I want to establish CAN communication on i.MXRT 1064EVK
I'm usually at a loss to understand the predilection for wanting to achieve something that is commonplace using something that is 'obscure' - it's as if some people deliberately want to complicate their lives and cause themselves frustration akin to wanting to re-invent the wheel.
CAN bus reading is so commonplace as to be 'silly' and everyone that wants to has already done it using ESTABLISHED systems (Arduino, ESP32 etc) where the application hardware, software and utilities are in the public domain i.e. readily accessible.
By all means, go ahead and 'do it' but why the OP would expect anyone to (effectively) waste their time - and here I'm assuming the OP is seeking assistance in the task - is a mystery to me. I certainly wouldn't......