A library written for the Teensy 4.x (i.MX RT 1062 MCU) to interface with the CANFD interface. Specifically, this library uses imxrt-ral and teensy4-rs to create a fully functioning interface. The code interface is a little specific to my own projects, but I'm planning on making it a little neater and better for more general use cases. Regardless it can act as a great place to start off another spin on a CAN implementation. Currently it only supports CANFD, no CAN2.0b.
For examples, look in the /examples/ directory.