Hi everyone, does someone know an example of communication of CANOPEN and which evaluation kit iwith STM32 is possible to use it?

[CMahe.1]

For my project, I would like to create a communication (CAN and CANOPEN) with an evaluation kit of ST and an other electronic card and a sniffer to analyse the different weft in the bus. But I'm a novice in this communication so I search an example of communication to exchange some data between my 2 objects. Do you have some idea to help me? To connect the electronic card with my computer I use a IXXAT USB-to-CAN Compact V1. After I will use a V2 because the V1 is obsolete.

Thank you for your help