You can refer to an Application Note on CAN Bus Communication at the following link:
You can also find example project on how to use the CAN component in PSoC5 by following procedure:
- In the Component Catalog, right-click on the CAN component and select 'Fing Example Project'.
- In the 'Find Example Project' dislog box, select the example project you want to view.
You can as well read the following article to quickly get started with CAN.
An associated project with the Application Note on CAN will be up on the web soon.