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Currently, there is no example code for Arduino available. However, there are several working applications using a Platformio based toolchain: https://github.com/tum-phoenix/drive_teensy_libuavcan/issues/13

Hello, just to let you know: There is also an early version of a UAVCAN driver implementation which is based on collin80: https://github.com/tum-phoenix/drive_teensy_libuavcan