[solved] Rehoming Lathespidle / Rotary-Axis from inside GCode

Hm, I have not but as I understand it this let's me reset 'counts' and 'position' from HAL.
Which would kinda work I guess and would have to do if I were using a simple breakout board on a parallel port. But waiting for it in hal and then sending the reset from hal is rather slow.
Since I have a mesa board I want the encoder counts and position to be set to zero in the FPGA on that board as soon as the encoder index is detected in the hardware.
And I can confirm that this method is VERY precise. My motor has an absolute encoder with effectively over 4 million pulses and I can home to +/- 3 pulses using the built in hardware encoder reset.

Using the above mentioned M19 spindle orient component plus a component to simply latch the encoder position before switching to spindle mode gives me virtually no following error while switching between spindle and rotary using the 'position/speed' switch in motor controller.

This might not work for a setup that handles spindle mode in the stepgen but for me this problem seems solved.
I'll test some more before moving on with building the hardware.

So this work just the way I hoped.

I'll attach the orient component from the other thread (slightly changed), my remaps to switch from position to speed mode and back and a small sample gcode.

Also the encoder disconnect component and the relevant hal section.