Interrupt on the FPGA

Hi all,
I’m currently working with an Avenger96 (CE) and a Shiratech FPGA Mezzanine.

The problem is this: I have a highly sensitive timing between a sensor and a servo. In order to reduce the latency at minimum, I was thinking that maybe the pins that connect the sensor to the board can be set in Interrupt mode, so when the pin has a rising or falling edge, the board communicates immediately the change to the M4 co-processor of the MP1 processor of the Avenger96.

Is it possible in any way? If so, do I have to recompile the entire FPGA firmware with the Intel Quartus software? Are there any guides or tutorial or manuals I can check on?

Thanks a lot!