Two weeks ago, I posted about a Rust CANOpen Stack I was working on. It was in a bit of a disfunctional state at the time. Since then, I've ported two firmware projects to use it and in the process made a lot of progress on it! There's still a ton to do to get it where I want, but today I recorded a quick live demo of the first two boards communicating using zencan! Production quality is low, but hopefully it's still a useful way to get a feel for what it is trying to do.
Video
Notes
Code running on the boards: