Implementation of CAN CiA 402 in stm cube ide

I have a bldc driver with CAN Bus with CiA 402 protocol. STM32F446RE microcontroller is used to control the driver through CAN bus. Stm32 Cube Ide is used to program the microcontroller. I need guidance to write program code for CAN bus in stm32 cube ide in CiA 402 protocol.
Expecting 2-3 hr discussion for getting to know about the step by step process in implementing CiA 402 in stm32 cube ide.