CAN BUS

Yes, CAN1 and CAN2 are available on the expansion header J10.

But you need to add a CAN transceiver on an expansion board,  you can't just jumper RX to TX and vice-versa.

I did a quick scan of http://www.ti.com/ww/en/launchpad/boosterpacks.html and didn't see a booster pack for a CAN interface (opportunity if you're interested ;)  so, you can look at the schematics of our HDK for an example of a transceiver.

http://processors.wiki.ti.com/index.php/RM42_HDK_Kit

The HDK kit above does have two CAN transceivers already populated;  so if you're shorter on time than $ you could also purchase an HDK and work with it instead.