Send message via CANBus

After some years developing for mobile devices, I've started developing for embedded devices, and I'm finding a new problem now.
This embedded device has the same peripherals as a mobile phone, ie, WiFi, BT, USB, etc. but it also has a CANBUS connector, and I need to communicate through it.


The problem I'm facing is that I don't find much information of how to do this.


I would appreciate if anyone who has experienced with it could show me the way of doing it, at least, how can I start with it. The basic functionality that I need to achieve is to send a basic message through CANBUS from the embedded.