How can I set up XCP Transport Layer with CAN for my own controller?

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Minha An
Minha An 2021-6-6
Now I'm trying to make own hardware support package that is able to build executable for our own target hardware.
From the build process, I would like to use external mode based on XCP protocol which is already explained in below help page.
https://de.mathworks.com/help/releases/R2018b/rtw/ug/creating-a-tcp-ip-transport-layer-for-external-communication.html#f79419
It seems however it supports only TCP-IP or Serial communication (RS-232), not CAN communication that is only way to communicate our own hardware. How can I set up the XCP Transport layer with CAN communication?

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