Hi, does anybody has some example code (CAN interface configuration, CAN interrupts) for STM32 as CAN slave receiving data via CANopen protocol?

I am trying to receive CANopen data (8bytes sent every 1s) with Nucleo  L476RG (it has only Master CAN interface but I think it should not matter since CAN is multimaster). For conversion CANH and CANL to CANRx and CANTx I use recommended IC sn65hvd230. In examples I have found only loopback example. If somebody can provide me with a code how to configure CAN for receive periodically mentioned 8 bytes it would be of great help.

David