Hi Naren chandra,
I don't know which detail RT chip you are using, but about the RT canopen code, you can refer to the official SDK code.
Just take the RT1050 as an example, you can download the SDK code from this link:
Welcome | MCUXpresso SDK Builder
Select the RT1050 chip, in the middleware, you can select all, then generate the code and download it.

Wish it helps you!
Have a great day,
Kerry
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