Here you can find some UAVCAN v0 tutorials that may help you with UAVCAN v0 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.
OBSOLETE
THE MATERIALS PRESENTED HERE ARE BASED ON UAVCAN v0 – AN EXPERIMENTAL VERSION OF THE PROTOCOL THAT IS NOW OBSOLETE. TO LEARN ABOUT THE LONG-TERM STABLE REVISION OF THE PROTOCOL, PROCEED TO OPENCYPHAL.ORG.
All of them use C99 and libcanard v0. And all of them use Zubax Babel (pictured) both as a hardware platform and as a USB-CAN adapter. If you have any questions, don't hesitate to bring them to the Zubax Forum!