How to use CAN on Xavier AGX

I have recently got a Xavier AGX. I would like to use CAN with it.

Is there a tutorial I can check to activate this function?

However there is a catch. I have googled and there seems to be ways to use the CAN with a xavier using the GPIO. However in my case I have been given a transceiver (PCAN-USB-FD)that is CAN but that connects through the USB ports in both the Xavier and the PC I am connecting it to.

I would appreciate some guidance on how to do this.

Hi aliaga,
For your transceiver, you can enable this driver CAN_PEAK_USB in kernel and use it. You can follow this document to build kernel.