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Here you can find some UAVCAN tutorials that may help you with UAVCAN integration in your embedded project. All source code can be found here. They are all merged in one IAR project. You can use it as a starting point in your exciting adventures in the world of UAVCAN. For the moment there are 4 tutorials available.

All of them use C and libcanard. And all of them use Zubax Babel both as hardware platform and as CAN to USB adapter.