Please go through the following code example on simplex CAN communication in PSoC 4M. You can use the same firmware flow to design your application for PSoC 4100S device also.
I am using this MCU CY8C4146AZI-S433. Even though it is a PSoc 4100s Device I wouldn't be able to implement this since there is no CAN controller, right?
We recommend you to use PSoC 4100 S Plus device if you require CAN interface in your design since it has dedicated CAN hardware block. PSoC 4100 S does not have a CAN block in it.
As GaneshD_41 suggested you can use the code example of PSoC 4 M to port it to the PSoC 4100 S plus device.