CAN on nuttx OS

I have 2 STM32f427 MCU’s on a custom developed board. On both MCU’s nuttx OS is running. I want to send data from one MCU to the other using CAN bus. I cant find any getting started example for running can on nuttx OS. Can anyone point me to any related example or documentation that will help me getting start to my task.

What implementation of UAVCAN are you using – libcanard or libuavcan?

Libuavcan and i am using PX4 firmware.

These tutorials should be a good entry point: