bitfiles I managed to create custom bit file for the board. In fact the only changes needed is to use Effinix software and load "seven7i96s.xml" project. Editing vhd files, and making changes to project source is then almost the same.

Bitfile created by PCW, also works nice, however I've decided finally to use my own - it removes unused Stepgen modules, and adds direction pin to PWMs. PCW's 7i96s_3pwmd deletes only one stepgen and does not use direction pins for PWMs. In case anyone is interested this is the file: 

I need a custom firmware for the 7i76 table to control 3 DC servos with +- 10 volts. This requires replacing 3 Stepgens, with PWM-DIR output. Peter could help me.

Not, problem I have the mesa 7i33A, I need this firmware to generate the PWM and DIR for the 7i33A.

What FPGA card do you have?
 

I have Both.But I also need, in addition to the encoder input, to bring both cards to use the other inputs as inputs for 3 encoders, to be able to have feddback to control the DC servomotors.

I'm still not clear on what FPGA cards you have

I have 7i96 and 7i96s Boards

Do you need encoders also?
Do you need index inputs on the encoders?