The CAN software support includes driverlib and the reference example applications for both CAN and CAN-FD (F2838x). The references examples include internal/external loop back, transmit, receive, and DMA usage.
Different CAN communication protocol stacks is supported by 3rd party Software providers on many C2000 devices. Some of the supported stacks are J1939, CANOPEN, and ISO 15765. For more details on third party offering refer to third party software stacks.