TCAN1042G-Q1: CAN to CAN FD

We are designing a system using Hercules RM42x controller.

 I have configured CAN using Halcogen and available CAN examples in Halcogen.

Now we are trying to achieve more data rate upto 5Mbps using CAN FD.

With TI TCAN1042 is it possible to convert existing CAN Communication code to CAN FD?

Where can I find drivers and sample code for CAN FD?

Thanks

Regards,

Vishwas