SK-AM62A-LP: How to set the opt mode in MCAN communication of MCU sides of AM62A7 soc

I've a question about how to set the opt mode in MCAN communication of MCU sides of AM62A7 soc. As well as we can see in the demo code "mcan_loopback_interrupt_am62ax-sk_mcu-r5fss0-0_nortos_ti-arm-clang", there're some opt mode to switch in the initial configuration as below:

int main()----->mcan_loopback_interrupt_main(NULL)----->App_mcanConfig(TRUE)

Firstly set the mode "MCAN_OPERATION_MODE_SW_INIT" in the API function "App_mcanConfig()"

Then set the MCAN_LPBK_MODE_INTERNAL mode enable status:

At last,set the mode "MCAN_OPERATION_MODE_NORMAL":

This is just the inernal loopback demo code, which is related closely to the mode configuration in the CANFD communication. My question is how to set the opt mode in MCAN communication of MCU sides if I could get the TX/RX signals or data in the CCS env. What's the mode configured process about it if am62a7 communicated with our ZLG tools or CANoe(VN1640) tools?