add second CAN example

Src/modules/canopen/CMakeLists.txt

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+# Copyright (C) 2023 Dmitry Ponomarev <[email protected]>
+# Distributed under the terms of the GPL v3 license, available in the file LICENSE.
+
+list(APPEND APPLICATION_SOURCES
+    ${CMAKE_CURRENT_LIST_DIR}/canopen.cpp
+)

Src/modules/canopen/canopen.cpp

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+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <[email protected]>
+ */
+
+#include "canopen.hpp"
+#include "can_driver.h"
+
+REGISTER_MODULE(CanopenModule)
+
+void CanopenModule::init() {
+    int8_t res = canDriverInit(1000000, CAN_DRIVER_SECOND);
+    health = (res < 0) ? Status::FATAL_MALFANCTION : Status::OK;
+
+    mode = Module::Mode::OPERATIONAL;
+}
+
+void CanopenModule::spin_once() {
+    if (health == Status::FATAL_MALFANCTION) {
+        return;
+    }
+
+    CanardCANFrame frame;
+    frame.id = 100;
+    frame.data_len = 4;
+
+    int8_t res = canDriverTransmit(&frame, CAN_DRIVER_SECOND);
+    health = (res > 0) ? Status::OK : Status::MINOR_FAILURE;
+}

Src/modules/canopen/canopen.hpp

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+/**
+ * This program is free software under the GNU General Public License v3.
+ * See <https://www.gnu.org/licenses/> for details.
+ * Author: Dmitry Ponomarev <[email protected]>
+ */
+
+#ifndef SRC_MODULES_CANOPEN_HPP_
+#define SRC_MODULES_CANOPEN_HPP_
+
+#include "module.hpp"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+class CanopenModule : public Module {
+public:
+    CanopenModule() : Module(10.0) {}
+    void init() override;
+
+protected:
+    void spin_once() override;
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // SRC_MODULES_CANOPEN_HPP_