How to get Started with Cyphal

Hi all,
I read the documentation and the website but I am unable to understand how to get started.
I am working with RM3100 and Airspeed sensor that work with dronecan. I have attached both to pc via USBCAN II converter and what to read the data.

Any suggestion on writing the basic code for the same.

Links seen already:

Check this out: GitHub - OpenCyphal-Garage/demos: Demo applications and reference implementations

If this is not helpful, please ask more specific questions.

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