You can use the PSoC 4 CAN code examples for the PSoC 4100 S Plus devices.
Follow these steps:
1. File ->Code examples
2. Search CAN in Filter by
3. Choose any one of the PSoC 4 CAN projects
4. Then change the product to 4100S plus using the device selector
5. Update clocks and other components if needed (CAN component remains the same)
I've attached a sample project for CAN_Basic_P4_Example with modified settings with this response.
Hope this helps!