If you have a look at beck-ipc, they have an SDK for one of their development boards.
That downloadable SDK has a device with sourcecode that you might be able to use and modify to your needs.
It does not give much help but you could probably start and play around with it as long as you are happy writing your device code in IEC.
Go to http://www.beck-ipc.com/en/download/index.asp
and search for DK241. What you want to download is
"CODESYSV3@CHIP-SDK V1.0" and "CODESYS v3.4 programming system for IPC@CHIP® version 3.4 SP3 Patch1"