Test index of rotary encoder with hal only

I could be a thread order issue (the hm2_card.0.write should always be the last thing done)

It also could be that toggle cannot count a single servo period long signal
I would first fix the thread order and then halscope the reset signal
if reset is ok then maybe the flip-flop component would be a better choice (than toggle)

Yes, hm2_7i92.0.write needs to be located in last position.
I removed the toggle to focus on the signal reset.

Here is the HAL corrected I ran including your code :

The "reset" signal observations with halscope show unexpected behavior.

I used halscope in Run mode : single and Trigger : normal + force.

I made a first record #1 where we observe that "reset" is raised to 1 but is not set back 0 after one cycle as expected.

Then I made a second record #2 where "reset" remains at 1 except when set back to 0 periodically for one cycle, I guess when the index is detected by 7i92 as i am rotating the rotary shaft.

I checked the code as follow and for me it should work, except some unexpected behavior on index-enable that is input and output for 7i92 or something else I ignored

The middle plot looks as expected, what do you see thats wrong?
I think that there is possibility of missing indexes on reversals
(with less than a few servo periods between indexes)
but this is not an issue with normal index use

PCW wrote: The middle plot looks as expected, what do you see thats wrong?

For me it looks inverted compared to what we expect according to what I determined by running your code on paper as in my previous post and especially according to your post here above :

PCW wrote: The "reset" signal will be set for one servo thread period every detected index

When I rotate the shaft, I only rotate in the same direction.

Yes, maybe there some unexpected feedback/latchup issue because of the delays
You might play a bit with the thread order or might need a oneshot component for reset

Plotting hm2_7i92.0.encoder.00.index-enable would probably give some
better insight into whats happening

Here you go, records #1a and #2a taken in the same conditions.

On both records, we can observe that index-enable is well set to 1 from the beginning of the record.

I assume it can not be observed going to 0 because of the hal code where : before running the code it is 0 but after running the code it is 1.

I assume that halscope gathers the shown data at the end of each cycle.

index-enable is almost always set to 1 so the signal "reset" should be 0 almost aways but it is 1 that i don't understand...