Hal configuration for BISS encoder

I finally got good results of making a servo out of inexpensive bldc motor and drive using 6i25_7i76_7i74 and 1 micron resolution linear encoder. I consistently get repeatable positioning of the axis within 4 micro meters measured from an external device. Now I'm wondering if there's a way to offload the PID calculations from running on servo thread to the FPGA? I'm guessing this will open up options for adaptive control algorithms to run on the fpga down the line. How much processing can we push on the fpga and the daughterboards? Does the daughterboards also have some hardware for processing?