I am trying to implement CANOpen on Teensy 3.2, I have used FlexCAN successfully, but I know they are not the same. I want to communicate between two Teensy 3.2 sending data back and forth, and one of them controlling a CANOpen motor. I have been reading this to familiarize myself and I am by no means a Software engineer but are there any other resources that have code examples and if I'm lucky are specific to the Teensy platform?

Current full setup (computer control)<->(Port Expander)<->(Teensy)<->(Teensy)<->(Port Expander)<->(sensors)
.................................................. .................................................. ..........-> (Motor driver)