Federico,
I'm not familiar with canopen but it sounds like an interesting project.

For sharing your work, you have several options:
 * instead of structuring your software as a part of the emc source
   tree, structure it so that it can be compiled on systems with the
   emc2-dev packages.  This way, you can publish your driver e.g., in
   .tar.gz format -- perhaps on our wiki page
   http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?ContributedComponents

 * in your local emc2 git tree, commit your driver and share it with a
   patch or series of patches created by git format-patch

 * or publish your git tree on the internet, possibly using a free
   service like github.com to host it

Jeff

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