TMS570LS0432：How to use the SCI and CAN ?

Hi,

I am trying to program the TMS57004 Launchpad with the sample code provided by TI to work with the BQ76PL455EVM.

 I succeed read the Voltage with TMS570LS432 and  BQ76PL455EVM use SCI(UART) in the CCS.

Now, I want to use CAN to transmit the voltage data collected by SCI to another device.

Could you teach me how to do?

I already practice the Halcogen CAN communication example code.

but I have no idea how to the first.