Custom EtherCAT device

Yes the AX58400 is way better. For starters you can use DMA with SPI ...
That is a very nice design, why don't you continue now that the shortage is slowly ending?

I think my problem lies somwhere in the syncManager configuration. MY board is throwing watchdog timeouts. Everything else works. The RUN led for the LAN chip stops blinking and goes solid when the link is up
Is there ANY documentation on XML options and how to?

Welllll it works... Kind of... Everything is ok, i needed to change the vid and pid numbers. All XML files use #x(some number) but I changed to 0x(some number).
At first I tought that the #x is the indicator that the string is hex but it didn't parse. ethercat debug 1 and dmesg helped alot.
The only thing that is not working for me is the floating point number. I defined it my XML for lcec and my XML for TwinCAT. And I used TeinCAT to write the eeprom on my board.
The floating point is not correct its a bunch of random numbers that are displayed in HAL.
Ethercat xml returns my PODs as UINT32... So there is defenetly a ptoblem with my generated BIN file. But I'm at a loss on how to generate a correct one.. I even used the SII tool. But it's not working. If I generate it with SII the ethercat xml command returns without any PDOs????

I did wonder if you were using haltype="float" in the xml config but it seems you are.

My immediate thought after that could be it is a byte ordering thing on your hardware
It would be interesting to explore the hal pin value at a binary or hex level.
Swapping the  byte order might fix it.

Yes I use float as halpin type. And in my XML.. But the "ethercat XML" returns the XML version that it supposed to be flashed on the EEPROM (If I understand this correctly), this is printed in CLI and there the DataType is UINT32, but it should be REAL.. Here I think is the problem. I tried reversing the byte order and alot of different things.
To me this seems to be the problem. This a side, it work great. Maybe I can make a demo on the encoder thing

Maybe some day I will continue but at the moment I just dont have the time.

Here is the photo of the slaves sending a float number to LinuCNC. The number is counting from 0 to 100 in 0.1 steps. The top is byte reversed and the bottom is not. Totally different numbers. But they don' reprisent the same number, because the slaves are not counting at the same rate.
I think this is a representaion of a float number in UINT32 format