Index homing Mesa 7i96s

This is awesome. Would it be possible to build a firmware which replaces the encoder with the index inputs on the 7i96s?

Unfortunately I already have a separate use case for the isolated I/O but I won't be needing an encoder on this machine.

Its possible (say encoder A,B,IDX = Stepgen 0,1,2 index)
I'll try and get to this some time this week

I should note that there is also firmware that puts all 5 index inputs
on P1 (but of course these inputs are not really suitable for field wiring)

Hello,
can you share the magic you do with editing the file? I have the output of the encoder from the servo driver. But many threads mention lag in different servo drivers. I'm thinking of leaving the PID control to the servo drive.
If you can share an example. Thanks!

Not sure what you are asking for...

If this is about using stepgen index for homing, the hal connections
are identical to a system using encoder index for homing except that you use
the stepgen index enable pin in the hal file rather than the encoder index enable
pin

Note that you will always use the local PID in HAL with Mesa stepgen hardware