This example C project demonstrates how to transmit and receive CAN messages that use the CAN FD protocol.
This project was developed with the ESX.4ct as the target hardware, but the general concepts can be applied for other STW 4-series controllers that include a BIOS library with CAN FD functionality.
Refer to the README file for additional details.
https://drive.google.com/file/d/1j-at6DeIJJO3MgwqY_vihfYpPXfTsqbb/view?usp=sharing