CANopen Ultrasonic Sensor Arduino Library

I am looking for a developer to create an Arduino-compatible library for the ESP32 to operate the ultrasonic sensor Pepperl+Fuchs UC4000-L2M-B16-V15-M.

Requirements

Communication via CANopen

The library must run on ESP32 using the Arduino framework

The sensor should be fully configurable and readable through CANopen

Implementation of synchronous communication

The synchronization (SYNC) must be configurable so that it can operate in counterphase (opposite phase / alternating timing)

Functionality

Initialization of the CAN interface on ESP32

CANopen communication with the sensor

Reading measured distance values

Configuration of relevant CANopen objects if required

Ability to set and handle SYNC timing and counterphase synchronization

Clean and reusable Arduino-style library structure

Deliverables

Complete Arduino library compatible with ESP32

Example sketch demonstrating:

sensor initialization

CANopen communication

reading measurement values

configuring synchronization

Well-commented code

Hardware

ESP32

CAN transceiver (e.g., SN65HVD230 or MCP2551)

Ultrasonic sensor UC4000-L2M-B16-V15-M (CANopen)