configuring my GPIO pins to linuxcnc with Raspberry pi 4

Hi everyone, I'm fairly new to this. You can say I am a noob in Linux.

We want to build a CNC machine for testing stuff. I'll be using nema 23 and 17 motors connected to TB6600 motor drivers as well as limit switches and other components down the line. This will all be connected to a raspberry pi 4 and we want to use the linuxcnc to control the motors and send gcode onto them.

I wanted to know if I would I go about the configurations on my Raspberry pi4 and the components so that the software can recognize these and give them control. i searched that i need to configure or map the GPIO pins in the HAL? any responses would be greatly appreciated. Thanks!

There is a dedicated GPIO driver available in 2.91 linuxcnc.org/docs/devel/html/drivers/hal_pi_gpio.html
The final (I hope) Raspberry Pi image for 2.91 is sitting in my google drive pending release since the weekend just gone:
drive.google.com/file/d/1IhrrdGRNvsdclVi...nUu/view?usp=sharing
Give it a go.

Is it possible to provide a tutorial for configuring the Raspberry Pi using GPIO with LinuxCNC?